In this paper, we propose a method of estimating amount of attitude change of stationary sensor node which is important to realize observation of identical spot for a long term based on the tracked position data of underwater landmark generated on underwater image, and then in order to see a target, in here a coral, in the fixed position on image, attitude of captured image is corrected based on the estimated amount of attitude data. Then, we generate underwater landmark based on orientation code which is robust for illumination change caused by wave, and track underwater landmarks sequentially combining the method of position detection by using orientation code matching and the method of position estimation by particle filter. Further, we design the evaluation function using time series images. Then, we estimate amount of attitude change of sensor unit of stationary sensor node by optimizing the evaluation function based on Steepest Descent Method, and correct the attitude of original image with the estimated attitude data. Finally, through some experiments, we prove the effectiveness of our methods and discuss the future work.

This paper presents an image-based position measurement of underwater objects using a low-cost maritime mobile robot with a monocular camera. Visual recognition of distant underwater objects is possible in the water with high transparency, for example, in the coastal sea area of Okinawa prefecture, Japan. In this paper, we apply the proposed method to estimate the position of an old anchor that is at a deep of 30 [m] and is estimated to be hundreds-of-years-old in an archaeological site in Ishigaki Island. We explain the measurement principle of the proposed method and the developed system. Moreover, we describe the experiment conducted off the coast of Ishigaki Island and show the experimental results of the proposed method.

Authors have been developing the actuator concentration type removable underwater manipulator. This manipulator has the following features. 1. This manipulator makes it relatively easy to waterproof due to actuator concentration. 2. Wireless LAN Access Point(AP) is installed in underwater robot and AP connects with operating PC by wire LAN. This manipulator has a few cameras to take a look operation. The command to each actuator of manipulator and camera image communicate with operating PC via wireless LAN. Therefore, the external signal wire for control has no use. 3. Removable is easy because this manipulator is connected with the underwater robot body only with the power cable. In this paper, we verify the feasibility of 2 by wireless LAN communication experiment using seawater. Moreover, we describe the design of manufactured actuator concentration type removable manipulator and the experimental result.

A practical active scope camera for urban search and rescue is developed using ciliary vibration drive mechanism. Optimization of design parameters such as material, a diameter, density and an inclination angle of cilia, and specifications and density of vibration motors is performed on the basis of experimental evaluation of test pieces and prototypes with changing surface materials. A prototype of a scope camera 8 m long crawls at a maximum speed of 47 mm/s, climbs slopes of 20 deg, surmounts obstacles 200 mm high, follows walls, and turns on floors. Experiments at Collapsed House Simulation Facility of International Rescue System Institute, Kobe Laboratory demonstrate its practical advantage in rubble piles.

A parallel-wire driven mechanism uses flexible wires instead of heavy rigid links. In this paper, we propose a robust point-to-point (PTP) position control method in the task-oriented coordinates for completely restrained parallel wire-driven robots, which are translational systems using the minimum number of wires under zero-gravity conditions. In the cases where parallel-wire driven robots are disassembled/assembled and used outdoors (also applied in space), actuator positions would be uncertain or contain some errors. The error of internal force among wires that results from such uncertainty of actuator positions deteriorates positioning performance. To overcome such a difficulty, adaptive compensation is employed for robust PD control against the error of internal force, in this paper. It is necessary for the adaptive compensation to separate the internal force term linearly into a regressor matrix and a parameter vector concerned with the errors of actuator positions. The internal force term, however, possesses the nonlinear characteristic concerned with the errors of actuator position. Noting the structure of the internal force term, this paper shows that measuring both the position of an end-effector and wire length in real time enables the linear separation. Not only does this robust PD control method ensure precise positioning using external sensors; it enhances the robustness for uncertainty of the Jacobian matrix, which results from the error of actuator installation. First, we explain the linearization of the internal force term. Next, the robust PD control for the parallel-wire driven system using the uncertain Jacobian matrix is proposed; then, we prove the motion convergence to desired points and discuss its robustness based on Lyapunov stability analysis. Finally, the usefulness of the proposed control method is demonstrated through experiments and simulations.

Proposed new actuation mechanism realizes active or semi-active mobility for flexible long cables such as fiberscopes and scope cameras. A ciliary vibration mechanism was developed using flexible ciliary tapes that can be attached easily to existing cables. Driving characteristics of the active cables were confirmed through experiments and numerical analyses. Finally, the actuation mechanism was applied for an advanced scope camera that can reduce friction with obstacles and avoid stuck or tangled cables

A parallel wire driven mechanism uses flexible wires instead of heavy rigid links. In this paper, we propose an adaptive position control method for the fully constrained parallel wire-driven systems that use the minimum number of wires under zero-gravity conditions. Unfortunately, conventional methods of adaptive control cannot be used directly because of the nonlinearity of an internal force term. To overcome such an impossibility, we incorporate a new idea into the conventional method to separate the internal force term linearly. Not only does this adaptive control method ensure precise positioning using external sensors; it enhances the robustness for uncertainty of the Jacobian matrix, which results from the error of actuator installation. First, we explain the linearization of the internal force term. Next, the adaptive control method for the parallel wire driven system using the uncertain Jacobian matrix is proposed; then we prove the motion convergence to desired points and discuss its robustness based on Lyapunov stability analysis. Finally, the usefulness of the proposed control scheme is demonstrated through both experiments and simulation

At the time of a large-scale urban earthquake disaster, human search activities and information collection are the most important processes of rescue operations. Robots for search and rescue (e.g., aero-robots, crawler type robots) have been studied extensively recently. We have developed a cable driven balloon robot for information acquisition from the sky during disaster rescue and recovery operations. The balloon, from which hang several sensors (sensor unit, SU), uses "a natural shape balloon". Three cables connect the SU, and the balloon, with its sensors, is driven by expansion and contraction of the cable length. Cameras and several sensors or wireless relays are loaded onto the SU. The attitude stability of the SU is required to eliminate camera shaking resulting from wind. Such stability is necessary for high-precision information collection because this robot is used in the open air. This study verifies the attitude stability of an SU using a cable arrangement between the balloon and the SU; it statically calculates the movable scope of the SU at an arbitrary wind speed and direction

At large-scale urban earthquake disaster, human search is the most important process in rescue activities. This research develops a parallel cable-driven robot focusing on information acquisition from sky at crushed structures at landslide caused by huge earthquake. This robot is driven by multiple cables to move a sensor head with 6 degrees of freedom. This paper proposes the concept of this new search system, and illustrates usefulness of the human body searching strategy by several experimental results.

Pneumatic motors have many advantages over electric motors, conventionally used for robotics and automation applications. However, the control performance of pneumatic motors is quite unsatisfactory, mainly due to the compressibility of air. We have recently proposed the development of hybrid pneumatic/electric motors where a small electric motor is used in conjunction with vane-type pneumatic motors, so that the hybrid actuator has better damping and ease of control than the pneumatic motor. In the present work, we consider the switching control of the hybrid actuator system, and, propose control algorithms for position, and trajectory control of the system. The performance improvement of the new actuator is illustrated by results of experimental implementation.

Pneumatic actuators are among a variety of actuators under active study by the robotics community, for the advantages they offer over conventional electric actuators widely used in present-day robots. So far, however, only pneumatic cylinders which provide linear actuation have been mainly studied in literature. Air motors are the pneumatic counterparts of electric motors, providing rotary actuation. They have several advantages over electric motors, especially high power-to-weight and power-to-size ratios, good compliance, and resistance to environmental hazards. We consider the model-based control of vane-type air motors which are the most commonly used class of air motors. Various control problems are considered namely, position control, trajectory control, adaptive control, and force control. Results of experimental implementation on an industrial vane-type air motor illustrate the effectiveness of the air motor as a high-performance rotary actuator.