Mechatronics for Safety, Security and Dependability in a New Era - Arai and Arai Part 16 ppsx

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linear joints. Next, we give these torques and acceleration to the forward dynamics to estimate the
acceleration of the passive linear joints. Figure 6 shows its results. The horizontal axis indicates time
[s] and the vertical axis indicates the acceleration [cm/s
2
] of the passive linear joint 112 and 122. Next,
we give these torques and acceleration to forward dynamics to estimate the acceleration of the passive
linear joints. Figure 6 shows its results. The horizontal axis indicates time [s] and vertical axis
indicates the acceleration [cm/s ] of the passive linear joint 112 and 122.
Figure 6 shows the same as Figure 5. If this mechanism is given the estimated torque and the
acceleration of the active rotary joints, it is possible to calculate the desired passive linear joint
displacements, velocities, and accelerations. Therefore, we can ultimately calculate the desired link
length.
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CONCLUSIONS
In this paper, we have discussed a method for link length adjustment using dynamics for the 2-DOF
planer rotary actuated parallel mechanism with passive linear joints on each link.
The procedure of this method is as follows: first, estimate the trajectories between the present and
desired displacement, velocity and acceleration of the passive linear joints. Then, estimate the torques
and accelerations of the active rotary joints in order to solve the accelerations, velocities and
displacements of passive linear joints. By setting the torques and accelerations to the active rotary
joints,
the desired acceleration is generated on the passive linear joints. By achieving the desired
trajectories of the passive linear joints, we obtain the desired link length.
References
[1] T. Arai, et al.(2000). Parallel Mechanisms with Adjustable link length. Proc. IEEE/RSJ 2000
International Conference on Intelligent Robotics and Systems, 61 \-616.
[2] H. Arai, et al.(1991). Position Control System of a Two Degree of Freedom Manipulator with
Passive Joint. IEEE Trans. Industrial Electronics, 38:1, 15-20.
[3] H. Arai, et al.(1991). Position Control System of a Manipulator with Passive Joints Using

Dynamic Coupling. IEEE Trans. Robotics and Automation, 7:4, 528-534.
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A PROPOSAL OF THE MULTIMEDIA ARCHIVE SYSTEM WITH
WATERMARK INDEX FOR PREVENTION OF DISASTERS
Fumio Maehara 'and Yoshikazu Tanno'
2
'
3
*1 .
Matsushita Electric Industrial Co., Ltd. 2-15 Matsubacho Kadoma-shi, Osaka, Japan
*2 Osaka University , Machikaneyama-cho Toyonaka-shi Osaka, Japan.
*3 Yamagata Digital Contents Center for Research and Promotion, Matsuei, Yamagata, Japan
* 1) E-mail: m
URL:
ABSTRUCT: According to the rapid expansion of the digital broadcasting and networks, the large
scale contents creation and multimedia archives are eagerly discussed. Multimedia database or archives
are very useful not only the entertainment but also the social security or prevention of disasters such as
the records of earthquake or typhoon etc. In such database the retrieval method and preservation of the
explanation to the situation related to the recorded video are highly important. Here we introduce the
large scale archive system, the retrieval interface and index format with watermark and Mpeg-7
metadata to apply the prevention of the disaster database. And also the information security on the
system, based on ISO17799 recommendation, will be discussed briefly.
KEYWORDS: Archive, ISO 15004, ISP 17799, Metadata, Multimedia database
1.
INTRODUCTION
With the rapid progress in broadband network and terrestrial broadcasting, the environment for
facilitating digital contents, database, archiving and their distribution channels become increasingly

indispensable.
On the other hand multimedia database for the social security or prevention of disasters are coming to
the important stage. The important issues to built the multimedia database are to make user friendly retrieval
interface and ensure the physical and informational security.
To make user friendly retrieval system, generalized efficient indexing method, which has the
robustness in the disaster environment is required.
We have developed the large scale archive which capacity is 7200 cassettes and 3000 contents have
been shoot and stored in it The system is locate in Yamagata. System development and researches have
been carried out under the management of Telecommunication Advancement Organization (TAO, National
Institute of Information and Communication Technology: NIST, now) which is on of the independent legal
organization of Ministry of Public Management, Home Affairs, Post and Telecommunications.
The system has the tape feed archive robot, DVD server and HD (Hard Disc) server and 62 sub-divided
motion picture thumb nail retrieval interface. The major issue of the system is to give the universal indexing
method in the aspects of format and data preservation, Mpeg-7 metadata format has been proposed and the
watermark technology to embed the information on the video data has newly been proposed.
Here we report the overview of the system, watermark technology and indexing method of Mpeg-7
metadata and the application of the metadata to the prevention of disaster database. Information security
will also be discussed briefly as the future issues.
This paper covers the contents as followings.
First, authors mentioned the research background in this section and then the overview of the multimedia
archive system in Yamagata Video Archive Research Center is introduced, watermark technology to embed
the information data on the video will be mentioned in section 3, The index format based on Mpeg-7 and
metadata format will be discussed in section 4 and the database of prevention of disaster in section 5 and the
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archive security based on ISO17799 and 15408 are briefly mentioned in section 6, then conclusion and
future issues will mention in the last section.
2.

ARCHIVE SYSTEM
The core of the archive system is a large scale tape feed robot that can store 7200 professional use video
cassettes of DVC-PRO format. This system uses a DVD server of medium speed and medium capacity and
an HDD (Hard Disc Drive) server for high speed and small capacity storage. Fig.
1
shows the total archive
and delivery system and Fig.2 shows the outlook of the tape feed robot.
This archive system uses video sequences in DB format (SMPTE 306m, 25Mbps and 50Mbps) with
high picture quality suitable for broadcasting use to store pictures on both the large scale tape feed robot and
the high sped access type HDD server. Then this video contents are distributed through the network, data
stream of this sequence is formatted with MPEG-1 or MPEG-2, 4. Thus DV formatted data are used for
video image storage and MPEG-1 formatted data with low bit volume, are used for distribution of image
sequences for browsing of digest videos both in-house and on the outside network. The data stream from
the archive system in converted from SD (Standard Definition Video Stream) to MPEG-2 on MPEG -TS
(Transfer Stream) using the FTP (File Transfer Protocol) and this stream is run through the distribution
network for contents distribution to the other security network
[1-4].
The system has the visual retrieval interface, shown in Fig. 3, which shows 32 or 64 thumbnail video
simultaneously hence 64 contents can check at the same time.
3.
WATER MARK
The digital watermark technology is one of the important issues to embed additional information such
as the metadata to the video .
In the large amount of video database, separate database manager such as oracle system or SQL server are
used.
But in such system, the data mismatch caused by human dispersing or operation error. One of the
effective method to preserve the additional information relate to the video signal is digital watermarking. In
this method additional data such as metadata, time-code, and copy-right information are added on the video
data themselves on the lower bit area of the DCT coefficient of the video data.
Fig. 4 shows one of our original water marking method in which low space frequency area on DCT is

aimed at the data embedding as well as high frequency area [9, 10].
The lower and higher part of the spatial frequency area are not very sensitive for the human eyesight hence
the embedding noise is less visible and the S/N ratio can be improved on human eyesight. Fig 4 shows the
experimental result of embedded disaster information on the recorded image. Fig. 3 shows an example of
the S/N ratio of the video on which watermark is embedded[5-8].
4.
MPEG-7 OVER CONTENTS ID
In order to solve above issues, we focused on the application of MPEG-7 description and the cid
compliant to
cIDf,
and we decided to adopt MPEG-7 descriptor to describe contents feature on our archive
system. The main purposes are to realize efficient retrieval for anybody who want the contents. In the
conventional method, keywords that were easy to understand for that familiar to regional Yamagata area,
where YRC is located, were attached to the contents. However, in general, assuming that those from other
outside area would try to retrieve the contents, easy retrieval will not always be done from these localized
keywords.
To realize the system allowing reuse of the content, we envisage the interoperability such as moving whole
contents in our system to other databases. MPEG-7 is the content description system standardized in
ISO/I EC JTC-1 SC29/WG11 (MPEG), and is the important technology for the era of broadband digital
network. Furthermore, it is the only tool that can offer standardized representation scheme of content related
metadata.[9-ll].
5. FORMAT OF THE INDEX
OF PREVENTION FOR DISASTER
In order to apply Mpeg-7 metadata to the disaster database, we considered both the fact that the video
contents we currently have is the center of our system and the practicability, and decided to adopt Method b.
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437
that makes description using (Instance Identifier)
in
Media Instance
DS. By
adopting this method,
we
intended
to
enhance possibility
to
realize smoother content distribution from retrieval
to
acquisition
of
copyright information
of
content.
For
this purpose, necessary first step
is to
retrieve contents with retrieval
metadata attached
to
them using MPEG-7 description.
The
next

is to
display multiple screens
of
moving
pictures that show scene change points
of
each picture sequence
to
check
the
retrieved contents visually
to
further narrow down
the
target content,
and
obtain
its cid.
Final step
is to
obtain information
on
copyright
and distribution
of the
content from
1PR
database compliant
to
clDf

by
using
cid as a key.
Here,
we
adopt
feature description
of
only high level
so
user
can
recognize
the
description
of
content.
By
adopting such
content description, MPEG-7
can
further provide various original information
and
functions
to
secure
interoperability
of
contents data.
Fig.4 shows

an
example
of the
disaster information which
is
embedded
on the
video data
by
watermark.
The earthquake information's
are
shown
in the
figure.
Fig 5
shows
the
example
of the
index format
of the
time code which
is
linked
to the
contents
ID.
This information shows
the

exact time
of the
disaster
and
time
history
can
exactly traced afterward. Hence much analytic research
for the
disaster
can be
done.
As is
shown
in
Fig.5
the EDL
(Editing Data Line) information
by the
watermark
on the
disaster video record.
Hence
the
situation
of the
disaster
can
simultaneously
be

observed. Fig.8 shows
the
overall multimedia
database tree
of the
disaster. Hence several informations
can be
retrieved visually
by
this information
and
several scientific analyses
can be
done
by
this.
6. CONCLUSION
Here
we
report
the
large scale archive system
and the
application
to the
security database
for
prevention
of
disaster. Mpeg-7 metadata format

and the
watermark method have been proposed
for the
efficient indexing method
for the
prevention fo9r disaster.
In the
future,
we
plan
to
utilize
the
verified
MPEG-7 over Contents
ID and
make structure
to
consolidate
he
retrieval profile unique
to YRC and to
adapt
the
control
and
management method
of
content
and

database using
the
method
of
content
and
database using
the
method
to
requirement
of
wider content distribution world.
We
plant
to
aspire
to
integrated content management that
can
adapt
to
professional need from retrieval
of
archived material
content, distribution
and
program production,
and
establish

the
system model that verifies content
distribution from
the
viewpoint
of
users. Thus,
we are
committed
to
contribute
to the
development
of
content base industry.
Authors thanks
to the
members
of TAO
(NIEST), Ministry
of
Public Management, Home Affairs, Posts
and Telecommunications, Yamagata city
and
prefecture government, Sony corporation, Mitsubishi Electric
Corporation,
NTT,
Osaka University, Tokyo University
and
Tohoku University

of art and
design
of
their
kind corporation.
And
also Midorikawa
Lab. at
Tokyo Institute
of
technology
for
presenting disaster image
data.
REFERENCES
[1] MPEG-7: /
[2]
clDf:
/>[3] Ministry
of
Public Management, Home Affairs, Posts
and
Telecommunications:
2001
White Paper
Information
and
Communications
in
Japan,

pi
38-141 ,
2001.
[4] Department
of
Cultural Information Related industry, Ministry
of
Public Management, Home Affairs,
Posts
and
Telecommunications: "Establishment
of
investigative committee
on
promotion
of
content
distribution" July
2001.
151 Maehara,
et al.:
"Peta-byte Class Video Archive System
by
Large-scale Automatic Robot", Proc.
IEICE Fall
Conf.,
Sept.
1.
[6] Fumio Hasegawa, Fumio Maehara, Suguru Kawabata, Haruo Hiki, Yoshikazu Tanno, Manabu
Ito:

"Program production system utilizing large-scale archive", Technical Report
of
IEICE, IIE99-83,
Nov.1999.
[7] Haruo Hiki, Fumio Maehara, Yoshikazu Tanno, Manabu
Ito,
Fumio Hasegawa: "Remote Retrieval
and
Editing System
for
Large-scale archive", Technical Report
of
IEICE, EID99-137, IE99-13, Feb.2000.
181 Masaru Kawabata
and
Fumio Hasegawa,"
A
study
for
picture-quality distortion
by
digital
watermarking",
D-l 1-86,
IEICE
2001
[9] Masaru Kawabata
and
Fumio Hasegawa,"
A

study
for
Picture-quality Distortion
by
Digital
Water-marking(2)",
11-2, ITE
Annual Convention 2002
Fl
01
Manabu
Ito,
Koichi
Ito,
Yoichi Ishibashi, Takuyo Kogure, Fumio Hasegawa: "Retrieval Profile Using
MPEG-7/MDS
for the
Large Scale Video Archive", Proc. IEICE Conf.,%D-3-6, pp385, March 2002.
438
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438
I k numbe r o f cuttn g frames
Figure 3: S/\ Ratio of Watermark with the number of cutting frame!
Figure 1: Schematic diagram of the archive system
Figure 2: The outlook of the Archive System
Figure 4: An example of the watermark data
Figure 5: An proposal of EDL list Watermark Data (Midorikawa T.ab. Tokyo Inst of Tech.)
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KEYWORD INDEX
3D Design 2 7
3D-CG Simulation 293
5-Axis
Controlled Machining Center 365
6DOF 14 5
Accelerated Reliability Test 395
Acceleration 1 3
Acceleration Compensation 347
Accelerometer 145,149
Action Acquisition 385
Active Control of Sound 343
Active Suspension 333
Activity Based Costing 213
Actor-Critic 38 5
Adaptive Digital Filter 333
Adjustable Mechanical Parameters 431
Advanced Factory Governance 281
Agent System 13 3
Aging 1 3
Aloha Protocols 313
Analytical Model 409
Angular Accelerometer 145
Antennas 31 7
Architecture 26 5
Archive 43 5

Artifacts 25 3
Assembly Planning 129
Assembly Sequences 129
Assist System 4 3
Assistance Dog 53
Atomi 42 7
Attendant Propelling Wheelchair 43
Attendant's Model 43
Attenuation by Human Body 309
Automated Assembly 125
Automation 301,313,317,32 3
Barcode Mark 1 9
Behavioral Design 173
Bio Cell Manipulation 241
Biped-Walking 189
Blood Fluidity Evaluation 163
Blood-Compatibilities 163
Bluetooth 305,30 9
Building Construction Process Management 271
Camera 41 5
Capital Assets Management 281
Cell Phone 18 1
Chamfering 16 9
Chemical Resistively 381
Circular Polarisation 389
Clean Up Curve 109
Closed-Loop 29 7
Collision Avoidance 97
Communication System 31,323,317
Compensation 30 9

Computer Aided Design (CAD) 103,129
Computer Aided Manufacturing (CAM) 129
Computer Aided Process Planning (CAPP)
113,129
Computer Assisted Surgery 57
Computer Mannequin 63
Computer Simulation 353
Connection 39 5
Construction Management 293
Consumer Electronics Rental Service 253
Continua 8 1
Control 29 7
Control Policy 1
Control Valve 37 7
Cooperative Transportation 177
Coordinate Measuring Machine 371
Coordination 19 5
Corner 7 7
Cost 21 3
CPN-TOOLS 25 3
Current Limiter 329
Curved Hole 15 7
Cutting Error 15 3
Cyber Manufacturing 293
Damper 35 3
Data Transfer 29 7
Decision-Objects Hierarchy 281
Deformable Object 77
Deformation 8 1
Design Information 103

Design Intention 103
Design Methodology 63,103
Design Structure Matrix 287
Disassembly System 133
Distributed Simulation 261
Distributed Virtual Factory 213
Driving Performance 181
Driving Simulator 181,401
Drunk Driving 181
Dual-Band 38 9
Dynamic Characteristics of Servo Motor 329
Dynamic Interaction of Alternatives 257
Dynamic Modelling 401
Dynamic Programming 201
Dynamic Seal 37 7
Dynamics 43 1
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440
Easy
Edge of Clothes
Edge Pixel Selection
Edge Tracing
Elderly People
Electric Cart
Electric Wheelchair
Electrical Discharge Machining

Electrically Conductive Fibre
Electromagnetic Band-Gap
Embedded Controller
Embedded Object
Embedded Systems
End Mill
Environment Recognition
Environmental Burden
EPC Tree Algorithm
Ergonomics
Error Compensation
Error Space
Fast
Feedback Control
Filtering
Fixture
Flatness
Flexible System
Four Parallel Links
FTA
Fuzzy ART
Gait Analysis
Gauge Factor
Genetic Algorithm
Genetic Programming
Geometric Modeling
Gland Packing
Grease
Guidance Control
Gyroscope

Handicapped People
Haptic Force Generator
Haptic Illusion
HCPN
Hearing Protection
Hearing Protector
Helical Compression Spring
Hemiplegic Gait
Heuristic Rule
Hidden Markov Model
HLA
Holonic Manufacturing
Holonic Manufacturing System
Home Service Robot
265
77
219
77
9
9
53
157
395
389
339
265
265,427
153
177
119

313
67
169,371
371
265
81
359
125
371
207
9
1
385
13
139
173,207,219,287
173
103
377
377
53
23
9
23
23
253
305
343
157
27

201
1
261
201
195
77
Home-Entertainment Robot 189
Human Behavior
9,37,181,185
Human Behavior Analysis 31,63
Human Body Database 67
Human Body Equivalent Phantom 409
Human Body Modeling 67
Human Cooperative 103
Human Directed Manufacturing System 73
Human Friendly 343
Human Friendly Machine 53
Human Interactive Manipulation 177
Human Mimetics 185
Human Motion Simulation 67
Human Robot Collaboration 31
Human-Centered Manufacturing 281
Human-Machine Interface 31
Human-Machine System 37
Human-Robot Interaction 177
Hybrid Controller 339
Hydraulic Boom 339
Hydraulic Servo 297
Image Feature Generation 235
Image Feature Selection 235

Image Processing 19,77,169
Impeller 16 9
Indoor Positioning 309
Industrial Robot 169
Information Equipment 323
Information Storage 281,323
Information Systems Design Methodology 281
Infrared LED 41 5
Inheritance of State-Value 385
Instantaneous Cutting Force 153
Integrated Process Management System 271
Intelligent Manufacturing System (IMS) 293
Intelligent Servo Actuator (ISA) 189
Intensional and Extensional Wholes 257
Intensive Data Management System 271
Interactive Design 173
Interactive Teaching 229
Intra-Body Communication 409
Inverted-F Antenna 305
ISO15004 43 5
ISP17799 43 5
ITER Vacuum Vessel 421
Job Shop Type Production 125
Kalman Filter 34 7
Kalman Filtering 359
Kalman Smoothing 359
K-Nearest-Neighbor Rule 129
Knotting 8 7
Lane Queuing 40 1
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Laparoscopic Surgery
Latency
LCD
Life Cycle Assessment
Lift
Linear Motor
Linear Objects
Lower Leg Swelling
Machine Tool Operation
Machining
Machining Sequencing
Magnetorheological Fluids
Manipulation
Manipulator
Manual Operation Process
Manufacturing Feature
Manufacturing System
Manufacturing Systems Design
Master-Slave System
57
297
405
119
47
347

87
73
119
153,421
113
353
81,87
385
63
113
261,371
Decomposition
281
57
Musculoskeletal Model
NC Program Diagnosis
Non Contact Rotation Mechanism
Nonlinear Time-Series Analysis
Non-Rotational Tool
Object-Oriented
Off-Line Programming
Offset
Offset Loops
ON/OFF Valve
On-Machine Measurement
Open Lab.
Operation Slip
Optimum Control
ORiN
Orthosis

Outdoor Mobile Robot
Pair of Curvatures
Parallel Mechanism
Parallel Robot
67
119
241
13
163
207,265
277
109
109
333
365
5
1
53
261
27
223
219
431
421
Measurement 27,323,359,37 1
Measuring Device 73
Mechanism 4 7
Mechatronics 35 3
Medical Application 13
Medical Robot 57

Metadata 43 5
Metallic MicroChannel Array 163
Method of Measurement 145
Micro Needle 38 1
Micro Robot 24 1
Microgroove 16 3
Mi cromach in ing 139
Micro-Molding 381
Microscopic Image Recognition 241
Microstructure 139
Minimally Invasive Surgery 57
Mobius Surface 257
Mobile Robot 31,185,235,427,22 9
Mobile Tracking and Control 301
Modular Mechatronics 427
Mold Machining 365
Motion Control 189
Motion Planning 93
Motion Restitution 401
Multi-Axis Control Ultraprecision Machining
Center 16 3
Multi-Fingered Hand 125
Multi-Link Mobile Robot 385
Multimedia Database 435
Multi-Objective Optimization 195
Multiple Object Identification 313
Part-Manufacturing Process Management 271
Parylene 14 9
Passive Joint Control 431
Passive Tags 31 3

Path Planning 9 7
Peg-ln-Hole Task 125
Personal Area
N
etwork 409
Phase Measurement 409
Piezoelectric Actuator 241
Piezoresistor 13 9
Pivot Motion 5 7
PLA (Poly Lactic Acid) 381
Planning 87,18 5
Planning-Based Method 93
Pocket 10 9
Portable Instrument 13
Positioning 8 1
Positioning System 329
Potentials and Events 257
Power Assist 37,4 7
Power Assist Device 1
Prediction 15 3
Pressure 37 7
Preview Control 333
Process Engineering 293
Process Optimization 287
Process Planning 201
Product Design 293
Product Recovery 133
Production Cost 119
Production Preparation 287
Production System Design 293

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442
Project Scheduling
Propagation Loss
Property Service
Prototype Casting
PWM Control
RCM Mechanism
Reactive Method
Real-Time Scheduling
Recovery
RECS Concept
Rectifying Antenna
Redundant Robot
Rehabilitation
Reinforcement Learning
Relation Diagram
Rescue
Resonant Frequency
RF1D
RF1D Systems
RoboCity CoRE
RoboCup
RoboCupJunior
RoboCupRescue
RoboCupSoccer

Robot
Robot Cleaner
Robot Milling
Robotics
Rotational Tool
Rough Map
Rubble
Safe and Low Load Design
Safe Driving
Safety
Safety Design
Safety Verification Field
Scheduling
SDR-4XII
Search
Search and Pose Recognition
Security
Selective Attention
Sensing Systems
Sensor
Sequential Two Points Method
Service CAD
Service Design
Service Design Tool
Service Engineering
Service Modeling
Service Robot
Servomotor
287
309

427
277
333
57
93
195
207
19
389
97
27
385
287
415
149
133,313,317
301
5
5
5
5
5
19
93
277
173
163
223
415
43

181
305,343
189
5
201,207,213
189
415
219
301
235
377
145,415,317
371
247
247
247
247,253
247
1,31
157
Setting a Meal
Shutter
Simulator
Size Reduction
Smart Clothing
Smoothing
Socio-Technical Systems
Spasticity
Spiral Beam
Stability

Standing Work
State-Space Construction
Stereo Projection
Stewart Platform
Stiffness
Straightness
Strain Gauge
Studio
Support System
Supporting Robot
Surgical Robot
Sweeping Task
Tactile Sensor
Take an Elevator
Talking Driving
Tardiness of Job
Task Models
Task-Oriented
Tensile Stress
Tool Path
Tool Swept Volume
Ubiquitous
Ultraprecision Cutting
Uncut Region
Unknotting
Velocity Control
Verhulst Equation
Vibration
Vibration Suppression
Virtual Cane

Virtual Factory
Virtual Machining
Virtual Reality
Vision-Based Navigation
Visual Navigation
Visually Impaired
Voting Process
Walking Stability
Washout
Water Channel
Water Hydraulic
Wearable
19
405
97
157
395
359
281
27
149
343
73
385
405
145
149
371
73
5

47
31
57
93
139
229
181
207
229
235,235
149
109
153
133
163
109
87
347
257
353
347
23
261
119
401,405
223
229
23
219
13

401
157
421
305,343
443
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Keyword Index-I044963 .fm Page443 Tuesday, August
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Wearing Comfort
Welding
Welfare Tools
Wet Chemical Etching
Wheelchair
Wheelchair Propulsion
Wire Feeding
Wireless
Wireless Communication
Wireless Power Transmission
Work Piece Measurement
Workstation System Design
Wrist
395
421
47
381
47
37
157

297
301,305,415
389
365
293
9
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