Journal of Robotics and Mechatronics最新文献_第3页

Experimental Study of Seamless Switch Between GNSS- and LiDAR-Based Self-Localization 基于 GNSS 和激光雷达的自定位无缝切换实验研究

IF 1.1

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1514

T. Hasegawa, Haruki Miyoshi, Shin’ichi Yuta

引用次数: 0

Robust Cooperative Transport System with Model Error Compensator Using Multiple Robots with Suction Cups 带模型误差补偿器的鲁棒合作运输系统（使用带吸盘的多个机器人

IF 1.1

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1583

N. Matsunaga, Kazuhi Murata, Hiroshi Okajima

{"title":"Robust Cooperative Transport System with Model Error Compensator Using Multiple Robots with Suction Cups","authors":"N. Matsunaga, Kazuhi Murata, Hiroshi Okajima","doi":"10.20965/jrm.2023.p1583","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1583","url":null,"abstract":"In cooperative transport systems, multiple robots work together to transport objects that are difficult to transport with a single robot. In recent years, multi-robot systems that cooperate to transport objects have been researched. However, during the transfer of objects, misalignment occurs between the ideal and actual grasp positions. In an automatic transport system, a grasping error can cause an error in the trajectory of the object, significantly reducing the transport efficiency. In this paper, a control system that allows robust cooperative transport control using a model error compensator is proposed for a leader–follower system in which the transported object is the virtual leader and the followers are ideally arranged. This system adds robustness to the operation of a conventional cooperative transport system by using the ideal formation of robots. The effectiveness of the proposed method was evaluated through cooperative transport experiments using two ideal formations for passing through a narrow entrance. The cooperative transport system could not pass through the narrow entrance using the conventional method; however, the system using the compensator passed through the narrow entrance smoothly.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"111 11","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138954051","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

Proposal for Navigation System Using Three-Dimensional Maps—Self-Localization Using a 3D Map and Slope Detection Using a 2D Laser Range Finder and 3D Map 关于使用三维地图的导航系统的建议--使用三维地图进行自我定位以及使用二维激光测距仪和三维地图进行斜坡探测

IF 1.1

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1604

Neng Chen, S. Suga, Masato Suzuki, Tomokazu Takahashi, Yasushi Mae, Yasuhiko Arai, S. Aoyagi

引用次数: 0

Detection and Measurement of Opening and Closing Automatic Sliding Glass Doors 检测和测量自动滑动玻璃门的开合情况

IF 1.1

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1503

Kazuma Yagi, Yitao Ho, A. Nagata, Takayuki Kiga, Masato Suzuki, Tomokazu Takahashi, Kazuyo Tsuzuki, S. Aoyagi, Yasuhiko Arai, Yasushi Mae

引用次数: 0

Simplified System Integration of Robust Mobile Robot for Initial Pose Estimation for the Nakanoshima Robot Challenge 用于中之岛机器人挑战赛初始姿态估计的鲁棒移动机器人简化系统集成

IF 1.1

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1532

Tomohiro Umetani, Seo Takeda, Ryusei Yamamoto, Yuki Shirakata

引用次数: 0

Development and Evaluation of Arm Lifting Assist Devices 手臂提升辅助设备的开发与评估

IF 1.1

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1675

Ryota Jitsukawa, Hiroshi Kobayashi, Kenta Matsumoto, T. Hashimoto

{"title":"Development and Evaluation of Arm Lifting Assist Devices","authors":"Ryota Jitsukawa, Hiroshi Kobayashi, Kenta Matsumoto, T. Hashimoto","doi":"10.20965/jrm.2023.p1675","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1675","url":null,"abstract":"Musculoskeletal disorders are common occupational diseases that have become a major social problem. Mechanization has been promoted as a solution to this problem. However, several tasks still require manual labor, such as fruit harvesting in orchards, making the introduction of machinery difficult in many cases. Recently, from the viewpoint of worker protection and ergonomics, various wearable robots for work support have attracted attention. In Europe and the US, there has been much development of arm-lifting assistive devices that support upward work while holding tools in the hands for industrial applications. However, most of the devices currently on the market are expensive compared to their assistive capabilities. Against this background, we developed three types of arm-lifting assistive devices with different concepts (an exoskeleton arm-lifting assistive device utilizing a gas spring, an exoskeleton arm-lifting assistive device utilizing McKibben-type artificial muscles, and an arm-lifting assistive suit utilizing rubber) to develop inexpensive, high-power devices. Furthermore, comparative verification of the assist effectiveness of each device was conducted.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"21 5","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138994283","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

Dataset Creation for Semantic Segmentation Using Colored Point Clouds Considering Shadows on Traversable Area 利用考虑到可穿越区域阴影的彩色点云创建语义分割数据集

IF 1.1

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1406

Marin Wada, Yuriko Ueda, Junya Morioka, Miho Adachi, Ryusuke Miyamoto

{"title":"Dataset Creation for Semantic Segmentation Using Colored Point Clouds Considering Shadows on Traversable Area","authors":"Marin Wada, Yuriko Ueda, Junya Morioka, Miho Adachi, Ryusuke Miyamoto","doi":"10.20965/jrm.2023.p1406","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1406","url":null,"abstract":"Semantic segmentation, which provides pixel-wise class labels for an input image, is expected to improve the movement performance of autonomous robots significantly. However, it is difficult to train a good classifier for target applications; public large-scale datasets are often unsuitable. Actually, a classifier trained using Cityscapes is not enough accurate for the Tsukuba Challenge. To generate an appropriate dataset for the target environment, we attempt to construct a semi-automatic method using a colored point cloud obtained with a 3D scanner. Although some degree of accuracy is achieved, it is not practical. Hence, we propose a novel method that creates images with shadows by rendering them in the 3D space to improve the classification accuracy of actual images with shadows, for which existing methods do not output appropriate results. Experimental results using datasets captured around the Tsukuba City Hall demonstrate that the proposed method was superior when appropriate constraints were applied for shadow generation; the mIoU was improved from 0.358 to 0.491 when testing images were obtained at different locations.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"12 3","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139168715","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 Mobility Type Upper Limb Power Assist System —Mechanism and Design of Power Assist Device— 移动式上肢动力辅助系统的开发--动力辅助装置的机械原理与设计--

IF 1.1

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1629

Hiroyuki Inoue, Hiroshi Shimura

{"title":"Development of Mobility Type Upper Limb Power Assist System —Mechanism and Design of Power Assist Device—","authors":"Hiroyuki Inoue, Hiroshi Shimura","doi":"10.20965/jrm.2023.p1629","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1629","url":null,"abstract":"In fruit cultivation, viticulture requires the longest working hours in extended arm postures, much of which is carried out in standing postures to accumulate fatigue on arms, shoulders, and legs: a tough working environment. In this study, we propose a power assist system to assist its users in their extended arm work while they move in vineyards. The proposed system largely consists of a mobile robot, a power assist device for work, and a control system. The mobile robot is structured with a tracked vehicle for rough terrain arranged on its left and right sides so that the users can sit between the two vehicles and be assisted by the power assist device for work installed on it. The power assist device for work with a single linear actuator utilizing a linkage mechanism has the function to retain users’ hand attitude angles while assisting the flexion and extension movements of their shoulder, elbow, and carpometacarpal joints. Then, we verify by simulations the effects that the arrangement and lengths of links will have on the carpometacarpal joints’ trajectories as well as on the hand attitude angles. Finally, in order to check the effectiveness of the proposed power assist device for work, we conducted the evaluation experiments for assumed grape-harvesting work and gibberellin treatments. As a result, we proved its work assisting effects from the muscle activity states as well as its applicability to other kinds of work by altering its linkage structure and hand support part.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"66 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139170346","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

Evaluation of the Basic Designs of a Micro Device that Provides Vibrational Stimulation to Cells 对细胞提供振动刺激的微型装置基本设计的评价

Journal of Robotics and Mechatronics Pub Date : 2023-10-20 DOI: 10.20965/jrm.2023.p1151

Kazuyuki Minami, Tasuku Nakahara, Katsuya Sato

{"title":"Evaluation of the Basic Designs of a Micro Device that Provides Vibrational Stimulation to Cells","authors":"Kazuyuki Minami, Tasuku Nakahara, Katsuya Sato","doi":"10.20965/jrm.2023.p1151","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1151","url":null,"abstract":"It is known that the cells responds to external mechanical stimulations. Although the effectiveness of vibrational stimulation for the osteoanagenesis has been reported, the clarification of detailed mechanism for this phenomenon is insufficient. In this study, a micro device has been developed to evaluate the cell dynamics and responses to vibrations. The micro device has an array of moving micro stages which have transparent 5 µm thick thin film to enable them to observe the cell responses to vibrational stimulations by using an optical microscope. The moving micro stages are moved with a needle actuated by piezo actuator. Microfabrication processes, such as conventional photolithography, lift-off, and sacrificial layer etching, were used to fabricate the micro device. We designed two types of concepts for supporting and vibrating moving micro stages. Prototypes were fabricated and evaluated under vibrational conditions. Proposed design with the moving micro stages vibrating perpendicular to the beams generated simple linear oscillation without rotation. It was verified that the fabricated micro stage could be vibrated at the acceleration amplitude of 0.1 and 0.2 G with frequency 15, 45, and 90 Hz.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"36 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567135","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

Analysis of Separation Efficiency Focusing on Particle Concentration and Size Using a Spiral Microfluidic Device 以颗粒浓度和粒度为重点的螺旋微流控分离效率分析

Journal of Robotics and Mechatronics Pub Date : 2023-10-20 DOI: 10.20965/jrm.2023.p1203

Mitsuhiro Horade, Syunsuke Mukae, Tasuku Yamawaki, Masahito Yashima, Shuichi Murakami, Tsunemasa Saiki

{"title":"Analysis of Separation Efficiency Focusing on Particle Concentration and Size Using a Spiral Microfluidic Device","authors":"Mitsuhiro Horade, Syunsuke Mukae, Tasuku Yamawaki, Masahito Yashima, Shuichi Murakami, Tsunemasa Saiki","doi":"10.20965/jrm.2023.p1203","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1203","url":null,"abstract":"This study discusses component separation using a microfluidic device. Based on the separation principle, a method was adopted to generate an external force due to centrifugal force in a spirally designed channel. In this study, four types of polystyrene particles with different diameters ranging within 1–45 µm were used, and the separation performance was evaluated for each particle size. The centrifugal force increased as the flow velocity in the channel increased; however, this time, the test was conducted with the flow rate, which is an input parameter fixed at 100 µL/min. The results of the micro-channel observation using a high-speed camera indicated that the particle density might be a factor in the decrease in separation efficiency. Therefore, by conducting tests at three different particle densities, we were able to experimentally investigate the change in separation efficiency based on the particle size and density. In this study, we considered the separation efficiency due to the size and density of the particle diameter along with its application to an onsite-type separation device.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"44 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567878","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