发布求助
文献互助 智能选刊 最新文献

J. Robotics Mechatronics最新文献

筛选
英文 中文
Experimental Evaluation of Manipulator Teleoperation System Based on Trajectory Planning for Obstacle Removal Task in Nuclear Plant Decommissioning 基于轨迹规划的机械手远程操纵系统在核电站退役工作中清除障碍物的实验评估
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0049
Tatsuya Hashimoto, Y. Tazaki, Fumiya Matsuda, Katsumasa Kitajima, Hikaru Nagano, Yasutoshi Yokokohji
{"title":"Experimental Evaluation of Manipulator Teleoperation System Based on Trajectory Planning for Obstacle Removal Task in Nuclear Plant Decommissioning","authors":"Tatsuya Hashimoto, Y. Tazaki, Fumiya Matsuda, Katsumasa Kitajima, Hikaru Nagano, Yasutoshi Yokokohji","doi":"10.20965/jrm.2024.p0049","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0049","url":null,"abstract":"In the teleoperation system of a dual-arm manipulator developed to retrieve fuel debris and reactor interior structures at the Fukushima Daiichi Nuclear Power Plant, we used software in which an obstacle avoidance function (trajectory planning) was implemented to conduct a mock test simulating obstacle removal operations in narrow spaces. The test results confirmed the validity of the obstacle avoidance function, the executability of a series of necessary tasks, and the improved operability. In addition, issues were identified using the test data.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"1071 ","pages":"49-62"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140445909","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Study on the Effects of Photogrammetry by the Camera Angle of View Using Computer Simulation 利用计算机模拟研究摄影机视角对摄影测量的影响
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0115
Keita Nakamura, Toshihide Hanari, Taku Matsumoto, Kuniaki Kawabata, Hiroshi Yashiro
{"title":"A Study on the Effects of Photogrammetry by the Camera Angle of View Using Computer Simulation","authors":"Keita Nakamura, Toshihide Hanari, Taku Matsumoto, Kuniaki Kawabata, Hiroshi Yashiro","doi":"10.20965/jrm.2024.p0115","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0115","url":null,"abstract":"During the decommissioning activities, a movie was shot inside the reactor building during the investigation of the primary containment vessel by applying photogrammetry, which is one of the methods for three-dimensional (3D) reconstruction from images, to the images from this movie, it is feasible to perform 3D reconstruction of the environment around the primary containment vessel. However, the images from this movie may not be suitable for 3D reconstruction because they were shot remotely by robots owing to limited illumination, high-dose environments, etc. Moreover, photogrammetry has the disadvantage of easily changing 3D reconstruction results by simply changing the shooting conditions. Therefore, this study investigated the accuracy of the 3D reconstruction results obtained by photogrammetry with changes in the camera angle of view under shooting conditions. In particular, we adopted 3D computer graphics software to simulate shooting target objects for 3D reconstruction in a dark environment while illuminating them with light for application in decommissioning activities. The experimental results obtained by applying artificial images generated by simulation to the photogrammetry method showed that more accurate 3D reconstruction results can be obtained when the camera angle of view is neither too wide nor too narrow when the target objects are shot and surrounded. However, the results showed that the accuracy of the obtained results is low during linear trajectory shooting when the camera angle of view is wide.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"439 ","pages":"115-124"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140447884","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
One-Way-Signal-Based Localization Method of Multiple Autonomous Underwater Vehicles for Distributed Ocean Surveys 基于单向信号的多自主潜水器定位方法，用于分布式海洋勘测
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0190
T. Matsuda, Yang Weng, Yuki Sekimori, T. Sakamaki, Toshihiro Maki
{"title":"One-Way-Signal-Based Localization Method of Multiple Autonomous Underwater Vehicles for Distributed Ocean Surveys","authors":"T. Matsuda, Yang Weng, Yuki Sekimori, T. Sakamaki, Toshihiro Maki","doi":"10.20965/jrm.2024.p0190","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0190","url":null,"abstract":"This study proposes a simultaneous localization method of a group of autonomous underwater vehicles (AUVs) based on one-way signals to realize distributed oceanographic surveys. Each AUV group consists of a single high-performance AUV (parent AUV) and the other AUVs (child AUVs). The child AUVs estimate their states (position and heading) based on the parent AUV as a positioning reference. By assuming a situation in which many AUV groups are deployed, the child AUVs can receive positioning signals from multiple parent AUVs. Although only the direction information of the parent AUV can be obtained from a signal from one parent AUV, the child AUVs can estimate their states by receiving signals from different parent AUVs. Sea experiments were conducted using an autonomous buoy and an AUV. The effectiveness of the proposed method was evaluated through a navigation simulation based on the sensor data obtained from the experiments.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"86 11","pages":"190-200"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140447992","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Demonstration of Autonomous Driving Control for a Retrofitted Wheel Loader 改装轮式装载机的自主驾驶控制演示
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0211
Tomohito Kawabe, Masahiro Inagawa, Toshinobu Takei, Hiroto Murayama, Keiichi Yoshizawa, Munehiro Ishibashi, Keji Nagatani
{"title":"Demonstration of Autonomous Driving Control for a Retrofitted Wheel Loader","authors":"Tomohito Kawabe, Masahiro Inagawa, Toshinobu Takei, Hiroto Murayama, Keiichi Yoshizawa, Munehiro Ishibashi, Keji Nagatani","doi":"10.20965/jrm.2024.p0211","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0211","url":null,"abstract":"Most research on automating gravel pile transport using wheel loaders has been performed primarily through simulations. Thus, studies should evaluate the usefulness of automatic gravel pile transportation by demonstrating it with an actual wheel loader. This study demonstrates automatic driving control using a retrofitted 3-ton wheel loader for gravel pile transportation. The driving model of a retrofitted wheel loader, in which multiple control systems are interlocked, is considered a simple control model with one input and one output for the pedal and vehicle velocity as well as for the steering wheel and steering angular velocity. In this study, we propose a simple and practical method for constructing a driving model via simple response analysis using an actual machine by constructing a feedforward control model based on control input/output using step responses. In this study, feedforward control was applied to the translation of the vehicle, which has a large dead time. By generating the path following the target point from the vehicle predicted position after the dead time from the driving model, the appropriate control input value calculation considering the dead time was performed. By applying the proposed method to a retrofitted wheel loader in a real environment and evaluating the control performance through control experiments, the effectiveness of the proposed method in practice was demonstrated.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"590 2","pages":"211-228"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140446354","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2023 祝贺您机器人学与机电一体化学报》最佳论文奖 2023
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0001
{"title":"Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2023","authors":"","doi":"10.20965/jrm.2024.p0001","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0001","url":null,"abstract":"We are pleased to announce that the 16th Journal of Robotics and Mechatronics Best Paper Award (JRM Best Paper Award 2023) has been decided by the JRM editorial committee. The following paper won the JRM Best Paper Award 2023, severely selected from among all 113 papers published in Vol.34 (2022). The Best Paper Award ceremony was held on December 26, 2023 in hybrid style (both on-site and online; venue: Gakushi-Kaikan, Tokyo, Japan), attended by the authors and JRM editorial committee members who took part in the selection process. The award winners were given certificates and a JPY100,000 honorarium. Editorial committee members who participated online also congratulated them through Zoom. We congratulate the winners and sincerely wish them success in the future.\u0000 Teppei Tsujita, Yuto Inoue, Yutaka Takagi, Atsushi Konno, Satoko Abiko, Xin Jiang, Atsuhiro Nakagawa, and Masaru Uchiyama\u0000 Development of Haptic Interface for Neurosurgical Simulators with Micro Scissors Module for Displaying the Cutting Force\u0000 Journal of Robotics and Mechatronics, Vol.34, No.6, pp. 1284-1296, December 2022","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"59 10","pages":"1-2"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140445553","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of Remote Construction System of Modularized Rail Structure for Inexperienced Operators 为缺乏经验的操作人员开发模块化轨道结构远程施工系统
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0039
Hikaru Terashima, Koki Honda, Ryota Yokomura, Rui Fukui
{"title":"Development of Remote Construction System of Modularized Rail Structure for Inexperienced Operators","authors":"Hikaru Terashima, Koki Honda, Ryota Yokomura, Rui Fukui","doi":"10.20965/jrm.2024.p0039","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0039","url":null,"abstract":"Remotely controlled robots are required to operate in human-inaccessible environments, such as the decommissioning of nuclear power plants. In our previous studies, we proposed a modularized rail structure for such environments. In long-term decommissioning work at a nuclear power plant, robots are controlled by inexperienced operators who have limited knowledge of the design details of the robots. In this study, we developed a remote construction system for supporting inexperienced operators by transmitting the status information of the constructor robot to the operator during the remote construction of a modularized rail structure. The proposed remote construction system was designed based on a human information-processing model. Experiments were conducted using the developed remote construction system. The proposed method achieved a success count of inexperienced operators equivalent to that of skilled operators. Furthermore, a questionnaire administered to participants showed that their cognitive, psychological, and physical loads during construction were sufficiently low during the experiment.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"38 2","pages":"39-48"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140446797","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Automatic Design of Serial Linkage Using Virtual Screw Joint 利用虚拟螺纹接头自动设计串联机构
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0149
Atsushi Takata
{"title":"Automatic Design of Serial Linkage Using Virtual Screw Joint","authors":"Atsushi Takata","doi":"10.20965/jrm.2024.p0149","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0149","url":null,"abstract":"Here, an automatic design method for a serial link mechanism is proposed. This method outputs all kinematic parameters of joints, position, orientation, number, and type of joint (revolute or prismatic). Several studies have been conducted on optimizing only the positions and directions of joints for a desired path. However, automatically determining the numbers and types of joints requires an excessive calculation time owing to the complicity of kinematics. To handle heavy computation, a virtual screw joint (VSJ) is introduced based on a screw axis and the product of exponentials formula. Screw joints have the advantage of including both rotation and translation. First, an additional joint is optimized as a VSJ. Then, adopting its position and orientation and selecting a revolute or prismatic joint facilitate an efficient design process. To demonstrate the effectiveness of this study, two task motions addressed in a related work are adopted as target paths. Consequently, the proposed method automatically generates serial linkages that contain both revolute and prismatic joints and can follow along desired paths.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"166 ","pages":"149-157"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140447238","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Implementation Study of an Adhesion Hand with Stefan Adhesion 带Stefan附着的附着手的实现研究
J. Robotics Mechatronics Pub Date : 2023-08-20 DOI: 10.20965/jrm.2023.p1101
Shoi Higa, Yuki Inoue
{"title":"Implementation Study of an Adhesion Hand with Stefan Adhesion","authors":"Shoi Higa, Yuki Inoue","doi":"10.20965/jrm.2023.p1101","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1101","url":null,"abstract":"The field of robotics involves extensive knowledge and skills related to numerous fields, and the World Robot Summit benchmarks technical skills in service robotics through competition. While grasping and moving a wide variety of objects, we examine a new method for handling objects using a suction mechanism. Notably, the proposed mechanism utilizes the adhesion force resulting from Stefan adhesion, which occurs when a solid plate detaches from a smooth surface. Experiments are conducted to evaluate the performance of the adhesion hand, and the obtained results demonstrate its effectiveness.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"2014 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134229890","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Exploration of a Simple Navigation Method for Swarm Robots Pioneered by Heterogeneity 基于异质性的群体机器人简单导航方法探索
J. Robotics Mechatronics Pub Date : 2023-08-20 DOI: 10.20965/jrm.2023.p0948
Yuichiro Sueoka, Mitsuki Okada, Y. Tsunoda, Yasuhiro Sugimoto, K. Osuka
{"title":"Exploration of a Simple Navigation Method for Swarm Robots Pioneered by Heterogeneity","authors":"Yuichiro Sueoka, Mitsuki Okada, Y. Tsunoda, Yasuhiro Sugimoto, K. Osuka","doi":"10.20965/jrm.2023.p0948","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0948","url":null,"abstract":"In recent years, research has been conducted on swarm robot systems in which multiple autonomous mobile robots cooperate to perform tasks. Swarm robot systems are expected to perform high functionality as a group by cooperating with each other, in spite of the limited capabilities of the individual robots. This paper explores a method of simplifying swarm robot controllers as much as possible for swarm robot navigation. If we can achieve autonomous navigation of swarm robots to a target area with minimal resource consumption, they only need to implement the task execution function in that area. This leads to lower costs for swarm robot design and more efficient system architecture design. To address the above aims, this study focuses on heterogeneity. Specifically, we introduce a navigator robot that indirectly guides swarm robots named the worker robots. Heterogeneity in this paper refers to the worker robots and the navigator robots. We design the interaction between the navigator robot and the worker robots to provide a system that guides the worker robots to the destination.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133104492","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of Action-Intention Indicator for Sidewalk Vehicles 人行道车辆行动意向指标的开发
J. Robotics Mechatronics Pub Date : 2023-08-20 DOI: 10.20965/jrm.2023.p1073
T. Ohkubo, Riku Yamamoto, Kazuyuki Kobayashi
{"title":"Development of Action-Intention Indicator for Sidewalk Vehicles","authors":"T. Ohkubo, Riku Yamamoto, Kazuyuki Kobayashi","doi":"10.20965/jrm.2023.p1073","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1073","url":null,"abstract":"Many small ground vehicles that travel on sidewalks, such as electric wheelchairs, are equipped with a differential-wheeled mechanism to turn precisely on the spot and accurately control their trajectory. Conventional ground vehicles operating on public roads have action indicator devices such as blinkers and brake lights, which are effective in preventing collisions during operations. However, similar blinkers may not be suitable for sidewalk navigation because the differential-wheeled mechanism allows a neutral turn without considering the surroundings. In this study, we developed a new action-intention indicator for future differential-wheeled mobile robots that employs RGB light-emitting diode strip lights to express various colors and complex blinking patterns. Sensitivity evaluation experiments were conducted with approximately 50 subjects to determine the optimal colors and blinking patterns for a differential-wheeled mobile robot. Additionally, reaction-time acquisition experiments were conducted to confirm the effectiveness of the proposed intention-display device for mobile robots. Finally, we evaluated whether the determined blinking patterns exhibited appropriate power consumption.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116915652","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信