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At the Heavy Ion Medical Accelerator in Chiba (HIMAC), more than 8000 patients have been successfully treated by carbon ion beams since 1994. The successful results of treatments have led us to construct a new treatment facility equipped with a 3-D pencil beam scanning irradiation system. For the implementation of this irradiation technique, we developed a fast scanning magnet and its power supply,...
This paper addresses the problems of characterizing and estimating the bifurcation sets of equilibrium points in multi-parameter space of a class of nonlinear dynamical systems. Specifically, we investigate the sets of parameters that lead to saddle-node bifurcations and Hopf bifurcations at an equilibrium point of interest. First, a characterization of these sets is provided in terms of the zeros...
We commercialized a large-size optical current transformer (OCT) using the Faraday effect for the Cable Head Station of Hokkaido-Honshu HVDC Link for cable protection. The rated current and voltage of the HVDC are ±1200 A and ±250 kV, respectively. The diameter of the sensing head of the OCT is about 2 m and it is applicable not only to newly constructed cable heads but also to existing cable heads...
In this paper, a ZigBee-based sensor network is realized and evaluations are carried out in order to clarify the fundamental performance of this sensor network. Life recording and management system is introduced as an example of ZigBee-based sensor networks, and the system is introduced into mobile WiMAX network in Azumino city in order to solve some medical problems in local cities. The following...
The motion of a passive-type intelligent walker is controlled based on visual estimation of the motion state of the user. The controlled walker would be a support for standing up and prevent the user from falling down. The visual motion analysis detects and tracks the human upper body parts and localizes them in 3D using a stereovision approach. Using this data the user's state is estimated to be...
In recent years, robots working in human living space are increasing with development of robot technologies. Environmental information acquisition and human estimation are necessary to control the robots moving in this kind dynamic environment. In this study, we proposed a map generation method which can comprehend dynamic environment with SLAM technology. During the information acquisition of dynamic...
For a long period, many researches about the human spatial recognition are being carried on. They are needed to make robot and automatic driving system for a car or wheelchair with functions as high as those of humans: spatial perception, decision-making, and determining direction. The final goal of our measuring brain activity research is to contribute to developing of welfare robots with functions...
In this paper, an image restoration method using Iterative Blind Deconvolution is proposed. It removes a blur by estimating the Point Spread Function (PSF) of Chest X-ray Photography (Chest-XP) automatically. The Chest-XP contains a blur in the principle of taking images. The conventional methods remove a blur by measuring a phantom image or using the blind deconvolution. However, there are problems...
We introduce a passive mobile robot called CPRP (Caster-type Passive Robot Porter). This robot consists of multiple casters with servo brakes and a controller. C-PRP employs passive dynamics with respect to the force applied by a human. Its appropriate motion is controlled using the servo brakes. In this paper, we derive and analyze a feasible braking force/moment that can be applied to the robot...
In this paper, we introduce a passive haptic device which consists of wires with servo brakes and its control method for physical support of human being. Since servo brakes control a point constrained by wires, this passive system is intrinsically safe and has a wide operating range. We especially develop a motion support system controlled on plane and conduct a path following experiment for illustrating...
For DC current measurement, we have developed optical current transformer (OCT) based on Faraday effect using reflection Sagnac interferometer and performed the field test in Hokkaido-Honshu HVDC Link in Japan from Feb. 2008 in order to confirm its stability over time, and through environment condition. The developed OCT was designed to be installed at the bottom of the cable head bushing without...
A novel motion control algorithm was introduced to achieve dance between a man and a passive type robot (PDR), which can not move by itself, but can guarantee higher level of safety in the process of human-robot cooperation. Firstly, the characteristics of servo brake were analyzed, and the motion was divided into 8 states according to the kinematic model and control constraint condition. Then feasible...
A new adaptive motor controller was constructed, and tested on the control of a 2-wheeled balancing robot in simulation and real world. The controller consists of a feedback (PD) controller and a cerebellar neuronal network model. The structure of the cerebellar model was configured based upon known anatomical neuronal connection in the cerebellar cortex. Namely it consists of 120 granular (Gr) cells,...
In this paper, we propose a 4K digital cinema wireless transmission over 1.2 Gbps wireless LAN system. The proposed system employs next generation wireless LAN system based on IEEE802.11TGac. It uses 80 MHz of bandwidth on 5 GHz band. In this system, video data is compressed by JPEG 2000 with added error resilience tools to improve error performance against wireless channel. Computer simulations are...
This paper introduces a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. We also propose a control architecture referred to as CAST (Control Architecture for...
In this paper, OFDMA (Orthogonal Frequency Division Multiple Access) access methods based on PF (Proportional Fair) algorithm considering the fairness among MS (Mobile Stations) and the total throughput were studied. Concretely, four types of scheduling methods were proposed. Computer simulations were carried out with four types of proposed methods in order to clarify the performance. As the result...
Object manipulation problem by multiple cooperating mobile robots using the concept of object closure is discussed in the paper. It is the condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance during the transportation. We proposed the concept of dynamic object closure for achieving...
In this paper, we introduce a passive mobile robot with casters developed based on the concept of passive robotics. This mobile robot consists of two casters with servo brakes, one passive rigid wheel and a controller. We can manipulate the robot by controlling external force/moment applied by a human based on the control of the servo brakes attached to the casters. We consider the characteristics...
In this paper, we propose an intelligent cane developed based on passive robotics concept for supporting the elderly and the disabled persons who have difficulty walking. The intelligent passive cane (IP Cane) is controlled by servo brakes attached to the wheels and intrinsically safe for humans, because it cannot move unintentionally, i.e., it has no driving actuators. In addition, the IP cane provides...
A reliable predictor of drowsiness using objective measures is desirable for machine and vehicle operations in which human errors may cause fatal accidents. We have evaluated the Vestibulo-Ocular Reflex (VOR) as a possible predictor of drowsiness. The VOR is a compensatory eye movement that stabilizes retinal image during head motion, and is inevitably induced by vibration in a car running on the...
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