Taketoshi Mori

Status driven teleoperation system: a new paradigm and an application to the microworld

This paper proposes a third generation teleoperation system based on a status-driven slave symbolically instructed by the master control panel. Furthering the first generation joint-angle control techniques and second generation coordinate transformation techniques, this system recognizes the target status specified by the operator by extracting the task status from visual sensors. The task environment is initially described via sensing points in the work environment and on the manipulated object. The relationships between the sensing points and the change of those relationships describes the task at hand. Operation can proceed in automatic mode where the system completely directs the slave or in shared mode where the system assists the operator by constraining the slave motion while the operator directs via a visual communication interface. Although status-driven techniques offer several improvements in teleoperated control, this work explores the robustness and reliability provided in dynamic workspace environments. One successful application of this technique is in micrometer scale part handling, the so-called microworld assembly where an operators past experience in the macro world is not applicable to the physics experienced in the microworld.

1A1-D27 Development of Container-shape Supporting Instruments for the Elderly

This paper describes development of container-shape instruments for supporting elderly people. The instruments intend to encourage elderly people to make their live for themselves by transforming the living environment to a dynamic accessible environment. We developed 3 prototypes: lavatory, refrigerator and desk-top containers. By showing these prototypes to staffs and elderly people, we discussed the validity of our proposal and improvement for real applications.

1A2-F21 An Intelligent Outlet Tap for Monitoring Power Consumption and Control Ready-made Home Appliance for Safety and Energy Saving : Development of A Prototype Device and Trial of Automatic On-off Control Utilizing Association Analysis

This paper describes a power supply tap which can acquire power consumption history and control the power supply of home appliances plugged into it. Besides it has shape and apperance that user can put on accessible place (e.g. a television rack). It can be utilized for a power monitoring and controlling system. The system realizes comfortable, safety and energy saving condition by on-off contorlling of ready-made home appliances. In this paper, development of a prototype of the tap (iTap) is introduced, and as some typical application examples of the iTap, following three services are described to automatic on-off control of ready-made home appliance. (1)Classification of home appliances whether on-off control is acceptable, (2)automatic on-off control by association analysis and (3)automatic off control by detection of abnormal power consumption via clustering.

2A2-B08 Mixed Reality with Active Projector by Smooth Transfer of the Position of Projection

We are currently attempting to construct a mixed reality for home usage. The main components of the system include the active projector placed on the ceiling, a room where the projector is to be located, and a PC for controlling the output. By transferring the position at which a movie is projected so that the background of the movie scene stays at the same position, the motion of the object moving in the movie would be reproduced in the real world. Our method involves the following procedures: Input of a movie file, analysis of the background motion, transfer of the position of projection, and correction of the distorted image. This paper focuses on the latter two parts: Transfer of the position of projection and the correction of image distortion.

2P1-O03 Development of a Mechanism for Grasping Container Cases in Home Logistical Use

This paper reports the development of a mechanism for grasping container cases in home logistical use. When we expect robots to carry something at home, robots have to grasp various goods at home. However, it’s very difficult in terms of the complicated problems of recognition and control. To solve these problems, we make a proposal using container cases in home logistical use. Using container cases in logistical use, we can limit subjects which robots have to deal with. In this paper we describe the development of a grasping mechanism only for such container cases. This mechanism can passively permit 10mm errors in positioning. To realize the needs, the mechanism consists of the guide mechanism with a combination of a taper pin and a hole, and the slide mechanism which can switch high and low friction automatically.

2P1-E09 Action Prediction based on Sensor Data in Room-type Measurement Environment for Daily Life and Evaluation by Action Simulator

This paper describes action prediction system based on sensor data in human behavior measurement environment. The prediction is based on time-series association rule method. The method detects characteristic sequences from sensor event sequence and taught behavior to be predicted. Based on the detected sequences, our system predicts occurrence of the resident’s behavior with prediction reliability before arbitrary period. The sensor events for the method are provided from sensor-embedded environments or a behavior simulator. The simulator generates virtual sensor data with input behavior sequence and sensor configuration. We evaluated the action prediction system for real sensor data in our Sensing Room and virtual sensor data. The experiments show feasibility of the action prediction on such behaviors as drinking a bottle of tea.