label: url

en: Short-Term Wind Speed and Direction Forecasting by 3DCNN and Deep Convolutional LSTM

en: IEEJ Transactions on Electrical and Electronic Engineering


en: Development and Control of Power-Assisted Lumbar Suit Based on Upper-Body Acceleration

en: In this study, we propose a method to estimate the assistive timing requirements for a power-assisted lumbar suit based on upper-body acceleration. Our developed power-assisted suit combines of springs, wires, and an electrical motor to provide efficient assistance. The assistive torque provided by the suit was determined based on a digital human model. The assistive timing using the electrical motor was calculated from the upper-body acceleration measured using two internal accelerometers. Herein, we present the experimental results based on the myoelectricity of a muscle during lifting motions involving three participants acting as caregivers to elderly patients.

en: Journal of Robotics and Mechatronics

ja: Journal of Robotics and Mechatronics


en: Deep convolutional long short-term memory for forecasting wind speed and direction

en: SICE Journal of Control, Measurement, and System Integration


en: PREDICTION MODEL OF WIND SPEED AND DIRECTION USING DEEP NEURAL NETWORK

en: JEEMECS (Journal of Electrical Engineering Mechatronic and Computer Science)


en: Influence of Safe Driving Support System for Electric Wheelchair on Operation Input

en: Journal of Robotics Networking and Artificial Life


en: Multiple Vehicles Semi-Self-driving System Using GNSS Coordinate Tracking under Relative Position with Correction Algorithm

en: International Journal of Advanced Computer Science and Applications


en: Conceptual design and implementation of electronic spectacle based obstacle detection for visually impaired persons

en: Journal of Advanced Mechanical Design, Systems, and Manufacturing


en: Object Conveyance Algorithm for Multiple Mobile Robots based on Object Shape and Size

ja: International Journal of Advanced Computer Science and Applications


en: Indoor Navigation System based on Passive RFID Transponder with Digital Compass for Visually Impaired People


en: Cooperative Control System of Multiplw Mobile Robots Using Particle Swarm Optimization with Obstacle Avoidance for Tracking Target

en: This paper proposes a cooperative control system with obstacle avoidance for multiple mobile robots using particle swarm optimization (PSO) in an unknown environment to perform tasks that are difficult for a single robot to accomplish. The problem considered in this paper is the exploration of an unknown environment with the goal of finding and tracking targets using multiple mobile robots. The mobile robots only have basic information about the position of other mobile robots and the relative distances between mobile robots and target. PSO has been demonstrated to be a useful algorithm for tracking target ap- plications for multiple mobile robots in unknown environments. The experimental results demonstrate the validity of the proposed cooperative control system with obstacle avoidance of multiple mobile robots that track targets.

ja: 本論文は，未知環境においてタスク達成が可能な群ロボットのための障害物回避機能を有するParticle Swarm Optimization (PSO)を用いた協調制御システムを提案したものである．各々のロボットは基本的な情報として自身の位置，他のロボットの位置，ターゲット(搬送対象)までの相対距離のみを与えられ，ゴール(ターゲットの搬送場所)を探索しながら互いに協調しながらタスク(ターゲットの搬送)を達成することができる．PSOはリアルタイムに実行され，提案システムの有用性は実機を用いた実験により検証されている．

en: Journal of Signal Processing

ja: Journal of Signal Processing


en: Design and Implementation of Sooperative Conveyance Patterns for Multiple Mobile Robots Using Neural Network

en: In this paper, we describe the design and implementation of cooperative conveyance patterns for multiple mobile robots using a hierarchical artificial neural network (NN). The task of multiple mobile robots is to transport a object to the goal along the reference conveyance orbit. The NN is used as the cooperative pattern generator for two mobile robots. The parameters of the cooperative pattern generator are adjusted by a genetic algorithm so that the two mobile robots can convey the target to the goal along the reference conveyance orbit successfully. Moreover, we propose the indirect cooperation scheme for more than three mobile robots in which the nearest two mobile robots make up a pair and the proposed cooperative pattern generator is applied to these mobile robots. Experimental results using our developed mobile robots demonstrate the efectiveness of the proposed cooperative pattern generator and the indirect cooperation scheme.

ja: 本論文では，階層型ニューラルネットワークを用いた群ロボットのための協調搬送パターンの設計と実装について述べている．群ロボットのタスクは物体をゴールまで目標搬送軌道に沿って運ぶことである．ニューラルネットワークは，2台の移動ロボットに対する協調搬送パターン生成器として用いられる．協調搬送パターン生成器のパラメータは,2台の移動ロボットが目標搬送軌道に沿ってゴールまで物体を搬送できるように遺伝的アルゴリズムを用いて調整される．更に，3台以上の移動ロボットにも適用できるように，近傍にある2台のロボットでペアを作り，それに協調搬送パターン生成器を適用する間接協調法を提案している．試作した群ロボットシステムを用いた実験により，提案する搬送パターン生成器および間接協調法の有用性を示している．


en: Attitude Control of Biped Hopping Robot Using Inertial Rotor


en: Prediction Model of Wind Speed and Direction Using CNN and CLSTM with Vector Image Input


en: Prediction System of Cloud Distribution Image Using Fully Convolutional Networks


en: Measurement of Tomato Leaf Area Using Depth Camera


en: Tomato Recognition Algorithm and Grasping Mechanism for Automation of Tomato Harvesting in Facility Cultivation


en: Human-Friendly Safe Driving Support System of Electric Wheelchair for Drift Suppression


en: Correction Method for Numerically Forecast Wind Speed Data of MSM-GPV Using CNN


en: Autonomous Traveling Control of Agricultural Mobile Robot Using Depth Camera in Greenhouse


en: Jumping Movement of Biped Robot Using Closed Link Legs and Spring Mechanism


en: Autonomous Traveling Control of Crawler-Type Mobile Robot for Supporting Agricultural Work


en: Safe Driving Support System for Electric Wheelchair Based on Time to Collision and Degree of Danger


en: Wind Speed Prediction Model Using LSTM and 1D-CNN


en: Prediction of Wind Speed Fluctuation Using Deep Belief Network with Ensemble Learning Method


en: Flexibility Evaluation of Action Control Rule for Autonomous Multiple Mobile Robots Based on Decision-Making Function for Panel Cruising Problem


en: Path Planning and Traveling Control for Pesticide-Spraying Robot in Greenhouse

en: Journal of Signal Processing


en: Investigation of Teleoperation Support System Using Environmental Recognition Sensors for Three-Parallel-Crawler-Type Mobile Robot

en: In this paper, we propose a simple method for the safe teleoperation of a three-parallel-crawler-type mobile robot with distance range sensors and a wireless camera having a sheye lens. The method enables the robot to avoid collision when a distant operator manipulates the robot by viewing a streaming video. In addition, noti cations of danger are shown on the control interface screen and an audible alarm informs of the risk of collision by using information obtained from distance-measuring sensors. The validity of this system was evaluated during on the basis of experimental results for the effectiveness the sensors during operation.


en: Control Characteristics of Three-Parallel-Crawler-Type Mobile Robot Using Adaptive Two-Degree-of-Freedom Control

en: In this paper, we propose a three-parallel-crawler (TPC) -type mobile robot in which all crawlers are linked in parallel by a main shaft. The TPC-type mobile robot has a self-change function enabling it to take a variety of forms depending upon the conditions of a road surface by setting an arbitrary relative angle between the center crawler and both side crawlers. Moreover, to improve a remote control performance of the TPC-type mobile robot, we propose an adaptive two-degree-of-freedom (ATDOF) control system that is possible to implement in an AVR microcomputer. The effectiveness of the proposed ATDOF control system for improvement of servo performances is demonstrated by experiment.

ja: 本論文では，主軸を介して並列にリンクを接続した3連パラレルクローラ(TPC)型ロボットを提案している．TPC型移動ロボットは，中央クローラと左右クローラ間の相対角度を任意に設定することによって，路面状況に応じて形態を様々変更することが可能である．さらに，TPC型移動ロボットの遠隔制御性能の改善を目的として，AVRマイクロコンピュータに実装可能な適応機能を有する2自由度制御システム(ATDOF)を提案している．提案するATDOF制御システム のサーボ特性の改善効果は，実験により示されている．


en: Cooperative Conveyance Control for Multiple-Mobile-Robot System Using Complexed-Valued Neural Network and Indirect Cooperative Scheme

en: We describe the cooperative conveyance control method for a multiple-mobile-robot system. In our previous research, we proposed the cooperative pattern generator with a complex-valued neural network (CVNN) to generate the cooperative motion for a pair of robots. We confirmed the validity of the proposed system through simulation and experimental results, and the CVNN was judged to be excellent compared with the real-valued neural network as a solution of this problem. In this paper, we propose the indirect cooperative scheme to extend the system to three or more mobile robots. Moreover, we develop ten mobile robots for the experiment. Experimental results using our developed mobile robots demonstrate the validity and emergent behavior of the proposed cooperative pattern generator and indirect cooperative scheme.

ja: 本論文は，群ロボットシステムに対する協調搬送制御手法について述べている．我々の先行研究により，複素ニューラルネットワーク(CVNN)を用いた2台のロボットの協調動作生成器を提案している．そして，シミュレーション解析および実験によりその有用性を確認している．そして，CVNNが実数型ニューラルネットワーク(RVNN)と比較して優れていることを確認した．本論文では，3台以上のロボットにも適応可能な間接協調手法を提案している．さらに，実験のための10台の小型移動ロボットを開発し，それらを用いた実験により，提案する協調パターン生成器および間接協調法の有用性を確認している．


en: Traffic Control of Multiple Sweeping Robots on Panel Cruising Problem

en: We describe traffic control of multiple sweeping robots in a panel cruising problem. In this study, the workspace is assumed to be a two-dimensional world, that is virtually divided into square tiles. To clean the work space, the virtual point panels, which indicate the required cleanliness level and the obstacle, are set. Each sweeping robot cleans the area using the virtual point map and shared simple traffic rules. Because of these simple traffic rules, each robot can move without interfering with each other and early deadlock can be avoided. In order to confirm the usefulness of the proposed traffic control method, simulations under various conditions of robots and experiments were executed using our developed system.

ja: 本論文は，パネル巡航問題における群掃除ロボットの交通制御について述べている．ここでは，作業空間を2次元空間と仮定し，仮想的に格子状のパネルに区切られている．この作業空間を掃除するために，要求される掃除場所や障害物の場所が仮想的なポイントパネルとして設定されている．各掃除ロボットは，仮想的なポイントマップと共有する簡易交通ルールを用いてエリアを掃除する．簡易掃除ルールによって，各掃除ロボット互いに干渉することなく，早い段階でのデッドロックを避けることができる．提案する交通制御手法の有用性を確認するために，様々なロボットの状態におけるシミュレーションと実験は試作システムを用いて実行している．