Palpation Robot System - Reproduction Method by Deep Neural Network of Skin Palpation Judgment Focusing on Softness Classification

In recent years, the spread of infectious diseases, such as COVID-19, has increased the need for medical examinations to avoid contact between doctors and patients. Most treatments, especially dermatology, require palpation, and its impact is significant. In this study, we aimed to reproduce the judgment of the softness and surface textures of diseased parts, which is important to dermatologists for determining the condition, using a simple robot device. Five levels of softness and three types of surface textures labeled with 14 types of materials were obtained from interviews with dermatologists. To acquire a haptic response from materials during pushing, 1) a single-rod probe with a haptic sensor using a linear actuator and 2) a dual-rod type configuration to obtain vibration propagation was constructed. Frequency-analyzed images were produced from the obtained waveforms of force and acceleration. A total of 343 images from 13 materials were used for transfer learning and were classified using AlexNet. The classification accuracy of the single-rod probe was 93.0%, and that of the dual-probe configuration was 95.2%. The classification accuracy was improved using the dual probe configuration than the single one;the softness classification accuracy was improved from 93.8% (single-rod) to 95.7% (dual-rod configuration). The surface texture classification accuracy was improved from 91.9% (single-rod) to 92.8% (dual-rod configuration), respectively. Therefore, the proposed method enables the reproduction of the judgment of five-level softness and three types of surface texture judgment by dermatologists. © 2022 IEEE.

Experiment Assisting System with Local Augmented Body (EASY-LAB) for Subject Experiments under the COVID-19 Pandemic

Since it is challenging to perceive space and objects with a video conferencing system, which communicates using only video and audio, there are difficulties in testing subjects in the COVID-19 pandemic. We propose the EASY-LAB system that allows an experimenter to perform observation and physical interaction with the subject even from a remote location actively. The proposed system displays the camera image on a HMD worn by the experimenter, which camera is mounted on a small 6 DOF robot arm end, allowing observation from an easy-to-see perspective. The experimenter can also instruct the subject using another robot arm with a laser pointer. The robot's joint angles are calculated by Inverse Kinematics from the experimenter's head movements, then reflected in the actual robot. Photon Unity Networking component was used for the synchronization process with remote locations. These devices are affordable, effortless to set up, and can be delivered to the subject's home. Finally, the proposed system was evaluated by four subjects, As a preliminary result, the mean pointing error was 1.1 cm, and the operation time was reduced by 60% compared with the conventional video conferencing system. This result indicated the EASY-LAB's capability, at least in tasks that require pointing and observation from various angles. The statistical study with more subjects will be conducted in the follow-up study. © 2021 ACM.

The University of Tokyo Atacama Observatory 6.5m Telescope: Overview and construction status

Institute of Astronomy, Graduate School of Science, the University of Tokyo is promoting the University of Tokyo Atacama Observatory Project, which is to construct an infrared-optimized 6.5m telescope at the summit of Co. Chajnantor (5640m altitude) in northern Chile. The high altitude and dry climate (PWV-0.5mm) realize transparent atmosphere in the infrared wavelength. The project is now approaching the final phase of the construction. Production of major components are almost completed: Production and preassembly test of a telescope mount and dome enclosure have been completed in Japan, and they are being transported to Chile. Three mirrors, the 6.5m primary, 0.9m secondary, and 1.1m-0.75m tertiary mirrors and their support systems have been all completed and tested in the USA. An aluminizing chamber have been fabricated in China, and its tests have been carried out in Japan. Development of two facility instruments, SWIMS and MIMIZUKU, are also completed. They were transported to the Subaru telescope, successfully saw the first light in 2018, and are confirmed to have the performance as designed. On-site construction work at the summit is now underway. Expansion of a summit access road from the ALMA concession was completed in 2019. Installation of foundation will follow, and then erection of the dome enclosure and a control building. The construction works are delayed by COVID-19, and we expect to complete the dome enclosure by Q3 of 2021. The telescope will be installed inside the dome and see the engineering first light by early 2022. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.