434 Ch87-I044963.fm Page 434 Monday, August 7, 2006 11:32 AM Ch87-I044963.fm Page 434 Monday, August 7,2006 11:32 AM 434 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. I * £ US % K § H I « / 1 * ^ :?i | « . US r. I I 1 \ \ \ \ \ S O 1011 Tim e [s ] ~!t h " S / / / / \ \ \ \ \ Figure 3 : The desired displacement of 112 and 122 Figure : 4 The desired velocity of 112 and 122 I to o - N 40 9 - H Z -* ) - •S -4(10 = -M S O 100 Tim e Is ] ri 4O0 • 600 | (00 4 400 i ' ' -100 1 1 s U M C 0 ™ 8 411 ) 0 -: » 4t O (Ml _ S B Kil l Tim e [s ] ii it 1M Tim e Is ] 5 1 IN lim e [s ] Figure 5 : The desired acceleration of 112 and 122 Figure 6 : The estimated acceleration of 112 and 122 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. 435 Ch88-I044963.fm Page 435 Tuesday, August 1, 2006 5:32 PM Ch88-I044963.fm Page 435 Tuesday, August 1, 2006 5:32 PM 435 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.co m 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 436 Ch88-I044963.fm Page 436 Tuesday, August 1, 2006 5:32 PM Ch88-I044963.fm Page 436 Tuesday, August 1, 2006 5:32 PM 436 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. 437 Ch88-I044963.fm Page 437 Tuesday, August 1, 2006 5:32 PM Ch88-I044963.fm Page 437 Tuesday, August 1, 2006 5:32 PM 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: 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. 438 Ch88-I044963.fm Page 438 Tuesday, August 1, 2006 5:32 PM Ch88-I044963.fm Page 438 Tuesday, August 1, 2006 5:32 PM 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.) 439 Keyword Index-I044963.fm Page 439 Tuesday, August 1, 2006 1:01 PM Keyword Index-I044963 .fm Page439 Tuesday, August 1,2006 1:01PM 439 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 1 440 Keyword Index-I044963.fm Page 440 Tuesday, August 1, 2006 1:01 PM Keyword Index-I044963 .fm Page440 Tuesday, August 1,2006 1:01PM 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 1 441 Keyword Index-I044963.fm Page 441 Tuesday, August 1, 2006 1:01 PM KeywordIndex-I044963. fm Page441 Tuesday, August 1,2006 1:01PM 441 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 293 442 Keyword Index-I044963.fm Page 442 Tuesday, August 1, 2006 1:01 PM Keyword Index-I044963 .fm Page442 Tuesday, August 1,2006 1:01PM 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 Keyword Index-I044963.fm Page 443 Tuesday, August 1, 2006 1:01 PM Keyword Index-I044963 .fm Page443 Tuesday, August 1,2006 1:01PM 443 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 [...]...This page intentionally left blank . Ltd. 2-1 5 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,. Swelling Machine Tool Operation Machining Machining Sequencing Magnetorheological Fluids Manipulation Manipulator Manual Operation Process Manufacturing Feature Manufacturing System Manufacturing. 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