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SCS DISTINGUISHED LECTURE SERIES
4:00 PM - Wean Hall 7500
3:45 PM Distinguished Donuts - Outside the Hall

The Teruko Yata Memorial Lecture in Robotics

Dr. Shin'ichi Yuta
Professor, Institute of Engineering Mechanics and Systems
The Intelligent Robot Laboratory
University of Tsukuba

Ultrasonic Sensing for Mobile Robots

When we wish to get information on the environment without contact, the only way is the use of wave propagation phenomena. The possible waves to be used are the electro-magnetic wave such as radio and light, or the acoustic wave such as sound, which propagates in the material as a medium. For the mobile robots working on the ground, the use of the ultrasonic in the air, which is an acoustical wave with higher frequency than audible sound, is a good way to know the environment. The propagation velocity of the ultrasonic is only 340 meters a second in the normal air which is much slower than optical light. Since the ultrasonic with small wavelength can not propagate for long distance because of its high absorption in the air, the possible ultrasonic to be used for the mobile robot are less than 100 kilo-Hz in frequency and more than three millimeters in wavelength which are much longer than optical light. So, we have to consider on its characteristics as the wave, when we use the ultrasonic for environment sensing of the robot. The popular way of the ultrasonic sensing is the pulse-echo method. In this method, the time interval after transmitting the ultrasonic pulse until detecting the reflected echo from the object in the environment is measured and then, the distance is calculated. This method provides a relatively good resolution in distance. But, it is difficult to know the accurate lateral direction of the reflecting object. So, several ideas have been investigated to improve this method.

Dr. Teruko Yata graduated from the College of Engineering Systems, University of Tsukuba in 1995, and started the research on ultrasonic sensing for mobile robots. She continued her research on this theme while a student in the Graduate School at University of Tsukuba, and in the Robotics Institute at Carnegie Mellon, and made a great contribution to the field. She developed novel methods of ultrasonic pulse-echo sensing, based on her deep consideration of the wave characteristics of the ultrasonic in the air.

In this lecture, the methods and their principle of the ultrasonic sensing for mobile robots are introduced. Then, two new methods developed by Dr. Yata are explained, which are, the bearing measurement by single transducer, and the accurate direction measurable sonar ring. Lastly, the positioning system using ultrasonic sensor and map for a mobile robot, which was recently developed at the University of Tsukuba, will be mentioned. This is also an outcome of Dr. Yata's basic idea.

Speaker Bio:

Dr. SHIN'ICHI YUTA is Professor at the Institute of Institute of Engineering Mechanics and Systems at the University of Tsukuba, where he is also Director of The Intelligent Robot Laboratory. Dr. Yuta received his B.E. and M.S. in Electrical Engineering at Keio University in 1970 and 1972, respectively, and earned his Ph.D. in Engineering from Keio University in 1975.

Dr. Yuta began his career as a Research Associate in the Department of Electronic Engineering at Tokyo University of Agriculture and Technology. In 1978 in joined the Institute of Information Science and Electronics at the University of Tsukuba as a Lecturer, becoming a Profesor at the Institute in 1992. Since 1999, he has been a Professor in the Institute of Engineering Mechanics and Systems. In 2000, he was appointed Chairman of the Institute of Engineering Mechanics and Systems, and from 2000-2002, served also as the Dean of the College of Engineering Systems at the University of Tsukuba. He is currently a member of the University's Board of Trustees.

Dr. Yuta became Director of the Intelligent Robot Laboratory at the University of Tsukuba in 1985. His research interests included his experiences as Group Leader of the "Biologically Inspired Autonomous Robotics Group", a priority resesarch program on intelligent robotics project for the Ministry of Education (1995). That same year, he also headed the project on "Multiple Autonomous Mobile Robots for Daily Life Environments", TARA Center, at the University of Tsukuba. In 1997, he served as Group Leader of the Robotics Group at the university on "Modeling the Evaluation Structure of KANSEI."

Over the years, his research interests have included: Linear System Theory and System Optimization, Signal and Image Processing, Medical Ultrasound, Digital filters, Computed Imaging for Medical and Industrial Application, Intelligent Robotics (1978-present), Autonomous mobile robots, Architecture of intelligent robot controller, Path and motion planning, Navigation and localization, Vehicle control, Smart sensors, Robot programming language, Micro-processor based motor control, 3D surface measurement, Robot vision for environment recognition, Robotic systems integration, and Mechatronics and its Education (1985-present).

Dr. Yuta is a Fellow of the IEEE, a member of R&A Society, the Computer Society, the Robotics Society of Japan, the Institute of Electronics, Communication and Information Engineers (Japan), and the Society of Instrumentation and Control Engineers (SICE, Japan), and other professionals organzations. He has served as Editor of "Advanced Robotics", Chairman of the RSJ Special Interest Group on Intelligent Mobile Robots for Outdoor Work and again for the RSJ Special Interest Group on Ultrasonic Sensing in Robotics, as General Chairman of the IEEE/RSJ International Workshop on Intelligent Robot and Systems (IROS). He is currently Vice-Chair of the IROS Advisory Council and Steering Committee, and has served as Chairman of numerous conferences and professional workshops. Since 2002, he has served as Director of The Society of Instrumentation and Control Engineers (SICE), as Vice-chairman, Editorial Board of the Transactions of the SICE.

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