Journal of Robotics, Networking and Artificial Life

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493 articles
Research Article

Body and Brain Training for Falls Prevention

Henrik Hautop Lund, Yan-Xin Liu, Massimiliano Leggieri
Pages: 179 - 183
The paper presents the pilot test of the Moto Tiles Body & Brain Test combined with automatically generated individualized training protocols. The test is performed with seniors (avg. 80 years old) with mild dementia in senior care centers in Roskilde, Denmark. The seniors performed pre- and post-test...
Research Article

Control Performance Assessment Method as Assessment of Programming Learning Achievement

Yoshihiro Ohnishi
Pages: 180 - 183
It is an important problem how to estimate the learning achievement of the programming learning. However, the quantitative evaluation method according to learning achievement is difficult. On the other hand, “work” of a control program influences the control performance of the plant by the petrochemical...
Research Article

Design of an Optimized GMV Controller Based on Data-Driven Approach

Liying Shi, Zhe Guan, Toru Yamamoto
Pages: 180 - 185
This paper presents a data-driven scheme that can obtain the optimized Generalized Minimum Variance (GMV) control parameters by applying the Nelder–Mead (NM) method based on Proportional-Integral Derivative (PID) controller for linear system. An adjustable λ is included in the GMV-PID controller. In...
Research Article

Classification of Japanese Documents and Ranking of Representative Documents by Using the Characteristic of the Frequencies of Words

Jun Kimura, Yasunari Yoshitomi, Masayoshi Tabuse
Pages: 182 - 185
We developed a method for classification of Japanese documents and ranking of representative documents by using the characteristic of the frequencies of nouns. A representative document is defined as a document whose feature vector is the closest to the center of gravity of the class in the feature vector...
Research Article

Bipedal robot locomotion modelling with virtual height inverted pendulum and preview control approaches in Simulink environment

Ramil Khusainov, Ilya Afanasyev, Leysan Sabirova, Evgeni Magid
Pages: 182 - 187
Control algorithms development for humanoid locomotion is difficult due to humanoid’s high number of Degrees of Freedom and system nonlinearity. Moreover, a humanoid may lose balance as its walking speed changes. We present AR-601M humanoid locomotion modelling with virtual height inverted pendulum and...
Research Article

Force and Motion Analysis of larval zebrafish (Danio rerio) using a body dynamics model

Naohisa Mukaidani, Zu Soh, Shinichi Higashijima, Toshio Tsuji
Pages: 183 - 190
This study proposes a method of body dynamics analysis for larval zebrafish incorporating a viscoelastic body model and a fluidic environment model to support the study of development mechanisms in motion generation. The results showed that the estimated fluid drag coefficients enabled the body dynamics...
Research Article

Comparing Effectiveness of Feature Detectors in Obstacles Detection from a Video

Shaohua Qian, Joo Kooi Tan, Hyoungseop Kim, Seiji Ishikawa, Takashi Morie, Takashi Shinomiya
Pages: 184 - 188
We have already proposed an obstacles detection method using a video taken by a vehicle-mounted monocular camera. In this method, correct obstacles detection depends on whether we can accurately detect and match feature points. In order to improve the accuracy of obstacles detection, in this paper, we...
Research Article

Evaluation of the Roller Arrangements for the Ball-Dribbling Mechanisms Adopted by RoboCup Teams

Kenji Kimura, Shota Chikushi, Kazuo Ishii
Pages: 183 - 190
The middle-size league soccer competition is an important RoboCup event designed to promote advancements in Artificial Intelligence (AI) and robotics. In recent years, soccer robots using a dribbling mechanism, through which the ball is controlled using two driving rollers, have been adopted by teams...
Research Article

ROS-based Multiple Cameras Video Streaming for a Teleoperation Interface of a Crawler Robot

Ramil Safin, Roman Lavrenov, Edgar A. Martínez-García, Evgeni Magid
Pages: 184 - 189
Digital cameras are being widely used in robotics in 3D scene reconstruction, simultaneous localization and mapping (SLAM), and other applications, which often require real-time video stream from multiple cameras. In a case of a mobile robotic system with limited hardware capabilities performance issues...
Research Article

The R&D Strategy of Automobile Companies in Radical Innovation

Yousin Park, Iori Nakaoka, Yunju Chen
Pages: 184 - 189
This paper focuses on patterns of innovation and the R&D strategy of automobile companies for technological changes. Tushman and Anderson (1986) pointed out that there are two types of technological changes: incremental technological change and radical technological change. In particular, radical...
Research Article

Study on the ORB algorithm in the application of Monocular SLAM

Jiwu Wang, Shunkai Zheng, Yao Du, Sugisaka Masanori
Pages: 186 - 189
In order to reduce the accumulative errors in our monocular SLAM (simultaneous localization and mapping), the loop closing (detection + correction) method based on PTAM (Parallel Tracking and Mapping) is applied. Here natural environment features are necessary to be extracted efficiently, so the ORB...
Research Article

End-to-End Deep Learning by MCU Implementation: Indoor Localization by Sound Spectrum of Light Fingerprints

Chung-Wen Hung, Hiroyuki Kobayashi, Jun-Rong Wu, Chau-Chung Song
Pages: 186 - 192
This paper introduces a low-cost indoor localization system using sound spectrum of light fingerprint. An Artificial Intelligence (AI), algorithm will be implemented in a low-cost Micro-Control Unit (MCU), to perform the localization function. The unique light fingerprints with complex and tiny differences...
Case Study

Strategic Network Formation with Structural Hole in R&D Projects: The Case Study on Japanese Cosmetic Industry

Iori Nakaoka, Yousin Park, Yunju Chen
Pages: 188 - 192
The arrangement of R&D refers to the issue of the linkage between structural holes in a network. In order to examine the linkages between multiple R&D projects in a company, we use the patent information as the index of R&D capability and examine the change of R&D network structures by social network...
Research Article

Some Accepting Powers of Bottom-Up Pyramid Cellular Acceptors with n-dimensional Layers

Makoto Sakamoto, Makoto Nagatomo, Tatsuma Kurogi, Satoshi Ikeda, Masahiro Yokomichi, Hiroshi Furutani, Takao Ito, Yasuo Uchida, Tsunehiro Yoshinaga
Pages: 189 - 193
In theoretical computer science, the Turing machine was introduced as a simple mathematical model of computers in 1936, and has played a number of important roles in understanding and exploiting basic concepts and mechanisms in computing and information processing. After that, the development of the...
Research Article

Security Evaluation System for Android Applications Using User's Reviews and Permissions

Naonobu Okazaki, Yoshihiro Kita, Kentaro Aburada, Mirang Park
Pages: 190 - 193
Leakage of the important data in mobile terminals by mal-applications is becoming a serious threat. The users must be careful not to install mal-applications. Application markets provide the application’s reviews and using permissions at the application downloading. However, the most of users check the...
Research Article

Feature Extraction for Digging Operation of Excavator Based on Data-Driven Skill-Based PID Controller

Kazushige Koiwai, Toru Yamamoto, Takao Nanjo, Yoichiro Yamazaki
Pages: 191 - 194
Improvement of the work efficiency is demanded by aging and reducing of the working population in the construction field, so that some automation technologies are applied to construction equipment, such as bulldozers and excavators. However, not only the automation technologies but also expert skills...
Research Article

Practice of Control Education by Experiment using Robot

Shinichi Imai, Hideto Matsui
Pages: 190 - 193
In this paper, while control engineering replete with mathematical content is difficult for a beginner to learn, it is a practical branch of learning where the control theories expressed by mathematical equations prove useful only after being put into practice. However, the current status of students’...
Research Article

Apply Model-Free Adaptive Control Approach for Mobile Robot Path Following

Chia-Jen Lin, Chun-Chi Lai, Kuo-Hsien Hsia, Chin-Sheng Chen
Pages: 190 - 193
The state of the art of mobile robot path planning is composed with global planner and local planner. For example, the global planner majorly establishes a suitable path from a knowing map based on the shortest path. And the local planner which computes the velocity command that includes obstacle clearance...
Research Article

Skill Model Estimation of Ability for Reading Drawings

Kazuo Kawada, Teruyuki Tamai, Yoshihiro Ohnishi
Pages: 191 - 194
In Japan, students study various ways of understanding 3D drawings in junior high school-level technical education, high school-level industrial education, and university-level engineering education. However, without an understanding of trigonometry, reading the drawings is difficult. Moreover, drawing...
Research Article

A Method for Secure Communication Using a Discrete Wavelet Transform for Audio Data

Yuji Tsuda, Kouhei Nishimura, Haruka Oyaizu, Yasunari Yoshitomi, Taro Asada, Masayoshi Tabuse
Pages: 193 - 196
We developed a secure communication method using a discrete wavelet transform. Two users must both have a copy of the same piece of music to be able to communicate with each other. The music and the sender's message are encoded using the scaling coefficients obtained from a discrete wavelet transformation....
Research Article

Human Recognition based on Gait Features and Genetic Programming

Dipak Gaire Sharma, Rahadian Yusuf, Ivan Tanev, Katsunori Shimohara
Pages: 194 - 197
Human walking has always been the curious field of research for different disciple of social and information science. The study of human walk or human gait in association with different behaviors and emotions has not only fascinated social science researchers, but its uniqueness has also attracted many...
Research Article

Selecting Words and Notation Using Literary Data in the Integrated Narrative Generation System

Jumpei Ono, Takashi Ogata
Pages: 194 - 199
This paper presents a way for selecting noun concepts based on the analysis of appearance frequency of noun words in the data of modern Japanese novels (“Aozora Bunko”). The proposed method is incorporated into some mechanisms in our integrated narrative generation system (INGS). We also show an overview...
Research Article

Threats Hidden in Office Network: Mechanism of Credential Harvesting for Lateral Movement

Tung-Lin Lee, I-Hsien Liu, Chu-Fen Li, Jung-Shian Li
Pages: 193 - 196
With the advent of the Internet of Things (IoT) era, the concept of smart office has gradually come true. To facilitate the management, IoT devices often follow authentication mechanisms as windows domain used, which would cause severe problems once hackers steal those credentials. This study analyzes...
Research Article

Human Skill Quantification for Excavator Operation using Random Forest

Hiromu Imaji, Kazushige Koiwai, Toru Yamamoto, Koji Ueda, Yoichiro Yamazaki
Pages: 195 - 200
In the construction field, the improvement of the work efficiency is one of important problems. However, the work efficiency using construction equipment depends on their operation skills. Thus, in order to increase the work efficiency, the operation skill is required to be quantitatively evaluated....
Research Article

Design and Fabrication of a Minimally Invasive Surgical Device with Customized Shape Memory Alloy Spring Actuator

Uditha Roshan, Ranjith Amarasinghe, Nuwan Dayananda
Pages: 194 - 198
A shape memory alloy (SMA)-based spring actuated gripper (SAG) was designed and developed for facilitating minimally invasive surgeries (MIS). Specifically the research consists of design and development of a SMA spring which acts as the actuator for the gripper. A novel mechanism was also developed...
Research Article

Software Modeling Technique and its Prototype Tool for Behavior of Multiple Objects Using Extended Place/Transition Nets with Attributed Tokens

Tomohiko Takagi, Ryo Kurozumi
Pages: 194 - 198
This paper shows Extended Place/transition Net with Attributed Tokens (EPNAT) and a modeling technique using it in order to address the problem of EPN. In software modeling using EPN, objects of which the software consists need to be defined individually as sub-EPN models, even if they have the same...
Research Article

Research on the Realization Method of Augmented Reality based on Unity3D

Jiwu Wang, Weixin Zeng
Pages: 195 - 198
Aiming at the problems of low stability and limited application conditions in traditional augmented reality, Unity 3D software is applied to realize augmented reality by combining with Vuforia SDK and EasyAR SDK (Software Development Kit). The developed results can be used on mobile terminal and augmented...
Research Article

The New Design of an Acousto-Optic Device with a Mobile Power Pack

Yi-Yu Lu, Wen-Bin Lin, Zheng-Ying Li
Pages: 197 - 200
The new designed acousto-optic device has adjustable, it is 1.5 times to extend its length. Fitting plastic optic fiber into transparent tube, the path of light can be increased and the light area will be enlarged. The device can present different color mode of light with RGB and high light LEDs as the...
Research Article

Circulative Narrative Generation Based on the Mutual Transformation between Narrative Conceptual Structures and Music in the Integrated Narrative Generation System

Taisuke Akimoto, Takashi Ogata
Pages: 198 - 202
We have proposed a new framework of narrative generation which generates narratives through the mutual transformation according to various pathways between narrative (conceptual representation) and music. This paper will continuously incorporate this framework into the integrated narrative generation...
Research Article

A Study of the Counseling Service System Satisfaction for Teacher-Counselor in Tainan Elementary School

Hsiu-Hao Liu
Pages: 197 - 200
As the most important case management system in the school counseling work, the counseling service system must meet the needs and expectations of the school teacher-counselors (the main users). This investigation used the questionnaire survey method aimed at teacher-counselors in elementary schools in...
Research Article

Development of an Intelligent Assistant Robot based on Embedded RTOS

Fengzhi Dai, Yuan Li, Guodong You
Pages: 200 - 204
The paper focuses on the development of a wheeled intelligent robot that could be applied in hospitals or nursing homes for medical assistance. It includes two microcontrollers, MC9S12XS128 and STC89C52. The program is basically achieved on CodeWarrior 5.0, Keil ?Vision4 with the OpenCV library, porting...
Research Article

Analysis of Team Relationship using Self-Organizing Map for University Volleyball Players

Yasunori Takemura, Kazuya Oda, Michiyoshi Ono
Pages: 199 - 203
In Japan, sports efforts are actively being carried out to host the 2020 Olympic Games. Especially in the field of sports science, researches on ergonomics, development of sports equipment and pattern recognition technology using artificial intelligence are actively researched. In previous research,...
Research Article

A System for Posting on an SNS an Author Portrait Selected using Facial Expression Analysis while Writing a Message

Taro Asada, Yuiko Yano, Yasunari Yoshitomi, Masayoshi Tabuse
Pages: 199 - 202
We have developed a real-time system for expressing emotion as a portrait selected according to the facial expression while writing a message. The portrait is decided by a hair style, a facial outline, and a cartoon of facial expression. The image signal is analyzed by the system using image processing...
Research Article

A Study of Applying Computer-assisted Language Learning to English Course for Junior College Students in Taiwan

Shu-Hua Huang, I-Hsien Liu
Pages: 199 - 203
This study aims to explore the impact of the integration of computer-assisted language learning into traditional face-to-face English course on the learning effectiveness at Junior college in Taiwan. To achieve the above purpose, this study adopts the pre-experimental design with one-group pretest–posttest...
Research Article

Containment Control for Nonlinear Multi-agent Systems with Parameter Uncertainties and Communication Delays

Ping Wang, Yingmin Jia
Pages: 201 - 204
This paper considers robust containment control problem for uncertain multi-agent systems with inherent nonlinear dynamics. A distributed protocol is proposed using local delayed state information, and then the original problem is converted into an H_∞ control problem by defining an appropriate controlled...
Research Article

Research on visualized search and rescue robot

Fengzhi Dai, Qijia Kang, Yuanli Yue, Pengfei Xie
Pages: 201 - 204
Faced to the weakness of the low efficiency and limitation of the recent search and rescue robot, this paper presents a visualized search and rescue robot based on the Arduino platform. The infrared detector is used to detect life, and the camera can transmit the information back to the mobile phone...
Research Article

Homogeneous Systolic Pyramid Automata with n-Dimensional Layers

Makoto Sakamoto, Makoto Nagatomo, Tatsuma Kurogi, Satoshi Ikeda, Masahiro Yokomichi, Hiroshi Furutani, Takao Ito, Yasuo Uchida, Tsunehiro Yoshinaga
Pages: 203 - 206
Cellular automata were investigated not only in the viewpoint of formal language theory, but also in the viewpoint of pattern recognition. Cellular automata can be classified into some types. A systolic pyramid automata is also one parallel model of various cellular automata. A homogeneous systolic pyramid...
Research Article

A Design and Development of WebGIS Distribution System based on Smart Logistics

Hongbo Hao, Fengzhi Dai
Pages: 201 - 204
The vigorous development of the logistics industry provides a solid foundation for China’s economic prosperity. However, with the concept of “smart logistics” proposed, the transformation of the logistics industry to information technology presents great challenges. Aiming at the transportation problem...
Research Article

Parameter Estimation of a Skill Evaluation Model

Kazuo Kawada, Teruyuki Tamai, Toru Yamamoto
Pages: 205 - 208
In this study, the aim is to construct a "teacher-student model" for optimal skill acquisition. To support the optimal skill acquisition, modeling and estimation of an individual learning process are very important. The first-order system with time delay is introduced as an individual learning process...
Research Article

Prototype of a Decision Table Generation Tool from the Formal Specification

Tetsuro Katayama, Kenta Nishikawa, Yoshihiro Kita, Hisaaki Yamaba, Kentaro Aburada, Naonobu Okazaki
Pages: 205 - 208
This research has implemented a prototype of a decision table generation tool from the specification (the formal specification) described in a formal specification language. This paper uses the formal specification description language VDM++ which is the lightweight formal methods VDM (Vienna Development...
Research Article

The TCE-RBV Framework for Information Systems Outsourcing: Empirical Testing using Survey Data in Japan

Seigo Matsuno, Shin-ya Tagawa, Yasuo Uchida, Tsutomu Ito, Takao Ito
Pages: 205 - 208
This paper investigates the factors that influence the motives of make-or-buy decisions on information systems from the viewpoints of Transaction cost economics (TCE) and the resource-based view (RBV). Using our original questionnaire survey data carried out in 2007 targeting Japanese firms, we analyze...
Research Article

Dynamic Structures for Evolving Tactics and Strategies in Team Robotics

Jeffrey Johnson, Ruggero Rossi
Pages: 203 - 208
The autonomous robot systems of the future will be teams of robots with complementary specialisms. At any instant robot interactions determine relational structures, and sequences of these structures describe the team dynamics as trajectories through space and time. These structures can be represented...
Research Article

A Recipe Decision Support System Using Knowledge Information and Agent

Keita Saito, Taro Asada, Yasunari Yoshitomi, Ryota Kato, Masayoshi Tabuse
Pages: 204 - 207
We report on the development of a recipe recommendation system using collaborative filtering and impression words. As a user interface (UI), we adopted MikuMikuDanceAgent (MMDAgent). In our system, the first recommendation process using collaborative filtering is terminated based on the previously decided...
Research Article

Measuring Efficiencies of Michinoeki using DEA Model in Yamaguchi Area

Tsutomu Ito, Minoru Kumano, Takao Ito
Pages: 204 - 207
Identifying the key determinants of Michinoeki and assessing its impact on efficiency is considered as an urgent issue. Accordingly, this paper proposed a new approach to calculate the efficiency using DEA model after determining the significant factors using a regression model. The data were collected...
Research Article

Proposal of a Supporting Method for Debugging to Reproduce Java Multi-threaded Programs by Petri-net

Tetsuro Katayama, Shoichiro Kitano, Yoshihiro Kita, Hisaaki Yamaba, Naonobu Okazaki
Pages: 207 - 211
It is difficult to implement the multi-threaded programs. The reason is that the behavior of each thread is non-deterministic. Also it is difficult to reproduce the situation in which an incident occurs. This paper proposes a supporting method for debugging to reproduce Java multi-threaded programs by...
Research Article

Development of a System to Detect Eye Position Abnormality based on Eye-Tracking

Noriyuki Uchida, Kayoko Takatuka, Hisaaki Yamaba, Masayuki Mukunoki, Naonobu Okazaki
Pages: 205 - 210
In previous research, we developed a method to automate the conventional evaluation of eye misalignment (cover test) and distinguish misaligned eyes from their movements. However, this method had the problem that vertical eye movements were affected by the eyelids and eyelashes, and could not be completely...
Research Article

Compensating Temperature-Dependent Characteristics of a Subthreshold-MOSFET Analog Silicon Neuron

Ethan Green, Takashi Kohno
Pages: 209 - 212
Analog silicon neurons are neuro-mimetic VLSI (very-large-scale-integrated) circuits that replicate the electrophysiological behavior of animal nerve tissue. This research focuses on the temperature sensitivity of a subthreshold-MOSFET analog silicon neuron. Subthreshold operation of CMOS transistors...
Research Article

Beacon-based tourist information system to identify visiting trends of tourists

Akihiro Yamaguchi, Masashi Hashimoto, Kiyohiro Urata, Yu Tanigawa, Tetsuya Nagaie, Toshitaka Maki, Toshihiko Wakahara, Akihisa Kodate, Toru Kobayashi, Noboru Sonehara
Pages: 209 - 212
In this study, we propose a system that provides tourist information and obtains trends of visiting tourists using beacons and cloud service. As part of our research, we are working on the promotion of local area tourism in cooperation with a local community. A low energy Bluetooth device is used as...
Research Article

A Way for Using the Verb Conceptual Dictionary in an Integrated Narrative Generation System: the Use of Co-occurrence Information on Verb Concepts

Takashi Ogata, Jumpei Ono
Pages: 209 - 212
This study presents a method of selecting verb concepts based on analysis of co-occurrence information of verbs in modern Japanese novels collected from the Japanese digital library, “Aozora Bunko”. We plan to incorporate the proposed method into an integrated narrative generation system (INGS) that...
Research Article

Comparison of Off-line Visual and Verbal Feedback Instructions for Keeping Tempo in Music

Hideyuki Tanaka, Keita Ueda
Pages: 208 - 211
Ability of keeping the tempo is one of the important factors in playing music. In this paper, the authors carry out comparative experiments on the effects of off-line visual and verbal feedback instructions for informing the performance in trying to keep the tempo at 1 Hz by tapping the rhythm. The participants...
Research Article

Geometric Measurement Based on the Single Image with a Rectangular Structure

Jiwu Wang, Bo Dai
Pages: 208 - 211
Image-based geometric measurement is getting more attention in machine vision field due to its contact-less and low-cost characteristics. Here the measurement of single image with the rectangular structure is studied, in which only one side length of the rectangle is known, and the coordinates of points...
Research Article

Design and Development of Intelligent Wearable Biofeedback Fuzzy Logic-based Device for Monitoring and Treatment of Voice Loudness

Ali S. AlMejrad
Pages: 209 - 212
Development of medical devices are expanding rapidly. This is occurring as results of development of high tech electronics, information technology and wireless communication technology. Integrating these technologies helps to provide good, less cost and more effective healthcare services. In this paper...
Research Article

Remarks on Recognizability of Four-Dimensional Topological Components

Makoto Nagatomo, Makoto Sakamoto, Tatsuma Kurogi, Satoshi Ikeda, Masahiro Yokomichi, Hiroshi Furutani, Takao Ito, Yasuo Uchida, Tsunehiro Yoshinaga
Pages: 212 - 215
The study of four-dimensional automata as the computational model of four-dimensional pattern processing has been meaningful. However, it is conjectured that the three-dimensional pattern processing has its our difficulties not arising in two- or three-dimensional case. One of these difficulties occurs...
Research Article

MEMS Microrobot Controlled by Mounted Neural Networks IC with Two Types Actuators

Kei Iwata, Hirozumi Oku, Yuki Okane, Yohei Asano, Masaki Tatani, Yuki Ishihara, Kazuki Sugita, Satohiro Chiba, Satoko Ono, Mizuki Abe, Minami Takato, Ken Saito, Fumio Uchikoba
Pages: 213 - 216
We report the hexapod microrobot controlled by the bare chip IC of hardware neural networks. MEMS (micro electro mechanical systems) technology is used for fabrication of the microrobot. Lead zirconium titanate (PZT) and shape memory alloy (SMA) are used in each actuator, respectively. As the result,...
Research Article

Modeling and Simulation for a Quadrotor Vehicle With Adaptive Wing

Qunpo Liu, Hongqi Wang, Fuzhong Wang, Jikai Si, Naohiko Hanajima
Pages: 213 - 216
Aiming at developing high power efficiency system for quadrotor vehicle during height keeping and long distance flight, a quadrotor vehicle with adaptive wing is proposed. Angle of the wing respect to flying direction can be adjusted adaptively according to flying speed, to reduce energy expenditure...
Research Article

Development of Training Equipment for Upper Limb Muscle Rehabilitation

Fengzhi Dai, Yuanli Yue, Qijia Kang, Bo Liu, Wenlong Han, Hongtao Zhang
Pages: 213 - 216
For patient of limb paralysis, the upper limb rehabilitation equipment is important for them to train the muscles. The equipment should be secure, useful and comfortable. They are ensured by the design of mechanical structure and control system. The single joint motion and combinatorial motion are introduced...
Research Article

Selection of Optimal Error Recovery Process using Evaluation Standards in Automated Plants

Akira Nakamura, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar, Kensuke Harada, Yukiyasu Domae
Pages: 211 - 217
Plant automation has become increasingly popular in various industries. However, errors are more likely to occur in difficult tasks that are often performed in an automated plant. Such tasks are often returned to the previous step, and re-executed in the event of a large-scale error. Therefore, it is...
Research Article

Acquiring Short Scripts and Setting a Case Frame in Each Acquired Script: Toward Random Story Generation

Jumpei Ono, Takashi Ogata
Pages: 212 - 216
The integrated narrative generation system (INGS), that the authors have developed, generates a story to translate the story into the surface representation. In the story generation process, the integrated narrative generation system uses narrative knowledge that was automatically acquired from existing...
Research Article

Detection Algorithm of Porosity Defect on Surface of Micro-precision Glass Encapsulated Electrical Connectors

Qunpo Liu, Manli Wang, Gaowei Wang, Ruxin Gao, Naohiko Hanajima
Pages: 212 - 216
A miniature precision glass encapsulated electrical connectors introduced by glass powder and metal wires through a special complicated process. Aiming at the porosity defects on the surface, a defect detection algorithm propose based on threshold segmentation and feature extraction. Pre-operation, global...
Research Article

Generation of Arbitrarily-Oriented Ripple Images using Circular-Sector-Type Smoothing Filter and Inverse Filter

Toru Hiraoka
Pages: 213 - 216
A Non-photorealistic rendering method for generating ripple images from photographic images has been proposed using intensity gradient. Ripple patterns imitate a wave on the water surface and are composed of continuous lines with fluctuations. Ripple images are expressed by superimposing ripple patterns...
Research Article

Robot Pose Measurement Based on Sensor Fusion

Jiwu Wang, Shunkai Zheng, Fangbo Liao, Masanori Sugisaka
Pages: 216 - 219
In the motion control research of mobile robot, the mobile robot pose is obtained by derivation of the Kinematic model of the robot. Generally, the motion model relies simply on the data from encoder feedback. Due to cumulative error, the robot pose accuracy is relatively poor by mileage positioning...
Research Article

An Optimization of Spatio-Spectral Filter Bank Design for EEG Classification

Masanao Obayashi, Takuya Geshi, Takashi Kuremoto, Shingo Mabu
Pages: 217 - 220
How to select the appropriate frequency band to classify EEG signal by motor imagery is discussed in this paper. Our proposal is an improvement of the conventional Bayesian Spatio-Spectral Filter Optimization (BSSFO). Defect of BSSFO is on the way to generate the renewal particle of the filter bank,...
Research Article

Study On The Target Positioning For An Omni-Directional 3 DOF Mobile Manipulator Based On Machine Vision

Jiwu Wang, Yao Du, Wensheng Xu, Masanori Sugisaka
Pages: 217 - 220
The omni-directional mobile robot with multi DOF, because the operation posture and operation accuracy of the manipulator can be better controlled in a narrow or crowded workplace compared with the general manipulator, is getting more interested in practical applications. The present problem is to improve...
Research Article

Comparing EKF and SPKF Algorithms for Simultaneous Localization and Mapping (SLAM)

Zolghadr Javad, Yuanli Cai, Yekkehfallah Majid
Pages: 217 - 220
Simultaneous Localization and Mapping (SLAM) is the problem in which a sensor-enabled mobile robot incrementally builds a map for an unknown environment, while localizing itself within this map. A problem with detection of correct path of moving objects is the received noisy data. Therefore, it is possible...
Research Article

Self-Generated Dataset for Category and Pose Estimation of Deformable Object

Yew Cheong Hou, Khairul Salleh Mohamed Sahari
Pages: 217 - 222
This work considers the problem of garment handling by a general household robot that focuses on the task of classification and pose estimation of a hanging garment in unfolding procedure. Classification and pose estimation of deformable objects such as garment are considered a challenging problem in...
Research Article

Approaching AI and Robotics in an Eco-friendly Way

Luigi Pagliarini, Henrik Hautop Lund
Pages: 217 - 220
Merging among them the most important open questions of the century, in this paper, we outline and define a wide range of possible applications and technical forms of a low-energy dissipation in robotic biotechnological system conceived for intelligent and playful interactions. Moving from earlier works...
Research Article

Playware Ball – Development of an Intelligent Ball

Morten Roed Frederiksen, Massimiliano Leggieri, Henrik Hautop Lund
Pages: 217 - 221
For developing a novel kind of entertaining football and football training, we developed a playware ball prototype. The ball contains a microprocessor with WiFi connection and uses barometric pressure sensors and accelerometer data to track the ball movement in fast-paced football training games. The...
Research Article

Markov Chain Analyses of Random Local Search and Evolutionary Algorithm

Hiroshi Furutani, Hiroki Tagami, Makoto Sakamoto, Yifei Du
Pages: 220 - 224
Theoretical studies of evolutionary algorithms (EAs) have been developed by researchers whose main interests are convergence properties of algorithms. In this paper, we report the computational complexity of an algorithm that is a variant of (1+1) EA, called Random Local Search (RLS). While a standard...
Research Article

Research on LSTM+Attention Model of Infant Cry Classification

Tianye Jian, Yizhun Peng, Wanlong Peng, Zhou Yang
Pages: 218 - 223
According to the different emotional needs of infants, the effective acquisition of frame-level speech features is realized, and the infant speech emotion recognition model based on the improved Long- and Short-Term Memory (LSTM) network is established. The frame-level speech features are used instead...
Research Article

Task Assignment and Route Programming for Pattern Reformation on Grid Plane

Kuo-Hsien Hsia, Bo-Yi Li, Kuo-Lan Su
Pages: 221 - 225
Pattern reformation problem on a grid plane is an interesting problem. Suppose there is a group of mobile robots on a square grid plane with the number of robots equaling to the number of columns/rows of the grid plane. The mobile robots are commanded to change to another formation as soon as possible....
Research Article

Analyzing Multiple Narrative Structures of Kabuki based on the Frameworks of Narrative Generation Systems

Takashi Ogata
Pages: 221 - 226
Although kabuki is a genre of, so to speak, traditional performing arts, it also has many of the characteristics of a contemporary genre, including such various elements as narrative, drama, dance, and music. This analysis and study will contribute to the design and development of studies on digital-narrative...
Research Article

A low cost genetic algorithm based control scheme for wheelchair control in hospital environment

Karam Dad, Muhammad Jawad Khan, Wang Jie, Min Cheol Lee
Pages: 221 - 226
In this paper, a control strategy is proposed for assisting patients, with wheelchairs, to move around within a hospital. The strategy is tested using a mobile robot that is navigated in a hospital while using obstacle avoidance scheme. The mobile robot is operated using both genetic algorithm and A*...
Research Article

A Promoting Method of Role Differentiation using a Learning Rate that has a Periodically Negative Value in Multi-agent Reinforcement Learning

Masato Nagayoshi, Simon J. H. Elderton, Hisashi Tamaki
Pages: 221 - 224
There have been many studies on Multi-Agent Reinforcement Learning (MARL) in which each autonomous agent obtains its own control rule by Reinforcement Learning (RL). Here, we hypothesize that different agents having individuality is more effective than uniform agents in terms of role differentiation...
Research Article

Study on Hybrid Position/Force Teaching and Control Method for 6 DoF Manipulator Utilizing f-PAWTED

Quang-Trung Chu, Hiroki Tanaka, Hideki Inuzuka, Yoshifumi Morita, Masao Sakai
Pages: 222 - 226
In this study, a parallel wire-type teaching device with a force sensor and a hybrid position/force teaching and control method are developed to facilely teach robot manipulators using human hands instead of teaching pendants. A direct teaching method based on a hybrid position/force control is proposed...
Research Article

Runtime Analysis of OneMax Problem in Genetic Algorithm

Yifei Du, QinLian Ma, Makoto Sakamoto, Hiroshi Furutani, Yu-an Zhang
Pages: 225 - 230
Genetic algorithms (GAs) are stochastic optimization techniques, and we have studied the effects of stochastic fluctuation in the process of GA evolution. A mathematical study was carried out for GA on OneMax function within the framework of Markov chain model. We obtained the steady state solution,...
Research Article

Development of Automation Recognition of Hazmat Marking Chart for Rescue Robot

Wisanu Jitviriya, Poommitol Chaicherdkiat, Noppadol Pudchuen, Eiji Hayashi
Pages: 223 - 227
A long history of first place awards in World RoboCup Rescue Robot competitions is Invigorating Robot Activity Project (iRAP) such as iRAP_PRO, iRAP_FURIOUS, iRAP_JUNIOR, and iRAP_ROBOT. In this paper, we would like to introduce and explain an autonomous system of our rescue robots for detection and...
Research Article

Adaptive Consensus via Dynamic Feedback Control for Lipschitz Nonlinear Multi-Agent Systems

Lin Li, Heyang Wang
Pages: 226 - 229
This paper deals with the consensus problem for multi-agent systems with fixed topologies. The agents are described by Lipschitz nonlinear systems. Only output information of each agent can be obtained from its neighbor agents. A distributed adaptive consensus algorithm via dynamic output feedback is...
Research Article

A Method of Identifying a Public Bus Route Number Employing MY VISION

Joo Kooi Tan, Yosiki Hamasaki, Ye Zhou, Ishitobi Kazuma
Pages: 224 - 228
In response to requests from visually impaired people for better assistance tools in their daily lives and due to the difficulty of using public transportation, it is proposed a bus boarding support system using MY VISION. For the support, a method of identifying a bus route number is proposed in this...
Research Article

Informational Narratology and Automated Content Generation

Takashi Ogata, Yoji Kawamura, Akihito Kanai
Pages: 227 - 233
Several studies have proposed a concept called "informational narratology" or "information narratology." In this paper, we integrate narratological studies, including narratology and various literary theories, into information technologies, such as artificial intelligence and cognitive science, in order...
Research Article

Safety on Teleoperation Demining wheeled robots based on fuzzy logic controller and haptic system

Yekkehfallah Majid, Yuanli Cai, Guao Yang, Naebi Ahmad, Zolghadr Javad
Pages: 227 - 230
In the teleoperation robots one of the big challenges is operator’s error in urgent situations that can makes big problem for robot and other systems which working beside the robot. This paper proposes an approach of haptic system and fuzzy logic system with implementation on teleoperation demining robot....
Research Article

Cost-oriented Planning for Error Recovery in an Automation Plant

Akira Nakamura, Natsuki Yamanobe, Ixchel Ramirez Alpizar, Kensuke Harada, Yukiyasu Domae
Pages: 225 - 230
In an automation plant, errors are more likely to occur during complicated tasks. In the case of a major error, the task is commonly re-executed after returning to the previous step. Therefore, deciding both the prior step that should be returned to and the recovery approach after return are important...
Research Article

Heritage Building Modelling: Photogrammetry Challenges in Producing an As Built Drawing (ABD) Using Unmanned Aerial System (UAS)

Hazry Desa, Muhammad Azizi Azizan, Nik Noriman Zulkepli, Norsyakilah Romeli
Pages: 227 - 230
Tracking the heritage building changes has been a primary concern in an architectural works, as the building features may transformed due to periodic of time. In addition, the perseverance of heritage buildings seems taken lightly due to the eagerness of the Malaysian architect in designing urban anxious...
Research Article

Feature Linking using Synchronized Responses in Chaotic Cellar Neural Networks for Visual Stimulus of Moving Objects

Akihiro Yamaguchi, Satoshi Arakane, Masao Kubo
Pages: 230 - 233
A feature-linking mechanism using the synchronized responses of neural assemblies was studied for chaotic cellar neural networks (Chaotic-CNN). Chaotic-CNNs consist of chaotic spike response neurons that show chaotic inter-spike-interval dynamics. In our scheme of feature linking, the features of the...
Research Article

An fNIRS Study of Brain State during Letter and Category Fluency Tasks

Akane Onishi, Hiroshi Furutani, Tomoyuki Hiroyasu, Satoru Hiwa
Pages: 228 - 231
Verbal Fluency Tasks (VFT) can be categorized into the Letter Fluency Task (LFT) that evaluates the ability to generate words starting with a particular letter, and the Category Fluency Task (CFT) that involves recall of words that belong to semantic categories. In this study, we investigated the differences...
Research Article

An Action Selection Method Using Degree of Cooperation in a Multi-agent Reinforcement Learning System

Masanori Kawamura, Kunikazu Kobayashi
Pages: 231 - 236
In recent years, a concept of a dividual is proposed by a Japanese novelist to interact properly with another person. To construct a model of the dividual, the degree of cooperation is assigned to the corresponding dividual. By introducing the degree of cooperation into a multi-agent system, we evaluate...
Research Article

Development of a Tool to Keep Consistency between a Model and a Source Code in Software Development Using MDA

Tetsuro Katayama, Yuuki Kikkawa, Yoshihiro Kita, Hisaaki Yamaba, Kentaro Aburada, Naonobu Okazaki
Pages: 231 - 235
This study improves efficiency of software development using MDA. This paper develops the tool that keeps consistency between a model and a source code in software development using MDA. The tool has two functions: (i) Generating a source code and (ii) Keeping consistency between a model and a source...
Research Article

Design of a Nonlinear Generalized Predictive Controller based on Database-Driven Approach

Zhe Guan, Toru Yamamoto
Pages: 229 - 233
This paper presents a Generalized Predictive Control (GPC) design scheme based on database-driven approach for nonlinear systems. In industrial systems, lots of controlled plants with unknown time-delay and strong nonlinearity, are difficult to be handled in terms of control performance. The databased-driven...
Research Article

Autoencoder with Spiking in Frequency Domain for Anomaly Detection of Uncertainty Event

Umaporn Yokkampon, Sakmongkon Chumkamon, Abbe Mowshowitz, Eiji Hayashi
Pages: 231 - 234
This paper proposes the autoencoder method with spiking raw data to the frequency domain to analyze and predict the anomaly case among the standard data set and compare it with original data. The dataset is the real-world data from factory automation. The combination of frequency domain and original...
Research Article

Human Motion Recognition Using TMRIs with Extended HOOF

Jing Cao, Youtaro Yamashita, Joo Kooi Tan
Pages: 231 - 235
In recent years, research on computer vision has shown great advancement and has been applied to a wide range of fields. Among them, automatic recognition of human motion is an important technology especially in crime prevention and elderly watching systems. Considering this trend, the paper proposes...
Research Article

Fast collective photographic subject detection without pixels by an assumption about a shoot and its elevation angle

Sora Tanioka, Masao Kubo, Hiroshi Sato
Pages: 234 - 237
In this paper a method that discovers socially attracted photographic subjects in real time is proposed. This needs only non-pixel information of a digital photograph for this discovery which include a time of shoot, GPS location where a photograph is taken, a bearing of the shoot and so on. Thinformation...
Research Article

Experiments of Floatable UAV for Wave Dissipating Block Inspection

Keisuke Watanabe, Koshi Utsunomiya, Kazuho Mitsumura, Shun Takasaki
Pages: 234 - 238
In this paper, we present our modification experience of making a UAV watertight and floatable. Then we present several experiments on taking pictures considering ocean monitoring in the sea near our campus. The watertight experiments are done from our school’s pier. In these experiments, we repeated...
Research Article

Motion-Data Driven Grasp/Assembly Planner

Kensuke Harada, Natsuki Yamanobe, Weiwei Wan, Kazuyuki Nagata, Ixchel G. Ramirez-Alpizar, Tokuo Tsuji
Pages: 232 - 235
This paper proposes a robotic grasp/assembly planner using a database of complex and skillful motion. In our proposed planner, if a skillful motion is included in the solution path, motion data included in the database is used. In this paper, we first explain the three-layered structure of the motion...
Research Article

Observer-based fault reconstruction for linear systems using adaptive sliding mode method

Hao Li, Ying Yang, Yifan Wei, Fengzhi Dai
Pages: 236 - 239
This paper studies the fault reconstruction problem for the continuous linear time-invariant system. A new disturbance-decoupled fault reconstruction design is proposed by cooperating with the idea of the adaptive sliding mode method. The new scheme does not impose restrictions on both the upper boundary...
Research Article

Model Introduced SPRT for Structural Change Detection of Time Series (II)

Yoshihide Koyama, Tetsuo Hattori, Katsunori Takeda, Hiromichi Kawano
Pages: 237 - 243
In this paper, using the notion of a binary Channel Matrix as well known in Information Theory, we present an equivalent relation between the SPRT (Sequential Probability Ratio Test) and Bayes’ Updating. Moreover, we show the relationship between the SPRT and NSPR (New Sequential Probability Ratio) where...
Research Article

Data-based Analysis Methods for the State Controllability and State Observability of Discrete-time LTI Systems with Time-delays

Zhuo Wang, Ruigang Wang
Pages: 235 - 239
We present a couple of data-based methods to analyze the state controllability and state observability of discrete-time Linear time-Invariant (LTI) systems with time-delays, which have unknown parameter matrices. They first augment the system into a high dimensional LTI model, then apply the measured...
Research Article

An FPGA-based cortical and thalamic silicon neuronal network

Takuya Nanami, Takashi Kohno
Pages: 238 - 242
A DSSN model is a neuron model which is designed to be implemented efficiently by digital arithmetic circuit. In our previous study, we expanded this model to support the neuronal activities of several cortical and thalamic neurons; Regular spiking, fast spiking, intrinsically bursting and low-threshold...
Research Article

Multi-Motor Synchronous Control with CANopen

Chung-Wen Hung, Roger CL Lee, Bo-Kai Huang, Shih-Ting Yu
Pages: 236 - 240
A Brushless DC (BLDC) motors synchronous control system based on the CANopen (a communication protocol and device profile specification for automatic embedded systems) protocol is proposed in this paper. Multi-motor control is popular in robot or automation system, and the synchronization is an important...
Research Article

Control of a Ball Catch Robot Using Machine Learning

Shinichi Imai
Pages: 236 - 239
Robots, such as industrial robots, have been used in the world of industry since the 1970s. There has been particularly rapid development in the field of robots in recent years, and there has been progress in robot research in industries such as communications and automobiles. For this reason, in the...
Research Article

A Rule-Based Classification System Enhanced by Multi-Objective Genetic Algorithm

Shingo Mabu, Kenzoh Azakami, Masanao Obayashi, Takashi Kuremoto
Pages: 239 - 242
Recent years, data mining techniques have been developed for extracting rules from big data. However, there are some problems to be considered, for example, it is difficult to judge which rules are important and which are not important; and even in simple classification problems with the small number...