Author name cluster

Bruce Kramer

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

5 papers

1 author row

IROS Conference 1995 Conference Paper

A tele-micro-surgery system across the Internet with a fixed viewpoint/operation-point

Mamoru Mitsuishi
Takuro Watanabe
Hirofumi Nakanishi
Toshio Hori
Hiroyoshi Watanabe
Bruce Kramer

This paper describes the necessary functions and the construction of a micro-surgery system which can be operated from a separate place. In particular, a vision system which has a fixed visual point and a slave manipulator, which has the same fixed point at the end of the tool, are proposed. In the vision system, the axes of all rotational degrees of freedom intersect at the focal point of the microscope. In the slave manipulator, the axes of all rotational degrees of freedom also intersect at this point. These mechanisms provide high accessibility to small objects independent of the approach angle from the microscope and the manipulator to the object. Another feature of the system is the transformation of multi-axis force to auditory information to enhance the operability of the system by indicating the contact state of the end-effector and object. Furthermore, the visual information acquisition and display systems are controlled in accordance with the inferred intention of the operator. Finally, a tele-micro-handling experiment was performed using the Internet and two artificial satellites.

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ICRA Conference 1995 Conference Paper

Development of n Inter-World Tele-Micro-Surgery System with Operational Environment Information Transmission Capability

Mamoru Mitsuishi
Kazuo Kobayashi
Takuro Watanabe
Hirofumi Nakanishi
Hiroyoshi Watanabe
Bruce Kramer

This paper describes the necessary functions and the basic structure of a tele-micro-surgery system. In particular, the system is comprised of a vision system which is focused at the end of a surgical tool and a slave manipulator, the rotational axes of which intersect at the same focal point. These mechanisms realize high positionability that is independent of the approach angle from the microscope and the manipulator to the small object that is being operated on. The system also incorporates the transformation of multi-axis force information to sounds that can be easily interpreted by the operator to indicate the contact state between the tool and the object. Furthermore, an inter-world tele-micro-handling experiment has been executed successfully from a remote site using the Internet and two artificial satellites.

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IROS Conference 1995 Conference Paper

Experiments in tele-handling and tele-machining at the macro and micro scales, using the Internet for operational environment transmission

Mamoru Mitsuishi
Toshio Hori
Tomoharu Hikita
Masao Teratani
Takuro Watanabe
Hirofumi Nakanishi
Bruce Kramer

This paper describes the construction of a tele-handling and tele-machining system at the macro and micro scales that uses the Internet for communication. The necessity of transmitting information concerning the operational environment requires an information compression method based on the real-time judgment of the machining state, the transmission of the compressed information and the transformation and augmentation of the information for presentation to the operator. A method to compensate for transmission time delays using the physical model of the object is also described. Results of tele-handling and tele-machining experiments connecting Washington DC and the University of Tokyo in Japan are discussed.

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IROS Conference 1993 Conference Paper

Development of tele-operated micro-handling/machining system based on information transformation

Mamoru Mitsuishi
Kazuo Kobayashi
Takaaki Nagao
Yotaro Hatamura
Tomomasa Sato
Bruce Kramer

Describes the construction of a tele-operated handling/machining system which operates in the micrometer to millimeter range. The system is equipped with a pair of three dimensional force sensors and can be controlled remotely using a three dimensional joystick. The paper presents a transformation method for converting multi-axis force information to auditory information. Such a transformation conveys a realistic sense of the state of the operation and allows high operability of the system. Experimental results are presented which demonstrate the effectiveness of the implemented system.

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ICRA Conference 1992 Conference Paper

A user-friendly manufacturing system for 'hyper-environments'

Mamoru Mitsuishi
Shin'ichi Warisawa
Yotaro Hatamura
Takaaki Nagao
Bruce Kramer

The authors describe a manufacturing system that allows the natural manipulation of tools of production and raw materials in environments which cannot be accessed directly by normal human senses. The term 'hyper-environment' connotes such an environment as remote locations, the micrometer world, or outer space. The authors discuss the functions necessary to realize the system, the software and hardware employed in the system, and the 'reality communication' techniques needed to allow the remote human operator to monitor the operation effectively. Attention is given to a technique for transforming cutting force information into auditory information that allows the operator to determine the cutting conditions. Tests in which a machining center in Tokyo was controlled by teleoperators in Washington are described. >

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