Vol.2 No.2 2009

33/98

Research paper : A secure and reliable next generation mobility (Y. Satoh et al.)−113−Synthesiology - English edition Vol.2 No.2 (2009) 4 Integration and synthesis of the elements4.1 Specific process of the researchWe shall describe the overall picture of the research process. Figure 10 shows the specific processes of the research based on the research strategy model diagram shown in Fig. 1. The flow is as follows. (1) As elemental technologies to realize “the sensing function” and “the danger recognition function” that are the core technologies, we initially selected the stereo omni-directional camera, stereo image processing techniques, image integration processing techniques, and risk detection techniques from conventional research ideas. (2) The integration and synthesis of the elemental technologies were conducted at the shortest time possible, the research and technology were visualized by completing the prototype, and the information was transmitted actively (through a press release and exhibitions as well as papers) to the users and to society. The exterior design of the prototype was important to increase the accuracy and efficiency of the information transmission. (3) In the evaluation phase, effort was spent on obtaining external evaluations, demands, and findings, as well as on experiments and discussions, to evaluate the current status. By doing so, the elemental technologies that must be improved or must be newly created were discerned. (4) Research for creation and improvement of the elemental technologies was conducted. This corresponds to Type 1 Basic Research. Since the issues that had to be solved and the evaluation standards were clear, the research could be carried out efficiently. (5) The updated or added elemental technologies were reintegrated and re-synthesized, and the cycle was repeated.The above can be called a structure in which Type 2 Basic Research serves as an engine to produce Type 1 Basic Research, and by returning to Type 2 Basic Research, the research results evolve continuously in an upward spiral. Initially we expected the feedback from the user or society in the evaluation phase would be abstract and indirect (in a manner that will simply have the content or direction of the research be adjusted). However, in actual practice, the users’ evaluation became the power to directly generate the elemental technology. In the conventional research approach that originated from Type 1 Basic Research, users and service providers were not given much attention, but in our structure, they became the engine of Type 2 Basic Research, and the elemental technology generated directly became the power to propel Type 1 Basic Research. We feel this structure may be a new case study of “Full Research” [4].4.2 Outline of the prototypeThe exterior of the prototype in which all elemental technologies described in chapter 3 are integrated and synthesized is shown in Fig. 11. This prototype has basic functions as follows: (1) the function to simultaneously detect in all directions surrounding pedestrians, obstacles, and level differences, and to automatically decelerate or stop if it determines that there is danger, and (2) the function to recognize the gesture and the posture of the rider and provide assistance.The stereo omni-directional camera is positioned above and anterior to the rider’s head with a support arm. This position corresponds to the height of human eyes when walking, and is practical for detecting risk in the environment. Also, the position that is lower than the top height of the head is unlikely to interfere with obstacles when moving through our daily living spaces. The arm and the camera-head are kept outside the trajectory of the mounting/dismounting action of the rider. Even when lifters are used and the camera-head may be in the way, the bending part of the arm can swing away and the camera-head can be pushed to the rear.In the initial stages of experiments with prototypes, a large Fig. 10 Overall picture of the researchFig. 11 Photograph of the prototype.The stereo omni-directional system is installed in the forward position above the user’s head. All devices such as PC and power source are mounted onboard the wheelchair. It does not require external cables, and is capable of running continuously for four hours.Type 1 Basic Research・ Development of high-speed position estimation algorithmMeasures for vibrationand changes in positionDiscovery of user needsNecessity of controlstatus displayEvaluation,demand,external findingsEvaluationType 2 Basic ResearchElement selectionActive informationtransmissionInitial selection from existingresearch potentials・ Increased vibration resistance of camerahead structureNecessity to counter vibration and to downsize processing unit・ Development of high-speed computation algorithmNecessity to increase speed,performance, and functionCycle of improvement andenhancement of elementsAddition ofelementsDesignPrototypeSynthesis,integration,and visualizationExperiment,discussionUser, societySensing technologyOmni-directionalstereo cameraRecognition technologyInformation display interfaceInterfaceStereo imageprocessingImage integrationprocessingEstimation ofcamerahead positionDanger detectionprocessingGesture recognitionprocessingExternalevaluation・ Development of gesture recognition algorithm・ Interface design・ Development of high-precision algorithm・ Improvement of interface・ Employment of global shutter CMOS・ Employment of interface PCI-Express

※このページを正しく表示するにはFlashPlayer9以上が必要です