Development of a video-rate range finder using dynamic threshold method for characteristic point detection

This study develops a video-rate stereo range finding circuit to obtain the depth of objects in a scene by processing video signals (R, G, B, and brightness signals) from binocular CCD cameras. The electronic circuit implements a dynamic threshold method to decrease the affect of signal noise in characteristic point detection, where a video signal from each CCD camera is compared with multiple thresholds, shifting dynamically by feeding back the previous comparison result. Several object depth measurement experiments for simple indoor scenes show that the dynamic threshold method gives high acquisition and correct rates of depth data compared with those by a fixed threshold method for the video signals and a relative method for R, G, and B signals utilized in the authors' previous range finders

Fundamental study of fluid transfer using electro-rheological effect

Considering that there is no pump feeding an Electro-Rheological-Fluid, a new type of pump has been manufactured and fluid dynamic characteristics have been elucidated. This pump can feed the ERF by utilizing effectively the change in physical properties of the fluid by the application of voltage. The principle and configuration of this pump and the methods of theoretical analysis are described, and the influence of the voltage on the feeding characteristics was examined The dispersoidal ERF has been treated hitherto as a type of Newtonian fluid. However. experiments showed that not only the induced shear stress but also the viscosity is affected by the electric field strength and that the ERF must be treated as a pseudo-plastic flow. The method of analysis described here can be applied to design the pump differing in dimensions because the analysis gave qualitative evaluations about the flow rate and pressure difference</p

Sharing and Composing Video Viewing Experience

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Development of a tactile sensing flexible actuator

The disadvantages of flexible artificial fingers have been improved. The finger is provided with the tactile sense by two types of sensors to detect when the finger tip touches an object and to estimate both the finger force and object size. The rigidity is enhanced by equipping the finger with a reinforcing material similar to that of human bone. A prototype robot hand with four fingers has been manufactured for experiments and mounted on an industrial articulated robot. The effectiveness of the improved robot hand finger was confirmed throughout experimental tests of grasping action</p

Geomorphological Criteria for Evaluating Liquefaction Potential Considering the Level-2 Ground Motion in Japan

In response to a bitter experience in the 1995 Hyogo-ken Nambu (Kobe) earthquake, the level-2 ground motion, extraordinarily strong shaking motion that would be caused by an earthquake directly under the area such as the 1995 earthquake, has been considered in seismic design of various kind of structures in Japan, in addition to the level-l general ground motion. Geomorphological criteria in the manual for zonation on liquefaction hazard issued by Land Planning Agency, which have been used a qualitative estimate of liquefaction potential were demanded to keep up with the above-mentioned trend of the time. The purpose of this study is to develop geomorphological criteria for evaluating liquefaction potential for the level-2 ground motion as well as the level-l ground motion based on case histories in the past earthquakes. The newly developed criteria are applied to the 1948 Fukui earthquake that induced the level-2 destructive motion. A liquefaction potential map is drawn up for the Fukui Plain affected by the earthquake. The result of the assessment based on the criteria was consistent with the actual performance of the ground during the 1948 event

The structure and behavior of the arctic cyclone in summer analyzed by the JRA-25/JCDAS data

AbstractIn this study, three-dimensional structures and the life-time behavior of arctic cyclones are investigated as case studies, using reanalysis data of JRA-25 and JCDAS. In recent years, arctic region has undergone drastic warming in conjunction with the reduced sea ice concentration in summer. The rapid reduction of the sea ice concentration is explained, to some extent, by a pressure dipole of the arctic cyclone and Beaufort high over the Arctic Ocean. This paper presents some case studies for the structure of the arctic cyclone.It is found by the analysis of this study that the arctic cyclone indicates many differences in structure and behavior compared with the mid-latitude cyclone. The arctic cyclones move rather randomly in direction over the Arctic Ocean. The arctic cyclone has a barotropic structure in the vertical from the surface to the stratosphere. The arctic cyclone detected at the sea level pressure is connected with the polar vortex at the 500 hPa level and above. Importantly, the arctic cyclone has a cold core in the troposphere and a warm core around the 200 hPa level. The mechanism of the formation is discussed based on the analyzed structure of the arctic cyclones

Chain Conformations of Polypeptide Copolymers

Chain conformations have been investigated theoretically by assuming Markoffian process for copolypeptides composed of two components of L-alanine, glycine, N-methyl glycine and N-methyl-L-alanine, for D.L-copolyalanine, and for D, L-copoly-N-methyl alanine. The characteristic ratio of these copolymers was plotted against the sequence probability that a residue is followed by a residue of the same kind. Some experimental results obtained for equimolar-D, L-copoly-γ-methyl glutamate are discussed with the aid of theoretical equation