Hideki Hashimoto

YNIMG Journal 2016 Journal Article

Detection of resting state functional connectivity using partial correlation analysis: A study using multi-distance and whole-head probe near-infrared spectroscopy

• Eisuke Sakakibara
• Fumitaka Homae
• Shingo Kawasaki
• Yukika Nishimura
• Ryu Takizawa
• Shinsuke Koike
• Akihide Kinoshita
• Hanako Sakurada

Multichannel near-infrared spectroscopy (NIRS) is a functional neuroimaging modality that enables easy-to-use and noninvasive measurement of changes in blood oxygenation levels. We developed a clinically-applicable method for estimating resting state functional connectivity (RSFC) with NIRS using a partial correlation analysis to reduce the influence of extraneural components. Using a multi-distance probe arrangement NIRS, we measured resting state brain activity for 8min in 17 healthy participants. Independent component analysis was used to extract shallow and deep signals from the original NIRS data. Pearson's correlation calculated from original signals was significantly higher than that calculated from deep signals, while partial correlation calculated from original signals was comparable to that calculated from deep (cerebral-tissue) signals alone. To further test the validity of our method, we also measured 8min of resting state brain activity using a whole-head NIRS arrangement consisting of 17 cortical regions in 80 healthy participants. Significant RSFC between neighboring, interhemispheric homologous, and some distant ipsilateral brain region pairs was revealed. Additionally, females exhibited higher RSFC between interhemispheric occipital region-pairs, in addition to higher connectivity between some ipsilateral pairs in the left hemisphere, when compared to males. The combined results of the two component experiments indicate that partial correlation analysis is effective in reducing the influence of extracerebral signals, and that NIRS is able to detect well-described resting state networks and sex-related differences in RSFC.

IROS Conference 2010 Conference Paper

Circle fitting based position measurement system using laser range finder in construction fields

• Hajime Tamura
• Takeshi Sasaki
• Hideki Hashimoto
• Fumihiro Inoue

In this paper, an accurate long-distance position measurement system using laser range finders (LRFs), which can be used for surveys in construction fields is proposed. Since the LRF is a sensor which can measure distance to surfaces of objects by radiating laser beams from itself and receiving the reflected ones, data obtained from the LRF are nothing more than the contours of objects. For this reason, we adopted cylindrical shaped objects since the contour, a circular arc, is invariant against rotation. Therefore, this research aims to fit circles to the arc-shaped contours of the cylindrical objects and estimate their accurate center positions by applying the least square method and maximum likelihood estimation. If we know the radius of the cylindrical object in advance, the aforementioned two methods become non-linear problems. For this reason, we applied the Newton-Raphson method to solve these non-linear equations. We improve the angular resolution of the LRF by using a pan unit, and reveal that the maximum likelihood estimation can give us the most accurate center position. Additionally, we implemented proposed position measurement system in an actual construction field.

IROS Conference 2008 Conference Paper

In-situ robust nanorobotic resistance spot welding of InGaAs/GaAs helical nanobelts without pretreatment

• Gilgueng Hwang
• Primoz Podrzaj
• Hideki Hashimoto

This paper presents the nanorobotic resistance spot welding (RSW) of ultra-thin film three-dimensional helical nanobelts(HNBs) for the assembly of nanoelectromechanical systems (NEMS) from as-fabricated building blocks. Three-dimensional HNBs with metal pads firstly placed onto as-fabricated micropipette electrode. using nanorobotic manipulation, then fixed with RSW. The spot-welded structures are then electro-mechanically characterized to show the ohmic conductivity and electromechanical stability. Experiments show that RSW can enable stable ohmic contacts with sufficient mechanical strength for constructing devices such as force sensors from HNBs.

IROS Conference 2008 Conference Paper

Model based robot localization using onboard and distributed laser range finders

• Drazen Brscic
• Hideki Hashimoto

In this paper we present a method for estimating the position of mobile robots using a combination of both robot’s onboard sensors and sensors at fixed locations in the environment, where we use laser range finders as sensors. This is a situation which arises in so-called Intelligent Spaces, where there are both static sensors and mobile robots present. The method we present extends the robot localization methods based on occupancy grids, however here occupancy grids are used to represent not only the geometry of the environment but also that of the robot. For tracking the robot we employ a particle filter. The details of the method are given and experimental results are shown to illustrate the method.

ICRA Conference 2007 Conference Paper

Extraction of Space-Human Activity Association for Design of Intelligent Environment

• Mihoko Niitsuma
• Hideki Hashimoto

This paper presents a classification of human activities based on usage history of the spatial memory system and a numerical expression of each human activity in order to estimate individual human's intended purpose of an environment. We named the intended purposes for a place "space-human activity association". Intended purposes for a place will be different depending on the purpose of activities, even if observed activities are almost the same. Therefore, estimation of space-human activity association is important for intelligent environments to design services provided for individual human according to his/her current situation. The spatial memory system enables human users to store computerized information into the real world by assigning a three-dimensional position to the information, and to retrieve the information by directly indicating the point using their own hands. In the spatial memory system, what associates computerized information with a three-dimensional position is called "spatial-knowledge-tag (SKT)". The users actively create SKTs based on their need. As a result, arranged SKTs in a specified environment correspond to activity histories of the users. Also, users' intended purposes for the environment are reflected in the arrangement. Therefore, classification of arranged SKTs leads to classification of human activities, and accordingly estimation of intended purposes for places. In this paper, we describe two approaches to classify human activities. More specifically, the first approach is a classification of arranged SKTs by using only SKTs' information. The second approach is a classification of arranged SKTs by using both SKTs' information and usage history of the spatial memory system. As a result, the classification based on usage history of the spatial memory system showed multiple activities in the same area. On the other hand, the first approach resulted in a single cluster in the same area. We, then, give numerical values to SKT's content type, and obtained numerical expression of each human activity

IROS Conference 2007 Conference Paper

Map building and object tracking inside Intelligent Spaces using static and mobile sensors

• Drazen Brscic
• Hideki Hashimoto

This paper deals with the problem of object tracking and environment mapping inside a space with distributed sensors - Intelligent Space. In a conventional approach the distributed sensors are used for these tasks, however since the sensors are static this has several disadvantages. In this paper in addition to static sensors we introduce the use of a mobile robot as mobile sensor to gather additional information and improve the estimation performance. We discuss the characteristics of such a tracking system, mainly concentrating on a system that uses laser range finders as both mobile and static sensors. Estimation methods based on Kalman Filter and Covariance Intersection are presented and analyzed. Finally, the presented methods are experimentally tested.

IROS Conference 2006 Conference Paper

Global Color Model Based Object Matching in the Multi-Camera Environment

• Kazuyuki Morioka
• Xuchu Mao
• Hideki Hashimoto

The research field on intelligent environments that consist of many distributed sensors and robots has been expanding. Intelligent environments require the functions of extracting and tracking the multiple objects seamlessly to achieve appropriate services to users under the multi-camera environments. Some tracking systems often prepare the color models of the objects in advance. It is difficult to adopt these models to the tracking of the objects that change their color appearance according to the pose. However, model based tracking is efficient for the tracking in the crowded environment. And also, the object color models have to be valid for seamless tracking in the multi-camera environments. We propose the color histogram based object model configuration. This model termed global model is efficient for object tracking and matching. The eigen space of color histograms configured from color appearance in several poses of the object is utilized for the configuration of the global model. Color histogram models needed for tracking of the object that changed their appearance can be rebuilt from the global model. As results of the first experiments, the object correspondence among the different cameras was achieved empirically, and it was described that the proposed object model is effective for the seamless tracking by the distributed cameras.

IROS Conference 2006 Conference Paper

Human Observation Based Mobile Robot Navigation in Intelligent Space

• Takeshi Sasaki
• Hideki Hashimoto

In this paper, we investigate a mobile robot navigation system which can localize the mobile robot correctly and navigate based on observation of human walking in order to operate in the human shared space with minimal disturbance to humans. To realize this system, we utilize many intelligent devices embedded in the environment. The human walking paths are obtained from distributed vision systems and frequently used paths in the environment are extracted. The mobile robot navigation based on observation of human is also performed with the support of the system. The position and orientation of the mobile robot are estimated from wheel encoder and 3D ultrasonic positioning system measurement data using extended Kalman filter. The system navigates the mobile robot along the frequently used paths by tracking control

ICRA Conference 2006 Conference Paper

Spatial Memory: an Aid System for Human Activity in Intelligent Space

• Mihoko Niitsuma
• Hiroshi Hashimoto
• Hideki Hashimoto

This paper proposes the spatial memory as an interface between human and intelligent space (iSpace). The spatial memory regards three-dimensional space as mass storage of computers, i. e. three-dimensional point is treated as an address of stored digital data such as various documents, images and commands for machines. Consequently, we can access stored digital data by indicating a point using our own arms, which we named "human indicator". In this paper, we implement a prototype of the spatial memory system which is supposed to utilize digital data regarded as externalized knowledge. The implemented system is evaluated through two types of experiments. The tendency to forget and the efficiency of task performance are investigated. By applying the t-test under the level of significance 5%, experimental results of the performance efficiency show significant statistical difference between the results with the spatial memory and without it.

IROS Conference 2005 Conference Paper

An evaluation of grasp force control in single-master multi-slave tele-micromanipulation

• Gilgueng Hwang
• Hideki Hashimoto
• Peter Tamas Szemes
• Noriaki Ando

This paper proposes human-robot cooperative tele-micromanipulation system with novel single-master (PHANToM haptic device) multi-slaves (6 D. O. F parallel manipulator). The different kinematical configuration and the different D. O. F between the master and the slave introduces a mapping problem which can be serious for some cooperative manipulations. The position/force virtual mapping method is implemented in the single-master dual-slave tele-micromanipulation system to realize the human-robot cooperative internal force regulation while grasping task. The generated reference trajectories of both manipulators by the virtual mapping method are shared with the cooperative impedance control of multi-slaves to regulate the internal force while grasping an object. Lastly, an improved internal force regulation using the SMMS (single-master multi-slave) tele-micromanipulation system while grasping an object is verified by the pick-and-place experimental results.

IROS Conference 2005 Conference Paper

Highly efficient AGV transportation system management using agent cooperation and container storage planning

• Satoshi Hoshino
• Jun Ota 0001
• Akiko Shinozaki
• Hideki Hashimoto

The development of a highly efficient management methodology for an automated container terminal (ACT) poses a problem for port authorities. The focus here is on a transportation system for an automated guided vehicle (AGV) for an ACT. In this paper, we design the detailed management models, i. e. , agent cooperation and container storage planning for the transportation system. Then, we optimally design systems that are constructed with the use of the designed management models. Comparisons of the systems are made to evaluate cost effectiveness based on the total construction cost and validity of the management models. Finally, a proposal is made for the most efficient management system.

ICRA Conference 2005 Conference Paper

Mobile Agent Gain Scheduler Control in Inter-Continental Intelligent Space

• Rangsarit Vanijjirattikhan
• Mo-Yuen Chow
• Peter Tamas Szemes
• Hideki Hashimoto

Intelligent Space (iSpace) is a space (room, corridor, or street), which has distributed sensory and mobile agents, that is capable to provide intelligent services. In this paper, experimental setup between Hashimoto Lab, University of Tokyo, Japan and Advanced Diagnosis Automation and Control (ADAC) Lab, North Carolina State University, USA is prepared to form an Inter-Continental Intelligent Space. A mobile robot at Hashimoto Lab is controlled by a path-tracking controller at ADAC Lab to track a predefined path with the tracking performance affected by the network time delay. Gain Scheduler Middleware is employed in the control loop to alleviate the effect of time delay. The experimental results of the mobile robot path-tracking has demonstrated the effectiveness of using Gain Scheduler Middleware to compensate the time-delay effect on teleoperation over IP network.

ICRA Conference 2005 Conference Paper

Optimal Design, Evaluation, and Analysis of AGV Transportation Systems Based on Various Transportation Demands

• Satoshi Hoshino
• Jun Ota 0001
• Akiko Shinozaki
• Hideki Hashimoto

In this paper, two designs for optimal Automated Guided Vehicle (AGV) transportation systems are presented. One is vertical and the other, horizontal. For these systems, the hybrid design methodology proposed here is used. Therefore, we describe how to model and formulate these transportation systems and derive the design parameters, that is, the optimal design solutions. We next evaluate these two transportation systems based on the various transportation requirements, that is, the demands from a port authority. For this purpose, we compare the systems based on the total costs in constructing them. Finally, the evaluation and analytical results are provided, and the most convenient system is presented based on the validity of each system for the given demand.

IROS Conference 2004 Conference Paper

Appearance based object identification for distributed vision sensors in intelligent space

• Kazuyuki Morioka
• Hideki Hashimoto

Robots would be able to coexist with humans and support humans effectively in near future. We proposed the intelligent space in order to achieve such human-centered system. The intelligent space is the space where many intelligent devices, such as computers and sensors, are distributed. The intelligent space achieves the human centered services by accelerating the physical and psychological interaction between humans and intelligent devices. As an intelligent device of the intelligent space, a color CCD camera module, which includes processing and networking part, has been chosen. The intelligent space requires functions of identifying and tracking the multiple objects to realize appropriate services to users under the multi-camera environments. In order to achieve seamless tracking and location estimation, many camera modules are distributed. They cause some errors about object identification among different camera modules. This paper describes appearance based object identification for the distributed vision system in intelligent space to achieve consistent labeling of unknown objects. First, we discuss how to obtain the object color information for constructing the color appearance based model. Then, we propose the global color model based on the color information for the object identification.

IROS Conference 2004 Conference Paper

Comparison of an AGV transportation system by using the queuing network theory

• Satoshi Hoshino
• Jun Ota 0001
• Akiko Shinozaki
• Hideki Hashimoto

In this paper, we provide the comparison indicator of the AGV transportation systems. For this purpose, we propose an optimal design methodology for the AGV transportation system by using the queuing network theory. In this methodology, the queuing network theory and a simulation-based optimization method are integrated to obtain the optimal design parameters (i. e. , these are the design solutions of this design problem). In this study, two different types of the AGV transportation systems are designed. Then the performance of transportation is compared. Finally, the characteristic of each transportation system that depends on the design parameters is provided.

IROS Conference 2004 Conference Paper

Internet-based obstacle avoidance of mobile robot using a force-reflection

• TaeSeok Jin
• JangMyung Lee
• Hideki Hashimoto

The possibility of operating in remote environments by means of teleoperated systems has always been considered of relevant interest in robotics. For this reason, in this paper, the relationship between a slave robot and the uncertain remote environment is proposed as the impedance to generate the virtual force to feed back Io the operator. For the control of a teleoperated mobile robot equipped with camera, the teleoperated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approaching velocity of the obstacle. This virtual force is transferred back to the master over the Internet and the master, which can generate force, enables a human operator to estimate the position of obstacle in the remote environment. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. This force reflection improves the performance of a teleoperated mobile robot significantly.

IROS Conference 2003 Conference Paper

Guiding assistant for disabled in intelligent urban environment

• Peter Tamas Szemes
• Joo-Ho Lee 0001
• Hideki Hashimoto
• Péter Korondi

In this paper, the Intelligent Space concept is applied for helping disabled or blind persons in crowded environments such as train stations, or airports. The main contribution of this paper is a general mathematical (fuzzy-neuro) description of obstacle avoidance method (walking habit) of moving objects (human beings) in a limited area scanned by the Intelligent Space. A mobile robot with extended functions is introduced as a mobile haptic interface, which is assisted by the Intelligent Space. The mobile haptic interface can guide and protect a blind person in a crowded environment with the help of the Intelligent Space. The Intelligent Space learns the obstacle avoidance method (walking habit) of dynamic objects (human beings) by tracing their movements and helps to the blind person to avoid the collision. The prototype of the mobile haptic interface and simulations of some basic types of obstacle avoidance method (walking habit) are presented.

ICRA Conference 2003 Conference Paper

Self-identification of distributed intelligent networked device in intelligent space

• Hideki Hashimoto
• Joo-Ho Lee 0001
• Noriaki Ando

The Intelligent Space is a space where we can easily interact with computers and robots, and get useful service from them. To achieve such a space, a distributed intelligent networked device (DIND) has been proposed. Many DINDs are installed in a space and they cooperate each other to make the space to become an Intelligent Space. In this paper, an optimal DIND placement, self-calibration of DIND and handover protocol for cooperation among DINDs, are described.

IROS Conference 2002 Conference Paper

Friction compensation for 6DOF Cartesian coordinate haptic interface

• Noriaki Ando
• Peter Tamas Szemes
• Péter Korondi
• Hideki Hashimoto

In this paper, control schemes for haptic interface for micromanipulation systems is mainly discussed. We have proposed a tele-micromanipulation system, which enables human operators to operate micro tasks, such as assembly or manufacturing, without feeling stress. This paper focuses on the haptic sense, which gives the operators the feeling of presence. The mechanical instrument applied in the human interface device usually has a reasonable immanent friction. This friction must be compensated in a way that the operator should not feel this friction force but the force from the manipulated environment. The main contribution of this paper is a direct model based chattering free sliding mode friction estimator and compensator for a mechanical instrument. Experimental results are presented.

ICRA Conference 2002 Conference Paper

Human Centered Robotics in Intelligent Space

• Kazuyuki Morioka
• Joo-Ho Lee 0001
• Hideki Hashimoto

Intelligent space is a space where many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents, which provide human with services. To realize this, human and mobile robots have to approach each other as much as possible. Moreover, it is necessary for them to perform interactions naturally. It is desirable for a mobile robot to carry out human-affinitive movement. In this research, a mobile robot is controlled by the Intelligent Space through its resources. The mobile robot is controlled to follow walking human as stably and precisely as possible.

ICRA Conference 2002 Conference Paper

Improvement of Response Isotropy of Haptic Interface for Tele-Micromanipulation Systems

• Noriaki Ando
• Peter Tamas Szemes
• Péter Korondi
• Hideki Hashimoto

In this paper, control schemes for the master haptic interface are mainly discussed. We proposed the tele-micromanipulation systems, which enables human operators to operate micro-tasks, such as assembly or manufacturing, without feeling the stress. The paper focuses on the haptic interface, which gives the operators the feeling of presence. The mechanism applied in the human interface device often has a reasonable immanent friction. This friction must be compensated in a way that the operator cannot feel this friction force, but only the force from the manipulated environment. The main contribution of this paper is a direct model based chattering free sliding mode friction estimator and a compensator for the human interface device. The experimental results obtained are presented.

IROS Conference 2002 Conference Paper

Physical agent for human following in intelligent sensor network

• Kazuyuki Morioka
• Joo-Ho Lee 0001
• Hideki Hashimoto

Intelligent Space is a space where many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents, which provide human with services. To realize this, human and mobile robots have to approach each other as much as possible. Moreover, it is necessary for them to perform interactions naturally. It is desirable for a mobile robot to carry out human-affinitive movement. In this research, a mobile robot is controlled by the Intelligent Space through its resources. The mobile robot is controlled to follow a walking human as stably and precisely as possible.

IROS Conference 2002 Conference Paper

Study on optimal camera arrangement for positioning people in intelligent space

• Joo-Ho Lee 0001
• Takasi Akiyama
• Hideki Hashimoto

The intelligent space is a space where we can easily interact with computers and robots, and get useful service from them. In such a space, location information is very important, since the agents cannot provide proper service to a proper people at a proper location without location information. Our positioning system uses CCD cameras. It is important to determine where to put the cameras for the best localization depending on the tasks in the space. The main purpose of this paper is to consider how to arrange cameras for the best localization in the intelligent space.

IROS Conference 2001 Conference Paper

Adaptive guidance for mobile robots in intelligent infrastructure

• Joo-Ho Lee 0001
• Noriaki Ando
• Teruhisa Yakushi
• Katsunori Nakajima
• Tohru Kagoshima
• Hideki Hashimoto

We propose a method of guiding mobile robots in a networked space. To watch human and robots, distributed sensor devices with processors are located around the networked space. In this space, robots as well as the human are supported informatively and physically. The distributed sensor devices guide mobile robots in this space and navigation with high adaptability is realized. The simulation and experimental results including the camera arrangement and robot guidance with distributed sensor devices are shown.

ICRA Conference 2001 Conference Paper

Development of a Scaled Teleoperation System for Nano Scale Interaction and Manipulation

• Metin Sitti
• Baris Aruk
• Hiroaki Shintani
• Hideki Hashimoto

A human-machine interface is proposed for teleoperated nano scale object interaction and manipulation. Design specifications for a bilateral scaled teleoperation system with slave and master robots, sensors, actuators, and control are discussed. Phantom and home-made haptic devices are utilized as the master manipulator, and a piezoresistive MEMS fabricated probe is selected as the slave manipulator, and topology and force sensor. A force reflecting servo type teleoperation control is chosen, and initial experiments are realized for interacting with silicon surfaces and nano structures. It is shown that fine structures can be felt on the operator's finger successfully.

IROS Conference 2001 Conference Paper

Development of the parallel manipulator workspace display system for tele-micromanipulation

• Noriaki Ando
• Kouhei Gonda
• Hiroaki Shintani
• Hideki Hashimoto

A dexterous tele-micromanipulation system using haptic interfaces has been developed for the application in assembling electrical/optical parts for electrical devices, micro-machine, etc. The paper describes the development of visual operation support systems for tele-micromanipulation systems. Because of its better manipulation positioning accuracy, stiffness and speed characteristics, a parallel mechanism micromanipulator was chosen for our system. While the parallel manipulator has the above-mentioned merit, there is the disadvantage that the parallel mechanism's workspace is narrow and the translation motion workspace changes depends on the posture of end-effector. Providing workspace information in real time to the human operator, he can recognize the workspace and helps planning the micromanipulation process. A parallel manipulator motion is restricted by three factors: mechanical limits of the passive joints, collision between the links and actuators limitations. Results of numerical workspace analysis considering the above factors are shown. Based on the workspace analysis, a VR simulator and workspace display systems for micromanipulator are proposed. The feasibility of the use of a workspace display system for micromanipulation is then discussed.

IROS Conference 2000 Conference Paper

Intelligent space

• Joo-Ho Lee 0001
• Hideki Hashimoto

This paper describes our concept on the intelligent space. The intelligent spaces are rooms or areas that are equipped with sensors, which enable the spaces to perceive and understand what is happening in them. By using such features, people or systems in the intelligent space are supported and can use additional functions. The intelligent spaces are expected to have a broad range of applications such as in homes, offices, factories etc. The basic components, which compose our experimental system, are shown in this paper with descriptions.

IROS Conference 2000 Conference Paper

Micro teleoperation with parallel manipulator

• Noriaki Ando
• Masahito Ohta
• Hideki Hashimoto

In this paper, we discuss about micro teleoperation with haptic interfaces. We developed the micro teleoperation systems for micro tasks, such as assembly or manufacturing. We show about structure of master/slave manipulators, its control and experimental results of teleoperation with the manipulators in this paper. We introduce the haptic interface that provides operators the sense as if he/she touches the expanded micro objects with his/her fingers. This micro tele-manipulation system is a new tool, which enables human operators to touch and feel the expanded micro objects with their fingers.

IROS Conference 1999 Conference Paper

Design policy of localization for mobile robots in general environment

• Joo-Ho Lee 0001
• Noriaki Ando
• Hideki Hashimoto

Usually localization in mobile robots is interested in only the geographical position of the robot in space. However, to utilize mobile robots in general environments such as a hospital, an office, a school etc. , we need more than conventional localization. We propose a new localization method that watches the entire space as well as the mobile robot. Some experimental results are shown to show the performance and the merits of proposed localization method.

IROS Conference 1999 Conference Paper

Tele-touch feedback of surfaces at the micro/nano scale: modeling and experiments

• Metin Sitti
• Satoshi Horighuchi
• Hideki Hashimoto

In this paper, a teleoperated micro/nano scale touching system is proposed, and micro/nano contact mechanics models are introduced. Using a 1-DOF haptic device, force-reflecting servo type scaled teleoperation controller, and atomic force microscopy cantilever tip, touching experiments and virtual reality simulator for micro/nano-touch are realized. Scaling issue of the micro/nano forces and positions is discussed and possible solutions are proposed. For the first time upon our knowledge, such issue is discussed with nano scale experimental results. Experimental results show that micro/nano contact force feedback can be held for flat surfaces with the proposed system.

ICRA Conference 1999 Conference Paper

Two-Dimensional Fine Particle Positioning Using a Piezoresistive Cantilever as a Micro/Nano-Manipulator

• Metin Sitti
• Hideki Hashimoto

In this paper, a fine particle positioning system using a piezoresistive cantilever, which is normally utilized in atomic force microscopy, as the manipulator is proposed. Modeling and control of the interaction forces among the manipulator, particle and surface have been realized for moving particles with sizes less than 3 /spl mu/m on a Si substrate in 2D. Optical microscope (OM) is utilized as the vision sensor, and the cantilever behaves also as a force sensor which enables contact detection and surface alignment sensing. A 2D OM real-time image feedback constitutes the main user interface, where the operator uses mouse cursor and keyboard for defining the task for the cantilever motion controller. Particle manipulation experiments are realized for 2. 02 /spl mu/m goal-coated latex particles, and it is shown that the system can be utilized in 2D micro-particle assembling.

IROS Conference 1998 Conference Paper

7 DOF arm type haptic interface for teleoperation and virtual reality systems

• Akito Nakai
• Toshiyuki Ohashi
• Hideki Hashimoto

This paper presents a new type of human interface with force feedback attached to an arm, which we named Sensor Arm. The Sensor Arm can be utilized as an interface for interactive communication with the virtual environment and as a master manipulator of a tele-operation system. The number of degrees-of-freedom (DOF) of the Sensor Arm is seven, which is the same DOF of a human arm. Angle and torque of each joint can be measured. Moreover, in this system, force feedback can be realized at each joint of the human arm. To measure human force a new type of force sensor system is proposed in the Sensor Arm system. The structure of the Sensor Arm system and the experimental results are shown.

IROS Conference 1998 Conference Paper

Assembly model data in robot cell systems

• Satori Kojima
• Peter Kerites
• Takunori Hayashi
• Hideki Hashimoto

Describes the intelligent manufacturing system (IMS) program progress in the autonomous assembly robot cell research. We focus on the information which is generated by the designers during the product development process. From the assembly process viewpoint, this information is extracted and integrated into the product model as an assembly model. This information is called assembly model data (AMD). Therefore, the main purpose of our research is to investigate the utility of AMD and the best format for these data in the assembly process. To solve the assembly problem, a 3D CAD data driven assembly robot cell (ARC) system was proposed. Robot task programs for the assembly process are generated automatically from 3D CAD data and AMD with this system in the virtual environment. The system can show the designers visually the difficult parts of an assembly. ARC with only products' CAD data and AMD can then assemble actual products in the real environment using a hand eye system equipped with a laser range finder. The products' CAD data and AMD are supplied to each ARC through a network. The data format was evaluated through loading actual AMD in the ARC system.

ICRA Conference 1998 Conference Paper

Physical Agent for Sensored Networked and Thinking Space

• Joo-Ho Lee 0001
• Guido Appenzeller
• Hideki Hashimoto

A new concept for constructing an intelligent mobile system is proposed. We describe reasons for the necessity of a new architecture for mobile systems in intelligent spaces. The intelligent spaces are room or area that are equipped with sensors, network and computers. The intelligent spaces are expected to be authentic future environment. If environment gets intelligence, it is not a distinct part of an intelligent mobile system any more and also the mobile system becomes a physical agent of the intelligent space. In this paper, we do some experiments to show what are possible for a mobile robot in an intelligent space.

IROS Conference 1998 Conference Paper

Tele-nanorobotics using atomic force microscope

• Metin Sitti
• Hideki Hashimoto

A tele-nanorobotics system using an atomic force microscope (AFM) as the nanorobot has been proposed. Modeling and control of the AFM cantilever, and modeling of nanometer scale forces have been realized for telemanipulation applications. Besides 3-D virtual reality visual feedback in the user interface, a 1 DOF haptic device has been constructed for nano scale haptic sensing. For feeling the nano forces, a bilateral teleoperation control system with virtual impedance approach has been introduced. Initial experiments and simulations on the AFM and teleoperation system show that the system can be utilized for different tele-nanomanipulation applications such as 2-D nano particle assembly or biological object manipulation.

IROS Conference 1997 Conference Paper

Building topological maps by looking at people: an example of cooperation between intelligent spaces and robots

• Guido Appenzeller
• Joo-Ho Lee 0001
• Hideki Hashimoto

Intelligent spaces are rooms or areas that are equipped with sensors such as microphones or cameras that enable them to perceive what is happening in them. In such spaces that have an intelligence of their own a world model no longer is something the robot has alone but a service offered by the information infrastructure of the space. In this article we show how such an intelligent space can generate a topological map for robots by looking at the movements of people in the room. We describe the stereo vision system that is capable of tracking the 3D movements of several humans in real time and give experimental results obtained in a real-world environment with several people.

ICRA Conference 1997 Conference Paper

Tele-teaching by human demonstration in virtual environment for robotic network system

• Yasuharu Kunii
• Hideki Hashimoto

In this paper we present a system that is able to give force feedback for the handling of virtual objects to a human operator and discuss how this system can learn low-level reflective behaviors from the human. A dynamic force simulator (DFS) that simulates object dynamics, contact model and friction characteristics of the human hand was developed to interact with the object in virtual reality. The DFS allows calculation and feedback of appropriate forces to the force controlled actuators of a glove type haptic interface. The measured data is used for task-teaching of the robot in the remote site. However usually the task can not be achieved by simple playback teaching. As each task execution is different due to various sources of small errors a low-level motion behavior to compensate for this errors is needed. In this paper, this function is assumed to be a reflective behavior and we acquire it by learning from human. Two learning schemes, neural nets and radial basis functions are experimentally evaluated.

ICRA Conference 1996 Conference Paper

Collision free navigation using heuristic decision rule

• Dae-Hee Kang
• Hideki Hashimoto
• Fumio Harashima

Real-time obstacle avoidance is essential for the safe operation of mobile robots in a dynamically changing environment. This paper investigates how an mobile robot can respond to unexpected obstacles while following a path planned by a global path planner. The obstacle avoidance problem is formulated using a decision theory to determine an optimal response based on inaccurate sensor data. It is shown that our proposed method avoids properly obstacles through simulation results.

ICRA Conference 1996 Conference Paper

Virtual environment for haptic interface in robotic network system

• Yasuharu Kunii
• Hideki Hashimoto

In this paper we present a dynamic force simulator (DFS) for force feedback in human-machine systems. DFS simulates object dynamics, contact model and friction characteristics of the human hand interacting with the object in virtual reality. Interaction with DFS allows calculation and feedback of appropriate forces to the force controlled actuators of the sensor glove we have developed. In the future we will use this system to analyze human dextrous manipulations called human skill.

ICRA Conference 1995 Conference Paper

Dextrous Robot Hand Experiments

• Martin Buss
• Hideki Hashimoto

In this paper we describe the 4-fingered dextrous robotic hand with 24 degrees-of-freedom (DOF) we have developed. At each finger-tip a 6 DOF force/torque sensor is attached to measure contact forces directly. A heterogeneous parallel computing architecture based on transputers is used to implement the proposed grasp controller and the underlying hybrid position/force controllers for each finger. Experimental results of object trajectory following, object stiffness and friction coefficient estimation are shown.

ICRA Conference 1995 Conference Paper

Grasping Force Optimization for Multi-Fingered Robot Hands

• Martin Buss
• Hideki Hashimoto
• John B. Moore

For dextrous robotic hand grasping a key goal is to balance external and internal grasping forces to assure a stable grasp and low grasping energy. In this paper, the authors view the task of grasping force optimization as a linearly constrained semidefinite programming problem for which there are known globally exponentially convergent solutions via gradient flows. A key observation is that the nonlinear friction constraint at each contact point is equivalent to the positive definiteness of a suitable matrix containing the contact wrench intensities. A recursive version is presented, and numerical examples demonstrate the simplicity, the good numerical properties, and optimality of the approach.

ICRA Conference 1995 Conference Paper

Obstacle Avoidance in R n Based on Artificial Harmonic Potential Fields

• Jürgen Guldner
• Vadim Ivanovitch Utkin
• Hideki Hashimoto
• Fumio Harashima

The artificial potential field method is frequently employed for obstacle avoidance both of mobile robots and of manipulator arms. This paper extends previous results for planar problems to the general n-dimensional case. The complexity is reduced by projecting the n-dimensional workspace onto a 2D subspace called operation plane. Furthermore, only the closest obstacles are taken into account when designing the artificial potential field. Still, global convergence is achieved. The methodology is illustrated with several numerical examples.

IROS Conference 1995 Conference Paper

Pose estimation of quadratic surface using surface fitting technique

• Moonhong Baeg
• Hideki Hashimoto
• Fumio Harashima
• John B. Moore

A key problem in robotics is the estimation of the location and orientation of objects from surface measurement data. This is termed pose estimation. A fundamental task is the pose estimation of known quadratic surfaces from, possibly noisy, data. A solution for this task facilitates pose estimation for more complex objects. Current algorithms frequently converge to local minima of the performance index and/or pay a high computing cost and/or are sensitive to noise, that are unsuited for online applications because of the intensive computer effort required. The goal is to develop a fast and robust algorithm for pose estimation using range data. Here, pose estimation is carried out using algebraic techniques in a two stage optimization procedure involving least squares estimation, or better the method of instrumental variables, and 3/spl times/3 matrix diagonalizations. The procedure leads to zero pose estimation error in the noise free finite data case, and in the case of infinite data with additive white noise.

IROS Conference 1995 Conference Paper

Position estimation for mobile robot using sensor fusion

• Dae-Hee Kang
• Hideki Hashimoto
• Fumio Harashima

Proposes a position estimation method and a path generation between current position and goal point for mobile robots. Dead reckoning has been commonly used for position estimation. However this method has inherent problems because it also accumulates estimation errors. In this paper, the authors propose a new method to increase the accuracy of estimated positions using a matching method which is applied with a least squared scheme. This approach uses features, such as corner points and edges of the object in the task environment instead of land-marks. Also, the authors discuss how to establish an environment database and propose a genetic algorithm in order to find an optimal path. It is shown that: it is possible to estimate the position of mobile robot precisely, errors are not cumulated, and the path generation method is very fast.

IROS Conference 1994 Conference Paper

Dextrous manipulation using a 24 DOF robotic hand

• Tetsuo Namima
• Hideki Hashimoto

We developed a dextrous robotic hand system with four identically structured fingers. Each finger has 6DOF (degrees-of-freedom), so the hand has a total of 24DOF. Further we developed a 6-axis force and torque sensor to detect forces and moments at the finger-tip, so it is possible for this robotic hand to control grasping forces during object manipulation. In this paper we show some experiments of grasping and manipulating objects using a 6-axis hybrid controller approach. Using data from the force-torque sensor and appropriate position and force references in control, object parameters like friction and stiffness can be estimated. >

IROS Conference 1994 Conference Paper

Hand manipulation skill modeling for the intelligent cooperative manipulation system-ICMS

• Martin Buss
• Hideki Hashimoto

This paper proposes a manipulation skill mapping for dextrous manipulation task modeling in the intelligent cooperative manipulation system-ICMS. Mapping between desired object task trajectories and finger contact point locations, this skill mapping can efficiently describe complex manipulation tasks, where contact states of the fingers change during the task. Further issues discussed are how this skill mapping can be acquired into the manipulation skill database of the ICMS and transferred for execution by dextrous robotic hands. Examples show the applicability of the proposed scheme. >

ICRA Conference 1994 Conference Paper

Intelligent Cooperative Manipulation System Using Dynamic Force Simulator

• Hideki Hashimoto
• Martin Buss
• Yasuharu Kunii
• Fumio Harashima

Intelligent cooperative manipulation is proposed as a new paradigm for human-machine interaction and cooperation. Aiming at intelligent assistance of human operators the information and power flow between operator-system-task environment is carefully analyzed using a virtual reality to simulate the task environment. Central issue of this virtual reality is the dynamic force simulator (DFS) for feedback force calculation proposed in this paper. The DFS simulates object dynamics, contact model and friction characteristics of the human hand interacting with objects in the virtual reality. An example shows the efficiency of the proposed realization scheme of the DFS. >

ICRA Conference 1994 Conference Paper

Manipulation Skill Modeling for Dexterous Hands

• Martin Buss
• Hideki Hashimoto

This paper proposes the idea of a manipulation skill mapping for dexterous manipulation task modeling. Mapping between desired object task trajectories and finger contact point locations, this skill mapping can efficiently describe complex manipulation tasks, where contact states of the fingers change during the task. Further issues on how this skill mapping can be acquired and transferred for execution by dexterous robotic hands, are discussed. Examples show the applicability of the proposed scheme. >

IROS Conference 1993 Conference Paper

Information and power flow during skill acquisition for the Intelligent Assisting System-IAS

• Martin Buss
• Hideki Hashimoto

This paper discusses information and power flow in the Intelligent Assisting System (IAS). The IAS includes an intelligent manipulation assistant to a human operator, where information as well as forces between the operator, the IAS and the task environment are exchanged. A manipulation skill database enables the IAS to perform complex manipulations on the motion control level and intelligently assist the operator. As a first approach to the IAS the authors have been developing a skill acquisition and transfer system using a sensor glove for force feedback to the human operator. The dynamic behavior of the grip transformation matrix is regarded as the essence of the performed manipulation skill shown with a simple manipulation example. A detailed analysis of force transformations between hand and object space yields a method for acquisition of the grip transform dynamic behavior accumulated in the skill database. Further this paper defines a control algorithm realizing object task trajectories and its feasibility is shown by simulation.

IROS Conference 1992 Conference Paper

Obstacle Avoidance Control In Multi-dimensional Space Using Sliding Mode

• Hideki Hashimoto
• Yasuharu Kunii
• Fumio Harashima
• Vadim Ivanovitch Utkin
• Sergey V. Drakunov

IROS Conference 1991 Conference Paper

Robot path obstacle avoidance control via sliding mode approach

• Vadim Ivanovitch Utkin
• Sergey V. Drakunov
• Hideki Hashimoto
• Fumio Harashima

The approach described consists in constructing potential fields in configuration space like an electrostatic one with changes distributed in such a way that the generalized force curves are attracted to the goal point and avoid obstacles. The system follows such force curves by using sliding mode. The strategy of robot path obstacle avoidance control with sliding mode is presented and discussed in the two-dimensional space. >

IROS Conference 1988 Conference Paper

Application Of Rule-based Fuzzy Control Approach With Dynamic Compensation To Robotic Manipulations

• Jianxin Xu 0001
• Hideki Hashimoto
• Fumio Harashima

IROS Conference 1988 Conference Paper

Path Searching Of Mobile Robot Based On Cooperation of Sensors

• Takashi Kubota
• Hideki Hashimoto
• Fumio Harashima

IROS Conference 1988 Conference Paper

Servo Controller For Electrostatic Micro-actuators

• Hideki Hashimoto
• Kwee-Bo Sim
• Hiroyuki Fujita
• Fumio Harashima

ICRA Conference 1987 Conference Paper

Practical design of VSS controller using balance condition-Robotic application

• Hideki Hashimoto
• Jean-Jacques E. Slotine
• J. X. Xu
• Fumio Harashima

VSS controller is suited for robotic arms where the robust performances in the presence of parametric variations and disturbances are most important. The practical design of such robust VSS controller is discussed in this paper. The significant issue in the design of VSS is to avoid the chattering caused by the switched input. This problem is solved by introducing the continuous control input instead of switched input. The practical design of such control is obtained by using "Balance Condition". The "Balance Condition" is derived from the careful consideration on the bandwidth of plant dynamics and VSS controller, and gives many benefits in applications of VSS controller to actual systems. This paper shows the validity of balance condition in the robotic arm control. Simulations and experimental results using a position servo system (one degree of freedom robotic arm) are discussed from the practical point of view of robust control. In order to investigate multi-joint cases, simulations with a two-linkage robot arm are provided.

ICRA Conference 1986 Conference Paper

Practical robust control of robot arm using variable structure system

• Fumio Harashima
• Hideki Hashimoto
• K. Maruyama

The high-gain effect of sliding mode control based on VSS (Variable Structure System) suppresses the uncertainties due to parametric variations, external disturbances and variable payloads. The resulting system is completely robust whereas the obtained control law is simple and easy to be applied to on-line computer control. In this paper, the sliding mode controller for MIMO (Multi-Input Multi-Output) robot arm is realized using "Estimated Inertia Matrix" which has inevitably small uncertainties dependent on arm structure and inaccuracies of computation. This technique contributes to practical design of sliding mode for MIMO system compared with the well-known "Hierarchy Method". In addition, simple nonlinear compensation and proper continuous function (instead of relay type component) with "Integral Mode" are implemented to diminish chattering caused by switching input. The validity of this control is confirmed in simulations and experiments where the system shows the robust performances in spite of the existing nonlinear interactions and unknown parametric changes.