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Universal Design with Robots for the Wide Use of Robots
Nobuto Matsuhira,Junko Hirokawa,Hideki Ogawa,Tatsuya Wada 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Home use robots and service robots have been expected for the society of the aging and the falling birthrate. However, a lot of disturbance avoiding the robot’ activities exists in such an environment. Universal Design with Robots (UDRob<SUP>TM</SUP>) has been proposed to cope with these problems in our daily life environment using the concept of universal design. Here, interface designs for mobility, handling, and image processing are especially considered in the concept. Conceptual design of the robot system based on UDRob<SUP>TM</SUP> and the interaction design has been shown here.
“ON–OFF” switching of europium complex luminescence coupled with a ligand redox process
Yano, Masafumi,Matsuhira, Keisuke,Tatsumi, Masakazu,Kashiwagi, Yukiyasu,Nakamoto, Masami,Oyama, Munetaka,Ohkubo, Kei,Fukuzumi, Shunich,Misaki, Hitomi,Tsukube, Hiroshi The Royal Society of Chemistry 2012 Chemical communications Vol.48 No.34
<P>A triarylamine-functionalized terpyridine ligand formed a highly coordinated complex with europium tris(β-diketonate), which displayed reversible ‘‘ON–OFF’’ luminescence switching coupled with a ligand redox process of triarylamine/triarylaminium cations.</P> <P>Graphic Abstract</P><P>A triarylamine-functionalized terpyridine ligand formed a highly coordinated complex with europium tris(β-diketonate), which displayed reversible ‘‘ON–OFF’’ luminescence switching coupled with a ligand redox process of triarylamine/triarylaminium cations. <IMG SRC='http://pubs.rsc.org/services/images/RSCpubs.ePlatform.Service.FreeContent.ImageService.svc/ImageService/image/GA?id=c2cc31078c'> </P>
Mobile Robot Global Localization Using Particle Filters
Guanghui Cen,Nobuto Matsuhira,Junko Hirokawa,Hideki Ogawa,Ichiro Hagiwara 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Mobile robot global localization is the problem of determining a robot’ pose in an environment by using sensor data, when the initial position is unknown. Particle filter based Probabilistic algorithm called Monte Carlo Localization is the current popular approach to solve the robot localization problem. In this paper we introduce the multi-sensor based Monte Carlo Localization (MCL) method which represents a robot’ belief by a set of weighted samples and use the Laser Range Finder (LRF) sensor to measurement update. We also proposed likelihood based particle filter to solve the kidnapped problem. The experiment results illustrate the efficiency and robustness of particle filter approach for our mobile robot.
Development of an Apparatus for Measuring and Supporting Human Standup Motions
Taigi Suzuki,Yuta Hongo,Nobuto Matsuhira 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
An apparatus measuring and supporting human standup motions has been developed and is intended for use by elderly people in daily life. It consists of a force plate, a 6-axis force sensor, a motion sensor, and pressure sensors to measure human movement as they stand from a sitting position on a chair. Electric sliders, which can drive the position of the handle, are also added to study the apparatus’s supporting motion. Results from a basic experiment find that there is a suitable time of drive against the apparatus’s handle. The apparatus’s suitable supporting motion has the potential to reduce the pulling force and burden on subjects.
Study of the drive-timing for a standup motion-supporting mechanism for the elderly
Shuhei Nomura,Naoya Nakanishi,Nobuto Matsuhira,Takashi Oogawara,Takashi Yoshimi,Hideichi Nakamoto 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
To develop a mechanism that will smoothly support the standup motion of elderly people, we reconsidered the operation-start timing of our previously developed device using a measurement apparatus. In the experiments with elderly subjects, the mechanism did not work as well as it did with younger subjects. For younger subjects, the floor’s reaction force decreased when the support mechanism was used, which was the same as the effect gained when the measurement apparatus was used. However, similar effectiveness was not seen for elderly subjects because of the different way in which they hold the handrail. Thus, we investigated the cause of this discrepancy with the aim of improving the apparatus. As a result, the success rate of the start timing of the support mechanism was improved through experimentation with elderly people.
Yoganata Kristanto,Takashi Yoshimi,Nobuto Matsuhira 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
Recently, Covid-19 pandemic has introduced some disturbances in the transportation industry. As a result, some university students are now participating in online internship programs. In our laboratory, we proposed an online campus tour project where each foreign student teleoperates with a robot. The robot prepared is outfitted with a camera, laser range finder sensor, and a mobile monitor to represent the student’s physical appearance. The robots and foreign students are connected through the university’s internal network. During the tour, we found some flaws and improvements in the current system. Because of the time delay and other difficulties, some students are not able to follow the campus tour project at the same pace as the others. Consequently, a distributed module for automated following features with dynamic order is proposed. The following order is determined by the location of each robot. The proposed module combines ROS Navigation Stack and a novel method of robot formation. In this study, the proposed improvement is evaluated and discussed.
Remote control experiment of multiple robots using RSNP unit
Koichiro Kato,Yukihiro Nakamura,Nobuto Matsuhira,Masahiko Narita 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
In this study, we developed a robot teleoperation function using a robot service network protocol (RSNP) unit and common operation interface, and experimented using 12 robots. From the teleoperation screen on the web page, the robot can be remotely controlled by buttons while checking the camera image on the robot side. We have confirmed that RSNP communication can be introduced by connecting the developed RSNP unit to the robots in various ways. This allowed us to remotely control not only mobile robots but also communication robots, robot arms, and various other robots from a common communication method and operation screen. In addition, the experiment confirmed the teleoperation of 12 robots and 17 operators. However, the operation method was not sufficient because there was no feedback of the operation amount on the operation screen. We will continue to improve the remote-control system to make it easier for an operator to control robot systems.
Development of Prototype Supporting Mechanism Based on Measurement of Standup Motions
Naoya Nakanishi,Taigi Suzuki,Yuta Hongo,Satoshi Iso,Takashi Oogawara,Nobuto Matsuhira 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
To develop a mechanism that will support the standup motions of elderly people, a control method and operation-start condition are proposed using a measurement apparatus. On the basis of those results, a support mechanism is then designed with a practical size and experiments are conducted to verify its effectiveness. In younger subjects, the floor’s reaction force decreases when the support mechanism is used, which is the same effect gained when the measurement apparatus is used. However, similar effectiveness is not seen in elderly subjects because of the different way in which they hold the handrail. Thus, in the future, the mechanism’s design will be revised, taking into consideration the elderly’s specific characteristics.