Journal of Robotics, Networking and Artificial Life

Latest Articles

An Authentication Method for Digital Audio using Wavelet Transform and Fundamental Frequencies

Yasunari Yoshitomi, Shohei Tani, Masaki Arasuna, Ryota Kan, Taro Asada, Masayoshi Tabuse
Volume 6, Issue 2, September 2019, Pages 133-137
Several digital watermarking techniques for audio files have been proposed for hiding data for protecting their copyrights. There is a tradeoff between the quality of watermarked audio and the tolerance of watermarks to signal processing methods, such as compression. To overcome the inevitable tradeoff,...

Toward Smart Tomato Greenhouse: The Fourth Tomato Harvesting Robot Competition

Takayuki Matsuo, Takashi Sonoda, Yasunori Takemura, Masanori Sato, Kazuo Ishii
Volume 6, Issue 2, September 2019, Pages 138-142
Agriculture, one of the most important industries for human life, is faced with serious problems, the shortage of workers, the falling birthrate and the aging population, global warming and natural disasters, etc. Tomato is one of the most important fruit vegetables, and most tomatoes in Japan are cultivated...

A Method of Naimaze of Narratives Based on Kabuki Analyses and Propp’s Move Techniques for an Automated Narrative Generation System

Takashi Ogata
Volume 6, Issue 2, September 2019, Pages 71-78
Naimaze in kabuki has been known as a narrative creation method, or a group of techniques that combines components in existing kabuki works or in the narratives from other genres for making a new work. Various elements, such as stories, plots, characters, and places, can be used as components in naimaze....

Mean-square Quasi-composite Rotating Formation Control of Second-order Multi-agent Systems under Stochastic Communication Noises

Lipo Mo, Xiaolin Yuan, Yingmin Jia, Shaoyan Guo
Volume 6, Issue 2, September 2019, Pages 89-96
This paper mainly concerns the mean-square quasi-composite rotating formation problem of second-order multi-agent systems (MASs) with stochastic communication noises. Firstly, the definition of mean-square quasi-composite rotating formation is proposed. Afterwards, a distributed control protocol with...

An Efficient Structure of Organization with Complete Group Guidance

Satoshi Ikeda, Makoto Sakamoto, Takao Ito
Volume 6, Issue 2, September 2019, Pages 128-132
Organizational structure is one of the most important factors in determining its performance. Our interest is what kind of structures is efficient, and what conditions are required for an efficient structure? In our previous papers, we proposed a mathematical model for evaluating the hierarchical organization...

Implementation of Tamias to Check Production Rules for Parsing Expression Grammar

Tetsuro Katayama, Toshihiro Miyaji, Yoshihiro Kita, Hisaaki Yamaba, Kentaro Aburada, Naonobu Okazaki
Volume 6, Issue 2, September 2019, Pages 123-127
Parsing Expression Grammar (PEG) proposed by Ford has the higher expressive ability than traditional Backus–Naur form, but it also has problems such as prefix capture. “Prefix capture” is a problem of hiding the language to be accepted according to the order of choice. To support checking syntax files...

Design of a PID Controller using a Fictitious Exogenous Signal for a Fluctuation System

Masatoshi Kozui, Takuya Kinoshita, Toru Yamamoto
Volume 6, Issue 2, September 2019, Pages 118-122
The fictitious reference iterative tuning method is used to design Proportional–Integral–Derivative (PID) controllers to achieve desired performance for industrial machines. However, the desired control performance cannot be obtained by this method, if the system characteristics changed in steady state....

Pulse Point Position Tracking-control and Simulation based on 4-DOF Pulse Diagnosis Robot

Qunpo Liu, Guanghui Liu, Hongqi Wang, Xianzhe Liu, Naohiko Hanajima
Volume 6, Issue 2, September 2019, Pages 113-117
Pulse diagnosis has been proved to be of great practical value in the past dynasties. The key of high-quality pulse diagnosis is how to dynamically adjust the vertical relationship between the pulse and the sensor dynamically. The design adopts a four degree of freedom manipulator combined with a matrix...

Izhikevich Model-based Self-repairing Control for Plants with Sensor Failures and Disturbances

Masanori Takahashi
Volume 6, Issue 2, September 2019, Pages 105-108
In the previous works, several types of the Self-Repairing Control Systems (SRCS) have been developed against unknown sensor failures. The SRCS can automatically detect failures, and replace failed sensors with healthy backups so as to maintain the system stability. This paper presents a new SRCS, whose...

Tumble Avoidance System for Rescue Robot by Estimating the Contact Points using a 3D Depth Sensor

Noritaka Sato, Kotaro Ohshima, Yoshifumi Morita
Volume 6, Issue 2, September 2019, Pages 109-112
Rescue robots are expected to perform works in hazardous areas. However, when the robot runs on a rough terrain, fatal rollover falling sometimes occurs. Therefore, we propose a tumble-risk-assessment system, which calculates a normalized energy stability margin by using a 3D depth sensor. Moreover,...

High-performance Computing for Visual Simulations and Rendering

Jasmine Wu, Chia-Chen Kuo
Volume 6, Issue 2, September 2019, Pages 101-104
National Center for High-performance Computing (NCHC) built a render farm that provides a platform for the industry to render their work in a much more efficient timeframe, allowing for both central processing unit (CPU) and graphics processing unit (GPU) rendering. The throughput has also been greatly...

Field Robot and Sensing System

Eiji Hayashi
Volume 6, Issue 2, September 2019, Pages 97-100
Labors in which forestry and agriculture and factory, are working in severe circumstance. So, such workers are necessarily declines and decreases. However, it is important for us to keep going in economy, life and nature. Therefore, to prevent a devastation of the forest, the safety and the lack of food...

Feasibility Study of UAV Implementation in Route Surveying

Hazry Desa, Muhammad Azizi bin Azizan, Mohamad Syafiq Abdul Khadir, Muhammad Safwan Suhaimi, Noor Zulaiha Ramli, Zainudin Hat
Volume 6, Issue 2, September 2019, Pages 84-88
Unmanned Aerial Vehicle (UAV) are widely used in numerous field and the technology keeps growing. Generally, conventional method used in data collection for engineering work is tedious and requires a lot of manpower. This research focuses on the investigation of the suitability of UAV for route survey....

Suppression of Roll Oscillation in Turning of Quadruped Robot by Asymmetric Amplification of Central Pattern Generator Output Waveform

Makoto Kitani, Ryo Asami, Noritaka Sato, Yoshifumi Morita, Tomofumi Fujiwara, Takahiro Endo, Fumitoshi Matsuno
Volume 6, Issue 2, September 2019, Pages 79-83
Quadruped robots experience excessive vibrations in the roll direction when turning by controlling their hip yaw joint. In the case of image-based teleoperation of the robot, the operator cannot aware the situation of the robot, due to excessive vibrations of the viewpoint of the image from the camera...

Possible Mechanism of Internal Visual Perception: Context-dependent Processing by Predictive Coding and Reservoir Computing Network

Hiroto Tamura, Yuichi Katori, Kazuyuki Aihara
Volume 6, Issue 1, June 2019, Pages 42-47
The predictive coding is a widely accepted hypothesis on how our internal visual perceptions are generated. Dynamical predictive coding with reservoir computing (PCRC) models have been proposed, but how they work remains to be clarified. Therefore, we first construct a simple PCRC network and analyze...

A New Machine Learning Algorithm for Weather Visibility and Food Recognition

Young Im Cho, Akmaljon Palvanov
Volume 6, Issue 1, June 2019, Pages 12-17
Due to the recent improvement in computer performance and computational tools, deep convolutional neural networks (CNNs) have been established as powerful class of models in various problems such as image classification, recognition, and object detection. In this study, we address two fundamentally dissimilar...

Novel Mathematical Modeling and Motion Analysis of a Sphere Considering Slipping

Kenji Kimura, Kouki Ogata, Kazuo Ishii
Volume 6, Issue 1, June 2019, Pages 27-32
Many mobile robots that use spherical locomotion employ friction-drive systems because such systems offer omnidirectional locomotion and are more capable of climbing steps than omni-wheel systems. One notable issue associated with friction-drive systems is slipping between the sphere and the roller....

Unified Approach to (1 + 1) Evolutionary Algorithm on Discrete Linear Functions

Kenji Aoki, Makoto Sakamoto, Hiroshi Furutani, Satoru Hiwa, Tomoyuki Hiroyasu
Volume 6, Issue 1, June 2019, Pages 56-59
We consider the runtime property of discrete linear functions in (1 + 1) Evolutionary Algorithms (EAs), Partially Ordered mutation (PO-mutation) and Jansen’s model, Partially Ordered Evolutionary Algorithm (PO-EA). We analyze the process of evolution. This study was motivated by the paper of Jansen treating...

Design and Analysis of Multi-robot Grouping Aggregation Algorithm

Huailin Zhao, Zhen Nie, Xiaoxing Wang
Volume 6, Issue 1, June 2019, Pages 60-65
In this paper, the grouping aggaregation problem of multi-robot in simple environment is studied. The grouping algorithm and aggregation algorithm are mainly discussed. Based on K-means clustering algorithm, a grouping control algorithm that can determine the number of groups and complete the grouping...

Development of Dam Inspection Underwater Robot

Hiroyasu Hirai, Kazuo Ishii
Volume 6, Issue 1, June 2019, Pages 18-22
The maintenances of social infrastructures such as dams and bridges are important subjects. The older the infrastructure becomes, the more need there is for effective inspection methods. In the inspection of the underwater dam structure, divers can be used, but the inspection result is insufficient....

Design of a Performance-Adaptive 1-Parameter Tuning PID Controller

Yoichiro Ashida, Shin Wakitani, Toru Yamamoto
Volume 6, Issue 1, June 2019, Pages 33-37
Many self-tuning Proportional–Integral–Derivative (PID) controllers have been proposed. However, these methods are rarely employed to actual systems because of low reliability of an on-line PID parameter estimator. In this work, a performance adaptive controller that has two stages of PID parameters...

An Analysis on Commercial Film Techniques and Effects Using Positive Factors of Evaluation Database System

Yoji Kawamura
Volume 6, Issue 1, June 2019, Pages 1-6
This study aims to systematically shed light on what kind of effects are brought about by the film techniques in individual commercial messages. Based on audiovisual experiments, with positive factors as the evaluation index, we considered what could be analyzed from film techniques and their effects....

Disaster Area Detection from Synthetic Aperture Radar Images Using Convolutional Autoencoder and One-class SVM

Shingo Mabu, Kohki Fujita, Takashi Kuremoto
Volume 6, Issue 1, June 2019, Pages 48-51
In recent years, research on detecting disaster areas from synthetic aperture radar (SAR) images has been conducted. When machine learning is used for disaster area detection, a large number of training data are required; however, we cannot obtain so much training data with correct class labels. Therefore,...

The Recognition and Implementation of Handwritten Character based on Deep Learning

Fengzhi Dai, Zhongyong Ye, Xia Jin
Volume 6, Issue 1, June 2019, Pages 52-55
This paper mainly focuses on the recognition of Chinese handwritten characters. By using the deep learning technology, a deep convolution neural network (CNN) is constructed to identify the handwritten character set, and finally gets the network structure that can be used for recognition. By comparing...

Real-Time System for Horizontal Asymmetry Analysis on Facial Expression and its Visualization

Ryoichi Shimada, Taro Asada, Yasunari Yoshitomi, Masayoshi Tabuse
Volume 6, Issue 1, June 2019, Pages 7-11
We report on the development of a real-time system for facial expression horizontal asymmetry analysis and visualization. In this system, the image signal input from a webcam is analyzed using OpenCV, and feature parameters (facial expression intensity) are measured separately for the left and right...