Journal of Robotics, Networking and Artificial Life

Volume 4, Issue 2, August 2017

1. BWDM: Test Cases Automatic Generation Tool Based on Boundary Value Analysis with VDM++

Tetsuro Katayama, Hiroki Tachiyama, Yoshihiro Kita, Hisaaki Yamaba, Kentaro Aburada, Naonobu Okazaki
Pages: 110 - 113
For software development using Formal Methods, we have developed a prototype of the boundary value test case automatic generation tool BWDM. The main two topics of our tool are (1) automatically generation of test cases and (2) boundary value analysis. Our tool improves the efficiency of software testing...

2. A System for Analyzing Facial Expression and Verbal Response of a Person While Answering Interview Questions on Video

Taro Asada, Yasunari Yoshitomi, Masayoshi Tabuse
Pages: 114 - 117
We have developed a system for analyzing facial expressions of a person while answering interview questions on a video. A video capturing the answerer is analyzed by OpenCV and the feature parameter for an eye area in addition to the mouth area focused in our reported research. Moreover, the time to...

3. Improved Map Generation by Addition of Gaussian Noise for Indoor SLAM using ROS

Barry Loh Tze Yuen, Khairul Salleh Mohamed Sahari, Zubaidi Faiesal Mohamad Rafaai
Pages: 118 - 123
Rao-Blackwellized Particle Filter (RBPF) is used in this paper to solve the Simultaneous Localization and Mapping (SLAM) problem. RBPF algorithm uses particle filter where each particle carries an individual map of the environment. With the usage of Robot Operating System (ROS), GMapping package was...

4. Experiments on Classification of Electroencephalography (EEG) Signals in Imagination of Direction using Stacked Autoencoder

Kenta Tomonaga, Takuya Hayakawa, Jun Kobayashi
Pages: 124 - 128
This paper presents classification methods for electroencephalography (EEG) signals in imagination of direction measured by a portable EEG headset. In the authors’ previous studies, principal component analysis extracted significant features from EEG signals to construct neural network classifiers. To...

5. Verifying the Sleep-Inducing Effect of a Mother’s Rocking Motion in Adults

Hiroaki Shibagaki, Keishi Ashida, Yoshifumi Morita, Ryojun Ikeura, Kiyoko Yokoyama
Pages: 129 - 133
Previously, we concluded that a mother's rocking motion is the most effective motion for inducing sleep in adults. We call it the candidate rocking motion. In this study, we confirm that the candidate rocking motion is more effective in inducing sleep than using no rocking motion. Moreover, we find that...

6. The Suitable Timing of Visual Sensing in Error Recovery Using Task Stratification and Error Classification

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe
Pages: 134 - 137
Judgment of errors for recovery is performed during execution of the system. Ideally, it is desirable for the judgment to be performed at several times. However, in that case, many sensors would be needed and it would lead to disturbing the workflow. Therefore, it is important to be able to judge an...

7. Dynamic Model and Motion Control of a Robotic Manipulator

Jinho Kim, Kevin Chang, Brian Schwarz, Andrew S. Lee, S. Andrew Gadsden, Mohammad Al-Shabi
Pages: 138 - 141
This paper presents the dynamic modeling and motion control of a three-link rotary robotic manipulator, also known as an RRR robot. The Kinect motion capture system by Microsoft is used in conjunction with the manipulator. A camera is used to capture the motion of a user’s arm and tracks certain angles...

8. A Variable Structure-Based Estimation Strategy Applied to an RRR Robot System

Jacob Goodman, Jinho Kim, Andrew S. Lee, S. Andrew Gadsden, Mohammad Al-Shabi
Pages: 142 - 145
Nonlinear estimation strategies are important for accurate and reliable control of robotic manipulators. This brief paper studies the application of estimation theory to a simple robotic manipulator. Two estimation techniques are considered: the classic extended Kalman filter (EKF), and the robust smooth...

9. Weighted Multiple Model Adaptive Control for a Category of Systems with Colored Noise

Yuzhen Zhang, Weicun Zhang, Qing Li
Pages: 146 - 149
The multiple model adaptive control (MMAC) of discrete-time stochastic system with colored noise is considered in this paper. Model set contains one adaptive identification and some fixed models. Based on the output errors of the models, a simple weighting algorithm is adopted with guaranteed convergence....

10. Stochastic Resonance in an Array of Dynamical Saturating Nonlinearity with Second-Order

Yumei Ma, Lin Zhao, Zhenkuan Pan, Jinpeng Yu
Pages: 150 - 153
The transmission of weak noisy signal by parallel array of dynamical saturating nonlinearities with secondorder is studied. Firstly, the numerical results demonstrate that the output SNR can be enhanced by parallel array of dynamical saturating nonlinearities with second-order by tuning the internal...

11. Based on Short Motion Paths and Artificial Intelligence Method for Chinese Chess Game

Chien-Ming Hung, Jr-Hung Guo, Kuo-Lan Su
Pages: 154 - 157
The article develops the decision rules to win each set of the Chinese chess game using evaluation algorithm and artificial intelligence method, and uses the mobile robot to be instead of the chess, and presents the movement scenarios using the shortest motion paths for mobile robots. Player can play...

12. Rhetoric of Commercial Film and the Response of Viewers

Yoji Kawamura
Pages: 158 - 162
This study first outlines a view of the rhetoric of commercial films as a combination of commercial film techniques. Next, it discusses the relationship between the rhetoric of commercial films and perception/positive factors based on a variety of surveys. It then shows the structure of the relationship...

13. Estimation and Categorization of Errors in Error Recovery Using Task Stratification and Error Classification

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe
Pages: 163 - 167
We proposed an approach to error recovery that uses the concepts of task stratification and error classification. In our method, errors are classified according to the estimated cause into several categories, such as modeling and planning errors. When an error is classified correctly, this increases...

14. Development of a Tool for Extended Place/Transition Net-Based Mutation Testing and Its Application Example

Tomohiko Takagi, Shogo Morimoto, Tetsuro Katayama
Pages: 168 - 174
This paper shows a tool for EPN (Extended Place/transition Net)-based mutation testing to evaluate and improve the quality of a test suite for concurrent software. The tool includes functions for (1) construction of an original EPN that represents the expected behavior of concurrent software under test,...

15. Fuzzy self-tuning PID control algorithm for belt conveyor driven by multi-motor

Caixia Gao, Fuzhong Wang, Ziyi Fu
Pages: 175 - 178
Aiming at the problems of low efficiency when long distance and high-inclination belt conveyor driven by multimotor is in light or idle run as well as electrical power unbalance. Control strategy for belt conveyor driven by fourmotor via fuzzy self-tuning PID control algorithm was proposed. The Speed...