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Standing-up motion is an important daily activity. It has been known that elderly and post-stroke patients have difficulty in performing standing-up motion. The standing-up motion is retrained by therapists to maximize independence of the elderly and post-stroke patients, but it is not clear how the elderly and post-stroke patients control their redundant muscles to achieve standing-up motion. This...
In order for multiple robots to accomplish a required task together, they need to communicate, organize themselves and cooperate. We have discussed these issues for the distribute autonomous robot system. The developed technologies are applied to the football game, in which the multiple mobile robots will maneuver and handle the ball towards the goal. The robots we use are holonomic, omni-directional...
For effective trajectory formation of robots, we propose a method to extract candidate points of the destination of walking people from their walking trajectories. The method is useful for setting the candidate points of the destination automatically which is necessary to estimate the pedestrians' destination. We assume that potential fields influence pedestrians. After estimating parameters of the...
In order for service robots to safely coexist with humans, collision avoidance with humans is the most important issue. On the other hand, working efficiencies are also important and cannot be ignored. In this paper, we propose a method to estimate a pedestrian's behavior. Based on the estimation, we realize smooth collision avoidances between a robot and a human. A robot detects pedestrians by using...
This paper describes development of an automated polarized microscopic image management system for supporting qualitative analysis of asbestos. Dispersion staining is a visual observation method. Experts count all particles in the microscope view and also the number of the fibrous asbestos fibers. For supporting this work, we are developing an automated system to ease experts' burdens for efficient...
In our current research, we are developing a holonomic mobile system which is capable of running over the step. This system realizes omni-directional motion on flat floor using special wheels and passes over non-flat ground in forward or backward direction using the passive suspension mechanism. In order to realize the high mobile performance during step climbing, it is required to reduce wheel slippage...
Division of Labor Control is advanced function for distributed autonomous robotic systems. Many studies focussing division of labor control inspired biological phenomenon have been reported. However, the optimality is not discussed because decentralized control is typically complicated. In this study, we propose the division of labor control method for robot group that enable adaptively select whether...
Near-infrared spectroscopy (NIRS) is a non-invasive technology for measuring brain activity. Recently, the number of research papers on brain machine interface (BMI) based on NIRS technology is increasing. NIRS is a safe and convenient technique but its measurement results are unstable. To improve reliability of NIRS-based BMI, methods to extract stable data from NIRS signals are necessary. This paper...
Prevention of dementia is a crucial issue in this aged society. We propose coimagination method for prevention of dementia through supporting interactive communication with images. Coimagination method aims to activate three cognitive functions: episode memory, division of attention, and planning function, which decline at mild cognitive impairment (MCI). Participants of the coimagination program...
Recently the aging society is very rapid, and it has brought many problems to our society. In order to avoid these difficult situations, we focus on human standing up motion in our research because this motion is so important to our daily life that it is considered meaningful to support the motion. However, the way of human standing up is still unknown because the analysis of human motion is very...
This paper describes about an automated microscopic imaging system for supporting asbestos qualitative analysis. By JIS (Japanese Industrial Standards), the dispersion staining method is designated as a visual qualitative analysis for asbestos in the construction materials. In the analysis process using the microscope, the expert monitors the particles including asbestos fibers and count them. For...
Recently, many older people have difficulty standing up despite that motion's importance in daily life. Therefore, a machine to support their standing-up motion is needed; yet we still do not know how people control their motor system when they stand up. For that reason, we can not produce such a machine. In this study, we analyze the system of people's standing-up motion using information related...
To design distributed autonomous systems, it's effective to mimic animal society. We studied cricket Gryllus Bimaculatus as a typically aggressive insect. In this paper, we construct mathematical model of the individual internal mechanisms which modulate aggressiveness and we make agents to fight each other under some density. As a result, it's confirmed to occur critical phenomenon upon each agent's...
In this paper, we propose the technique classifying background area automatically by calculating the color variance in the RGB space of the picture. By this technique, the background classification robust to change of the background brightness and the background color was enabled. Moreover, we show the effectiveness of this technique by performing particle detection and verifying the result of counting...
In our current research, we are developing a holonomic mobile system which is capable of running over the step. This system realizes omni-directional motion on flat floor using special wheels and passes over non-flat ground in forward or backward direction using the passive suspension mechanism. Odometry is popular position tracking scheme for a wheeled mobile robot, however, in the case of non-flat...
In this paper, we proposed a method to estimate the destination of walking persons from their walking patterns, for avoidance of collision accidents between pedestrians and robots in a human-robot coexistence environment. We adopted the hidden Markov model (HMM) as a model to represent walking patterns. We constructed a model for each movement pattern. A movement pattern was defined with a departure...
For this study, we developed a contactless loading sensor system that can measure the internal loading of an object structure through several covering materials for the purpose of structural health monitoring. The developed system can be inserted into objects without a battery because the system consists of passive RFID for data communication and a power supply. The system uses little electric power...
In case of disasters such as a big earthquake in the urban city, it is one of the most important problems to acquire information of the disaster environment, victimspsila position and status. Although, at present, rescue corps and dogs strive to find the victims everywhere in the disaster area, it takes too long time. To address this problem, a small sized wireless ubiquitous sensor node called ldquoRescue...
Adaptiveness is one of the target functions of research on autonomous robotic systems. However, the adaptiveness realized in the robotic research so far is quite limited and specific to sample problems and systems configurations. On the other hand, all the animals from primitive ones to insects or mammals have commonly the adaptiveness to behave in an unexpected environment. Such adaptive behaviors...
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