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

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.. The major

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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/s2] 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: maehara.fumio@ip.panasonic.com URL: http://www.archive.gr.jp

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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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: http://www.itscj.ipsj.or.jp/mpeg7/

[2] clDf: http://www.cidf.org/

[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

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I k number of cuttng 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

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KEYWORD INDEX

3D Design 27

3D-CG Simulation 293

5-Axis Controlled Machining Center 365

6DOF 145

Accelerated Reliability Test 395

Acceleration 13

Acceleration Compensation 347

Accelerometer 145,149

Action Acquisition 385

Active Control of Sound 343

Active Suspension 333

Activity Based Costing 213

Actor-Critic 385

Adaptive Digital Filter 333

Adjustable Mechanical Parameters 431

Advanced Factory Governance 281

Agent System 133

Aging 13

Aloha Protocols 313

Analytical Model 409

Angular Accelerometer 145

Antennas 317

Architecture 265

Archive 435

Artifacts 253

Assembly Planning 129

Assembly Sequences 129

Assist System 43

Assistance Dog 53

Atomi 427

Attendant Propelling Wheelchair 43

Attendant's Model 43

Attenuation by Human Body 309

Automated Assembly 125

Automation 301,313,317,323

Barcode Mark 19

Behavioral Design 173

Bio Cell Manipulation 241

Biped-Walking 189

Blood Fluidity Evaluation 163

Blood-Compatibilities 163

Bluetooth 305,309

Building Construction Process Management 271

Camera 415

Capital Assets Management 281

Cell Phone 181

Chamfering 169

Chemical Resistively 381

Circular Polarisation 389

Clean Up Curve 109

Closed-Loop 297 Collision Avoidance 97 Communication System 31,323,317 Compensation 309 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 395 Construction Management 293 Consumer Electronics Rental Service 253 Continua 81 Control 297 Control Policy 1 Control Valve 377 Cooperative Transportation 177 Coordinate Measuring Machine 371 Coordination 195 Corner 77 Cost 213 CPN-TOOLS 253 Current Limiter 329 Curved Hole 157 Cutting Error 153 Cyber Manufacturing 293 Damper 353 Data Transfer 297 Decision-Objects Hierarchy 281 Deformable Object 77 Deformation 81 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 389 Dynamic Characteristics of Servo Motor 329 Dynamic Interaction of Alternatives 257 Dynamic Modelling 401 Dynamic Programming 201 Dynamic Seal 377 Dynamics 431

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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 169 Indoor Positioning 309 Industrial Robot 169 Information Equipment 323 Information Storage 281,323 Information Systems Design Methodology 281 Infrared LED 415 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 435 ISP17799 435 ITER Vacuum Vessel 421 Job Shop Type Production 125 Kalman Filter 347 Kalman Filtering 359 Kalman Smoothing 359 K-Nearest-Neighbor Rule 129 Knotting 87 Lane Queuing 401

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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 27,323,359,371

Measuring Device 73

Mechanism 47

Mechatronics 353

Medical Application 13

Medical Robot 57

Metadata 435

Metallic MicroChannel Array 163

Method of Measurement 145

Micro Needle 381

Micro Robot 241

Microgroove 163

Mi cromach in ing 139

Micro-Molding 381

Microscopic Image Recognition 241

Microstructure 139

Minimally Invasive Surgery 57

Mobius Surface 257

Mobile Robot 31,185,235,427,229

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 163

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 149 Passive Joint Control 431 Passive Tags 313 Path Planning 97 Peg-ln-Hole Task 125 Personal Area N etwork 409 Phase Measurement 409 Piezoelectric Actuator 241 Piezoresistor 139 Pivot Motion 57 PLA (Poly Lactic Acid) 381 Planning 87,185 Planning-Based Method 93 Pocket 109 Portable Instrument 13 Positioning 81 Positioning System 329 Potentials and Events 257 Power Assist 37,47 Power Assist Device 1 Prediction 153 Pressure 377 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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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

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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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