Journal of Robotics, Networking and Artificial Life

In this paper, we propose a new design method of a second-order plus dead-time (SOPDT) sampled-data Proportional-Integral-Derivative (PID) control system, where the continuous-time plant is controlled using the discrete-time controller. The proposed control system is designed so that the tracking performance...

As the growth of network technology with high parallelism and high reliability of distributed systems, they have been widely adopted in the enterprise and society. But, how to design for testing the real-time or a communication delay of distributed systems is not been discussed much. This paper proposes...

In ad hoc networks, due to the mobility of nodes, communication links are unstable and restricted. As such, an efficient routing protocol is needed in order to solve these problems. In the present paper, we propose a neighbors based routing (NBR) protocol by constructing paths in an area in which a large...

By mimicking or being inspired by the nervous system, neuromorphic systems are designed to realize robust and power-efficient information processing by highly parallel architecture. Spike Timing Dependent Plasticity (STDP) is a common learning method for Spiking Neural Networks (SNNs). Here, we present...

An EPN (Extended Place/transition Net) is used as a formal model that represents the behavior of software. When mutation testing is performed based on the EPN, failures are intentionally inserted into an original EPN (EPN that represents the expected behavior of software) in order to create mutant EPNs....

An important feature of a medical education in the context of the COVID-19 pandemic is a migration of classes into an online or mixed format, which requires simulated-based teaching methods with elements of robotics and artificial intelligence. We analyzed computer programs for maintaining medical records...

In order to develop the geometric parameters measurement technology of wheel tread, it is important to ensure the positioning precision firstly before measurement. In this paper, a new method with no-contact measurement based on line structured light is given to solve this problem. Here the traditional...

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...

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...

A weighted multi-model adaptive control (WMMAC) method is proposed to achieve consensus of multi-agent system with large parameter uncertainty and communication delays, in which H°° control is adopted as local control strategy to deal with smaller parameter uncertainty. Moreover a simple and effective...

This paper introduces recent fundamental modifications to the Japanese alliance system known as the keiretsu, and analyses how these changes have affected corporate performance. More specially, the performance of Japanese auto manufacturers, such as Toyota, Nissan and others, has significantly improved...

Mobile teleoperation robot is one of the effective methods to help operators to work in complex environments. However, the time delay by distance is a key factor that restricts its application. To solve this problem, the motion trajectory of the robot is simulated using virtual reality technology and...

This paper studies the problem of sensor selection for maneuvering target tracking in the cluttered environment. By modeling the target dynamics as jump Markov linear systems, a decentralized tracking algorithm is developed by applying the extended Kalman filter and the probabilistic data association...

Image Quality Assessment (IQA) is a vital element in improving the efficiency of an automatic recognition system of various wood species. There is a need to develop a No-Reference IQA (NR-IQA) system as a perfect and distortion free wood images may be impossible to be acquired in the dusty environment...

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...

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...

Molecule Robotics have been realized by using bio molecules such as DNA, proteins, for example in Molecular Robotics Research Project [2012–17, JSPS]; bio molecules, such as DNA or proteins are highly structured and they already have a kind of “intelligence” and adapt to environment change. Hence, we...

This paper proposes the rehabilitation of a stroke patient by using dataglove called GloveMAP. GloveMAP is a low cost hand glove developed by using the flexible bending sensor and an accelerometer attached at the position of the fingers and wrist, respectively. In the studies, 22 fundamental movements...

Generalized Predictive Control (GPC) is one of the model-based control methods. The control law is derived by minimizing performance index, which includes the squares of control input and the squares of the error between reference signal and output prediction, in order to make the derived control system...

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 treated the task of estimating convergence...

In RoboCup Standard Platform League (SPL), the method using unscented particle filter (UPF) has been proposed for self-localization. The UPF resolves a problem of particle filter which cannot be sampled appropriately when the likelihood is too high or low. This filter can estimate accurate position when...

Recently, improvement of production efficiency on cars manufacturers is required. However, that improvements under existing circumstances are depending on experience and intuition by workers. We propose to objectively and efficiently improve a production line based on a GA. The difficulty of applying...

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...

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,...

In this paper, we describe a set of designs of social playware by using the Moto Tiles. We tried to demonstrate the importance of the development of social playware by designing a number of social games that people can play together on one single tool. The design envisions play that mediates coordination...

Our research has been focused on developing human-robot interactions, the robots need to perform a high level of intellectual activity and user compatibility. Therefore, we considered the primary structure of a conscious human/animal action, which can be represented by the sequence process, Perception...

This paper proposes a modification method of a source code to correspond with a modified model in MDA. The proposed method generates, translates, and modifies EAD (Extended Activity Diagram). Also, it generates a source code from the activity diagram. We use a simple ATM example to confirm availability...

This paper proposes a method of detecting a person fallen on the ground and its head and lower body from aerial images. The study intends to automate discovering victims of disasters such as earthquakes from areal images taken by an unmanned aerial vehicle (UAV). Rotation-invariant histogram of oriented...

Networks of networks paradigm was introduced to explore the rendezvous problems of leader-follower multi-agent system, where the rendezvous actors were categorized into the target object, the leader agents, the informed follower agents and the isolated follower agents, respectively. Then, three humanized...

This paper proposes a concept of a training system for the speech controlled environmental control system: Bio-Remote based on candidate word discriminations. The proposed system can provide three-types of voice signal training: (1) volume, (2) tempo/timing and (3) candidate word which are important...

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...

This paper proposes a pedestrian detection method using a MY VISION system. The MY VISION system is an image processing system using an ego-camera which a user of the system possesses, and it is expected to be the third eye of those who are aged, visually impaired or even those who are absorbed in a...

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...

In our research, we develop the robot to combine with the consciousness and behavior which is the conscious and behavior robot (CONBE). In this paper we present the basis system in the CONBE robot that consist of the two main sections as the face recognition and robot gaze tracking. This system uses...

Nowadays less and less people are willing to do hard works. Which makes that the controller based on human skill is needed. Cerebellar model articulation controller (CMAC) is a kind of neural networks (NNs) that can easily solve problems of nonlinear system. Compared with other NNs the advantage of CMAC...

An automated wood species recognition system is designed to perform wood inspection at custom checkpoints in order to avoid illegal logging. The system that includes image acquisition, feature extraction and classification is able to classify the 52 wood species. There are 100 images taken from the each...

This paper combines the niche particle concept and quantum-behaved particle swarm optimization (QPSO) method with chaotic mutation to train neural networks for image inspection. When exploring the methodology of reinforced quantum-behaved particle swarm (RQPSO) to train neural networks (RQPSONNs) for...

An anomaly detection model using deep learning for detecting disaster-stricken (landslide) areas in synthetic aperture radar images is proposed. Since it is difficult to obtain a large number of training images, especially disaster area images, with annotations, we design an anomaly detection model that...

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...

We propose a method to convert sensory information into non-contact tactile sensation by vibrating of very low-frequency sound. The vibrator does not directly touch the object in a non-contact tactile sensation. Then, the object vibrates with the extremely low frequency. Previous research has shown that...

The objective of our work is to investigate the optimal combination of durations of both stages of incremental Genetic Programming (IncGP) on the simulated Snake-like robots (Snakebots). The obtained results suggest that the number of generations cannot be used as criteria for separating the two stages...

Image algorithms used herein are Tracking-Learning-Detection (TLD) and Speed UP Robust Features (SURF). TLD is used for target tracking and SURF is used for identifying targets. We use zoning identification, with the use of statistical probability to strengthen the efficiency of TLD and SURF. With such...

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):...

This paper proposes and empirically tests a model of the relationship between green supply chain management (GSCM) practices and corporate performance. Based on a literature review, we identified five determinants, namely, environmental commitment, supplier collaboration, supplier assessment, information...

Today one of the key disadvantages of robotic surgery is a lack of a haptic feedback, while in traditional surgery a surgeon uses human haptic senses in all tasks. Providing robots with a haptic feedback have a high potential of reducing time that is spent by a surgeon on suturing subtasks and helping...

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....

We innovate an educational toy to play the English learning system. The proposed system uses a Raspberry Pi and two Near Field Communication (NFC) readers. The user can learn English words in three steps by using our system. First, NFC tags are presented corresponding to English words and illustrations,...

For monitoring the early stage of crop growth in China, this paper presents a photosynthesis-based monitoring model for grain production. Not only the normalized difference vegetation index and elements such as the growing degree day are considered, the factors of sunshine and the cost of water resource...

Herein, we propose a method for recognizing human emotions that utilizes the standardized mean value of facial expression intensity obtained from a thermal image and the standardized mean value of the time at utterance. In this study, the emotions of one subject could be discerned with 76.5% accuracy...

Sleeping on the wheels due to drowsiness is one of the major causes of death tolls all over the world. The objective of this research article is to classify drowsiness with alertness based on the Electroencephalogram (EEG) signals using spectral and band power features. A publicly available ULg DROZY...

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....

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...

Just as workflow and transactional linkages, inter-firm capital relationships are similarly known to have an impact on corporate performance. Because of the superior performance of Japanese networks known as Keiretsu, many companies have begun to recognize the importance of capital linkages whereas other...

This paper proposes a sticking fault detecting method for controlled auto-regressive integrated moving average model (CARIMA) which detect the sticking fault of control input and feedback signal. It consists of model estimation using recursive least square method with the forgetting factor and fault...

A model for simulating the output signals of Hall sensors installed with misalignment in a brushless DC (BLDC) motor is proposed in this paper. In the past, Hall sensors have been very widely adopted to evaluate the commutation timing and rotation speed of a BLDC motor. However, no simulation model is...

Using detailed analysis of the stage structure of the kabuki-dance Kyōganoko Musume Dōjōji, as well as the legend of Dōjōji that comprises the background of the kabuki-dance, we present a 2D simulation system that uses music, lyrics, and images. A prototype system was then developed that complements...

We have proposed a new method of advancing from CS Unplugged through the new process of CS Plugged to full-fledged computer programming languages, as a means of deepening understanding in computer programming education. We also have proposed a new Five-Step Method consisting of the following steps: Step...

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...

A system is proposed that performs gait analysis of a pedestrian to improve a walk posture and at the same time to prevent a fall. In the system, a user walks with a chest-mounted camera. His/her walking posture is estimated using a pair of images obtained from the camera. Normally it is difficult to...

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...

From the viewpoint of preventing dementia, balanced meal, moderate exercise, intellectual activities and social interaction are important. We considered shopping activities were proper to encourage those factors because the activities were intellectual in human daily activities. In this paper, we are...

Cloud computing services have not been yet deployed widely by the SMEs in Japan. Due to its many advantages, special skills and support techniques for the SMEs need to be developed in order to implement cloud computing services. A research of the relevant literature reveals that virtually no published...

This paper analyzes conditions in which a robotic swarm with a simplest communication device can succeed to enclose a target. The robots have to know directions to their each nearest neighbors. Each robot has a same signal emitter like a torch and they can observe the sum of the intensity of their torches....

We construct a Virtual Reality, VR system centered on the tactile sensation. Tactile sensation has a more significant effect on sensibility than audiovisual. Therefore, if tactile sensation and audiovisual sense are combined, we can create “virtual presence” in the VR space. In this system, a user’s...

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...

In this paper, a novel three-dimensional autonomous chaotic system is proposed. Based on Lyapunov stability theory, a kind of unidirectionally coupled synchronization method is investigated. When coupling coefficient is selected properly, the response system can be synchronized completely with drive...

The high-voltage transmission line had been used primarily for power distribution from power plant or power station to the end users. However, the transmission line is highly prone to damage due to exposure to various thermal–mechanical loadings and material degradation. Therefore, periodical inspection...

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...

The idea of Bag of Features (BoF) is recently often employed for general object recognition. But, as it does not take positional relations of detected features into account, the recognition rate is still not very high for practical use. This paper proposes a method of describing the feature of an object...

This paper presents a new Self-repairing Control System (SRCS) for plants with actuator failures. The proposed SRCS uses the well-known Izhikevich spiking neuron model as a fault detector. When the actuator fails, the neuron model is excited and then spikes occur. Thus, counting up spikes makes it possible...

Iris recognition is the highly trusted identification recognition technology among methods of biological recognition. In this paper, we use the back propagation algorithm to train the neural network, so as to establish the iris recognition system model. The experiment demonstrates that it has a high...

The conventional wheel is famous in the industrial mobile robot because it is simple to build and easy to control and to maneuver. On the other hand, the legged robot is complicated to control but has a high performance in locomotion like highly evolved legged-creatures. This research describes the four-legged...

Neurofeedback systems have been found to be effective in the clinical rehabilitation of paralysis. However, most systems exist only for use with electroencephalography, which is cumbersome to apply to patients and has lower spatial resolution than Magnetoencephalography (MEG). Furthermore, the best practices...

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...

A Flash-based simulator of CPU scheduling has been developed and utilized for educational visualization in the class of university lecture. We have designed and implemented it with Flash-based scripting language in order to execute it as a stand-alone application as well as in various browsing environment...

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...

In the Propp-based story generation mechanisms and the integrated narrative generation system which we have been developing, the former functions is a module in the latter. These systems have used respective event generation mechanisms to generated events which are the most important units in a narrative...

In this study, a deep Group Method of Data Handling (GMDH)-type neural network using principal component-regression is applied to the medical image recognition of the heart regions. The deep GMDH-type neural network algorithm can organize the neural network architecture with many hidden layers fitting...

This paper proposes a scheme to improve the differential evolution (DE) algorithm performance with integrated the grasshopper optimization algorithm (GOA). The grasshopper optimization algorithm mimics the behavior of grasshopper. The characteristic of grasshoppers is slow movement in the larval stage...

The natural language includes ambiguous expressions. Vienna Development Method (VDM) is one of methodology on the formal methods to write the specification without ambiguity. Because VDM++ is written by strict grammar, it is difficult to write a VDM++ specification. This research attempts to generate...

Widely recognized as providing vital services in the transportation sector, it is important to identify the determinants as well as estimate their impact on Michinoeki today. Seemingly, no research has studied their influence using data on all the 1107 Michinoeki established as of April 2017. To attain...

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,...

In this paper, a fractional-order Chen system is discussed and analyzed by using the frequency-domain approximation method. Its chaotic characteristic can be observed by numerical simulation when the order is as low as 2.9. Then the existence of chaos is verified through the Lyapunov exponent diagrams,...

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...

This paper focuses on stability control for the levitated positioning of the magnetic levitation vehicle system. For the nonlinear magnetic levitation system model, the output feedback linearization method is employed to derive a global linearization error model. However, there exists uncertain item...

Educational activities with robots have been conducted at each stage – from kindergarten to junior high school. In this paper, we propose and verify educational material supporting collaborative operations through experiences related to people and objects. Specifically, three children used joysticks...

Three-phase induction motors are used in a vast area of applications mainly due to their simplicity, ruggedness and high reliability. With recent advancement in semiconductor technologies, the use of fixed speed induction motor drive is becoming obsolete, majority of the applications now requires inverter-based...

In recent years, data-driven control schemes that do not require system modeling have been actively studied. These schemes use only a set of experimental data to design a controller that realizes the desired reference output offline. However, it is necessary to consider the output response and the input...

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...

This paper is devoted to the problem of state estimate of discrete-time stochastic systems. A low-complexity and high accuracy algorithm is presented to reduce the computational load of the traditional interacting multiple model algorithm with heterogeneous observations for location tracking. By decoupling...

In recent years, the software quality becomes more important because the system becomes large scale and high performance. In general, many defects are embedded in the upstream process of the software development. As one reason of the above, specifications include ambiguous description. As a means for...

A full description of the high-level language for solving arbitrary problems in heterogeneous, distributed, and dynamic worlds, both physical and virtual, will be presented and discussed. The language is based on holistic and gestalt principles representing semantic level solutions in distributed environments...

In this paper, we propose the human lumbar burden evaluation method and state estimation system using a smartphone and an application on agricultural work. The proposed system consists of two functions: (1) “State estimation” has a function of estimating posture (Stand up, Sit down, Crouch, Walk, etc.,)...

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...

Ocean current refers to the relatively stable flow of the surface water of the ocean in a certain direction, and is the main regulator of the thermal environment on the surface of the earth. At present, the ocean current velocity detection at sea is basically a field measurement by a staff member in...

In recent years, internet has widely used in different fields. To identify a specific device, we usually use the information which attains from network packets such as Internet Protocol (IP) address, Media Access Control (MAC) address and communication port, etc. However, using this kind of information...

TFVIS (transitions and flow visualization) can perform the visualization of data transitions and the visualization of execution flows. The visualization of data transitions shows the flow of variable renewals in executing programs. It becomes easier to grasp the behavior in executing the programs whose...

This paper is concerned with the fixed-time consensus tracking problem for multi-AUV (autonomous underwater vehicle) systems with uncertain parameters and external disturbances. Firstly, a fixed-time terminal sliding mode is proposed, which can avoid the singularity problem. Then, a continuous distributed...

Although two major Japanese manufacturers, Toyota and Mazda, compete in the automotive market, their corporate performance, respectively, is different because the internal resources and the way they coordinate interrelationships among their network partners is known to be divergent. Both these two companies...

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...