In this paper, we have developed the 6 DOF force display system to be based on the single PC. The system is composed of the force display device, the force reflecting rendering algorithm and the high-speed controller. The previous systems had a problem, that must adopt high performance workstation or 2-PC in order to control the graphics speedily and stably. In this paper, it is possible to improve the problem as to develop its exclusive controller and new rendering algorithm. The proposed new rendering algorithm is based on the Proxy algorithm, which can convert information of the position, the velocity, and the haptic information into the force-data. Especially, as to use the proxy algorithm, we can construct dynamical virtual-environment with the elasticity, the viscosity, the mass, and the friction force. As the result of the experiment, we found that our system has much superior characteristics than some other haptic interfaces, because it can control of 30,000 polygon model constructed virtual object with 1[kHz] haptic interrupt cycle and 20[Hz] graphic interrupt cycle in the single PC based system.

This paper analyses the performance of network system using the CAN(Controller Area Network) protocol. Given messages are assumed to be scheduled by the DMS(Deadline Monotonic Scheduling) algorithm. The mathematical models for time-delay that can be occurred between CAN nodes are defined. The effectiveness of modeling is shown by comparing the difference of time-delay between simulations and practical experiments. We analyse the results according to the variation of factors, such as the number of nodes, the transmission speed, the message size and the number of aperiodic messages through simulation and confirm the real-time performance of lower priority messages. We also investigate the real-time performance of periodic messages when aperiodic message generates.

The ability to efficiently and robustly recover accurate 3D terrain models from sets of stereoscopic images is important to many civilian and military applications. To develop an effective and practical terrain modeling system, we propose a new multi-image stereo method which detect unreliable elevations in DEM(Digital Elevation Map), and fuse several DEMs from multiple sources into an accurate and reliable results. This paper focuses on two key factors for generating robust 3D terrain models: the ability to detect unreliable elevation estimates and the ability to fuse the reliable elevations into a single optimal terrain model. We apply the self-consistency methodology to reconstruct accurate DEM from multi-image and show the method is more effective than the conventional stereo image 3D reconstruction method. Using photo-realistic simulator, four synthetic image are generated from ground truth DEM and orthoimage to evaluate the accuracy of the proposed method quantitatively.

This paper presents a time series prediction method using a fuzzy rule-based system. Extracting fuzzy rules by performing a simple one-pass operation on the training data is quite attractive because it is easy to understand, verify, and extend. The simplest method is probably to relate an estimate, x(n+k), with past data such as x(n), x(n-1), ..x(n-m), where k and m are prefixed positive integers. The relation is represented by fuzzy if-then rules, where the past data stand for premise part and the predicted value for consequence part. However, a serious problem of the method is that it cannot handle nonstationary data whose long-term mean is varying. To cope with this, a new training method is proposed, which utilizes the difference of consecutive data in a time series. In this paper, typical previous works relating time series prediction are briefly surveyed and a new method is proposed to overcome the difficulty of prediction nonstationary data. Finally, computer simulations are illustrated to show the improved results for various time series.

The conventional stethoscope can not store its stethoscopic sounds. Therefor a doctor diagnoses a patient with instantaneous stethoscopic sounds at that time, and he can not remember the state of the patient's stethoscopic sounds on the next. This prevent accurate and objective diagnosis. If the electronic stethoscope, which can store the stethoscopic sound, is developed, the auscultation will be greatly improved. This study describes an amplifier for electronic stethoscope system that can extract heart sounds of fetus as well as adult and alow us hear and record the sounds. Using the developed stethoscopic amplifier, clean heart sounds of fetus and adult can be heard in noisy environment, such as a consultation room of a university hospital, a laboratory of a university. Surprisingly, the heart sound of a 22-week fetus was heard through the developed electronic stethoscope. Pitch detection experiments using the detected heart sounds showed that the signal represents distinct periodicity. It can be expected that the developed electronic stethoscope can substitute for conventional stethoscopes and if proper analysis method for the stethoscopic signal is developed, a good electronic stethoscope system can be produced.

Silent period(SP) is transient stops of muscle activity that are induced by mechanical or electrical stimulus and the duration of silent period is a important parameter that have been associated with symptoms of masticatory dysfunction. Muscle fatigue is induced by sustained muscular contractions. It is associated with the external manifestations as the inability to maintain a desired force output, muscular tremor, and localized pain. Muscle fatigue is a parameter that have been measured or monitored the deterioration of a performance of muscles. On the study of relationship between SP and masticatory muscle fatigue, Nagasawa suggested that SP increases up to 3 min. from the beginning of clenching when the subjects performed sustained contractions at 50% maximum clenching level. In this paper, in order to evaluate a relationship between SP and muscle fatigue, 10 SPs per 1 minute are measured at 10%, 20%, 50% maximum clenching level. We used the median frequency in order to quantify the degree of muscle fatigue. However, the results shows that the duration of silent period was not significantly affected by differing levels of muscle fatigue. Therefore, we suggest that the SP is not increased or decreased as the results of muscle fatigue, also the origin of the SP generation mechanism is discussed.