RT Components Research Articles

1P1-P01 RTコンポーネント評価指数(RTC Metrics)の提案(RTミドルウェアとオープンシステム)

Robot system developers are able to construct robot systems by combining RT Components (RTC) on RT-middleware. However, many researchers should consider how to design the RTC, and develop tools to make components easily, in order to make reusable components,. However there is no method to evaluate the reusability of RTC. In this paper, we propose the software metrics for RT-Component, called RTC Metric. This metrics is considered to evaluate the reusability of RTC. This metrics consists of four items, Customizability, Interface Complexity, Portability, and Documentation Quality. We introduce the result of applying to some RTC system.

Development of RT-components for the M-3 Strawberry Harvesting Robot

We are now developing the strawberry harvest robot called “M-3” prototype robot system under the 4th urgent project of MAFF. In order to develop the control software of the M-3 robot more efficiently, we innovated the RT-middleware “OpenRTM-aist” software platform. In this system, we developed 9 kind of RT-Components (RTC): Robot task sequence player RTC, Proxy RTC for image processing software, DC motor controller RTC, Arm kinematics RTC, and so on. In this paper, we discuss advantages of RT-middleware developing system and problems about operating the RTC-configured robotic system by end-users.

1P1-Q04 オープンソースRTCの再利用による双腕サービスロボットシステムの構築(RTミドルウェアとオープンシステム)

In this paper, we present a dual-arm service robot system reusing open source RT components. The service robot system has four functions which are user detection, user interface, ordered object recognition and ordered object manipulation. Each function is developed by several groups as an open source RT module. We demonstrate over-the-counter sales of Japanese-style confection in IREX2011.

Education Method of Robotics with Jigsaw Method by Using RT Component

This paper introduces an educationmethod of robotics with the jigsaw method by using the RT component. Robotics contains many areas of technologies, such as mechanism, electronics, and computer programming. Therefore, it may be a desirable academic discipline for studying current complex technologies. For studying robotics efficiently, we propose an education method of robotics based on the jigsaw method. The jigsaw method is an efficient method to induce collaborative learning. We apply the jigsaw method to practical training of controlling a real mobile robot. We design an education program according to the method and develop its educational tool. Our developed educational tool is portable and simple to use. It just consists of a small mobile robot, a range sensor, circuit boards, and a personal computer. The mobile robot is controlled through USB. Moreover, students make program by using RT component. The RT component is a standard software component in the field of robotics. By using the RT component, they can skip to creating programs to drive hardware. We executed an experimental lecture according to the educational program. Through the experiment, we discuss the effectiveness of the proposed method.

Effect of Concussion on Clinically Measured Reaction Time in 9 NCAA Division I Collegiate Athletes: A Preliminary Study

To evaluate the effect of concussion on clinically measured reaction time (RT(clin)) and in comparison to a computerized reaction time measure (RT(comp)). Prospective, repeated measures observational study. Athletic training clinic at a National Collegiate Athletic Association (NCAA) Division I university. Data are reported for 9 collegiate athletes with acute concussion who were part of a larger cohort of 209 athletes recruited from the university's football, women's soccer, and wrestling teams before the start of their respective athletic seasons. Baseline RT(clin) and RT(comp) were measured during preparticipation physical examinations. RT(clin) measured the time required to catch a suspended vertical shaft by hand closure after its release by the examiner. RT(comp) was derived from the simple RT component of the CogState-Sport computerized neurocognitive test battery. Athletes who subsequently sustained a physician-diagnosed concussion underwent repeated RT(clin) and RT(comp) testing within 72 hours of injury. A Wilcoxon signed rank test was used to compare baseline and after-injury RTs. After-injury changes in RT(clin) and RT(comp) were calculated with respect to each athlete's own preseason baseline value. After-injury RT(clin) was prolonged in 8 of the 9 athletes with concussions, whereas RT(comp) was prolonged in 5 of the 9 athletes with concussions. The mean (standard deviation) RT(clin) increased from 193 ± 21 ms to 219 ± 31 ms (P = .050), and mean RT(comp) increased from 247 ± 75 to 462 ± 120 ms (P = .214). We concluded that RT(clin) appears to be sensitive to the known prolongation of RT after concussion and compares favorably with an accepted computerized RT measure. This study supports the potential utility of RT(clin) as part of a multifaceted concussion assessment battery.

1A1-H15 RTコンポーネント開発へのテスト駆動開発手法の導入(次世代ロボット知能化技術開発プロジェクト)

Test-driven development (TDD) is one of software development practices. With this practice, tests are written prior to code implementation. One of advantages of TDD is to get automated regression test. By using automated regression test, it is possible to modify software functions safely and check software behavior easily in multi OS. We try to adopt TDD to RT-Component (RTC) development and develop the library "RT-Seam" that helps to test RTC easily.

2P1-H08 筋電測定装置のRTコンポーネント化とそれを応用した訓練システムの開発(生体信号&ロボティクス・メカトロニクス)

We are working on component based developments of assistive devices and rehabilitation training tools. In these developments, middleware technology for robotics---RT middleware---is used. This paper introduces RT components for a myoelectric signal measuring and a myoelectric bio-feedback training system. By utilizing these components and other components developed by others, we are able to implement appropriate training system for each user.

2P1-H06 義肢装具研究開発用RTコンポーネント(生体信号&ロボティクス・メカトロニクス)

Three RT components for research and developments in prosthetic and orthotic fields are briefly introduced in this technical report. There are various types of prosthetic or orthotic devices available today, however only limited part of them can be controlled electrically. We are trying to apply robotic research findings in such prosthetic and orthotic device developments. This report introduces three RT components for (1) a myoelectric human-machine interface, (2) an electric-powered prosthetic-hand and (3) an acceleration-tilt sensor.

The Joint Interface of RT Components for Mobile Robots: The Activity Report Inform the Mobile Robot Working Group of the NEDO Intelligent RT Software Project

RT-middleware enables an interface between RT components by means of interface description language IDL, but it does not prescribe any specific format. If a unique representation format is used, it leads to a reduction in the reusability of a Robotic Technology Component (RTC). A working group of three research bodies engaged in the research and development of mobile robots was organized in the NEDO Intelligent RT Software Project, and this working group is involved in activities aimed at the jointing of RTCs for mobile robots. This paper describes specific this working group’s attempts enhance the sustainability and reusability of common RT components for mobile robots by achieving the jointing of RTCs for mobile robots.

2A2-B24 RTコンポーネントを活用したロボットサービスの実現例

2A2-B24 RTコンポーネントを活用したロボットサービスの実現例

Application of Robot Service by using RT Components

Application of Robot Service by using RT Components

2A1-G01 OpenRTM-aist-1.0における新しいサービスポートの実装

The OMG Robotic Component Specification defines RT-Component model including "Port". RT-Middleware (RTM): OpenRTM-aist has provided "Service Port" for service oriented communication between RT-Components (RTCs). In this paper, new explicit connection mechanism between "provided interfaces" and "required interfaces" is proposed. A new naming rule for interfaces is introduced, and new connection process is implemented. RTSystemEditor, which is a tool for RTCs manipulation, is improved for this new feature.

2P1-A22 RT Components for Personal Healthcare Devices

2P1-A22 RT Components for Personal Healthcare Devices

2A1-G17 形状を考慮したポテンシャル法による障害物回避アルゴリズム

We develop RT component for obstacle avoidance of autonomous mobile robot. Specially, we deal with avoidance algorithm for omni-directional mobile robot. For autonomous robot passes the narrow route, not only position, but also direction of path should be generated according to configuration of environment. To solve this problem, we propose a potential method with translate and rotary motion. In our method, repulsive force is applied to circumference of robot. Therefore, the force is not only applied to the center of gravity of robot. Then, the robot generates rotary motion for avoiding obstacle. By such method, translate and rotate path is generated according to reference model. We introduce a method and confirm its effectiveness by simulations.

Cardiac modulation of startle: Effects on eye blink and higher cognitive processing

Cardiac cycle time has been shown to affect pre-attentive brainstem startle processes, such as the magnitude of acoustically evoked reflexive startle eye blinks. These effects were attributed to baro-afferent feedback mechanisms. However, it remains unclear whether cardiac cycle time plays a role in higher startle-related cognitive processes, as well. Twenty-five volunteers responded first by ’fast as possible’ button pushes (reaction time, RT), and second, rated perceived intensity of 60 acoustic startle stimuli (85, 95, or 105 dB; 50 ms duration; binaural; instantaneous rise time), which were presented either 230 or 530 ms after the R-wave, and eye blink responses were measured by EMG. RT was divided into evaluation and motor response time according to previous research. Increasing stimulus intensity enhanced startle eye blink, intensity ratings, and RT components. Eye blinks and intensity judgments were lower when startle was elicited at a latency of R + 230 ms, but RT components were differentially affected: the evaluative component was attenuated, and the motor component was accelerated when stimuli were presented 230 ms after the R-wave. We conclude that the cardiac cycle affects the attentive processing of acoustic startle stimuli.

2A2-C04 OpenRT Platform/RTコンポーネントデバッガ(第2報)

We have been developing RT-Component (RTC) debugger for the intelligent robot software platform in "Intelligent RT Software Project" of NEDO since FY2007. RTC debugger is a test tool for RTC. In this paper, we introduce additional functions of multiple RTC control, etc.

2A1-D01 知能モジュール群検証用リファレンスハードウェアの開発

In order to develop intelligent RT software components more efficiently, we are developing the reference hardware robot system for RT components research applications. This robot consists of a 6 DOF serial link manipulator unit and a 2-wheel drive vehicle unit. These units are modularized, and all users can connect some additional RT components to the system by the OpenRTM-aist development system. Furthermore it can be used for healthcare applications by mounting intelligent RT components designed for the "Service dog". In this paper, we discuss the first prototype of the robot system and the optional prototype end effector.

2A1-D05 ロバストな物体姿勢推定コンポーネントの開発

The paper reports a RT Component for estimation 3D pose of a target object and design for usability by considering robot function. The RT Component extracts SIFT features from input images, and detect a target object by matching the SIFT features of the reference image to the SIFT features of the image. Then object pose is estimated based on correspondences of the features. Experimental results show the performance of the RT Component for several target objects. The RT component can detect a target object robustly in complex backgrounds of human daily life space.

「次世代ロボット共通基盤開発プロジェクトとRTコンポーネント」特集について

「次世代ロボット共通基盤開発プロジェクトとRTコンポーネント」特集について

2A2-C01 軽作業計画用のハンドアームRTコンポーネント

2A2-C01 軽作業計画用のハンドアームRTコンポーネント