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住宅内での人の行動を見守るために画像処理を用いて動作を分析する手法を提案する. 住宅内は時間帯, 天候による照明条件および家財道具の配置が変化することから, オプティカルフローを用いて移動物体の領域を検出する. そして, 検出された移動物体の領域から人物の領域を抽出する. 次に人物像の位置と姿勢を表す六つの特徴量を導入する. 種々の動作について特徴量を主成分分析し, 三次元固有空間に散布図で示す. 次に, 各動作の固有得点の範囲を円柱で近似して動作を認識するための判別基準とする. そして, 日常生活 (ADL: Activity of Daily Living) で現れる行動を固有空間における動作の時系列変化から判別する.

A questionnaire study was undertaken of more than 2800 elderly people aged 60 years and over and living at home, to investigate the relationship between their performance of some instrumental activities of daily living (IADLs) and their visual abilities. The IADL measured the ability of elderly participants to pick up coins, manage monthly financial matters, use the telephone and take medication as recommended. Visual abilities were assessed by means of each subject's answers to questions relating to resolution, focus, adaptation to bright or to dim lighting, dynamic acuity, distance perception and colour vision. The types of visual functions that, together with age and gender, contribute to determining the level of independence in the performance of IADL activities were identified using logistic regression analysis. The results indicated that elderly participants who had problems with either distance perception or yellowish vision also tended to have difficulties in picking up coins, using the telephone ...

A robot system was developed for the assembly of flexible belt-shaped objects, and the assembly procedures employed by workers in using it were analysed. A multi-fingered hand was developed to hold the objects at several points, and to move them into the proper position for attachment to a part. In addition, an image processing method that can recognize the gripping positions on source objects and conditions after the source objects are attached is proposed.

We are developing the disassembling method considering the elementary composition ratio. However, the elementary composition ratio of any products and parts is not indicated, so that these information are not used in the disassembling system. Therefore, we proposed the estimation method of element composition of part by the X-ray fluorescence analysis equipment. (1) The elementary composition ratio of material is estimated based on the image measured by the X-ray fluorescence analysis equipment and image processing. (2) The elementary composition of basic component part (an electronic condenser, an integrated circuit and so on) is stored to the parts database in order to estimate the disassembling product. (3) All basic component part in the product are specified by image processing technique, and its elementary composition are estimated roughly based on its size and elementary composition by using the parts database.

In aging societies, the age-related decline in visual ability is a particularly important problem. To identify problems in daily living caused by this decline in visual ability, we simulated vision in the elderly using yellowed lenses. A questionnaire study was then conducted to investigate the population and age group that has visual deficits about issues identified in the optical study. Subjective responses related to yellowing in vision became prominent in people over 75 years old. A color judgment experiment was carried out using subjects aged 80 or older. Confusing color combinations are; yellow/white, blue/green, dark blue/black and purple/dark red. Based on this color confusion data, we used computer graphics to simulate vision in the elderly. Simulated views of public signs are shown. Relevance to industry This study shows what colors tend to be confused by the elderly and provides essential data for developing products for older adults. Color combinations on interfaces such as switches, indicators and displays have to be considered carefully. Optical and computer-graphics simulations of the yellowed vision of the elderly based on color tests are powerful tools for improvement through experience.

This research focuses on analyzing the human characteristics of pair assembly work in a microgravity environment. To obtain the necessary data, two groups of test subjects participated in an experiment in a pseudomicrogravity environment, and how such factors as work allotment, sizes of assembled objects, and conditions of parts influence the work efficiency were studied. The results show when the assembled object is smaller that it is easier to change the object's position and that workers can move it to an appropriate site and work easily. If the assembly object is attached to an object with very large mass, the work allotment does not result in a difference in work time. As for positioning the objects, step-saving processes can shorten the work time. For instance, if a part can be put so that both ends automatically touch the proper spots, time can be shortened.

In this paper, we propose an inspection system of subject with three dimensional surface and volume by image processing using the distribution of brightness and section curves. The distribution of brightness on image depends on the inclination of subject's surface from an optical axis of the camera unit. Therefore, it is possible to inspect the three dimensional surface based on it. The sample is classified into some patterns by the visual inspection of worker. Next, the brightness pattern of a sample is measured, and its standard index is calculated. The weighting coefficient is determined based on the standard deviation of width of bright area on the sample. The volume of inspection subject is measured using a line laser device, and a control chart method is applied to maintain the quality of shape and volume of subjects through the production line. The proposed method is applied to soldering on electric device, and weight of lead in soldering is estimated from the measured volume.

In this paper, we propose a recognition method comparing characteristics of three-dimensional CAD information with those of input images taken by a movable camera. At first, three-dimensional coordinates of vertexes of an object are determined and the existence of curved surfaces and holes are checked by input images, which are taken by a movable camera. Next, the kind and direction of the object are determined by comparing those characteristics with CAD information. In a case of that, the object can't be determined by them, a difference of CAD information is calculated. Then the object is recognized by comparing the CAD information with input image, which includes the different part of the object.

In this paper, we propose the method of estimating the coordination of the mouth position with the head movement. This is done by using image processing technology. The mouth position will be able to use the human interface to control the meal support robot. The estimation method for the coordinate of the mouth position is as follows. Firstly, we extract the area of the mouth from the time series images by two video cameras. Secondly, we describe the method to estimate the head movement from the coordinate of the mouth center. Finally, we calculate the 3D coordinate of the mouth center to apply to some parallel images.

市販の色セロファンを使った75歳相当の透過率をもつ眼鏡を用いて, 高齢化に伴う眼の水晶体の黄変化を模擬体験し, 高齢者の視界が日常生活にどのような影響を及ぼしうるかを調査した. 食事の場面・買い物・道路で調査した結果, (1) 色が変わってみえるだけでなく, (2) 色による区別がつきにくくなる, (3) 液体など不定形のものが知覚しにくい, (4) 立体感や奥行き感が減少する, (5) 光るものがみづらい, ことがわかつた. 具体的には, 食品の鮮度を誤認したり飲み物の種類や量がわかりにくい, 商品の区別が困難, 段差への対処が遅れるなどの生活上の困難があげられた. 色紙を用いた実際の高齢者による色の同異判断実験では, 黄と白, 青と緑, 濃青と黒, 紫と濃赤という, シミュレーションで誤認しそうな色の組み合わせに対して同じように誤認する高齢者がいることが確認され, ヒアリングでもシミュレーションであげられた困難に関連する事柄があげられた.

Assembly characteristics are analyzed based on an experiment executed by a balancer in order to extrapolate and design activities for space. Workers are suspended by the balancer which limits them to four degrees of freedom, and they execute basic motions for assembly such as push, pull, and rotation with different postures. In addition, they execute five assembly tasks which are representative of Space Shuttle or International Space Station tasks. The data leads us to conclude that a workers' posture has a strong influence on the work characteristics in microgravity. Also, the distance from the work site and the self-stabilization of the worker were revealed as major factors of the assembly characteristics.

Accidental disruption of the vascular wall due to ligation causes serious bleeding. In the present study, mechanisms of this disruption are analyzed using theoretical formulae for calculation of constricting stresses. To confirm the results obtained using the formulae, an imitation vessel made of agar-agar is ligated and the configurational changes produced by the ligation are photographed. The validity of the use of the imitation vessel is evaluated by measuring the breakage stresses of swine tissues. In a usual ligature, the cross sectioned configuration changes to heart-like shape, i.e., a node side half of the imitation vessel wall being pressed down, and the portion of a valley bent inside the lumen is disrupted. A new ligation technique for prevention of the disruption is proposed, namely, ligation of a vessel with interposition a round pad or a half-circle pad between the node and the vessel.

We propose a method for recognizing a subject from the image taken by a CCD camera and comparing with the CAD figure. The three-dimensional CAD figure is transformed into a two-dimensional figure in which some color is added inside the contour. The transformed figure is used as the input of image processing. The two-dimensional CAD figure and an image of the recognized subject from one camera are represented by characteristics, that is, the center of gravity, contour, the distance between them, and FFT. The figure of the subject is estimated from these characteristics by comparing with the database of CAD figure.

This paper deals with a continuous recognition method for finger signs used to express some numerals in Japanese sign language by image processing technology. There have been some reports about recognition methods for finger letters; however, these were concerned with the finger letters which could be recognized from only the hand shape. Some finger letters are expressed by both hand shape and motion; therefore, it is necessary to use sequential hand images to recognize such finger letters. We propose a new continuous recognition method for sequential hand images and their contour curves. First, we define some properties of the hand image with its contour curve. Next, we determine a judgement rule for discrimination of the hand shapes based on the above properties. Finally, we describe a recognition rule to apply the judgement rule to some sequential hand images, and show some examples to demonstrate the feasibility of the continuous recognition method.

In this paper we develop a robot system which scoops up food and helps the aged and the handicapped to eat. We classify the objects (food) into three types : liquid, jelly and grains. By using a video camera we measure how a human being scoops the above-mentioned types of objects with a spoon. Next, the motion of the spoon and its rotating angle are formulated. The results are recorded in a data base and used to determine the motion of a robotic arm. Finally, we perform an applicative experiment to determine the amount of food which can be scooped at one time and where to insert the spoon in the objects. The results of the experiment are input to a controller, and the scooping robot system is developed.

In this paper we measure assembly characteristics in pseudo-microgravity space for the purpose of facilitating design of equipments that enable a Person to carry out assembly tasks precisely and quickly in outer space. First, we design a working bench which has 3 degrees of freedom and creates a pseudo-microgravity state record for the experiment. With the device we measure how much force is used and analyze how the human body moves in basic motions, such as "turn", "pull" and "push". Next, we apply the above method to assembly tasks. We clarify how three factors (work attitude, kind of tools, and position for supporting the body) affect the force used and how they change the attitudes of the body and an object.

In this paper, we propose the intelligential industrial management which is the new concept in the industrial management. In the intelligential industrial management, the know-how and experience in the production process are divided into the fact, relation, and action in whit many criteria are used. The rule is constructed from the relation and action. And the inference process shows the sequence of the action and rule by using the inference symbol proposed.

In this paper, we propose a method to determine the grade of timber using the image processing technique. The quality of the timber is evaluated from the quality factors of the number and size of knots, the distance between consecutive knots on the surface of the timber, the condition of edge lines, the length of crack and the roundness of timber end. Therefore, judgment rules are clarified from the state of the timber surface which is measured by three CCD video cameras set up at both sides and the top. The grade of timber is determined from the quality factors that are calculated from the image data.

This paper describes a continuous recognition method of sign language (numerals 0∼9 and a word [bad]) on hand motion by image processing technique. Finger Language communicates by means of state of the fingers and motion of the hand. Therefore, judgment rules are made clear from the state of fingers (bent, stretched, direction, angle of the interdigital web) for discriminating numerals. Each input hand image at 0.2(sec)is discriminated by using the judgment rules from the hand contour feature. Finger language can be recognized based on the continuous discrimination rule and above-mentioned judgment rules in real time.

This paper presents the application of a neural network of the Hopfield model to a plant layout problem which is classified as an assignment layout problem. The allocation matrix which is the solution of the layout problem is expressed by neurons, and the conditions of constraint are described as synapse connections. Then, we can obtain the energy function of the neural network corresponding to the objective function of the layout problem. The layout method using this Hopfield model is utilized to obtain the suboptimal solution by simulation. The effect of the coefficient of the energy function is also investigated. Furthermore, a layout improvement procedure using the simulated annealing method is developed to avoid the local minimum of the energy function.

We propose a method for subcontracting, which judges whether processes of a unit (or part) should be subcontracted or not by multistage fuzzy inference. First, the necessity of the subcontracting of processes such as design and machining is estimated from loads and costs. Secondly, the capacity coefficient of subcontractors is estimated from the quality, cost and due date. Thirdly, on the basis of the necessity and the capacity coefficient of subcontracting, it determines which processes should be subcontracted. Finally, it determines whether we should give an order of processes to one subcontractor or different ones.

In this paper, we first propose a design method of lighting equipment using an optical fiber cable that projects a half cone of light on an object and relieves the heating of this object. A sharp edge defined by the line between the lighted section and the dark shaded area can be easily detected by the first order differential procedure of image processing. second, we construct the three dimensional shape measurement equipment which is composed of the proposed luminaire, two cameras and an object table. The outer shape of the object is measured from the multiple images detected by the cameras under the condition that the object table can be rotated, inclined and turned over.

Handrails inside and outside of the home are considered useful in assisting elderly people who live independently. We investigated the need for staircase handrails and the optimal dimensions of handrails used by elderly people to ensure their safety and comfort. We distributed a questionnaire to over 2,800 people, aged 60 years or older, living at home. Logistic regression analysis was used to reveal associations between the necessity of handrails for walking up and down stairs and the age and gender of the subjects, as well as the degree of difficulty with which they performed visual activities. We then conducted experiments to determine the optimal size of a staircase handrail. 41 subjects, 63-86 years old, reported how frequently they used handrails inside and outside their homes, and suggested the optimal thickness and height of a handrail, as well as the optimal length of horizontal extensions. Based on our findings, we recommend optimal handrails in Japan to be 33-35 mm in diameter and 670-780 mm high, with horizontal extensions approximately 400 mm long. We also propose a regression model for choosing the optimal height for an individual: y = 0.294x1 + 0.188x2 + 18.63, where y is the handrail height (cm), x1 is the body height (cm) and x2 is the body weight (kg) of the user.

Ideal suturing was defined as advancing a needle along its curvature (needle circle) to minimize tissue trauma, while placing the suture with its intended span and tissue bite in the expected place. Actual suture tracks were analyzed to find the keys to produce such suturing. Correspondence of those tracks to the ideal track was then determined by the span, the initial needle angle (IA) into the tissue, and the center of the needle circle. Eight surgeons with 4-7 years of experience produced 22 ideal sutures in two types of tissue simulants: The entrance and exit points of the needle were level in flat suturing, while the entrance point was slanted 45 degrees for slant saturing. The correspondence was better with slant suturing than flat suturing (P0.01). The IA in flat suturing was 49.0 +/- 2.0 (mean +/- SE) degrees versus 33.0 for ideal suturing (P0.01), while that in slant suturing was 35.5 +/- 1.9 (P: ns). In conclusion, the IA was the key to good results, and was optimized in slant suturing, which was instinctively utilized in practice by using forceps. The forceps avoided a derangement of suturing stemming from the configuration of the needle employed and from the range of motion of the surgeon's arm (human engineering), while satisfying the surgeons inclination to take a large IA.

This study proposes a scheduling method to order the jobs in one class classified by the sequence number of the operations in each machine in CIM. This method is formulated using Al language (Prolog). It is assumed that the sequence of operation is different among jobs and that the input order of jobs to the manufacturing system is previously determined. First, the fobs are classified into some classes based on the sequence number of operations in each machine. Other classification criteria can be used in this stage. Secondly, the jobs in one class are ordered with the criterion of the early finishing time in each machine calculated from the work time, the setup time and the handling time, and of the late start time calculated from the due date.

The typical assembly line is serial with no paralleling of work elements and work stations allowed. The series assumption restricts the least cycle time to be the maximum work element time, thus limiting the production rate. An alternative way to increase the production rate (hence lowering the cycle time) is by assigning multiple workers to one work station. In this paper we propose the parallel assignment method (PAM) for achieving a higher production rate. In the first phase of PAM the work elements are assigned to work stations under the multi-stage upper time limits. But as two or more workers are assigned to one station, the operation time of each worker is longer in proportion to the number of workers at the station. Therefore, in the second phase of PAM work elements are assigned to the workers in each station so that each of the workers may perform shorter work elements where the work element is a minimum rational indivisible work item. Practical problems which cannot he solved by serial line bal...