Journal of Robotics, Networking and Artificial Life

Latest Articles

Modeling Virtual Reality Environment Based on SFM Method#

Jiwu Wang, Chenyang Li, Shijie Yi, Zixin Li
Volume 6, Issue 3, December 2019, Pages 179-182
Virtual Reality (VR) technology is widely used in digital cities, industrial simulation, training, etc. where the environment modeling is a necessary component. Comparing with the difficulty to build the three dimension (3D) environment with the conventional methods, the Structure from Motion (SFM) method...

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

Kenji Kimura, Shota Chikushi, Kazuo Ishii
Volume 6, Issue 3, December 2019, 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...

Dynamic Structures for Evolving Tactics and Strategies in Team Robotics

Jeffrey Johnson, Ruggero Rossi
Volume 6, Issue 3, December 2019, 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 on the Realization Method of Augmented Reality based on Unity3D

Jiwu Wang, Weixin Zeng
Volume 6, Issue 3, December 2019, 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...

Skill Model Estimation of Ability for Reading Drawings

Kazuo Kawada, Teruyuki Tamai, Yoshihiro Ohnishi
Volume 6, Issue 3, December 2019, 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...

Influence of Safe Driving Support System for Electric Wheelchair on Operation Input

Hiroshi Suzuki, Tomoki Matsuo, Takashi Yasuno
Volume 6, Issue 3, December 2019, Pages 171-178
This paper describes the influence on operation input which is given by a safe driving support system for an electric wheelchair. A wheelchair is rapidly introduced as a mobility for elderly people who has disabilities on walking. Along with that, collision accidents of the wheelchair also increase and...

Evaluation for the Synchronization of the Parade with OpenPose

Yohei Okugawa, Masao Kubo, Hiroshi Sato, Bui Duc Viet
Volume 6, Issue 3, December 2019, Pages 162-166
In military organization, the synchronization in the parade is important for showing their majesty. However, we do not have any quantitative evaluation methods for the parade. In this research, as a first step of the quantitative evaluation for the parade, we propose an evaluation method focusing on...

Evaluation and Build to honeypot System about SCADA Security for Large-Scale IoT Devices

Kuan-Chu Lu, I-Hsien Liu, Jia-Wei Liao, Shao-Chun Wu, Zong-Chao Liu, Jung-Shian Li, Chu-Fen Li
Volume 6, Issue 3, December 2019, Pages 157-161
Under the trend of intelligent industrial control systems, it is very important to prevent network hackers from invading the system to attack devices. In particular, today’s hackers have multiple attacks and the number of attacks has increased year-by-year. How to stop hackers from attacking the system...

Development of the Feed Part Control System for Rectification Process

Fengzhi Dai, Lingran An
Volume 6, Issue 3, December 2019, Pages 152-156
This paper completes the structure design of the feed process for the small rectification experimental unit. According to the process requirements, the overall scheme of the detection and control system and the main parameters are designed, and the type of the instrument is selected. The system hardware...

Application of Pairwise Testing into BWDM which is a Test Case Generation Tool for the VDM++ Specification

Tetsuro Katayama, Futa Hirakoba, Yoshihiro Kita, Hisaaki Yamaba, Kentaro Aburada, Naonobu Okazaki
Volume 6, Issue 3, December 2019, Pages 143-147
Verification tool for Vienna Development Method (BWDM) is a test case generation tool for the VDM++ specification. The existing BWDM could cause a combinatorial explosion of the generated test cases. To reduce the number of test cases, there is Pairwise Independent Combinatorial Testing Tool (PICT):...

Soil Compaction and Rolling Resistance Evaluation of a Locomotion System with an Adjustable Contact Patch for a Grape Transporting Robot

Enrico di Maria, Kazuo Ishii
Volume 6, Issue 3, December 2019, Pages 148-151
Soil compaction is a form of soil degradation which causes soil erosion, drainage difficulties, and loss of nutrients. To mitigate this issue, in agricultural farms several methods have been adopted. In this paper, the preliminary study of a locomotion system with adjustable contact patches is proposed....

Spherical Mobile Robot Driven by Single Omni Wheel

Liu Wei, Wang Runjiao, Duan Lunqin, Wang Yanyan, Wang Jiwu
Volume 6, Issue 3, December 2019, Pages 167-170
This paper presents a new spherical mobile robot driven by single omni wheel. The physical model is that an arc track is built inside the sphere shell and can rotate around a spherical diameter freely. It supports one driving omni wheel and keeps the driving omni wheel touching the inside of the sphere...

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
Volume 6, Issue 3, December 2019, 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...

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...