Journal of Robotics and Mechatronics最新文献

{"title":"Assessment of Radiation Tolerance of Flash Memory by γ-Ray Irradiation","authors":"Kenichiro Takakura, Kensuke Matsumoto, Kousei Tateishi, Masashi Yoneoka, Isao Tsunoda, Shigekazu Suzuki, Shinji Kawatsuma","doi":"10.20965/jrm.2024.p0088","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0088","url":null,"abstract":"The radiation tolerance of a microcontroller (Raspberry Pi) required for the development of decommissioning robots was investigated. We found that the flash memory needed to boot the microcontroller had particularly low-radiation tolerance, significantly reducing the operation duration of the microcontroller in a radiation environment. We also found that certain high-performance flash memories have high radiation tolerance. Investigation of the process by which flash memory becomes inoperable revealed that internal memory information is rewritten owing to irradiation, leading to limited lifetime for memory.","PeriodicalId":503322,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"15 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139958401","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}

{"title":"KHG: The German Emergency Response Organization for Nuclear Accidents","authors":"Sebastian Friedrich, Uwe Süss, M. Gustmann","doi":"10.20965/jrm.2024.p0134","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0134","url":null,"abstract":"This article describes the German emergency response organization for nuclear accidents “Kerntechnische Hilfsdienst GmbH (KHG)” and informs about its tasks, structures, and working methods. At the end the current status of radiation campaigns, a component of a remote controlled systems is reported.","PeriodicalId":503322,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"12 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139958140","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}

{"title":"Proposal of Learning Support Model for Teacher-Type Robot Supporting Learning According to Learner’s Perplexed Facial Expressions","authors":"Kohei Okawa, Felix Jimenez, Shuichi Akizuki, Tomohiro Yoshikawa","doi":"10.20965/jrm.2024.p0168","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0168","url":null,"abstract":"The introduction of ICT into education in educational settings has become increasingly common. Among these, the research and development of educational support robots have attracted attention. Conventional robots provide academic support through button operation by the learner. However, it has been reported that excessive requests for academic support can be problematic in environments in which learners can freely request academic support. To solve this problem, we developed a perplexion estimation method that estimates the state of perplexion from the learner’s facial expression. When educational support is provided using the proposed method, the robot can autonomously provide academic support. Simulation experiments demonstrated that the perplexion estimation method has the potential to accurately estimate the learner’s state. However, there is still no dedicated model for educational support robots that utilizes the perplexion estimation method. Therefore, this paper proposes an apprenticeship promotion model that integrates a learning support method based on cognitive apprenticeship theory and our perplexion estimation method. We then verified the learning effects of the robot equipped with the proposed model on the learner through participant experiments. The experimental results suggest that the robot equipped with the proposed model not only provides the same learning effect to university students as a conventional robot, but also can autonomously provide academic support at the optimal timing.","PeriodicalId":503322,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"11 17","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139958276","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}

{"title":"babypapa: Multiple Communication Robots to Enrich Relationship Between Parents and Child–Design and Evaluation of KANSEI Model to Control Closeness—","authors":"Satoru Suzuki, Noriaki Imaoka, Takeshi Ando","doi":"10.20965/jrm.2024.p0158","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0158","url":null,"abstract":"There is a need to create a well-being oriented society to improve people’s lives by enhancing their mental satisfaction. In this study, we examined the changes in human emotions based on human–robot interaction by using a communication robot called babypapa. We defined KANSEI as the sensitivity of emotional change to the robot’s behavior and established a KANSEI model. Specifically, to clarify the behavior that the robot should exhibit to make children feel close to it, we conducted play experiments between the robot and 3–4 year-old children to investigate the relationship between the robot’s behavior and the feeling of closeness. The results of the experiment showed that contact and noncontact behaviors of the robot contributed to the feeling of closeness. We demonstrated a certain tendency of closeness and robot behavior.","PeriodicalId":503322,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"2 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139957968","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}

{"title":"Dynamics-Based Control and Path Planning Method for Long-Reach Coupled Tendon-Driven Manipulator","authors":"Atsushi Takata, Gen Endo","doi":"10.20965/jrm.2024.p0030","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0030","url":null,"abstract":"The Fukushima power station in Japan was affected by a major earthquake and tsunami in March 2011, inspecting the primary containment vessel remains difficult due to high radioactivity. Long-reach robot arms are useful in inspecting such hazardous environments, and a coupled tendon-driven mechanism enables realizing a long, light-weight, and thin manipulator. However, high elastic elongation of tendons due to gravity may lead to unstable joint control. In this paper, we introduce dynamics-based control as a feasible strategy for a long-reach tendon-driven robotic arm. Additionally, a planning method to identify the joint angle path ensuring stability is proposed. Considering stability analysis, the potential due to the tendon elasticity and gravity is evaluated and used as an index of joint stability. The rapidly exploring random tree is used as the planning algorithm. The effectiveness of the proposed method was demonstrated through the successful manipulation of a 5-kg payload by a 10-m long robotic arm.","PeriodicalId":503322,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"22 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139958376","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}

{"title":"Special Issue on Robotic, Mechatronic and Information Systems for Decommissioning","authors":"Kuniaki Kawabata, Fumiaki Abe, Satoshi Okada, Takayuki Tanaka","doi":"10.20965/jrm.2024.p0007","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0007","url":null,"abstract":"The Fukushima Daiichi Nuclear Power Plant accident, triggered by the Great East Japan Earthquake and the tsunami, has had a major impact on societies across the world. The subsequent focus on decommissioning efforts has attracted worldwide attention. It has been consistently asserted since the aftermath of the accident that the decommissioning of the Fukushima Daiichi Nuclear Power Plant will take approximately 30 to 40 years. The promotion of decommissioning work means that we will continue to face the problems with uncertainties in the work, as sometimes referred to as Unknown Unknowns.\u0000 Typical elemental technologies required in remotely operated robotic systems for decommissioning include mobile mechanisms and their control, handling mechanisms and their control, information communication, operation interface (information presentation and command input), shielding (radiation resistance) and so on. Although many tasks using remotely operated robotic systems have been carried out with noteworthy results, there are lingering issues yet to be clarified. To ensure the safe and effective execution of various types of decommissioning tasks over a period of several decades, continuous research and development of each elemental technology are imperative, and these technologies must be integrated into a system appropriately to the assumed tasks. In addition, human resource development and the transfer of knowledge and experience are also important issues.\u0000 From such viewpoint, this special issue is titled “Robotic, Mechatronic and Information Systems for Decommissioning.” It contains papers and development reports on robotics, mechatronics, information processing, and information systems technologies relevant to decommissioning work. It also features recent activities of nuclear emergency response organizations.\u0000 We hope this special issue will acquaint readers with the latest research and development results and organizational activities related to decommissioning. At the same time, we hope that we were able to provide readers interested in robots, mechatronics, and information technology with an opportunity to become aware of the issues and necessary perspectives related to decommissioning and nuclear disasters.\u0000 Lastly, we would like to thank the editorial board of the Journal of Robotics and Mechatronics, the editorial team of Fuji Technology Press, and the reviewers for their support in the planning and publication of this special issue. Their dedicated efforts are deeply appreciated.","PeriodicalId":503322,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"8 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139958261","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}

{"title":"Development of a Decommissioning Robot with a Simple Structure Capable of Traversing Steps Using Two Different Drive Systems","authors":"Riku Miura, Seiya Tozaki, Ibuki Mikado, Toma Takei, Shuichiro Ogake, Kazuma Kobayashi, Satoshi Mitsui, Toshifumi Satake, Naoki Igo","doi":"10.20965/jrm.2024.p0095","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0095","url":null,"abstract":"In response to the imperative need for robotic involvement in the decommissioning of the Fukushima Daiichi Nuclear Power Plant, a proactive initiative was undertaken. This initiative led to the organization of the “7th Decommissioning Creative Robot Contest,” in which pivotal challenges related to nuclear plant decommissioning were addressed. Recognizing inaccessible areas within a decommissioned plant, the primary objective of this study was to develop a remotely operated robot capable of executing decontamination tasks in such environments. Two distinct locomotion systems were designed: mecanum wheels and crawlers. The mecanum wheels, characterized by their ability to execute approximately 100 mm vertical movements, facilitated the robot to surmount obstacles, particularly by negotiating 100 mm steps by engaging the tracks. Simultaneously, to address decontamination tasks at elevated locations, a threefold expandable ladder truck system was integrated, augmenting the operational range of the robot. Participation in the contest provided a platform for showcasing the developed technologies and validating their practicality. Despite encountering challenges during competition, such as damage to one locomotion system, the other locomotion system can be used to reach the destination. Experience serves as a crucial means of verifying technological advancements. Issues such as malfunctions in the range of motion control due to faulty limit switch contacts and unexpected loads on the tire elevation motors were noted, which hindered the achievement of the anticipated results. Despite these drawbacks, the adopted structural design demonstrates notable advantages, particularly in terms of maneuverability. The combination of mecanum wheels and crawlers along with a ladder truck system demonstrated adaptability to various scenarios. This adaptability holds significant promise for future nuclear power plant decontamination applications. While the competition may not have yielded the desired outcome, the lessons learned and the verified practicality of the developed technologies reinforce their potential utility in addressing the future challenges of nuclear plant decommissioning.","PeriodicalId":503322,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"28 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139958339","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}