JaLCDOI 10.18926/19682
FullText URL Mem_Fac_Eng_OU_33_2_91.pdf
Author Munesawa, Yoshiomi| Osaki, Hirokazu| Kajihara, Yasuhiro|
Abstract In this paper, we propose the method to determine the position of the 2 cameras for the multiviewpoints as the robot is the work place. The optical axit's direction of the 1st camera is determined in the base ot work contents in teleoperation. The multiviewpoints system uses the 2 camera units that aren't installed side by side, so that the direction of the 2nd camera is decided in the base of the angle between the optical axes' direction of 2 cameras. Next, the distance from the camera to the work place is determined according to the distance resolution of image on the monitor, and the camera type of which the point-blank range is not this distance is selected. And the efficacy ot this system is examined with an experiment.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1999-04-27
Volume volume33
Issue issue2
Start Page 91
End Page 96
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309052
JaLCDOI 10.18926/19616
FullText URL Mem_Fac_Eng_OU_33_1_53.pdf
Author Li Sen| Osaki, Hirokazu| Kajihara, Yasuhiro| Munesawa, Yosiomi|
Abstract A method for designing a monitoring system with multiple cameras is proposed in order to supervise and recognize the progress of wide work area. First, a wide view camera is deveeloped by combining several usual cameras so that its visual angle could cover more than π/2. Secondly, A method for determining the number and location points of cameras is proposed by considering the shape of monitored area and the installation cost of cameras. The monitored area is divided into three kinds of basic shape (rectangular form, L form and convex form). For every basic shape area, the camera is located at the vertex pasition, so that the whole area can be monitored by the camera.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1998-11-30
Volume volume33
Issue issue1
Start Page 53
End Page 57
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309122
JaLCDOI 10.18926/19615
FullText URL Mem_Fac_Eng_OU_33_1_47.pdf
Author Jindai, Mitsuru| Osaki, Hirokazu| Kajihara, Yasuhiro| Munesawa, Yosiomi|
Abstract In this paper, we propose the recognition methods by image processing using 2D or 3D CAD. In the case of 2D CAD, an object is recognized by comparing five characters calculated from the center of gravity and contour. In the case of 3D CAD, there are two recognition methods. Firstly 3D CAD figure is transformed into 2D CAD figures. And an object is recognized by comparing 2D CAD figures with inputted images. Secondly the three dimensional coordinates of vertexes on an object are calculated from the images taken from some cameras and compared 3D coordinates with those of 3D CAD figures and recognized the sort of an object.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1998-11-30
Volume volume33
Issue issue1
Start Page 47
End Page 52
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309202
JaLCDOI 10.18926/19612
FullText URL Mem_Fac_Eng_OU_33_1_39.pdf
Author Munesawa, Yoshiomi| Osaki, Hirokazu| Kajihara, Yasuhiro|
Abstract In this paper, we propose a recognition index to evaluate the complexity of discrimination among parts and units. The parts and units are classified into some groups (the number of groups is shown as n) by one characteristic, such as color, shape, size and so on. The recognition index of each is denoted as log(2) (n+1) by the information quantity formula. The recognition diagram shows the classfication of parts and units into only one part and unit by the structure of a characteristic. Further we propose the line balancing method for assembly line based on the working time and recognition index.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1998-11-30
Volume volume33
Issue issue1
Start Page 39
End Page 45
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309042
JaLCDOI 10.18926/19610
FullText URL Mem_Fac_Eng_OU_33_1_31.pdf
Author Iwamoto Hidehisa| Osaki, Hirokazu| Kajihara, Yasuhiro| Munesawa, Yoshiomi| Hashimoto Atsufumi| Seki, Shuji|
Abstract The nurse supporting robot system to prepare and hand surgical instruments to a surgeon is proposed to reduce work of nurse in a surgical operation. In this paper, the surgical instrument recognition system (SIRS) is developed to hand the surgical instruments to a surgeon by the robot. The characteristics ot the instruments are area of the instruments, ratio of minimum center-contour distance to maximum one and its outline contour, are recognized by using the image processing. Kinds of the instruments are distinguished by these characteristics.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1998-11-30
Volume volume33
Issue issue1
Start Page 31
End Page 37
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309084
JaLCDOI 10.18926/19603
FullText URL Mem_Fac_Eng_OU_31_2_67.pdf
Author Li Zhenzi| Osaki, Hirokazu| Kajihara, Yasuhiro|
Abstract In this paper, we propose the price determination method using the parameter of the price elasticity that shows the relation between price and demand. Firstly, the state of the price elasticity is examined under the condition that the relation between price and demand are assumed by the inverse proportional function, the linear function and the quadratic function. Secondly, the profit is estimated for each product by break even point analysis. And the price is determined under the condition that the relation between the demand and price is shown by one of three demand-pridce functions above mentioned.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1997-03-28
Volume volume31
Issue issue2
Start Page 67
End Page 72
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309056
JaLCDOI 10.18926/15471
FullText URL Mem_Fac_Eng_OU_24_1_25.pdf
Author Kajihara, Yasuhiro| Osaki, Hirokazu|
Abstract An expert system, in which preconditions and rules are expressed in logical formulas, is developed to support the scheduling of an automated job shop type multi-item assembly line. This system has the foIIowing characteristics to apply any case of schedulings: (1)Forward scheduling orbackward scheduling can be made. (2)The criterion on the input order of products, the dispatching process at each assembly station, and the selection of products from a buffer can be selected from several priority criteria. (3)Layout, number and velocity of vehicles, and the capacity of each buffer can be changed.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1989-11-29
Volume volume24
Issue issue1
Start Page 25
End Page 39
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002307454
JaLCDOI 10.18926/15413
FullText URL Mem_Fac_Eng_OU_29_2_23.pdf
Author Kajihara, Yasuhiro| Osaki, Hirokazu| Dong Rui|
Abstract A method for reducing the variety of parts is proposed. The variety of parts in a product and the variety of parts among products are evaluated in consideration of some factors that influence the production cost. Rules are formulated for selecting parts which should be eliminated or whose designs should be changed to reduce these varieties. An expert system is developed based on this method for reducing the variety of parts.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1995-03-27
Volume volume29
Issue issue2
Start Page 23
End Page 27
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002307257
JaLCDOI 10.18926/15411
FullText URL Mem_Fac_Eng_OU_29_2_13.pdf
Author Dwianto Gatot| Osaki, Hirokazu| Kajihara, Yasuhiro|
Abstract We propose a method to design the supplying method of parts to an assembly line. Three types of supplying model (Serial, Parallel, and Mixed) are proposed based on the relation between the area of part and that of the transportation equipment. The part is supplied by the pallet on which the all parts of one product are arranged or by the lot of one part. AGV or conveyor are used to transport the pallet. The supplying model is evaluated from the total transportation cost calculated from the price of the transportation equipment and of land.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1995-03-27
Volume volume29
Issue issue2
Start Page 13
End Page 21
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002307903
JaLCDOI 10.18926/15399
FullText URL Mem_Fac_Eng_OU_27_2_1.pdf
Author Kajihara, Yasuhiro| Osaki, Hirokazu|
Abstract Precedence relation in assembly has been determined by experience only. Now, an expert system is developed for determining such precedence relation. The conjugate states of the units of a product are shown in face frames and unit frames following the frame model. Seven rules are formulated. They consider geometrical interference of units, and make the precedence relation enable operation time to be shorter, and the number of JIG and substandards to be smaller. These rules are programized by computer language(PROLOG).
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1993-03-25
Volume volume27
Issue issue2
Start Page 1
End Page 9
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002307210
JaLCDOI 10.18926/15378
FullText URL Mem_Fac_Eng_OU_35_191.pdf
Author Yoshida Takanobu| Munesawa, Yoshiomi| Osaki, Hirokazu| Kajihara, Yasuhiro| Ohta Kazuharu|
Abstract We developed the disassembly system that uses the impulsive load and disassembly tools to disassemble used appliances economically. The main components of this system are impulse hammer, a lift table and developed disassembly tools. Several types of disassembly tools are developed to punch out fastened portion on a part and cut off the shaft of screw or connection pin of IC-chip. A simulation model is proposed to explain and formulate how the fastening point of product is broken and cut. Three kinds of disassembly tools are designed. The actual disassembly system is developed by using proposed simulation models and disassembly tools.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2001-03-27
Volume volume35
Issue issue1-2
Start Page 191
End Page 196
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002307328
JaLCDOI 10.18926/15376
FullText URL Mem_Fac_Eng_OU_35_183.pdf
Author Tabuchi Satoshi| Osaki, Hirokazu| Kajihara, Yasuhiro| Munesawa, Yoshiomi|
Abstract This research proposes a strategy for reducing both electricity charge and environmental load by considering multi energy sources. The reduction of the contract electric demand is considered, and its differential cost is used for purchasing substitute power sources. Some variables, such as the amount of reduced contract demand, and amount of electricity are generated by each substitute power source. By using those variables, we formulate a simulation model that enables to minimize the energy cost and environmental cost.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2001-03-27
Volume volume35
Issue issue1-2
Start Page 183
End Page 189
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002307173
JaLCDOI 10.18926/15375
FullText URL Mem_Fac_Eng_OU_35_177.pdf
Author Kanki Kunihiko| Osaki, Hirokazu| Kajihara, Yasuhiro| Munesawa, Yoshiomi| Ohta Kazuharu|
Abstract The focus of this paper is on the analysis of delivery motion of human, development of an image processing method based on the motion analysis and development of the cooperative delivery robot using the image processing method. The proposed image processing method uses two cameras, and it uses a stereo reconstruction technique for measuring position and postures of hands. In addition, this image processing method recognize the number of fingers extending consciously, so the cooperative human beings could choose the kind of tool which he wants by holding out his hand in front of cameras.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2001-03-27
Volume volume35
Issue issue1-2
Start Page 177
End Page 182
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002307899
JaLCDOI 10.18926/15373
FullText URL Mem_Fac_Eng_OU_35_169.pdf
Author Ueda Kiyotaka| Osaki, Hirokazu| Kajihara, Yasuhiro| Munesawa, Yoshiomi|
Abstract We propose an image processing method for part handling robot for picking up subjects piled in a container. Line laser light is projected on subjects, and its external shape is detected by many segments of a line laser, and pitch, roll, and yaw angles of subject are recognized precisely. A priority rule is settled to choose one subject that is taken out. This rule is determined by considering the grasping space, the position of a subject, the movement space of hand and so on.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2001-03-27
Volume volume35
Issue issue1-2
Start Page 169
End Page 175
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002307198
JaLCDOI 10.18926/15371
FullText URL Mem_Fac_Eng_OU_35_163.pdf
Author Uchiyama Hiromitsu| Miyazaki Satoshi| Osaki, Hirokazu| Kajihara, Yasuhiro| Munesawa, Yoshiomi| Matsuki Katsunori|
Abstract We develop an assembly robot system for assembling the flexible belt-shaped subject. An image processing method is developed to recognize the belt-shaped subject. This method is able to determine the grasping point and grasping angle for piking up a subject by a multiple hands unit. CAD information is used to determine the grasping point. The multiple hands unit is developed, which is able to grasp all grasping points of a subject at a time. In addition, the image processing method is used to judge whether a subject is fastened accurately at right position or not during the assembly.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2001-03-27
Volume volume35
Issue issue1-2
Start Page 163
End Page 168
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002307229
JaLCDOI 10.18926/15368
FullText URL Mem_Fac_Eng_OU_35_155.pdf
Author Takahashi Hiromitsu| Munesawa, Yoshiomi| Kajihara, Yasuhiro| Osaki, Hirokazu| Wada Yatarou|
Abstract This paper proposes a concept of a mobile type maintenance robot (MMR in shortly) that is controlled by the tele-operation for assuring the safety and health improvement of work forces. The main components of this system are the industrial robot, an image processing unit, vehicle and computers for tele-operation. Our focus is paid on a method that determine a pathway to move every places where troubles would occur. This method makes it possible that the MMR could arrive any place in the factory with three times of turns at most. Additionally, turning radius of the vehicle is considered for correcting the pathway near the corners to make it possible that it arrives to the place accurately.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2001-03-27
Volume volume35
Issue issue1-2
Start Page 155
End Page 161
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002307844
JaLCDOI 10.18926/15365
FullText URL Mem_Fac_Eng_OU_30_1_1.pdf
Author Dong Liu| Kajihara, Yasuhiro| Osaki, Hirokazu| Munesawa, Yoshiomi|
Abstract A method for standardizing parts is proposed. This method aims to reduce the sort of parts for cutting the manufacturing cost and for improving specifications of parts. Two linear mathematical programming models are proposed for standardizing the parts. One model aims at cutting cost half without causing any degradation of mechanical specifications of parts. The other model aims at doubling mechanical specifications of parts below the acceptable manufacturing cost. These models are formulated in 0-1 integer programming forms. The integer programming model shows which part is common to other parts. An example is shown to demonstrate the use of the developed method.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1995-12-28
Volume volume30
Issue issue1
Start Page 1
End Page 7
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002307491
JaLCDOI 10.18926/15297
FullText URL Mem_Fac_Eng_OU_33_2_97.pdf
Author Jindai, Mitsuru| Osaki, Hirokazu| Kajihara, Yasuhiro| Munesawa, Yoshiomi| Tano Masakazu| Okamoto Katsuyuki| Nishino Akira| Okamoto Asao| Nishimori Naoki|
Abstract We propose the recognition method of bridge soldering base metal on the circuits by comparing CAD figure and input image of image processing to locate the soldering iron tip accurately to secure the high quality Firstly, three dimensional CAD assembly drawing of circuits which are assembled perpendicularly in each other is projected on an imaginary two dimensional screen which is vertical to the optical axis of the camera The projected image is used as the standard CAD figure to inspect the location of the bridge soldering base metal. The positions among the bridge soldering base metals show the line state. So this line (connecting line) is used as the reference line to inspect the location of the bridge soldering base metal. The characteristics of the standard figure are represented by the connecting line, edge line and center points of base metal. Secondly, the position and gradient of connecting line among bridge soldering base metals in the input image is estimated. And the position of base metal and assembly accuracy of circuit units are calculated by comparing the shape and position of each base metal with its standard figure based on the connecting line Furthermore, the length between the opposite edges of the base metals are calculated to inspect the positions and the assemble accuracy of circuit units.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1999-04-27
Volume volume33
Issue issue2
Start Page 97
End Page 103
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002307283