1998 Fiscal Year Annual Research Report

設計情報と組立情報に基づく機構の挙動推論とその応用に関する研究

Research Project

Project/Area Number	08680404
Research Institution	Kyushu Institute of Technology
Principal Investigator	安部憲広九州工業大学, 情報工学部, 教授 (00029571)
Co-Investigator(Kenkyū-buntansha)	田中和明九州工業大学, 情報工学部, 助手 (70253565) 鄭絳宇九州工業大学, 情報工学部, 助教授 (40253562)
Keywords	メカトロ機械 / 仮想現実感システム / 挙動 / 可視化 / 組立 / 試行錯誤 / 力覚
Research Abstract	メカトロ機械の具体例として、仮想現実感システムで仮想物体から力覚を返すためのフィードバック装置の仮想組立とその挙動の可視化を試みた.この機械は,操作者が把持物体の代表点に対応させたグリップを把持してグリップを操作したとき,把持物体が他の仮想物体と干渉するなら,グリップ部に把持物体と仮想物体との衝突によって生じる力とトルクを返す装置である.装置は位置検出のためのポテンショメーターと,力覚を返すためのDCモーター,及び運動の伝達機構を構成するリンク構造から構成される. 当初の計画では,当該機器を専門家が組み立てた後部品を破損させ,原因を機器の挙動から推定するシステムを作成する予定であったが,DCモーターとポテンショメーターの仮想物体の定義が容易ではないため,この計画を以下の計画に変更した. 新たな計画の目的は,非専門家に当該機器を自由に組立させ,組立不能な状態に陥った場合,適当なところから再組立をさせることにより,組立世界を探訪させながら,機器の挙動と組立情報の関係を非専門家に理解させることである.正しく組立がなされると所与の挙動を示すが,そうでない場合,たとえ組立が出来たとしても誤った挙動を可視化することにより,組立誤りを操作者自身に認識させることによって,機器の組立と挙動の関係を理解させようと考えた. 現実の機械部品を使って自由な組立を非専門家に行わせると,部品破壊などにより回復不能な状態に陥る危険性が高いが,仮想部品を用いているため部品破損の可能性も破損に伴う傷害の危険もなく,たとえ元の状態へ戻す方法が分らない場合でも,自由に組み立て前の任意の状態から再試行が出来るため,大きな教育効果のあることが確認された. 電子機器の仮想物体のモデリングを如何にすべきかという問題は未解決であるが,初期の目標は達成されたと考えている.

Research Products
(21 results)

All Other

All Publications (21 results)

[Publications] 田中和明: "機械部品モデルと説明文を利用した組立マニュアル説明図の解釈" 人工知能学会誌. 13・2. 263-273 (1998)
[Publications] Kazuhiro Annoura: "Function of Object from Observing Human Action" Int.Sympo.on real-time Imaging and Dynamic Analysis. 1・1. 860-865 (1998)
[Publications] Norihiro Abe: "Pelics Restoration Vsing Virlual Reality and MRI" Int.Sympo.on real-time Imaging and Dynamic Analysis. 1・1. 493-497 (1998)
[Publications] J.Y.Zheng: "Virtual Recovery of Excavated Archoeological Finds" IEEE Maltimedia Systems Conference 98. (1998)
[Publications] SHoujie He: "Content-Based Image Indexing and Retrieval" 7th Int.workshopon Structural and Syntactic Patten Recognition. (1998)
[Publications] Hirokazu Taki: "Environment Generation Intelligerce Framework for Humanoid" Proc.of 1998 JAPAN-USA Symp.on flexble Automation. 1・1. 445-448 (1998)
[Publications] Kazuaki Tanaka: "Understanding an Instraction Manual of Mechanical Assembly" 4th Int.conf.on virtual systems and multi malia. (1998)
[Publications] Norihiro Abe: "Tele-manipulation of real manipulator using virtual hand and haptic feedback device" Tele-manipulation and Tele-presence Technologies V. 151-158 (1998)
[Publications] Kazuaki Tanaka: "Navigating a Mobile Robot with Natural Ingaged and Land Mark Pecognition" 4th Japan-Frame/2nd Asia-Europe Congresson Mechatranics. 388-391 (1998)
[Publications] Ryoko Furusawa: "Presenting states and functiens of object under assenbly operation with force display device" Proc.of ICAT'98. 175-181 (1998)
[Publications] Kazuhiro Annoura: "Improving operational feeling in using virtual tools" Proc.of ICAT'98. 129-135 (1998)
[Publications] 渡辺恭弘: "MRIによる複数破片計測と仮想現実感による復元" 電子情報通信学会論文誌 DII. J82・2. 259-267 (1999)
[Publications] Kazuaki Tanaka: "Collaboration with two remote rorot arms by dived instruction using stereo vision and force feed back device" Int.Conf.on Advanced Manufacturing Technology. (発表予定). (1999)
[Publications] Kazuaki Tanaka: "Amethod for constructing virtual emironment from queen real environment" ICAMT'99. (発表予定). (1999)
[Publications] Kazuaki Tanaka: "Support system for redesigning hospital transportation railway track" ICAMT'99. (発表予定). (1999)
[Publications] Norihiro Abe: "Tele-manipulation of real manipulator using haptic feed back device PHANToM" Proc.of 32^<nd> ISATA. (発表予定). (1999)
[Publications] Norihiro ABE: "A Mechanical Assembly Instruction Manual Understanding asing Virtual Space" Proc.of ISMIS'99. (発表予定). (1999)
[Publications] Kazuaki Tanaka: "Collaboratiue Redesign of Hospital Transportation Railway Track using VR" Proc.of ISMCR'99. (発表予定). (1999)
[Publications] Norihiro ABE: "Understanding of Mechanical Assembly Instruction Manual by Integrating vi and language Processing and simulation" Proc.Robotics & Automation. (発表予定). (1999)
[Publications] Ryoko Furusawa: "Presenting state and function of objects under assembling operation with force display device" Journal of Robotics and Mechatronics. (発表予定). (1999)
[Publications] Kazuhira Annoura: "A method for Improving operationality of virtual tools" Journal of Robotics and Mechatronics. (発表予定). (1999)

1998 Fiscal Year Annual Research Report

設計情報と組立情報に基づく機構の挙動推論とその応用に関する研究

Principal Investigator

安部 憲広 九州工業大学, 情報工学部, 教授 (00029571)

Research Products

[Publications] 田中和明: "機械部品モデルと説明文を利用した組立マニュアル説明図の解釈" 人工知能学会誌. 13・2. 263-273 (1998)

[Publications] Kazuhiro Annoura: "Function of Object from Observing Human Action" Int.Sympo.on real-time Imaging and Dynamic Analysis. 1・1. 860-865 (1998)

[Publications] Norihiro Abe: "Pelics Restoration Vsing Virlual Reality and MRI" Int.Sympo.on real-time Imaging and Dynamic Analysis. 1・1. 493-497 (1998)

[Publications] J.Y.Zheng: "Virtual Recovery of Excavated Archoeological Finds" IEEE Maltimedia Systems Conference 98. (1998)

[Publications] SHoujie He: "Content-Based Image Indexing and Retrieval" 7th Int.workshopon Structural and Syntactic Patten Recognition. (1998)

[Publications] Hirokazu Taki: "Environment Generation Intelligerce Framework for Humanoid" Proc.of 1998 JAPAN-USA Symp.on flexble Automation. 1・1. 445-448 (1998)

[Publications] Kazuaki Tanaka: "Understanding an Instraction Manual of Mechanical Assembly" 4th Int.conf.on virtual systems and multi malia. (1998)

[Publications] Norihiro Abe: "Tele-manipulation of real manipulator using virtual hand and haptic feedback device" Tele-manipulation and Tele-presence Technologies V. 151-158 (1998)

[Publications] Kazuaki Tanaka: "Navigating a Mobile Robot with Natural Ingaged and Land Mark Pecognition" 4th Japan-Frame/2nd Asia-Europe Congresson Mechatranics. 388-391 (1998)

[Publications] Ryoko Furusawa: "Presenting states and functiens of object under assenbly operation with force display device" Proc.of ICAT'98. 175-181 (1998)

[Publications] Kazuhiro Annoura: "Improving operational feeling in using virtual tools" Proc.of ICAT'98. 129-135 (1998)

[Publications] 渡辺恭弘: "MRIによる複数破片計測と仮想現実感による復元" 電子情報通信学会論文誌 DII. J82・2. 259-267 (1999)

[Publications] Kazuaki Tanaka: "Collaboration with two remote rorot arms by dived instruction using stereo vision and force feed back device" Int.Conf.on Advanced Manufacturing Technology. (発表予定). (1999)

[Publications] Kazuaki Tanaka: "Amethod for constructing virtual emironment from queen real environment" ICAMT'99. (発表予定). (1999)

[Publications] Kazuaki Tanaka: "Support system for redesigning hospital transportation railway track" ICAMT'99. (発表予定). (1999)

[Publications] Norihiro Abe: "Tele-manipulation of real manipulator using haptic feed back device PHANToM" Proc.of 32^<nd> ISATA. (発表予定). (1999)

[Publications] Norihiro ABE: "A Mechanical Assembly Instruction Manual Understanding asing Virtual Space" Proc.of ISMIS'99. (発表予定). (1999)

[Publications] Kazuaki Tanaka: "Collaboratiue Redesign of Hospital Transportation Railway Track using VR" Proc.of ISMCR'99. (発表予定). (1999)

[Publications] Norihiro ABE: "Understanding of Mechanical Assembly Instruction Manual by Integrating vi and language Processing and simulation" Proc.Robotics & Automation. (発表予定). (1999)

[Publications] Ryoko Furusawa: "Presenting state and function of objects under assembling operation with force display device" Journal of Robotics and Mechatronics. (発表予定). (1999)

[Publications] Kazuhira Annoura: "A method for Improving operationality of virtual tools" Journal of Robotics and Mechatronics. (発表予定). (1999)

安部憲広九州工業大学, 情報工学部, 教授 (00029571)