start-ver=1.4
cd-journal=joma
no-vol=4
cd-vols=
no-issue=
article-no=
start-page=1
end-page=17
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=20240331
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Interdisciplinary Science Contributing to Sustainable Development of Human Society
kn-title=?類社会の持続的発展に貢献する統合科学
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=With the increase of the complexity of human society because of the globalization and the advancement of each scientific field, innovations by effective collaborations of experts in various fields become necessary to solve problems in human society and to increase the findings of each field. From the backgrounds, the interdisciplinary science b ecomes popular in recent y ears. This article p resents the approach of interdisciplinary science and its importance to the sustainable development of human society. As an example of studies by interdisciplinary science, this article introduces a virtual reality based mirror visual feedback therapy system that the author has been developed in collaboration with medical doctors, professors in engineering field and students of the author’s laboratory in Okayama University.
en-copyright=
kn-copyright=
en-aut-name=GOFUKUAkio
en-aut-sei=GOFUKU
en-aut-mei=Akio
kn-aut-name=五福明夫
kn-aut-sei=五福
kn-aut-mei=明夫
aut-affil-num=1
ORCID=
affil-num=1
en-affil=Okayama University
kn-affil=岡山大学
en-keyword=Interdisciplinary science
kn-keyword=Interdisciplinary science
en-keyword=Collaboration of medicine and engineering
kn-keyword=Collaboration of medicine and engineering
en-keyword=Virtual reality
kn-keyword=Virtual reality
en-keyword=Mirror visual feedback therapy system
kn-keyword=Mirror visual feedback therapy system
END
start-ver=1.4
cd-journal=joma
no-vol=12
cd-vols=
no-issue=11
article-no=
start-page=424
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=20231114
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of Hexagonal Pyramid-Shaped Flexible Actuator with Anisotropic Stiffness for Upper-Limb Rehabilitation Device
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Rehabilitation devices for passive exercise have been actively researched and developed in accordance with Japan's aging society. A previous study proposed and tested an extension-type flexible pneumatic actuator (EFPA) with reinforced stiffness that could achieve passive exercise in patients. In addition, a rehabilitation device for shoulder joints with an embedded controller and small valves was proposed and tested. Joints such as the shoulder and scapula were subjected to passive exercise utilizing the tested device. However, it is difficult for patients with contractions to perform the same exercise because the reinforced EFPA can buckle. Here, to realize an EFPA with a higher stiffness, a flexible actuator in the shape of a hexagonal pyramid is proposed and tested. The hexagonal pyramid shape of a flexible actuator has a high stiffness in the direction of motion and flexibility in other directions; hereafter, this characteristic is called anisotropic stiffness. The characteristics of the hexagonal pyramid shape of the EFPA are described and compared with those of a previously reinforced EFPA. An analytical model was proposed to predict and design the shape of the hexagonal pyramid EFPA. The validity of the model is also described.
en-copyright=
kn-copyright=
en-aut-name=ShimookaSo
en-aut-sei=Shimooka
en-aut-mei=So
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=HimuroHiroki
en-aut-sei=Himuro
en-aut-mei=Hiroki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
affil-num=1
en-affil=Faculty of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=
affil-num=2
en-affil=Faculty of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
affil-num=3
en-affil=Faculty of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
en-keyword=hexagonal pyramid shape of flexible actuator
kn-keyword=hexagonal pyramid shape of flexible actuator
en-keyword=anisotropic stiffness
kn-keyword=anisotropic stiffness
en-keyword=extension-type flexible pneumatic actuator
kn-keyword=extension-type flexible pneumatic actuator
en-keyword=analytical model of shape
kn-keyword=analytical model of shape
END
start-ver=1.4
cd-journal=joma
no-vol=361
cd-vols=
no-issue=
article-no=
start-page=114603
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=20231016
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A soft rotary actuator with a flexible shaft using flexible pneumatic actuators
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper proposes a soft rotary actuator that can rotate even when its shaft is bent. The tested rotary actuator consists of three Extension-type Flexible Pneumatic Actuators (EFPA), flexible plates for restraining the EFPAs geometrically, and a polyurethane tube as a shaft. The EFPA consists of a silicone rubber tube covered with a sleeve that can expand significantly in the axial direction when the tube is pressurized. By restraining the EFPA to a helical shape using plates, the proposed rotary actuator can rotate when the three EFPAs are extended in the rotational direction upon the application of pressure. It is confirmed that the tested actuator could rotate even if the shaft is bent, because the shaft and EFPAs consist of flexible materials. The maximum rotation angle and torque are approximately 400° and 0.5 Nm, respectively, for an input pressure of 500 kPa. An analytical model of the tested actuator is proposed to predict the relationship between the rotation angle and the input pressure. A comparison between the calculated and experimental rotation angles reveals that the experimental results can be accurately predicted using the proposed analytical model, which considers the effects of EFPA friction and restraining.
en-copyright=
kn-copyright=
en-aut-name=ShimookaSo
en-aut-sei=Shimooka
en-aut-mei=So
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=KawanakaMiku
en-aut-sei=Kawanaka
en-aut-mei=Miku
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
affil-num=1
en-affil=Faculty of Natural Science and Technology, Okayama University
kn-affil=
affil-num=2
en-affil=Faculty of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
affil-num=3
en-affil=Faculty of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
en-keyword=Soft rotary actuator
kn-keyword=Soft rotary actuator
en-keyword=Extension soft actuator
kn-keyword=Extension soft actuator
en-keyword=Flexible shaft
kn-keyword=Flexible shaft
en-keyword=Pneumatic drive
kn-keyword=Pneumatic drive
END
start-ver=1.4
cd-journal=joma
no-vol=13
cd-vols=
no-issue=8
article-no=
start-page=1416
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=20230414
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Deep Active Learning for Automatic Mitotic Cell Detection on HEp-2 Specimen Medical Images
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Identifying Human Epithelial Type 2 (HEp-2) mitotic cells is a crucial procedure in anti-nuclear antibodies (ANAs) testing, which is the standard protocol for detecting connective tissue diseases (CTD). Due to the low throughput and labor-subjectivity of the ANAs' manual screening test, there is a need to develop a reliable HEp-2 computer-aided diagnosis (CAD) system. The automatic detection of mitotic cells from the microscopic HEp-2 specimen images is an essential step to support the diagnosis process and enhance the throughput of this test. This work proposes a deep active learning (DAL) approach to overcoming the cell labeling challenge. Moreover, deep learning detectors are tailored to automatically identify the mitotic cells directly in the entire microscopic HEp-2 specimen images, avoiding the segmentation step. The proposed framework is validated using the I3A Task-2 dataset over 5-fold cross-validation trials. Using the YOLO predictor, promising mitotic cell prediction results are achieved with an average of 90.011% recall, 88.307% precision, and 81.531% mAP. Whereas, average scores of 86.986% recall, 85.282% precision, and 78.506% mAP are obtained using the Faster R-CNN predictor. Employing the DAL method over four labeling rounds effectively enhances the accuracy of the data annotation, and hence, improves the prediction performance. The proposed framework could be practically applicable to support medical personnel in making rapid and accurate decisions about the mitotic cells' existence.
en-copyright=
kn-copyright=
en-aut-name=AnaamAsaad
en-aut-sei=Anaam
en-aut-mei=Asaad
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=Al-antariMugahed A.
en-aut-sei=Al-antari
en-aut-mei=Mugahed A.
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=HussainJamil
en-aut-sei=Hussain
en-aut-mei=Jamil
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
en-aut-name=Abdel SameeNagwan
en-aut-sei=Abdel Samee
en-aut-mei=Nagwan
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=
en-aut-name=AlabdulhafithMaali
en-aut-sei=Alabdulhafith
en-aut-mei=Maali
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=
affil-num=1
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
affil-num=2
en-affil=Department of Artificial Intelligence, College of Software & Convergence Technology, Daeyang AI Center, Sejong University
kn-affil=
affil-num=3
en-affil=Department of Data Science, College of Software & Convergence Technology, Daeyang AI Center, Sejong University
kn-affil=
affil-num=4
en-affil=Department of Information Technology, College of Computer and Information Sciences, Princess Nourah bint Abdulrahman University
kn-affil=
affil-num=5
en-affil=Department of Information Technology, College of Computer and Information Sciences, Princess Nourah bint Abdulrahman University
kn-affil=
affil-num=6
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
en-keyword=medical HEp-2 specimen images
kn-keyword=medical HEp-2 specimen images
en-keyword=HEp-2 mitotic cell detection
kn-keyword=HEp-2 mitotic cell detection
en-keyword=deep active learning (DAL)
kn-keyword=deep active learning (DAL)
en-keyword=automatic data annotation
kn-keyword=automatic data annotation
en-keyword=computer-aided detection (CAD)
kn-keyword=computer-aided detection (CAD)
END
start-ver=1.4
cd-journal=joma
no-vol=22
cd-vols=
no-issue=14
article-no=
start-page=5080
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2022
dt-pub=202207
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A Heartbeat Classifier for Continuous Prediction Using a Wearable Device
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Heartbeat monitoring may play an essential role in the early detection of cardiovascular disease. When using a traditional monitoring system, an abnormal heartbeat may not appear during a recording in a healthcare facility due to the limited time. Thus, continuous and long-term monitoring is needed. Moreover, the conventional equipment may not be portable and cannot be used at arbitrary times and locations. A wearable sensor device such as Polar H10 offers the same capability as an alternative. It has gold-standard heartbeat recording and communication ability but still lacks analytical processing of the recorded data. An automatic heartbeat classification system can play as an analyzer and is still an open problem in the development stage. This paper proposes a heartbeat classifier based on RR interval data for real-time and continuous heartbeat monitoring using the Polar H10 wearable device. Several machine learning and deep learning methods were used to train the classifier. In the training process, we also compare intra-patient and inter-patient paradigms on the original and oversampling datasets to achieve higher classification accuracy and the fastest computation speed. As a result, with a constrain in RR interval data as the feature, the random forest-based classifier implemented in the system achieved up to 99.67% for accuracy, precision, recall, and F1-score. We are also conducting experiments involving healthy people to evaluate the classifier in a real-time monitoring system.
en-copyright=
kn-copyright=
en-aut-name=PramukantoroEko Sakti
en-aut-sei=Pramukantoro
en-aut-mei=Eko Sakti
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
affil-num=1
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
affil-num=2
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
en-keyword=heartbeats
kn-keyword=heartbeats
en-keyword=machine learning
kn-keyword=machine learning
en-keyword=deep learning
kn-keyword=deep learning
en-keyword=wearable sensor
kn-keyword=wearable sensor
END
start-ver=1.4
cd-journal=joma
no-vol=11
cd-vols=
no-issue=6
article-no=
start-page=743
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2021
dt-pub=20210603
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Parieto-Occipital Alpha and Low-Beta EEG Power Reflect Sense of Agency
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The sense of agency (SoA) is part of psychophysiological modules related to the self. Disturbed SoA is found in several clinical conditions, hence understanding the neural correlates of the SoA is useful for the diagnosis and determining the proper treatment strategies. Although there are several neuroimaging studies on SoA, it is desirable to translate the knowledge to more accessible and inexpensive EEG-based biomarkers for the sake of applicability. However, SoA has not been widely investigated using EEG. To address this issue, we designed an EEG experiment on healthy adults (n = 15) to determine the sensitivity of EEG on the SoA paradigm using hand movement with parametrically delayed visual feedback. We calculated the power spectral density over the traditional EEG frequency bands for ten delay conditions relative to no delay condition. Independent component analysis and equivalent current dipole modeling were applied to address artifact rejection, volume conduction, and source localization to determine the effect of interest. The results revealed that the alpha and low-beta EEG power increased in the parieto-occipital regions in proportion to the reduced SoA reported by the subjects. We conclude that the parieto-occipital alpha and low-beta EEG power reflect the sense of agency.
en-copyright=
kn-copyright=
en-aut-name=Bu-OmerHani M.
en-aut-sei=Bu-Omer
en-aut-mei=Hani M.
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=SatoKenji
en-aut-sei=Sato
en-aut-mei=Kenji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
en-aut-name=MiyakoshiMakoto
en-aut-sei=Miyakoshi
en-aut-mei=Makoto
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=
affil-num=1
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
affil-num=2
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
affil-num=3
en-affil=Department of Anesthesiology and Intensive Care Medicine, Kawasaki Medical School
kn-affil=
affil-num=4
en-affil=Swartz Center for Computational Neuroscience, Institute for Neural Computation, University of California San Diego
kn-affil=
en-keyword=sense of agency
kn-keyword=sense of agency
en-keyword=electroencephalography (EEG)
kn-keyword=electroencephalography (EEG)
en-keyword=mirror visual feedback
kn-keyword=mirror visual feedback
en-keyword=virtual reality
kn-keyword=virtual reality
en-keyword=delayed visual feedback
kn-keyword=delayed visual feedback
END
start-ver=1.4
cd-journal=joma
no-vol=1
cd-vols=
no-issue=
article-no=
start-page=29
end-page=45
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2021
dt-pub=20210331
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Consideration about recognition of factors causing lack of confirmation in the nursing scene
kn-title=看護場?における確認不?を引き起こす要因の認識に関する検討
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=In the work process of nurses with high risk, it is very urgent to take countermeasures against the “lack of confirmation” of the main factors. Therefore, the purpose of this study is to clarify the details of the factors leading to the lack of confirmation, grasp the number of near misses, and to explore what kind of factors the individual characteristics of the nurse who acts as a stopper. We recruited 500 nurses on the Web and asked about the frequency of near misses due to lack of confirmation, the awareness of the causes of lack of confirmation, self-evaluation of stoppers, and the reasons why near misses did not lead to accidents. As a result, three factors were extracted regarding the recognition of the factors of lack of confirmation: "lack of consciousness", "inability to concentrate", and "lack of knowledge / experience". Three factors were extracted for self-evaluation of stopper characteristics: "awareness," "verification," and "cautiousness". In order to reduce the lack of confirmation, it is necessary to secure and allocate appropriate personnel and create an environment where treatment can be concentrated. Nurses should also raise knowledge and the awareness of the importance of confirmation. In addition, it is necessary to improve the clinical judgment of new nurses in order to prevent near misses. And it is thought that new nurses will
become more confident by accumulating experience and affirming their abilities from their superiors, seniors and colleagues.
en-copyright=
kn-copyright=
en-aut-name=ZuoWanxin
en-aut-sei=Zuo
en-aut-mei=Wanxin
kn-aut-name=左婉馨
kn-aut-sei=左
kn-aut-mei=婉馨
aut-affil-num=1
ORCID=
en-aut-name=HyodoYoshimi
en-aut-sei=Hyodo
en-aut-mei=Yoshimi
kn-aut-name=兵藤好美
kn-aut-sei=兵藤
kn-aut-mei=好美
aut-affil-num=2
ORCID=
en-aut-name=TanakaTomoko
en-aut-sei=Tanaka
en-aut-mei=Tomoko
kn-aut-name=?中共?
kn-aut-sei=?中
kn-aut-mei=共?
aut-affil-num=3
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=五福明夫
kn-aut-sei=五福
kn-aut-mei=明夫
aut-affil-num=4
ORCID=
affil-num=1
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=岡山大学大学院ヘルスシステム統合科学研究科
affil-num=2
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=岡山大学ヘルスシステム統合科学研究科
affil-num=3
en-affil=Graduate School of Humanities and Social Sciences, Okayama University
kn-affil=岡山大学大学院社会文化科学研究科
affil-num=4
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=岡山大学大学院ヘルスシステム統合科学研究科
en-keyword=lack of confirmation
kn-keyword=lack of confirmation
en-keyword=stoppers
kn-keyword=stoppers
en-keyword=nurse
kn-keyword=nurse
END
start-ver=1.4
cd-journal=joma
no-vol=1
cd-vols=
no-issue=
article-no=
start-page=1
end-page=1
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2021
dt-pub=20210331
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=On the Occasion of the First Issue of Interdisciplinary Science
kn-title=『統合科学』の創刊にあたって
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=五福明夫
kn-aut-sei=五福
kn-aut-mei=明夫
aut-affil-num=1
ORCID=
affil-num=1
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=岡山大学大学院ヘルスシステム統合科学研究科
END
start-ver=1.4
cd-journal=joma
no-vol=9
cd-vols=
no-issue=
article-no=
start-page=98048
end-page=98059
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2021
dt-pub=2021
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Studying the Applicability of Generative Adversarial Networks on HEp-2 Cell Image Augmentation
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The Anti-Nuclear Antibodies (ANAs) testing is the primary serological diagnosis screening test for autoimmune diseases. ANAs testing is conducted mainly by the Indirect Immunofluorescence (IIF) on Human Epithelial cell-substrate (HEp-2) protocol. However, due to its high variability, human-subjectivity, and low throughput, there is an insistent need to develop an efficient Computer-Aided Diagnosis system (CADs) to automate this protocol. Many recently proposed Convolutional Neural Networks (CNNs) demonstrated promising results in HEp-2 cell image classification, which is the main task of the HE-p2 IIF protocol. However, the lack of large labeled datasets is still the main challenge in this field. This work provides a detailed study of the applicability of using generative adversarial networks (GANs) algorithms as an augmentation method. Different types of GANs were employed to synthesize HEp-2 cell images to address the data scarcity problem. For systematic comparison, empirical quantitative metrics were implemented to evaluate different GAN models' performance of learning the real data representations. The results of this work showed that though the high visual similarity with the real images, GANs' capacity to generate diverse data is still limited. This deficiency in the generated data diversity is found to be of a crucial impact when used as a standalone method for augmentation. However, combining limited-size GANs-generated data with classic augmentation improves the classification accuracy across different variants of CNNs. Our results demonstrated a competitive performance for the overall classification accuracy and the mean class accuracy of the HEp-2 cell image classification task.
en-copyright=
kn-copyright=
en-aut-name=AnaamAsaad
en-aut-sei=Anaam
en-aut-mei=Asaad
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=Bu-OmerHani M.
en-aut-sei=Bu-Omer
en-aut-mei=Hani M.
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
affil-num=1
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
affil-num=2
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
affil-num=3
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
en-keyword=Computer architecture
kn-keyword=Computer architecture
en-keyword=Task analysis
kn-keyword=Task analysis
en-keyword=Microprocessors
kn-keyword=Microprocessors
en-keyword=Generative adversarial networks
kn-keyword=Generative adversarial networks
en-keyword=Biomedical imaging
kn-keyword=Biomedical imaging
en-keyword=Measurement
kn-keyword=Measurement
en-keyword=Feature extraction
kn-keyword=Feature extraction
en-keyword=Computer-aided diagnosis systems (CADs)
kn-keyword=Computer-aided diagnosis systems (CADs)
en-keyword=convolutional neural networks (CNNs)
kn-keyword=convolutional neural networks (CNNs)
en-keyword=data augmentation
kn-keyword=data augmentation
en-keyword=data diversity
kn-keyword=data diversity
en-keyword=evaluation metrics
kn-keyword=evaluation metrics
en-keyword=generative adversarial networks (GANs)
kn-keyword=generative adversarial networks (GANs)
en-keyword=HEp-2 cell image classification
kn-keyword=HEp-2 cell image classification
END
start-ver=1.4
cd-journal=joma
no-vol=2180
cd-vols=
no-issue=
article-no=
start-page=020028
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2019
dt-pub=20191210
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Consideration to Display Operator Support Information to Human Operators under High Mental Pressure
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract= Operator support systems are extensively studied and developed to support human operators for their activities in especially an abnormal condition of a nuclear power plant. By the advancement of computer technology and artificial intelligence, an operator support system can provide detailed support information based on detailed models and utilizing detailed simulation of plant dynamics and/or complicated inference algorithms. However, human operators may not understand the detailed support information under high mental pressure in an abnormal plant condition. In such a case, it is important how to provide essential and understandable support information. This paper deals with a technique to simplify functional models in order to display operator support information that is generated based on detailed functional models. This paper defines eight cognitive states of human operators from the viewpoint of cognitive abilities of human. In addition, three ways to simplify functional models are identified.
en-copyright=
kn-copyright=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
affil-num=1
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
en-keyword=operator support system
kn-keyword=operator support system
en-keyword= information display
kn-keyword= information display
en-keyword=model simplification
kn-keyword=model simplification
en-keyword=cognitive state
kn-keyword=cognitive state
END
start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2019
dt-pub=20191119
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of a separable search-and-rescue robot composed of a mobile robot and a snake robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract= In this study, we propose a new robot system consisting of a mobile robot and a snake robot. The system works not only as a mobile manipulator but also as a multi-agent system by using the snake robot's ability to separate from the mobile robot. Initially, the snake robot is mounted on the mobile robot in the carrying mode. When an operator uses the snake robot as a manipulator, the robot changes to the manipulator mode. The operator can detach the snake robot from the mobile robot and command the snake robot to conduct lateral rolling motions. In this paper, we present the details of our robot and its performance in the World Robot Summit.
en-copyright=
kn-copyright=
en-aut-name=KamegawaTetsushi
en-aut-sei=Kamegawa
en-aut-mei=Tetsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=AkiyamaTaichi
en-aut-sei=Akiyama
en-aut-mei=Taichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=SakaiSatoshi
en-aut-sei=Sakai
en-aut-mei=Satoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
en-aut-name=FujiiKento
en-aut-sei=Fujii
en-aut-mei=Kento
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=
en-aut-name=UneKazushi
en-aut-sei=Une
en-aut-mei=Kazushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=
en-aut-name=OuEitou
en-aut-sei=Ou
en-aut-mei=Eitou
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=
en-aut-name=MatsumuraYuto
en-aut-sei=Matsumura
en-aut-mei=Yuto
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=
en-aut-name=KishutaniToru
en-aut-sei=Kishutani
en-aut-mei=Toru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=
en-aut-name=NoseEiji
en-aut-sei=Nose
en-aut-mei=Eiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=
en-aut-name=YoshizakiYusuke
en-aut-sei=Yoshizaki
en-aut-mei=Yusuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=11
ORCID=
affil-num=1
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=
affil-num=2
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=
affil-num=3
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=
affil-num=4
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=
affil-num=5
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=
affil-num=6
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=
affil-num=7
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=
affil-num=8
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=
affil-num=9
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=
affil-num=10
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=
affil-num=11
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=
en-keyword=Separable robot
kn-keyword=Separable robot
en-keyword=snake robot
kn-keyword=snake robot
en-keyword=mobile robot
kn-keyword=mobile robot
en-keyword=urban search-and-rescue
kn-keyword=urban search-and-rescue
en-keyword=multi-agent system
kn-keyword=multi-agent system
END
start-ver=1.4
cd-journal=joma
no-vol=70
cd-vols=
no-issue=3
article-no=
start-page=205
end-page=211
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2016
dt-pub=201606
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Structure of a New Palatal Plate and the Artificial Tongue for Articulation Disorder in a Patient with Subtotal Glossectomy
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=A palatal augmentation prosthesis (PAP) is used to facilitate improvement in the speech and swallowing functions of patients with tongue resection or tongue movement disorders. However, a PAP?s effect is limited in cases where articulation disorder is severe due to wide glossectomy and/or segmental mandibulectomy. In this paper, we describe speech outcomes of a patient with an articulation disorder following glossectomy and segmental mandibulectomy. We used a palatal plate (PP) based on a PAP, along with an artificial tongue (KAT). Speech improvement was evaluated by a standardized speech intelligibility test consisting of 100 syllables. The speech intelligibility score was significantly higher when the patient wore both the PP and KAT than when he wore neither (p＝0.013). The conversational intelligibility score was significantly improved with the PP and KAT than without PP and KAT (p＝0.024). These results suggest that speech function can be improved in patients with hard tissue defects with segmental mandibulectomy using both a PP and a KAT. The nature of the design of the PP and that of the KAT will allow these prostheses to address a wide range of tissue defects.
en-copyright=
kn-copyright=
en-aut-name=KozakiKen-ichi
en-aut-sei=Kozaki
en-aut-mei=Ken-ichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=KawakamiShigehisa
en-aut-sei=Kawakami
en-aut-mei=Shigehisa
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=KonishiTakayuki
en-aut-sei=Konishi
en-aut-mei=Takayuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
en-aut-name=OhtaKeiji
en-aut-sei=Ohta
en-aut-mei=Keiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=
en-aut-name=YanoJitsuro
en-aut-sei=Yano
en-aut-mei=Jitsuro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=
en-aut-name=OnodaTomoo
en-aut-sei=Onoda
en-aut-mei=Tomoo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=
en-aut-name=MatsumotoHiroshi
en-aut-sei=Matsumoto
en-aut-mei=Hiroshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=
en-aut-name=MizukawaNobuyoshi
en-aut-sei=Mizukawa
en-aut-mei=Nobuyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=
en-aut-name=KimataYoshihiro
en-aut-sei=Kimata
en-aut-mei=Yoshihiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=
en-aut-name=NishizakiKazunori
en-aut-sei=Nishizaki
en-aut-mei=Kazunori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=
en-aut-name=IidaSeiji
en-aut-sei=Iida
en-aut-mei=Seiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=11
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=12
ORCID=
en-aut-name=AbeMasanobu
en-aut-sei=Abe
en-aut-mei=Masanobu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=13
ORCID=
en-aut-name=MinagiShogo
en-aut-sei=Minagi
en-aut-mei=Shogo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=14
ORCID=
en-aut-name=Okayama Dream Speech Project
en-aut-sei=Okayama Dream Speech Project
en-aut-mei=
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=15
ORCID=
affil-num=1
en-affil=Department of Dental Pharmacology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
affil-num=2
en-affil=Department of Occlusal and Oral Functional Rehabilitation, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
affil-num=3
en-affil=Division of Physical Medicine and Rehabilitation, Okayama University Hospital
kn-affil=
affil-num=4
en-affil=Dental Laboratory Division, Okayama University Hospital
kn-affil=
affil-num=5
en-affil=Department of Occlusal and Oral Functional Rehabilitation, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
affil-num=6
en-affil=Department of Otolaryngology-Head and Neck Surgery Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
affil-num=7
en-affil=Department of Plastic and Reconstructive Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
affil-num=8
en-affil=Department of Oral and Maxillofacial Reconstructive Surgery, Okayama University Hospital
kn-affil=
affil-num=9
en-affil=Department of Plastic and Reconstructive Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
affil-num=10
en-affil=Department of Otolaryngology-Head and Neck Surgery Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
affil-num=11
en-affil=Department of Oral and Maxillofacial Reconstructive Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
affil-num=12
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=
affil-num=13
en-affil=Department of Computer Science, Okayama University
kn-affil=
affil-num=14
en-affil=Department of Occlusal and Oral Functional Rehabilitation, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
affil-num=15
en-affil=
kn-affil=
en-keyword=palatal augmentation prosthesis
kn-keyword=palatal augmentation prosthesis
en-keyword=artificial tongue
kn-keyword=artificial tongue
en-keyword=articulation disorder
kn-keyword=articulation disorder
en-keyword=glossectomy
kn-keyword=glossectomy
en-keyword=mandibulectomy
kn-keyword=mandibulectomy
END
start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=113
end-page=118
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2006
dt-pub=20061022
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A mechanical intelligence in assisting the navigation by a force feedback steering wheel for a snake rescue robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper applies our developed novice users oriented force feedback steering wheel interface and mouse interface to navigating a tank type rescue robot. By analyzing merits and limitation of operating each interface, we propose a combined navigation strategy by the two interfaces. The steering wheel interface consists of a force feedback steering control and a six monitors’ wall. Through this interface, users can navigate the tank robot like driving cars, while watching incoming videos. It provides a daily life operation method for novice users to navigate the tank rescue robot. The steering wheel interface is efficient in exploring open areas. For complex disaster fields, this interface requires users have skillful operation experiences, which take them more attention. The mouse-screen interface consists of a mouse and a camera’s view displayed in a computer screen. Through this interface, users can navigate the tank robot just by mouse clicking. Path planning and low-level controlling are realized by system automatically. The mouse-screen interface can realize exact navigation, especially needed in complex structures, without taking much attention. It gives users more time to care incoming information. The two interfaces can shift into each other at any time. The combined navigation strategy adopts merits of the two interfaces and compensates limitation of each of them. It provides an efficient operation method for novice users to navigate rescue robots.
en-copyright=
kn-copyright=
en-aut-name=YangZhixiao
en-aut-sei=Yang
en-aut-mei=Zhixiao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=HirotsuneKazuyuki
en-aut-sei=Hirotsune
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
en-aut-name=SaijoKazuhiko
en-aut-sei=Saijo
en-aut-mei=Kazuhiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=
en-aut-name=MatsunoFumitoshi
en-aut-sei=Matsuno
en-aut-mei=Fumitoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=
affil-num=1
en-affil=
kn-affil=Okayama University
affil-num=2
en-affil=
kn-affil=Okayama University
affil-num=3
en-affil=
kn-affil=Okayama University
affil-num=4
en-affil=
kn-affil=Okayama University
affil-num=5
en-affil=
kn-affil=Okayama University
affil-num=6
en-affil=
kn-affil=Okayama University
en-keyword=Human Interface
kn-keyword=Human Interface
en-keyword=Mechancial Intelligence
kn-keyword=Mechancial Intelligence
en-keyword=Navigation
kn-keyword=Navigation
en-keyword=Force Feedback Steering Wheel
kn-keyword=Force Feedback Steering Wheel
en-keyword=Rescue Robot
kn-keyword=Rescue Robot
en-keyword= Snake Robot.
kn-keyword= Snake Robot.
END
start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=175
end-page=180
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2004
dt-pub=20048
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A study of reinforcement learning with knowledge sharing
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=In this paper, we consider multi-agent system in which every agents have own tasks that differs each other. We propose a method that decreases learning time of reinforcement learning by using the model of environment. In the proposed algorithm, the model is created by sharing the experiences of agents each other. To demonstrate the effectiveness of the proposed method, simulations of a puddle world and experiments of a maze world have been carried out. As a result effective behaviors have been obtained quickly.
en-copyright=
kn-copyright=
en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=ImotoYoshiaki
en-aut-sei=Imoto
en-aut-mei=Yoshiaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=TaguchiHideaki
en-aut-sei=Taguchi
en-aut-mei=Hideaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=
affil-num=1
en-affil=
kn-affil=Okayama University
affil-num=2
en-affil=
kn-affil=Okayama University
affil-num=3
en-affil=
kn-affil=Okayama University
affil-num=4
en-affil=
kn-affil=Okayama University
END
start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=239
end-page=244
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2004
dt-pub=20048
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A combined navigation strategy by a steering wheel and a mouse for a tank rescue robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper applies our developed novice users oriented force feedback steering wheel interface and mouse interface to navigating a tank type rescue robot. By analyzing merits and limitation of operating each interface, we propose a combined navigation strategy by the two interfaces. The steering wheel interface consists of a force feedback steering control and a six monitors’ wall. Through this interface, users can navigate the tank robot like driving cars, while watching incoming videos. It provides a daily life operation method for novice users to navigate the tank rescue robot. The steering wheel interface is efficient in exploring open areas. For complex disaster fields, this interface requires users have skillful operation experiences, which take them more attention. The mouse-screen interface consists of a mouse and a camera’s view displayed in a computer screen. Through this interface, users can navigate the tank robot just by mouse clicking. Path planning and low-level controlling are realized by system automatically. The mouse-screen interface can realize exact navigation, especially needed in complex structures, without taking much attention. It gives users more time to care incoming information. The two interfaces can shift into each other at any time. The combined navigation strategy adopts merits of the two interfaces and compensates limitation of each of them. It provides an efficient operation method for novice users to navigate rescue robots.
en-copyright=
kn-copyright=
en-aut-name=YangZhixiao
en-aut-sei=Yang
en-aut-mei=Zhixiao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=SaijoKazuhiko
en-aut-sei=Saijo
en-aut-mei=Kazuhiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
en-aut-name=HirotsuneKazuyuki
en-aut-sei=Hirotsune
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=
en-aut-name=MatsunoFumitoshi
en-aut-sei=Matsuno
en-aut-mei=Fumitoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=
affil-num=1
en-affil=
kn-affil=Okayama University
affil-num=2
en-affil=
kn-affil=Okayama University
affil-num=3
en-affil=
kn-affil=Okayama University
affil-num=4
en-affil=
kn-affil=Okayama University
affil-num=5
en-affil=
kn-affil=Okayama University
affil-num=6
en-affil=
kn-affil=University of Electro-Communications
en-keyword=Human Interface
kn-keyword=Human Interface
en-keyword=Rescue Robot
kn-keyword=Rescue Robot
en-keyword=Navigation
kn-keyword=Navigation
en-keyword=Force Feedback Steering Wheel
kn-keyword=Force Feedback Steering Wheel
en-keyword=Mouse
kn-keyword=Mouse
en-keyword= Tank Robot.
kn-keyword= Tank Robot.
END
start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=239
end-page=244
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2004
dt-pub=20048
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A combined navigation strategy by a steering
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper applies our developed novice users oriented force feedback steering wheel interface and mouse interface to navigating a tank type rescue robot. By analyzing merits and limitation of operating each interface, we propose a combined navigation strategy by the two interfaces. The steering wheel interface consists of a force feedback steering control and a six monitors’ wall. Through this interface, users can navigate the tank robot like driving cars, while watching incoming videos. It provides a daily life operation method for novice users to navigate the tank rescue robot. The steering wheel interface is efficient in exploring open areas. For complex disaster fields, this interface requires users have skillful operation experiences, which take them more attention. The mouse-screen interface consists of a mouse and a camera’s view displayed in a computer screen. Through this interface, users can navigate the tank robot just by mouse clicking. Path planning and low-level controlling are realized by system automatically. The mouse-screen interface can realize exact navigation, especially needed in complex structures, without taking much attention. It gives users more time to care incoming information. The two interfaces can shift into each other at any time. The combined navigation strategy adopts merits of the two interfaces and compensates limitation of each of them. It provides an efficient operation method for novice users to navigate rescue robots.
en-copyright=
kn-copyright=
en-aut-name=YangZhixiao
en-aut-sei=Yang
en-aut-mei=Zhixiao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=SaijoKazuhiko
en-aut-sei=Saijo
en-aut-mei=Kazuhiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
en-aut-name=HirotsuneKazuyuki
en-aut-sei=Hirotsune
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=
en-aut-name=MatsunoFumitoshi
en-aut-sei=Matsuno
en-aut-mei=Fumitoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=
affil-num=1
en-affil=
kn-affil=Okayama University
affil-num=2
en-affil=
kn-affil=Okayama University
affil-num=3
en-affil=
kn-affil=Okayama University
affil-num=4
en-affil=
kn-affil=Okayama University
affil-num=5
en-affil=
kn-affil=Okayama University
affil-num=6
en-affil=
kn-affil=University of Electro-Communications
en-keyword=Human Interface; Rescue Robot; Navigation;Force Feedback Steering Wheel; Mouse; Tank Robot.
kn-keyword=Human Interface; Rescue Robot; Navigation;Force Feedback Steering Wheel; Mouse; Tank Robot.
END
start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=113
end-page=118
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2004
dt-pub=20040920
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A mechanical intelligence in assisting the navigation by a force feedback steering wheel for a snake rescue robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=We developed a snake rescue robot basing on the proposed mechanical intelligence. The mechanical intelligence is designed to avoid obstacles and to realize desired motions when the robot is navigated by a remote force feedback steering wheel interface. We use free joints to connect modules of the snake robot. Modules can freely turn according to their neighbors. An obstacle-avoiding wheel is mounted on the head of the snake robot. When the head encounters an obstacle, the wheel touches it first to transfer the sliding friction between the wheel and the obstacle into rolling friction, so that the head avoid the obstacle easily. A metal wire is used to link gears mounted on both sides of each module. When any part of the snake robot's body encounters an obstacle, the wire length of each side varies automatically to change the robot's body shape, so that the snake robot avoids the obstacle. The wire length of each side can also be adjusted by a motor. By adjusting the wire length of each side, the snake robot can move in the desired direction. The mechanical intelligence based snake rescue robot has light body, low cost and low computation cost. Experiment results show that the designed mechanical intelligence is effective in realizing desired robot motions together with the force feedback steering wheel interface.
en-copyright=
kn-copyright=
en-aut-name=YangZhixiao
en-aut-sei=Yang
en-aut-mei=Zhixiao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=HirotsuneKazuyuki
en-aut-sei=Hirotsune
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
en-aut-name=SaijoKazuhiko
en-aut-sei=Saijo
en-aut-mei=Kazuhiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=
en-aut-name=MatsunoFumitoshi
en-aut-sei=Matsuno
en-aut-mei=Fumitoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=
affil-num=1
en-affil=
kn-affil=Okayama University
affil-num=2
en-affil=
kn-affil=Okayama University
affil-num=3
en-affil=
kn-affil=Okayama University
affil-num=4
en-affil=
kn-affil=Okayama University
affil-num=5
en-affil=
kn-affil=Okayama University
affil-num=6
en-affil=
kn-affil=University of Electro-Communications
en-keyword=Human Interface
kn-keyword=Human Interface
en-keyword=Mechancial Intelligence
kn-keyword=Mechancial Intelligence
en-keyword=Navigation
kn-keyword=Navigation
en-keyword=Force Feedback Steering Wheel
kn-keyword=Force Feedback Steering Wheel
en-keyword=Rescue Robot
kn-keyword=Rescue Robot
en-keyword= Snake Robot.
kn-keyword= Snake Robot.
END
start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=1120
end-page=1125
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=20037
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A study of reinforcement learning with knowledge sharing for distributed autonomous system
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Reinforcement learning is one of effective controller for autonomous robots. Because it does not need priori knowledge and behaviors to complete given tasks are obtained automatically be repeating trial and error. However a large number of trials are required to realize complex tasks. So the task that can be obtained using the real robot is restricted to simple ones. Considering these points, various methods that prove the learning cost of reinforcement learning have been proposed. In the method that uses priori knowledge, the methods lose the autonomy that is most important feature of reinforcement learning in applying it to the robots. In the Dyna-Q, that is one of simple and effective reinforcement learning architecture integrating online planning, a model of environment is learned from real experience and by utilizing the model to learn, the learning time is decreased. In this architecture, the autonomy is held, however the model depends on the task, so acquired knowledge of environment cannot be reused to other tasks. In the real world, human beings can learn various behaviors to complete complex tasks without priori knowledge of the tasks. We can try to realize the task in our image without moving our body. After the training in the image, by trying to the real environment, we save time to learn. It means that we have model of environment and we utilize the model to learn. We consider that the key ability that makes the learning process faster is construction of environment model and utilization of it. In this paper, we have proposed a method to obtain an environment model that is independent of the task. And by utilizing the model we have decreased learning time. We consider distributed autonomous agents, and we show that the environment model is constructed quickly by sharing the experience of each agent, even when each agent has own independent task. To demonstrate the effectiveness of the proposed method, we have applied the method to the Q-learning and simulations of a puddle world are carried out. As a result effective behaviors have been obtained quickly.
en-copyright=
kn-copyright=
en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=ImotoYoshiaki
en-aut-sei=Imoto
en-aut-mei=Yoshiaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
en-aut-name=TakeshitaMitsuo
en-aut-sei=Takeshita
en-aut-mei=Mitsuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=
affil-num=1
en-affil=
kn-affil=Okayama University
affil-num=2
en-affil=
kn-affil=Okayama University
affil-num=3
en-affil=
kn-affil=Okayama University
affil-num=4
en-affil=
kn-affil=Okayama University
en-keyword=knowledge based systems
kn-keyword=knowledge based systems
en-keyword= learning (artificial intelligence)
kn-keyword= learning (artificial intelligence)
en-keyword=planning (artificial intelligence) robots
kn-keyword=planning (artificial intelligence) robots
END
start-ver=1.4
cd-journal=joma
no-vol=1
cd-vols=
no-issue=
article-no=
start-page=485
end-page=490
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=20037
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Path evaluation for a mobile robot based on a risk of collision
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=An odometry system that mobile robot uses for positioning has cumulative error because of wheels' slippage and uneven ground. It causes a risk of collision of obstacles. Therefore, we propose a path evaluation method for a mobile robot based on a risk of collision. To evaluate a robot's path, we define an evaluation value as an integral of a risk of collision along the path. To evaluate the risk of collision at each point, we use an estimated positioning error generated in the odometry system. Using the evaluation method, the robot can plan a path based on a risk of collision, not the shortest path. We also consider sensing points planning for position adjustment of the mobile robot, based on the same approach. Some examples of path evaluation results support a validity of the proposed method.
en-copyright=
kn-copyright=
en-aut-name=IrieMasahiro
en-aut-sei=Irie
en-aut-mei=Masahiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=NagataniKeiji
en-aut-sei=Nagatani
en-aut-mei=Keiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
affil-num=1
en-affil=
kn-affil=Okayama University
affil-num=2
en-affil=
kn-affil=Okayama University
affil-num=3
en-affil=
kn-affil=Okayama University
en-keyword=distance measurement
kn-keyword=distance measurement
en-keyword=error analysis
kn-keyword=error analysis
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=navigation
kn-keyword=navigation
en-keyword=path planning
kn-keyword=path planning
END
start-ver=1.4
cd-journal=joma
no-vol=4
cd-vols=
no-issue=
article-no=
start-page=2572
end-page=2579
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=200312
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Emergence of adaptive behaviors by redundant robots : Robustness to changes environment and failures
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Acquiring adaptive behaviors of robots automatically is one of the most interesting topics of the evolutionary systems. In previous works, we have developed an adaptive autonomous control method for redundant robots. The QDSEGA is one of the methods that we have proposed for them. The QDSEGA is realized by combining Q-learning and GA, and it can acquire suitable behaviors by adapting a movement of a robot for a task. In this paper, we focus on the adaptability of the QDSEGA and discuss the robustness of the autonomous redundant robot that is controlled by the QDSEGA. To demonstrate the effectiveness of the QDSEGA, simulations of obstacle avoidance by a 10-link manipulator in the changeable environment and locomotion by a 12-legged robot with failures have been carried out, and as a result, adaptive behaviors for each environment and each broken body have emerged.
en-copyright=
kn-copyright=
en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
affil-num=1
en-affil=
kn-affil=Okayama University
affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=genetic algorithms
kn-keyword=genetic algorithms
en-keyword= learning (artificial intelligence)
kn-keyword= learning (artificial intelligence)
en-keyword=legged locomotion
kn-keyword=legged locomotion
en-keyword=redundant manipulators
kn-keyword=redundant manipulators
END
start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=2500
end-page=2505
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=200310
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Hybrid autonomous control for heterogeneous multi-agent system
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Reinforcement learning is an adaptive and flexible control method for autonomous system. In our previous works, we had proposed a reinforcement learning algorithm for redundant systems: "Q-learning with dynamic structuring of exploration space based on GA (QDSEGA)", and applied it to multi-agent systems. However previous works of the QDSEGA have been restricted to homogeneous agents. In this paper, we extend our previous works of multi-agent systems, and propose a hybrid autonomous control method for heterogeneous multi-agent systems. To demonstrate the effectiveness of the proposed method, simulations of transportation task by 10 heterogeneous mobile robots have been carried out. As a result effective behaviors have been obtained.
en-copyright=
kn-copyright=
en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
affil-num=1
en-affil=
kn-affil=Okayama University
affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=adaptive control
kn-keyword=adaptive control
en-keyword= learning (artificial intelligence)
kn-keyword= learning (artificial intelligence)
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=multi-agent systems
kn-keyword=multi-agent systems
END
start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=1663
end-page=1668
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2002
dt-pub=200210
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Motion planning for mobile manipulator with keeping manipulability
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Our research goal is to realize a motion planning for an intelligent mobile manipulator. To plan a mobile manipulator's motion, it is popular that the base robot motion is regarded as manipulator's extra joints, and the whole system is considered as a redundant manipulator. In this case, the locomotion controller is a part of the manipulator controller. However, it is difficult to implement both controllers as one controller, in our implementation experience, because of difference of actuators' character. In this research, we focus on a path planning algorithm for a mobile base with keeping manipulability at the tip of the mounted manipulator. In this case, the locomotion controller is independent from the manipulator controller, and a cooperative motion is realized by a communication between both controllers. In this paper, we propose a motion planning algorithm for a mobile manipulator, and report several experimental results.
en-copyright=
kn-copyright=
en-aut-name=NagataniKeiji
en-aut-sei=Nagatani
en-aut-mei=Keiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=HirayamaTomonobu
en-aut-sei=Hirayama
en-aut-mei=Tomonobu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=
affil-num=1
en-affil=
kn-affil=Okayama University
affil-num=2
en-affil=
kn-affil=Okayama University
affil-num=3
en-affil=
kn-affil=Okayama University
affil-num=4
en-affil=
kn-affil=Okayama University
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=path planning
kn-keyword=path planning
END
start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=1827
end-page=1832
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2000
dt-pub=200010
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Fundamental study of fluid transfer using electro-rheological effect
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Considering that there is no pump feeding an Electro-Rheological-Fluid, a new type of pump has been manufactured and fluid dynamic characteristics have been elucidated. This pump can feed the ERF by utilizing effectively the change in physical properties of the fluid by the application of voltage. The principle and configuration of this pump and the methods of theoretical analysis are described, and the influence of the voltage on the feeding characteristics was examined The dispersoidal ERF has been treated hitherto as a type of Newtonian fluid. However. experiments showed that not only the induced shear stress but also the viscosity is affected by the electric field strength and that the ERF must be treated as a pseudo-plastic flow. The method of analysis described here can be applied to design the pump differing in dimensions because the analysis gave qualitative evaluations about the flow rate and pressure difference
en-copyright=
kn-copyright=
en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
affil-num=1
en-affil=
kn-affil=Okayama University
affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=electrorheology
kn-keyword=electrorheology
en-keyword=non-Newtonian flow
kn-keyword=non-Newtonian flow
en-keyword=non-Newtonian fluids
kn-keyword=non-Newtonian fluids
en-keyword=pumps
kn-keyword=pumps
END
start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=932
end-page=937
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1999
dt-pub=199909
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of a video-rate range finder using dynamic threshold method for characteristic point detection
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This study develops a video-rate stereo range finding circuit to obtain the depth of objects in a scene by processing video signals (R, G, B, and brightness signals) from binocular CCD cameras. The electronic circuit implements a dynamic threshold method to decrease the affect of signal noise in characteristic point detection, where a video signal from each CCD camera is compared with multiple thresholds, shifting dynamically by feeding back the previous comparison result. Several object depth measurement experiments for simple indoor scenes show that the dynamic threshold method gives high acquisition and correct rates of depth data compared with those by a fixed threshold method for the video signals and a relative method for R, G, and B signals utilized in the authors' previous range finders.
en-copyright=
kn-copyright=
en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=TakedaNobuo
en-aut-sei=Takeda
en-aut-mei=Nobuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
en-aut-name=NagaiIsaku
en-aut-sei=Nagai
en-aut-mei=Isaku
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=
affil-num=1
en-affil=
kn-affil=Department of Systems Engineering, Okayama University
affil-num=2
en-affil=
kn-affil=Department of Systems Engineering, Okayama University
affil-num=3
en-affil=
kn-affil=Graduate School of Engineering, Okayama University
affil-num=4
en-affil=
kn-affil=Department of Systems Engineering, Okayama University
en-keyword=Video-Rate Range Finder
kn-keyword=Video-Rate Range Finder
en-keyword=Stereo Color CCD Camera
kn-keyword=Stereo Color CCD Camera
en-keyword=Autonomous Vehicle
kn-keyword=Autonomous Vehicle
en-keyword=Detection of Characteristic Point
kn-keyword=Detection of Characteristic Point
en-keyword=Real-Time Measurement
kn-keyword=Real-Time Measurement
END
start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=67
end-page=72
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1997
dt-pub=19970923
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Analysis of electric-fluid analogy of pressure transmission through an electro-rheological-fluid in annuli
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The article concerns the development of flexible robotic fingers using electro-rheological fluid (ERF) for pressure control. It describes a technique to predict the transient response of a pressure control device using ERF by an electric-flow analogy. The inertia is calculated from the theoretical equation. The resistance and additional voltage source by the ER effect are derived theoretically by assuming the flow in the electrode annuli of the pressure control device as a flow of the Bingham fluid. The capacitance is determined to compare the time-responses of pressures by the prediction based on a model with the results of a simple experiment. The predictions of transient flow, using the determined parameters of the model are in qualitatively good agreement with the experimental results
en-copyright=
kn-copyright=
en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=NakamuraKeiji
en-aut-sei=Nakamura
en-aut-mei=Keiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
affil-num=1
en-affil=
kn-affil=Okayama University
affil-num=2
en-affil=
kn-affil=Okayama University
affil-num=3
en-affil=
kn-affil=Okayama University
en-keyword=electropneumatic control equipment
kn-keyword=electropneumatic control equipment
en-keyword=electrorheology
kn-keyword=electrorheology
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=non-Newtonian flow
kn-keyword=non-Newtonian flow
en-keyword=non-Newtonian fluids
kn-keyword=non-Newtonian fluids
en-keyword=pressure control
kn-keyword=pressure control
END
start-ver=1.4
cd-journal=joma
no-vol=2
cd-vols=
no-issue=
article-no=
start-page=723
end-page=728
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1996
dt-pub=19963
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of a tactile sensing flexible actuator
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The disadvantages of flexible artificial fingers have been improved. The finger is provided with the tactile sense by two types of sensors to detect when the finger tip touches an object and to estimate both the finger force and object size. The rigidity is enhanced by equipping the finger with a reinforcing material similar to that of human bone. A prototype robot hand with four fingers has been manufactured for experiments and mounted on an industrial articulated robot. The effectiveness of the improved robot hand finger was confirmed throughout experimental tests of grasping action
en-copyright=
kn-copyright=
en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=
en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=
en-aut-name=FujinoYuji
en-aut-sei=Fujino
en-aut-mei=Yuji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=
affil-num=1
en-affil=
kn-affil=Department of Mecliariical Engineering, Faculty of Engineering, Okayama Univ.
affil-num=2
en-affil=
kn-affil=Department of Mecliariical Engineering, Faculty of Engineering, Okayama Univ.
affil-num=3
en-affil=
kn-affil=Murata Seisakusho
en-keyword=actuators
kn-keyword=actuators
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=tactile sensors
kn-keyword=tactile sensors
END