Flexible Cooperation of Human and Robot by interpreting ... · Flexible Cooperation of Human and...
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3.3o-p>i&´-æ
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4.1.1C�Ý:E�@ & B iFE�Ç!� . . . . . . . . . . . . . . . . . . . . . . 29
4.1.2C�Ý:E�@ & B i�;=�*��å . . . . . . . . . . . . . . . . . . . . . 30
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3.5 LEGO Parts I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
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5.3 EMR-8 ���G^��G�����N��� . . . . . . . . . . . . . . . . . . . . . . . 43
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5.5 1�2�[��?���.� . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
5.6 9 ��_!�p�� G¡�¢G�����E�. . . . . . . . . . . . . . . . . . . . . . . . 46
5.7 �� ?£.�<�)��� . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5.8 ���'^��G�������w���� �� . . . . . . . . . . . . . . . . . . . . . . . . 47
5.9 EMR-8 �����<3 9 ��_��¤�� G¡)¢N�w���E�. . . . . . . . . . . . . . 48
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5.10 �������?���LT��<&?6�)�=�i . . . . . . . . . . . . . . . . . . . . . . 50
5.11 �������?���LT��<&?6��?�?������ � . . . . . . . . . . . . . . . . 52
5.12 )!=�i����� ���� . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.13 3DTM T��.6|n�o������ . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.14 ������C�T��<&�6�)%=�i���Y�=�� . . . . . . . . . . . . . . . . . . . . 57
6.1 �������L��r� �R�!����#"w�#$<��� a . . . . . . . . . . . . . . . . . 62
6.2 !�%&���L��r� �R�!����#"w�#$<��� a . . . . . . . . . . . . . . . . . 63
6.3 )!=�n�o���H?J��%!���� . . . . . . . . . . . . . . . . . . . . . . . . 64
6.4 )!=�n�o���H?J��%!���� . . . . . . . . . . . . . . . . . . . . . . . . 65
6.5 Shovel 3 BlockB ��"�#!$0&w\(')�u� . . . . . . . . . . . . . . . . . . 66
6.6 )!=!s�Z�tuT�)�*,+Ir� ��%����� . . . . . . . . . . . . . . . . . . . 67
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3.2 @�A�B�C���������� . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.3 @�A�B�C�/�� z7{����.���������N�w������� . . . . . . . . . . . . . 21
5.1 � �!��� . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
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Ì7Í ¢���x ¹�r������Y� §&� 1000[msec] � _ § ª x �Y� � ��xV£ �u w>K� r opWq ��r Èg� ¢ ª ^ �Å�Æ�Ū$��� v"w uI�6�,�I� ¢��7xV£�� .>t�ª v"w>¢�7x�� ��� w r��6� v|w (smooth pursuit movement)
r t"u|vYw (saccadic movement)
v ��� x�£������� �|� � 1 � 6� � 3 ; �¢¡&��� ¢�� � wZ3&; �¢¡ £g� ��� w)��£X¤ p�¥
(flick) =<K ºV®¦¡ 0.03∼0.05[sec]�Y§ ¢$¨|©"ª�§/«¬ ¡³�9% 20 ® ÌÍ�¯Y°|± p² � ¡�� � �"³�° � ¯ v"wg´Nµ % 15[sec]
Ì7Í�¯�¶g·�% N¸¢¹ 30∼100[Hz]¯/º
»6¼ S ®¦ ½ �¡ �g½�¶ w¿¾)PbÀ�Á (tremor) ´$µ % 5 ®��,Â�¢�£X¤ p�¥ ¯��§�Ã"Ä X¡ ���5§IÅ�� ª�Æ w r ¤I£Ç¾ (drift) §/® � @ ®�¡ £
È�É"Ê � v�w ¡ ?Y-� �Ë�¢ � Ç �|�>ª5°b¯/Ì @n� ª$�I� v|w7¢ ´6¯ � Í � 30[deg/sec]Ì�Í ¢gÍÎ�Ï´ �7¹ w � ; �Q¡$� §/}�~ ¹ «Ð¬ ¡gÑ = ¹ Í ¡ £
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3.1. µ�� =����Q� � 3� Ú��6¯ µ�� ¯ ±�²
� 3.1:�9¯/���
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3.2. LEGO¯/����� ;�� ¤ § ÃQ��¡ µ�� »¼�¯�� e � 3
� Ú��6¯ µ�� ¯ ±�²
� Ê � B Ð|� Í5¹ 300[deg/sec] §�� ª�¡ Ð�� ªY��� v"w"¢|´Nµ �¢ � Q>�^ Æ��d�X¡ =�>7§�« ¬ ¡ £ �7¹ w � ; ��¡$� §I}�~ ¹ « ¬ ¡�Ñ =����¢=�Ê °�ª�� £
3.2 LEGO � � � � � � � � � � � � � � � � � ��! ¯#"%$�¯ Ë'&)(Y´�µ��)*+� #, � ;"´�-%. ¯0/%13254)6 87�9Ð3b´;:�<>=�?@ � ;�-�.�=0ACB p ¾ ¯EDGFIHCJGK �;L¢ �M;NGO ¡9Ñ�P8Q Í ¡CR : Ñ�Q ´ LEGO¯
����TS �;L� VUW PX ´E�LZY ¯ -�. ¯ µ � ¯C[G\ K)]�^R LEGO¯C_�����S
(�´;`¢¬ba ��c�d8_����S;^Ce;f%Q �&´#g ¼ ¯�_����S aZh �jiCk ÃYÄ�Oml R�nG^ ´`mo�p>q Hsr;4md ¸Tt;a �%cuQ �wv�x;y{z}|;~ Q (������ H l�a �%c>P�H l R!�C�pmq'=�� LEGO�s_��)��S (��)�)���%=�gG� Q���� � _���)SE� LZY;=0�0�T�G�G�� k NG<>l P��Z�I� <ml R :�< �V��46�P}[u� & H#�; I�s¡Z¢;d�£T¤�¥Z¦ l ��PVQ ��T *T+ d , � l �!P =!pl8§ [ZH�JKT� L k¨ x P#H l Rn�© ( LEGO
�0_!��)S%d8ªZ«uS � l�-%. �C� T¬� h d�®G¯ Oml#MG° d�ªZ«�^)R : ��±�²jd ��³�=�´] l R
3.2.1 µ�¶3·¹¸�! ( LEGO��_%����S�� L d U;W PX � 1 3.2 =�º�O�pmq�=0�E»T�!=#¼T� XVS� l LEGO
��_����SE� L!=C½ ¦ l �; I�C¡j¢;d#¾G¿�XÀ^;R�� LTÁ�.;(�Â�-GÃ!( �l k � 3 ÄGÅTÆ Q��Ç� �uÈÉ!&EÊ�Ë HE� L Q�� l RsÌ °GÍ�= �m�8Î o#ÏCÐ;ÑZÒ �GÓÔ dCÕZ�0SjÖ%� � �: �0×u_��)�)S�d�ª q�pØq�=#Ùº X8^;R
3.2.2 µ�¶ÛÚÝÜ3.2.2.1 EMR-8
M;°Z=GÞ�� ( ß ) àâá0ã#äjå %æEç ã�è�A æ��éêj�;ë�ì;í�¡�¾¿;î)ï EMR-8(1
3.3)d , � l R��0�Cî�ï Þ�Ë ë;ð å)ñ ( òEä�ó ã ð åTñ )
P ò�äó ã8ôZõ0ö)÷>áø Î��úù Ñ�û}< S ½ � �#ôjõjû�< ^;ëEìuüjý�Î�� ö ;þ)�#ÿ��I�����Güjý�d#¾G¿�X ��3.4 =�º�OÇpmq�=��)ò�ä�ó ã ð å�ñ Q0¯ � < ^�� òC~Øhsä�� �s��� �>=� ë�0�������¹d������ ºTO�l���� ç � Q%� l R EMR-8
�0�� ��>i�� ��i�! z ø Þ30[Hz]
Q�� l R!�C� ��� ç � �s� üZý#" Æ P%$�&�')( p;l+*�, ¾G¿�" Æ d.-�/ XS � l10�2 k)� l [16]R�43)( pul P �65 ï�" ÆIÞ�7 ���)nGQ;� *�, 1m
( t ¢ 1cm
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3.2. LEGO�s_����)S���� ( ½ ¦ l � ����!��®G¯ �
3 � � �s� j����
�3.2: �;° �����
Å�Æ QT� l ��PVk Ä Î«GS � l Rn;^ ��7 ��� *�, k 50cmι�
150cmn;Q Þ������� ( *�,���� ku¨ x Q�� l k ��� 3 �)� � *�, (� l �jd 7 �ÝXVSIÖ � $�&�' (à k�� o © *�,���� k��)¨ x Q�� l �%P8k Ä Î)«�S � l R! #"�� 0�2�$�% k�&G���QT� l ��P�d#��' OØl P �(�� � ÈGÉ�)+*Ç� (150cm ��, )
d 7 � Oml ��P.(�- l �Q ��*�, ÖÀüZý!���¹Ö/.�0%Q�¢ l P � � l R�� )¿ �IYC� Ì °�Í>Þ21�3 (54 y d#¡Î�6â�7#kG¨ x#8 � l ^ Ïu� EMR-8�Eî�9 ( p;l ���j�;:=< Þ�� 7?>A@!- ��BDC
8 � l(E n�^ � EMR-8( p � ¾G¿ û 3 l ¬) h�Þ��� ë��FDGIHKJ�L�üjýu����'¬) h nG^ Þ EMR-8ð åTñ ���M�( ½ ¦ l ����N 8 � lOE
3.2.2.2 LEGO P�Q#R�u°�8!S 0�XÀ^ a �c�d � 3.5 ½>p ¤ � 3.6
( º 6 E�a �cUT �;� � a �c�kWV¹�X � l'v�xy)½mp ¤ � � Â�Y%�Ea %cu�OZ ½>p ¤ � �OZ!� a %cu� Â�Y d º X X �l+E�v�x)yjÞ 7 t (Axle, Open-Axle, Bearing, Peg, Hole, Screw, Screw-Hole)( Ä[ û 3 � Z Þ 6 t (Red, Blue, Green, Yellow, Black, Grey)
( Ä [ û 3 l(E8v)x;y (t � X;\^] �/_a` 6 lOE 7 t � v�xyjÞu��� 3�b�3 $�c 6 lÀv�xy 7��G��_��G¥m¦¨ x�8 � l(E _T��¥>¦s¨ x - v�x;y �s_���fad�e>d � 3.7( º 6 E n�f � “Axle and
Bearing”�!gT��¥Z¦a7
“Screw and Screw-Hole”�!gT��¥j¦�( ÞE� g��0¥>¦!L�×)(?h©
“Driver” i 0 � XOj æ!k Ï�i ªmlnhT²�o��Dp (�
3.8) E
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3.2. LEGO��g���� X ��� ( ½ ¦�p8� ����!��®G¯ �
3 � � �s� j����
�3.3: EMR-8
�3.4: ò�äó ã ð åTñ � �
Ì °�Í (5g���� X ��� i�Ùº ] f LEGO� Ð;Ñ � i � 3.9
( º 6 E ���)(!h)²-� �� YZÞ 13 ��8 ��p EE»T� (��p�� � �� Y>Þ�� ��hT²a- � ��IÖ��=dOe X 24
��8 �Dp E f ����0�2�8)Þu� � ��G�� ����!�O��� (W9�� ] X ���%�!�� i ªZ«X ½ � � �C�����275-�p?Z!�(��� ÞCÐ;Ñ � Î��w®Ý��� � X �Dp E3.2.3 �ݶ��Ì °uÍZÞ�� � �%�"! 5
T 8 �Dp E��G° �"#�$ ( $ ] X�%& Þ"'�( d 3 X � - � E
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3.2. LEGO��g���� X ��� ( ½ ¦�p8� ����!��®G¯ �
3 � � �s� j����
BlockA 1: Axle ×2 Blue ×1
BlockC 1: Axle ×2 Black ×1
3: Bearing ×1
BlockE 4: Peg ×1 Blue ×1
5: Hole ×1 Yellow ×1
BlockG 4: Peg ×1 Yellow ×1
5: Hole ×3
BlockB 1: Axle ×1 Blue ×1
3: Bearing ×1 Block ×1
BlockD 1: Axle ×1 Blue ×2
4: Peg ×1 Red ×2
5: Hole ×1
6: Screw ×1
BlockF 4: Peg ×1 Green ×1
5: Hole ×1
Driver Grey ×1
Nut Black ×1
�3.5: LEGO Parts I14
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3.2. LEGO��g���� X ��� ( ½ ¦�p8� ����!��®G¯ �
3 � � �s� j����
BlockH 1: Axle ×1 Red ×1
5: Hole ×1
BlockJ 2: Open-Axle ×1 Yellow ×1
3: Bearing ×1
BlockL 6: Screw ×1 Black ×4
BlockI 3: Bearing ×1 Yellow ×2
4: Peg ×1
7: Screw-Hole ×5
BlockK 1: Axle ×1 Red ×1
3: Bearing ×1
4: Peg ×1
7: Screw-Hole ×8
BlockM 3: Bearing ×1 Yellow ×1
4: Peg ×1
7: Screw-Hole ×9
�3.6: LEGO Parts II
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3.2. LEGO��g���� X ��� ( ½ ¦�p8� ����!��®G¯ �
3 � � �s� j����
(1) Axle and Bearing
(3) Peg and Hole
(2) Open-Axle and Bearing
(4) Screw and Screw-Hole�
3.7:g��u¥m¦���� [
(1) Driver into Bearing
(2) Driver into Screw
�3.8: �}ñ�ä�� i hT² 7/6 p g���¥m¦
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3.2. LEGO��g���� X ��� ( ½ ¦�p8� ����!��®G¯ �
3 � � �s� j����
�3.9: LEGO
� Ð;Ñ �
3.2.4 µ�¶������³ �;&�� 8��;°IÞ ª=d�3f E1.Ì °;ÍmÞ EMR-8 i î�9 ] � EMR-8 i?S 0�6 p;f Ï ����� ���V �� ���iª l E
2.Ì °uÍZÞ��º�û 3f LEGO
� Ð;Ñ � i���� 6 p E3.Ì °uÍZÞ���� i�� ( LEGO � g���� X i ª l E
Ì °�ÍZÞ������ � 7?-�o��! LEGO � � � �#" ï ( ��$ X ÞO�u° i&%�' 62p 8)(+* - $�E f,!Og���� X&- �/.�(Wh)²#- � ��o Ä Î * -/0W-« X Ö1!sÌ °uÍ132 o � ] $ 74 l �65 � iUS 0 ] X g6��� X i87 l89 l6( Ù;: ] f Emû�* ()!&<= � 7?>@0�A8B �)C�$ g��&DFE i87HG f;I (KJ�! ����L�M�N � ] !#O 7 o)< =QPSR* �/T 0VU�f * - $ 92l6( ] f E
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3.3. ��� � �� �3 � �S�����H� ��
3.3� � � � �
3.2 ���8� +*����� 5���������� p ���U8 ! ��� ��� � �"!$#�� p&%
3.3.1 EMR ')(+*),.-0/214365)(87 9:3EMR
R *; �*<�>=?����@�A JCB�D�EGFIH4JLK�MON�PQE ��RQS�� 5�� ECTQUV @ A8XWX= % � 5����Y�$Z�[�\�]Q^`_ E � 5����&a �.b ] \ =�cId6eX� Z&f:g hXikj;5l6m i b ^On�o E W�=qp`r ZQs �ktC�u ^G���v� 7HGQ� N�wCx�y�ECM&z ZG{v|"}��\ %�~ _ 8 ^ EMR ��� � E f$g hIiGj � l�m i � 7 \Y^Qa ��� �k�`#�� = %a ��� J ^ ��� E&����TIy �������Y� (saccadic movement)
E�Y� Z��`��^C�X�� �k�I�Q� = _ � Z��`���O�I� E = _ � w 8�TI= %C� s���^ a � E T�y � �C� ���M � �C� 8 � tC� 2 � � E ��� � �G�X\ = _ �U8 ^ f`gQhIiGj � l�m iQ�" ¢¡ %£ ¤�¥Y¦ §�¨C©Yª «I¬� ��Z[�® = DQ¯ �Y��° � ��#8 99[msec] ±�² ��a �³�Ib]Q�O� b ]Q\ =?´�µ [17]
w W�= w ^ 150[msec] ±Y² �&a �.��b ]Q�O�I�`® = _� w�¶�·¹¸Cº�� 8XWX=�� \³¡ A�» · WI= [18]%
£ ¤�¥C¼�½�¨C©Yª ¾ �Q¿Y� E �QÀ Á � � ^ WY=q�QÀY±Y E&ÃCÄ � �QÁ � �kaÅ`Z�ÆtO��Ç | N 8YW �È^ x�y w @�A �GÉÊ��Ë � ¡ = TYy � ÇCÌÊb?� ��� 8�W�= %�Í Z�[�® = Å�Î ��À � 5[deg/sec] ±XÂ6� �C� bÏ��´�µ [19]w WX= %
s�Ð ^ �����C� E ��� � ^ � s��Èa�Å E �CÀ � ���Z"����Ñ�f�gChYi"j � l�m iC� �Ò �&u ^�Å�Î EG�Y�ITYy (aOÅ EQTYyO� �O�
)�qÓv| � f:gQhYikj � l$m iC�� 0¡ %
3.3.1.1£ ¤X¥Q¼�½�¨C©Yª�Ô�Õ�Ö�×ÙØXÚXÛIÜ&ÝCÞ�ß�àkÜ
±� E ��� NXá 8 ^ EMR-8 â�ãÙ ³ãÙ��� Å RYS���� � E f>g�h�i�j � l6m i�� ä¡ %å�æXç è é ÅIÎ �X� � EOê�ë � ��ì ë � � = MCí 10[deg]
E�î � �I��ï:ð � � = %�I�Yï:ðIñ Z�ò�óI� = ÅYÎ �I� �Gôv��õ ¸ gkö ��÷���ø � � = % _ E�NIá �ê�ë � NIá �ÏùQú %û�ü�ý�þ ²�8 $ÿ �6= E 8 ^ DQ¯ â�ã aCÅ c�d s 8 E���� ý 50[cm] �IÀ#8�WX= %�Y� ï�ð�EXîEOM�í
10[deg]ý ^ c�d����8 ý M�í 8[cm] � À EXî ���X= % _ � ý c
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3.3.�ΠE �Y� �
3 � x�y�E �ΠE �Y�
d E������ ��� õ ��� W�= %s � ^ ��� � � ±I E �$¡?Z�C�Y� = %
����� êIë � N�á Z��:�qõ ¸ g"ö �I÷v��ø � � ��� Å�Î ��� � Eê�ë �êIë � N�á Z�� = Å�Î ��� � E f:g�hIikj � lvm i �¹ `Ò � % .ã�������� ���� � =&�Xt ^ û�ü ì E������ �� �! h#" E ��$ �&% $ b ] [ � ^�% $�' �k��\Y]�(� �Qf`gQhIiGj � l�m i bq����� �&) � ��b ]�� � � = % ��� ��* 3.1Z+�� %
*3.1:
f$g h�iGj � l�m i E �,�Error1 Error2 Error3 Truth Total
Selecting State 6 5 12 59 77
Working State 4 3 8 48 60
*3.1E�-/. �k� = %
Selecting State 0�1�2 ] û�ü �¹ ¡ ��t E cId � 3 b ]�\ =54�6 (3�7�8 4�6 )
%Å�Î ý�þ ² Z WI= LEGO
E \QÐ ��â Z �I� b ] \ = ( 9 8 4�6 )%
Working State LEGOE 0�1;: ® û ü �� �Ò]C\ =<4�6 ( 0�1=: ® 4�6 )
%ÏÄ Ò]Q^B (�ZLEGO
�5>�? b ]Q[.�È^ �$�&@BA E�C�D ^Å�Î ý�ûYü cId Z ��� b ]\ =�EError1
�ΠEGF � T ( �Y����� )Z ����w�HJI��LK =M " ��E
Error2��� b ] \ = w�HJIJ�NK � \ M " �#E
Error3õ ¸ cYd Z�O�P/Q E��Y��w;HJIJ�RK =�M " �#E
Truth S�T Z ����wUHVIJ�RK =�E� ìW�Xk� I Y =�E � [�^ ²[Z � � ý x�y�w ( � �& >Ò[\ E•ê�ë � NIá Z��`�^] ã K \Cf`g hXiGj � l�m i E � ìW107 ÷ 137 = 0.781022
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3.3.�ΠE���� �
3 � x�y�E �ΠE����
• “Error3”X M " � Z�Æ t � \ C�D�EQ� ìW
(107 + 12 + 8) ÷ 137 = 0.927007
•����wUHVIJ�RK � \�W 8 ÷ 137 = 0.058394
±�² E ����â6ã ^���( á � ý ^ 70 � (Error3X�Æ t � \ C�D ý 80 � ) ±Y² E�� ìWJX] = _� w � � \ E s,\ ^ H�IJ�RK � \�W ý 6 �� � �q\³¡���� �G��� X] =_� w � � \ E
3.3.1.2£ ¤X¥�¦�§�¨C©Yª�Ô�Õ�Ö�×ÙØXÚXÛIÜ&ÝCÞ�ß�àkÜ
3.3.1.1� ] ã K \ �[� Z&^ aÅ EOT�yC� ��JX ÇOÌ Y = E � s���^ ê�ë � N�á �fgQh�iGj � l6m i b \ u Z �Y�XT�y ZX� = f:g h�ikj � lvm i[X" 0¡ E�� 3.10
Z������� ZG[�® = ���IT y EG��� X<+ Y E · Ò�� ·����� À E�! \ ����T�y ý 200[mse]� W ��^�"�Z ���# À w$! â Ò;\ �Y�ITYy ý 167[msec]
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à � 3�� � EKF ª 9¶ ��� |Xzzb! d�Ê ½pA C�A ¼ º Ò)Ó ´m��� »
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5.2. | S����8¹MO ����� ª���� �5 3 Ù�Ú�S��� �'O ����� ª����
M1
M2 M3
(a)Ð I� Ò)Ó (b)
�8� Ò)Ó
Ç 5.6: 9¶ ��� |Xzzb d�Ê ª Ò)Ó
è � È ? A¡½po U Á Ð ª � ´���� ° G RBt » Ð I� Ò�Ó ( Ç 5.7(a))½pA È��
� ° G ?�º Á Ð ª ��� � � á I � � q ª�� H ��� ´�� Û × ° È Õ ¼ ´���� °G ?,º Á Ð ª ��� ��� ª�� � ²��� ���� � º �! ª�" ´#� Û × ° È%$'& ���ª)(+* Ò)Ó
( Ç 5.7(b))´ C º�»�Ù ÃHÈ I ß�Ê)á W-, �/. �� ° G ��� ° G ? º�,� Ã�0+1�� º�2)3 ä ? ¼54 È Á!6 Ð 6 ´)7+8 Ä n 2�3 ( Ç 5.7(c)) 9�: È!; 3 Ò8Ó ´Á � L59!: G 9
¶ ���<>= b! dÊ 3�?+@ Ò)Ó ´ Á � � Ê8á � º�ÕA9 ä È 9i;�B�CD:Ã:R Ä�º%3 Á!6 Ð 6 3Ì,Í/9 X�ZFE C º�ÕG9�H äAI ºH»
(a)Ð I 6 Ò�Ó (b)
(!* Ò)Ó(b) J 6 Ð 6 Ò�Ó
Ç 5.7:Ò�Ó �[� 3 K!L
J 6 Ð 6 B�CGD E�ÙA35MONQP%R�S �UT�V J 6 Ð 6 B�CGD � 38 3�J 6 Ð 6 3�W Ñ
MG E � �X9':ZY�J 6 Ð 6 H�[ T \ ,A3�] � L � �OE ZM ^ 9':ZY −−−−→MGM1 E YM
^ 9 �UT V�; : G Y XM ^ ��Y YM ^ 9 ZM ^ 3�_%`a3 ^ 9Qb Ô �cT ^ 9 �OT�VJ 6 Ð 6 B�C 3 9i;�B�C �G3 \[� 7�d ��e%f 7�d RM 9 \67!g T L���� TM hA�i T%V69�;�B�C�D P Rkj�T J 6�l+6 3 B�C�J ��m ` ä ? T 3 ä Y RM 9 TM � s
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5.2. | S������MO ����� 3 ��� �5 3 ��S��� �'O ����� 3 ���
è T%VJ 6�l+6 B�C�D ä �������Pn � PM ��Y'e�f 9 \ 7�g T ä 9�;�B�C�D ä � � PWä������ T 9 �cT 9ZY B!C \i� 3Kqmr � ��Y
PW = RMPM + TM
=
[
RM TM
0 1
]
PM (5.2)
����� T�V
5.2.4 �������� �����Q��� =⇒ ������� ������ J 6 L l�� I B�C h A J 6'l+6 B�C �53 \[� 7�d E s U T n U!P%Y�� 5.8 P��� MON i ��� ß��c< 6 O d�� E 7 N V
9Eye StereoVision System
EMR Camera
Checker Board
� 5.8: ��� ß �c< 6 O d�� 3�� �
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5.2. | S������MO ����� 3 ��� �5 3 ����S��� �'O ����� 3 ���
(1) EMR-8 (2) 9 � ��� <Z= b! d��� 5.9: EMR-8
l � I59 9 � ����<Z= b� d � 3����� 3 � � EiF 3 9 � � �c< = b d � 9 � � J 6 L l�� I 3��!P Y � P u o J 6l�6 H 8 H�GiH T��� � l�6 3 6�� E�� t�� 9��+Y�_%`53 l � I�E u[v Pi����� �< 6 O d � � T�� 9#H�� I T�V � 5.9 P � � McN>P�Y�_�`F3 l � I h A u o �� �l�6 3 6�� E������ ��� 6 �UT�� 9�H�� I T�V�� 3 � � �"! < 6 O d � P M$# G CA � T&% I ��6(' 9 9 ��) ��<Z= b! d�� h A C�A � T J 6�l�6 3 B�C�J h A ~�*3 B�C \�� 7�d H C�A � T�� 9)P i T�V
• J 6�l�6 B�CGD h A 9i;�B�CGD ��3 \[� 7�d MM→W
•�� � l�6 3 6�� B�CGD h A � � J 6 L l � I B!C�D �G3 \[� 7�d MCB→C
•9i;�B!C�D h A �� � l+6 3 6�� B�C�D �G3 \[� 7�d MW→CB
^�# G Y � � J 6 L l�� I B!C D h A J 6!l�6 B!C D � 3 \6� 7+d E MC→M 9 �T 9+� � H$,.- �cT�V
I = MW→CBMCB→CMC→MMM→W
MC→M = M−1
CB→CM−1
W→CBM−1
M→W (5.3)
n � : Y I �0/21 7�d ��? T�V�
(5.3) M43 Y � � J 6 L l�� I B'C�D h A J 6 l!6 B�C5D �53 \�� 7�d H s(5T�V � � J 6 L l�� I B�C 3�J 6�l!6 B�C ��3 \[� 7�d ��e%f 7�d RC 9 \67!g T L � � TC � � � � I T 3���Y � � J 6 L l � I B!CAD � � � ���n � PC ��Y�e
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5.2. | S������MO ) � � 3���� � 5 � 3 ������� ���) � � 3����
f 9 \��!g�� ��J 6�l�6 B�C�D � ��� PM � ������ T 9 �UT 9QY B�C���� 3����� ��Y
PM = RCPC + TC
=
[
RC TC
0 1
]
PC (5.4)
� ����� T�V
5.2.5 �! #"%$ =⇒ �������� �����'&)(EMR-8 h+*-,!* � T 2 ���/. 6�' h+* � � J 610 l ��2 B!C D P�3 j�T B!C/4 E5 ,�6 T V
5.2.5.1 7�8/9:<;�=?>?@�A/B1C�D�EGFH:'I+JLK2 � ����� hM* 3 ���/N�OFE 5 3QP 6 P/R l ��2 � � �"! < 6 �TS � HVU�W �YXT�V l��Z2 � � � ! < 6 �TS � P� 6 T\[Y] R_^G` P �Ga �Yb 3 3 Y�cGd!3�e!]AHf/g ��Yb�h T�V � � J 6G0�l �Z2 3�� � �+! < 6 �+S � PR�Y i/j�k�l : h e+]��X T Zhang[27] 3�e+]OELm h T%V Zhang 3�e�]1R�Y n/cpo \�q Esr�m 6 T HVt \q�uYv P�w/x�y?zY{1|L} R 6 TV~�� Y 'V�Z���M� |G����P_}'R��<��Y�i/j<k��?�kP� � �+!�� � �TS � | ���&�<v�� �<� T1v h � � � �M� � X T�V� o�� � �+!T� � �TS ���Y� # b ,#* � ~Z����% 2����4' α(= sx
f
dx) � β(= f
dy) �
u0 � v0 (f ���?������ dx, dy � ����� �Z� � sx � ����o���Zi ) |�m h?b � � ���/�'0 l�Z2 ��� y?z<{ � 3 j� 2 ����y�z 4 CR(XR, YR), CL(XL, YL) R � ���?�'0 l ��2y?z1{��?R$�Yo � � � 3 ����¡ 0#�£¢ v�¤ bV¥�¦¨§ª© �«
−−→VCR
= (XR − u0
α,YR − v0
β, 1) (5.5)
−−→VCL
= (XL − u0
α,YL − v0
β, 1) (5.6)
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5.2. � �������p� )�� � o���� � 5 � 3 ������� ���)�� � o����
5.2.5.2 7�8/9:<;�=?>��� ����������������Z;�����A���������Z�p0! �"<2 yZz'{ � 3$# ���¡ 0 �£¢ R%�/�Y�Yo�&�' �1� # b!($) «
� �Y��o%&!'GR+* *�o 2 , �%-/. * © �«01
1 2�3?o����?¡ 0#� ¢ o%4?�G|5� ��� v 6 V«�%�?�?�G06 7"Z2 y?zY{ � 38# � ��1�91R �23�o+:�;y?z�o 179 �<� 3 �<5.10
�>= 6 � � ) ��� �<�@? b+A 5< �«CB o���� � , h?b@D ¤�EGF8H 6 �«
Calibration Plane
Eye BallCamera
Image Plane
Attention
Point
Eye Ball
θ
f
L
PR
CR
EL ERC
CL
PL
VRVL
n
Calibration
Distance
PC
<5.10:
7"Z2 y?z1{ � 3I# ��<������Z�p0 �!J �IK o7LNMPORQT� � �TSTS�o���+| L � �����?��0% C"<2 y
50
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5.2. � �������p��������o���� � 5 � 3 ����� ���������/o����
z<{ � 3C# 2�3�o ��9G| ER � EL � �6���/�'0 �+J � K�� *-, * © N/Op|CR � CL ��2�3?o_��������¡ 0)� ¢ | −→
VR � −→VL
v 3 Eª« &%' 1��� �+����� PCR −→
VR
v −→VL o%4?����X V«�C?Vb � �����ZX L � ER � EL � CR � CL
� * −→VR � −→VL | ¥ 6 BZvQ� ��� ©��
� ��� � A�� NB�v ��) (B�B �/� ER � EL R����'oVN/O v?¤ b��/? b/h � � ER � EL o���&���� � , h�b R� �! )
«−→VR � −→
VL o#"GP$�%�1R�&(' ) o���� B�B ��R −→VR
� , h�b o�) FIH 6 V«−→VR R*�#�Z¡ 0#� ¢ ) o+�/�
−→VR =
−−−→ERPR
|−−−→ERPR |
(5.7)
v ¥ §H© V« � ~ � −−−→ERPR R < 5.10
� * �−−−→ERPR =
−−→CPR −
−−→CER = k
−−→CCR −
−−→CER (5.8)v ¥�¦ �Y� V« −−→
CER R����,��X �« −−→CCR |��#�Z¡ 0%� ¢ v 6 1v �
k =|−−→CPR | (5.9)
v ) �«B�B �� �+�/�/�'0 �+J � K oL�M8O Q�� ��- SRS�. q o/�����%��¡0)� ¢ | −→nv 6 �« −→n R �+���/�'0@ �"�2 o#0212�43 v6527 6 o2�$���,�X V«IBB ��� −−→
CPR
v −→n o ) 6+8 | θv 3 E?v �
|−−→CPR | cos θ = L o?����9 v 9 (5.9)
�:� �
k =L
cos θ(5.10)
~<;T¤ � θ = cos−1
−→n ·−−→CCR
| −→n ||−−→CCR |
*�=Zo B�v � * � −→VR
� A�� �« −→VL > &@?��ZX �« �I?�b � −→VR
v −→VL o+4��'|A �Z BYv � �%�?�?�G0@ 7"Z2 y�zY{ � 3I# ��A2�79 PC
� A,� V«*<=�o BYv � * � PC R#Yo��_c�9 �<�+?b�¥ 6 B<vs� �Y� V«
PC = f(CR, CL, ER, EL) (5.11)
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5.2. ��A������ - ������o���� � 5 � 3 ��A������ - �����/o����
� �#���GoVN?O v�¤ b/h ~ �!�Z�?�p0% �"<2 y�z'{ � 38# 2N3Zo_y�z 4ER � EL o��7&��<�p| FIH 6 V«2�3/o@� 9YR �+�/�/�10 �6J � K o�L�MIO Q�� ��- SRS ����¤ ~ Z��w�x�yzY{ � 3 h�b �%�1o_y?z ��X c �'|5�*A 6 B<v � A �Z �«FIH |���� � 6 �~�� � � < 5.11
��= 6 � � � w/xy?z1{ � 3I# �%�1o_yz�� P1 � P2 o 2 �Y|>�/A ¤\~�v 6 �« � ~ ����3 ��� ¤ b o#) F�H |�� � «��3 ��� ¤ b > &('ªe���� A �Z NBYvs� ��� V«<
5.11� * � −−−→P1PR1 � −−−→P2PR2 o64�� � 3��<o � 9���X <v�� &��Z� �« P1 � P2
�� ¤ b Rsy�z����p| � � BZv ��� � � �+�����Y0@ "?2 y/z<{<��o�y/z � A�� �« � ~ �7L�MPO QT� �,- S�S o���� L
v �!�Z���p0 �%J �CK2� *H,#* © N�O CR1 � CR2
� * � PR1 � PR2
� A�� o+��� −−−→P1PR1 � −−−→P2PR2
� A,� B<v ��) �«�B o�¡ 0)� ¢ o64!�Y| A �? BZv � � �+�/�/�10@ "�2 y�z<{ � 3�# 3�Yo���9�| A �Z NBYvs� �<� V«
Calibration
Plane
Camera
Image Plane
Attention
Point
Eye Ball
L
PR1
CR1
ERC
CR2
PR2
P1P2
Calibration
Distance
<5.11:
7"�2 y?z1{ � 3I# 2N3?o��79Yo$��&
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5.2. ��A������ - ������o���� � 5 � 3 ��A������ - �����/o����
012 A��?¡ 0#� ¢ v��������¨v o%4 �1|5��A � v 6 �«� R ����� o� * � o ��� |�� b/h �« �� R@; �����%¤ b�h7)�h�� � )� � R�� �1|�� a��� B�v R���� )�h « ��?�b �@&%' 2 o � � � &%' 6 B�v� �<� �«8B�B �?o�A���¡ 0#� ¢ R < 5.10
�:� ��*��?o � � � &!' ��� V«
−−→CPC =
−−→CEL +
−−−→ELPC
=−−→CEL + kL
−−−→ELPL
=−−→CEL + kL(
−−→ELC +
−−→CPL)
= (1 − kL)−−→CEL + kL
−−→CPL
= (1 − kL)−−→CEL + k
′
L
−−→CCL (5.12)
&�? � �−−→CPC = (1 − kR)
−−→CER + k
′
R
−−→CCR (5.13)
9 (5.12) � (5.13)� * �−−→CPC =
(1 − kL)−−→CEL + (1 − kR)
−−→CER + k
′
L
−−→CCL + k
′
R
−−→CCR
2(5.14)
�! #"�$ | -/.� Yv �LM/O Q+� ��- S>S���� v �! � o$AZ��� ( 3 � v �*A��� � �?o ��� ) R�%!&�' ¤ h o���� kL � kR ' 1v)(�* �1� �« � ~ −−→
CEL
v−−→CER o�¡,+ � ¢ o�-p� §/. 3���| -!0�1� 1v ��9 (5.14) o/� 1 2 v � 2 234 E%B�vQ� ��� �« §�5�� � k
′
L ' k′
R
v6(7* ��� �« �C?�8 ��9 (5.14) 3�Yo� � � (�* �<� V«
−−→CPC ' k(
−−→CCL +
−−→CCR) (5.15)
B o � � � ��A��?¡9+ � ¢ | −−→CCR � −−→CCL o�:�� ¥?¦ ¤ � B o$A���¡9+ � ¢ v�����;� v o�4��p|6�2A � v)1+ «<������� o$�I9 .>=�? 3�@�A �M�CB�D,E
S ���6?#8�F�G ��� V«��!�����H �79 .I=7? H F7G�� ,�J 8 3 5.3.1 � FIH1� V«K�LNM ��3 ��&�' 2 |�O�P ¤Q~�«!Q�H�R �/|5*�� ��= 1�«
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5.3. 3 <�A���� � - ����� � 5 � 3 ��A������ - ����� H ���
1. &%' 1��� J 8 ��2�3 H A���¡9+�� ¢ 3 3 + � ��H 2 �+��� ) ��� � 5�� 364�� �� � 2 �+� H 4!��� ¤ 8���� G B ��3���� ��2�3 H A���+�H ����9���,�J 8������ � �"!�� �#��A �� %$�&'�( �*) �2"�+�� '-, ' 8�.�0/ «
2. &%' 1 � � J 81) 2�3 H3254�6 � �N& 187�9 � , ' 7 +5� ' -:��J;� -$. 5=<7->1. ��&�? H�RA@#H����-, ' 7�B ""+�����C�A"DE8��F 7 +�8��F �=G�H�%23 H �79 � �7& 1�7�H 3�IKJ:� (7�>
3. L�MKN5OQP �SR @<AUT��V�#3 ) 9 3+�XWZY\[ B D9E S - �XW�� ' ]�^`_ <;8X��*) �������NH �79 . =#?U�ba�c � F#G ��� 7->d = H F /fe R�@�H���� )-g - �XW��+��3 ) A�h�i +j�lk�� �������;H1m � ��nA����%oXp 1�7�>5q1r O5N +�sutv 2"4xw � �:y 7 A�h�i +��zk � −−→
CCR � −−→CCL {|"} . 8 J 7-' )�~%< 5 H i9+��lk�3 ) 9 (5.5) � 9 (5.6) � ��y 7 −−→
VCR� −−→
VCL�@&
' { (7 > ~5~ { ) q1r O�N + s�tv 2"4uw � �:y 7��!�����HK�x� .>=�?8� MC� 1A7 � )�n A �u� PC 3 � H ���� { |} { � 7 >
PC = f(−−→VCR
,−−→VCL
, MC) (5.16)
5.2.6 �����������j���0�#���j�����0���5.2.3
)5.2.4
)5.2.5 {���� . �K2�4��� ����/b~ � { )�� 5.1 ��FQ���� 2�4xw ���y 7 n1¡ ��� � F7G 1#7 ~ � ' { � 7�> EMR-8
H�¢ N�£:��@ AQTA� B D E�¤ � PJ � ¥#RH�¦ <Q�1§ 5.12 �3¨ 1�>b©xª�H n1¡«�� @<A�T8�¬�b�¨ { � 7 F / � e � )¡ h ��® P . �1©�ª ��@�A8TZ� H-¯�°�±�² �3�³/3~ � ' { � 7 >
5.3 3 ´ µ ¶ · ¸ ¹ º » ¼ ½¾-¿ T;��À�ÁXWxÂ�� n1¡x« B5à ÀXÁ�WxÂ���FU� )-Ä�Å�Æ ª { ©xª�Ç nX¡�«:� È1¡É { � 73ÊË�ª 3 ��Ì ¡ h�Í1Î#À�Á�WxÂ�ÏbÐ�Ñ .�Ò >
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5.3. 3 �"Ì ¡ h�Í1Î�ÀXÁ�Wx � 5 � 3 ��Ì ¡ h�ÍXÎ#ÀXÁ�WxÂ Ç Ð�Ñ
Robot Vision EMR-8
Gaze Vector in the EMR-8
Camera Coordinate System
Coordinate Transformation
Matrix from EMR-8 Camera
CS to Marker CS
Gaze Vector in the Marker CS
Coordinate Transformation
Matrix from Marker CS to
World CS
Gaze Vector in the World CS3D Information of the Objects
Calibration Parameter
Attention Point in the World Coordinate System
Image Processing
3DTM Coordinate
Transformation
Intersection Point
CoordinateTransformation
§5.12:
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5.3.2 ���"!j�$#`�&%5.3.1
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§5.14
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Attention Point
§5.14:
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5.4 º » ¼ ½ � �Ð"Ñ�5 Ò 3
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5.4. ���= �� H ��� �5 � 3
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�5.1:
=�> ?�@Marker0 x y z
Average -34.382328 1168.698608 1529.547363
Variance 0.257680 2.310269 1.054992
Deviation 0.507622 1.519957 1.027128
Marker1 x y z
Average -85.325859 1239.429565 1436.716431
Variance 2.013706 11.860677 4.677338
Deviation 1.419051 3.443933 2.162715
Marker2 x y z
Average 43.102810 1222.900146 1425.289062
Variance 1.244638 9.972414 3.386955
Deviation 1.115633 3.157913 1.840368
Attention Point x y z
Average -14.608809 993.031494 1230.000000
Variance 34.296329 87.034462 0.000000
Deviation 5.856307 9.329226 0.000000
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6.1.�����4� ��-4. �
6 � ��� W ��� ��� �4�
Gaze Data:Gaze(i)Gaze Data:Gaze(i)
Gaze(i-1) = Gaze(i)Gaze(i-1) = Gaze(i)
Yes
No
count count + 1
count > TGcount > TG
Robot grasp Gaze(i)
count 1
No
History(j) Gaze(i)
j j + 1
Perplexity-Object
=analyze(History)
Perplexity-Object
=analyze(History)
Robot grasp Perplexity-Object
Yes
i i + 1
count 1
i i + 1
count > TRcount > TR
Yes
Yes
No
No
;6.1: ��� <�> �\ª�« � �1r�sEt4u�v�t w
Gaze(i) i � � ��+�, a 3 } . } � � n�o
TG ������� ^ v�� D @ ��� p�� ��z }���� M � ���\�
TR
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analyze()����'�(qp 6�7 � C
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“Perplexity-Object”p� z
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Robot Grasp Perplexity-Objects� �Gw ��ª�« �9{
“Perplexity-Object”p
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6.1.�����4� ��-4. �
6 � ��� W ��� ��� �4�
Gaze Data:Gaze(i)Gaze Data:Gaze(i)
Gaze(i) = Working-ObjectsGaze(i) = Working-Objects
Yes
No
Robot grasp Driver
Gaze(i).Function
= Driver
Gaze(i).Function
= Driver
Yes
m 1
n 2 Gaze(i) = Objec t#1
m 2
n 1
flag #m = True
Yes flag #n = True
count #m 1
count #n 1
No
No
Yes count #m
count #m + 1
Nocount > TFcount > TFYes
flag #m True
i i + 1
flag#m False
flag#n False
Yes No
No
;6.2:
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Working-Objects����¤������ X4p (��� e v�� � � |5} 2 � � o
Object ]1 “Working-Objects”� ��� C� �� ¤ v�� � � |5} � o
flag ]m “Object ]m”�
“Driver”p !# ^ z } ` 4b B � � � r�� �
Gaze(i).Function i � � �[+4,�� 3�} . } � ��� o �E` �b � ��� � � � � |T}` 4b
TF
�1��¤������ X } ` 4b p D @ z } � e #�z }���� M � ���\�
Robot Grasp Drivers�T� w �\ª�«� ��{
“Driver”p v��
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6.2. ��� I�
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2 � �� ¥ F e�� ��� K�� � � L } { s�f� w � C������LEGO
p�� � z } � ^ ���! � L n C"� � ¬d j��$#9F e!� � z} !�#&%2L / K�K(' � L } {�� K C*)��� + �5 � L n C �� + ��, ��� L } ^��-/. j | % C*0�12C �� 2+ %�3/. � ��4!5 �76�« % ( . } {
6.28 9
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6.3. ��� II�
6 � ��� W ��� ��� �4�
6.38 9
II: V | <P>Te W5X } 6�B A p ��� � K { ; 6.4
e �4� p kPz4{“Gaze Record”
ek2z � � j '�( cPd p�� 3 � K���� e C '�( e %�& F .�� |T} “BlockA(Green)”
C“BlockB(Light Blue)”
C“BlockC(Yellow)”
C“BlockD(Green)”
��`�� b ����4C ������ �[� ��
“BlockA(Purple)”�E`�� b�%�� � � � |5} `�� b “Axle”
^����z } `�� b p � � z } �� e���� p ( � { � � � � e C ��� p�� n�� � C C @PM��D>E� "! � � � ����� X % ($# . � | j |�% ��C'& % M�0 ��(�� 3 � +qp*) 3 � �|5}
“BlockB”p�� � � C,+�� e ��� z � ^ % �(# � |5} {
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6.4.-��
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|5} �'� C,+�� %���� % Y[Z�� \�]�� p - ( � � |�} � e C5s�T� w % / % Y�Z��\�]�� %���� p ( � {- � e�� C “Shovel”^
“BlockB”% � ��� X�p ( / K { “Shovel”
�“Bearing”
^“Open-Axle”
% � � b p � � C “BlockB”�
“Bearing”^
“Axle”% � � b p � { �%
2�> fp ��� � K ��� � X���� � C�/ %
2 �Y t S�% � . � . } {
1. Shovel:Bearing ⇐⇒ BlockB:Axle (;
6.5(a))
2. Shovel:Open-Axle ⇐⇒ BlockB:Bearing (;
6.5(b))
(a)Bearing and Axle (b)Open-Axle and Bearing
;6.5: Shovel
^BlockB
% ��� � X � Y t S
1.% ��� � X!��� � / % ��� e
“Driver”p !�# ^�� C
2.% ��� � X!��� �"!�# ^
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% � � � X % K>' C / % ��G^2� �
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6.4.-��
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