This reserch newly proposes an augmented reality system called "composite marker" to recognize curved objects obstructing within mobile robot workspace. Fundamental experiments are carried out to identify a sphere to verify its effectiveness.

This paper proposes binocular active free space optics system. It presents the scheme of optical mesh network, and configuration of laser beam alignment system. Active free space optics apparatus is newly designed to facilitate its installation. Ray tracing simulations provide the desirable optical system for long distance transmission. A prototype of the binocular active free space optics mechanism is constructed for some fundamental experiments. The results disclose elementally features of the mechanism. They also clarify the ability of the proposed system by evaluating the quality of transmission.

This paper describes the aerial laser transmission techniques applied to mobile robot communication by constituting optical mesh network. Active free space optics system is newly proposed to transmit bilateral laser beams which are equipped with motorized mirrors, photodiodes, and position sensitive detectors. The alignment tactics are presented with regard to the coarse and fine positioning techniques of laser beam. Experiments prove that the proposed techniques enable the transmission laser beam to locate the target receiver precisely and to track the swaying transmission apparatus.

A new augmented reality system is proposed to apply to robot navigation in this paper. It generates pattern IDs by analyzing infrared optical markers projected in the real world. The system enables the robot to guide a complicated motion by the robot commands corresponding to the pattern IDs. A prototype system is constructed to conduct fundamental experiments of remote robot navigation.

This paper studies an active free space optics technology to realize an optical mesh network. A laser beam control system is designed, and optical axis control technique is evaluated in terms of both telecommunication and control performances. A transmission line switching technique is also proposed and experimented with a minimum configuration prototype system. Results prove that the active free space optics system can establish broadband communication at 0.5 Gbps with a bit error rate of 10-10, and can successfully switch the transmission line within 0.01 second at least.

The authors propose an object shape detection system using a force/torque sensor and a flexible/inflexible insensitive probe. A tactile sensing method which makes it possible to estimate a contact position on the probe only by measuring contact force has been developed. Though the probe does not have any sensitive devices. the method derives the contact position from force information measured by the force/torque sensor. When the probe bends according to the applied force, the method compensates for the probe deflection by estimating its transformation based on force/torque sensor information. It has been applied to a manipulator system, and object shape detection experiments have been conducted using a cylindrical probe. Shapes of 3D objects have successfully been reproduced.>

An object shape detection system using a force/torque sensor and an insensitive probe is proposed. the development of a tactile sensing method is which makes it possible to estimate a contact position on the probe by measuring only contact force is presented. Though the probe itself is not sensitive, the method derives the contact position from force information measured by the sensor. The estimated values do not depend on either the magnitude or the direction of the force. The method can be with any probes of any shape and material. This method is applied to a manipulator system, and object shape detection experiments are conducted using two types of probes. Shapes of three-dimensional objects are successfully reproduced. The results confirm that the method enables the manipulator system to detect objects without precise control.>

It is shown that a servomechanism with only position/velocity functions can obtain a force control function using the adaptive theory (model-referenced adaptive system and model-referenced control). Experimental results of both the servomechanism and the single-degree-of-freedom force control of the manipulator show that this method leads to suitable force control when the object stiffness changes greatly. The advantage of this method is that a force control function is achieved by implementing software to identify the object stiffness without changing hardware.>