In this paper, we propose a new method for reconstructing the shape of objects by multiple vision modules. This proposed method uses the stereo vision module and the shape-from-shading module. In stereo vision module, the conjugate pair of edge pixels is determined by structural analysis and the height is calculated by the triangulation. In shape-from-shading module, we use the Phong model (1975) as the reflectivity function and identify the reflectivity function by evolutionary programming. Then, we estimate the normal vector of pixels. An important feature of our shape reconstruction is that these modules complement insufficient information each other. We show the simulated result for reconstructing the shape of simulated objects.

This paper deals with an application of a virus-evolutionary genetic algorithm (VEGA) to hierarchical trajectory planning of a redundant manipulator. The hierarchical trajectory planning is composed of a trajectory generator and position generator. The position generator generates collision-free intermediate positions of the redundant manipulator. The trajectory generator generates a collision-free trajectory based on some intermediate positions sent from the position generator. To generate a collision-free trajectory of the redundant manipulator, the VEGA is applied to the hierarchical trajectory planning only based on forward kinematics. The VEGA realizes horizontal propagation and vertical inheritance of genetic information in a population of candidate solutions. The main operator of the VEGA is a reverse transcription operator, which plays the roles of a crossover and selection simultaneously. In this paper, self-adaptive mutation is applied to the VEGA for local search of trajectory planning to obtain higher performance and the quick solution. Simulation results of the hierarchical trajectory planning show that the VEGA can generate a collision-free trajectory.

In this paper, we propose a new method for measuring the shape of objects. The proposed method is based on integrating stereo vision and shape-from-shading with evolutionary programming (EP). In some traditional methods the reflection of objects is treated as diffused reflection. However, the reflection of real objects consists of diffused and specular reflections, thus some methods cannot be applied to real objects. Photometric stereo can be applied to real objects, but this method needs many original images for measuring the shape accurately. The proposed method can apply Phong model to a reflectivity function and measure the shape of the object which have the effect of diffused and specular reflections. The method described using EP identifies the reflectivity function accurately.

We propose a multimedia tele-surgery system for training, diagnosis, and assistance in surgery. To realize this system, a high speed optical fiber network with asynchronous transfer mode (ATM) is used to provide high quality moving pictures. We designed a new teleoperation system based on ATM, which is different from the conventional one that is based on Ethernet. We built a prototype of the virtual simulator system for the intravascular neurosurgery that consists of a 3D-computer graphics simulator and two types of joysticks. The joysticks are used for the controller and force display of catheter head direction, position, and orientation. A visual assistance method is proposed to assist the operator. We performed teleoperation experiments between Nagoya and Tokyo, about 350 km apart from each other, using high speed optical fiber network, and evaluated the effectiveness of the proposed system.

A template matching is a popular method for visual recognition. It costs much time to detect the target object. We have applied fuzzy and neural network algorithm to solve this problem. However, the problem to mistake recognizing the target object is not solved. Hence, in this paper, we propose robust visual recognition algorithm for the autonomous robot navigation. The proposing algorithm employs a fuzzy template matching with the target object as well as the similar objects in the environment. As a result, the robot verifies the tentative recognition by comparing the likelihood of plus elements (target objects) with that of minus elements (similar objects). To integrate this algorithm into the robot navigation system, we propose a hierarchical control architecture. The validity of the proposing navigation system is shown with experimental results.

This paper presents both the hardware and the software architectures for the multi agent robotic system. For the hardware architecture of the multi agent robotic system, the authors show the programmable MARS (micro autonomous robotic system). This robot can work for one of the agents of the multi agent robotic system. The size of this robot is 20 mm cubic. The authors can rewrite and download any programs by the infrared communication function and the programmable function. For the software architecture of the multi agent system, the authors propose the algorithm which can adapt and generate the swarm strategy in the dynamic environment, based on the biological immune system. The authors adopt the self and non-self recognition network of the immune system in their algorithm.

Some existing production technologies cause environmental deterioration. It becomes a key issue to save and use resources effectively from the view point of environment protection. Therefore, trends of technologies are now changing from improving the productivity to improving the recycling. This paper presents robotic technology for automatic reusable manufacturing that more effective usage of resources than conventional manufacturing. Some examples for aircraft industry will be presented.>