This study proposes direct anthropomorphization method. This method anthropomorphizes an object and user can interact to it with touching. We developed pointing detection sensor that is attached to the object, detects human touch for it, and act as if the object had touch sensor on its surface. Our sensor is attached with the edge of the object and detects 2 dimensional region. It is easily touchable, don't hide elements of the object, and detects only human touch. To detect of the human touch, we uses Viterbi-algorithm. This device detects human touch towards 40cm width region with 80% accuracy. We also examined anthropomorphic information providing test for users using this sensor and other anthropomorphization parts. The result said that direct anthropomorphization method was achieved by our sensor.
It is difficult for a beginner rider to operate a two-wheeled vehicle which is a MIMO controlled object; on the other hand, a skilled rider can operate it skillfully using his/her driving knowledge. The purpose of this study is that the beginner comes to be able to operate a two-wheeled vehicle like the skilled rider with intelligent driving support based on operation knowledge of the expert. Driving support is performed by an i2DSS (intelligent 2-wheeled vehicle Driving Support System) on which an iMIMOc (intelligent MIMO control) method is applied. The operation method of the skilled rider is functionally separated into a reference setting and a reference tracking. Driving support: the i2DSS embedded knowledge of the reference setting, gave a user an appropriate reference value. The result of simulation experiment on virtual riders assumed to be a novice confirmed that operation support by the i2DSS was effective for the beginner. Moreover, it was verified that the beginner rider who received this driving support was able to maneuver it such as the expert.
Based on formal concept analysis, a novel lattice visualization system for huge image databases is proposed. The proposed system constructs a concept lattice from a given cross table between objects and attributes, and then the Hasse diagram of this lattice is visualized. In the present work, the objects are images and the attributes are image features respectively. Using the proposed system, a user can analyze the perspective structure for a large image database. The proposed system is running on an ordinal computer (CPU=2.13GHz, MM=2GB) and it is implemented in Processing, a JAVA based programming language. Through a visualization experiment using the Corel Image Gallery (1,000 color images), we confirm that the proposed system is effective for visualizing huge image databases.
We use foreground pixels as indicators of the presence of people to estimate the total number of people in an image sequence; the proposed method has low processing cost and can output the number in real time. The number of people is computed from the visual hull for each pixel, based on the camera parameters of a stationary camera, and a simple geometric model for each person. The proposed method uses a genetic algorithm to automatically adjust the camera parameters, in the framework of calculating the total number of people. We evaluate the performance of the method with computer simulations and demonstrate its effectiveness on real images.
Wireless sensor networks (WSN) have attracted significant interests of many researchers because they have great potential as a means of obtaining information of various environments remotely. WSN have their wide range of applications, such as natural environmental monitoring and environmental control in office buildings. In WSN, many sensor nodes with such resource limitation as battery capacity, memory, and CPU are deployed in a region and used to monitor and gather information of environments. Therefore, scalable and efficient network control is needed to prolong the lifetime of WSN. Ant-based Routing algorithms (AR) have attracted attentions as routing algorithms for saving energy consumption because they are more robust, scalable and efficient than other conventional routing algorithms. This paper proposes an AR-inspired novel routing protocol for the long-term operation of WSN, named the Pheromone-Oriented Routing Protocol (PORP). By using PORP, the load of each sensor node is autonomously balanced. We evaluate PORP using computer simulations and discuss its development potential. In simulation experiment, PORP is compared with past AR to verify its effectiveness.
PID control methods remain popular in industrial applications. However, due to their poor ability to react appropriately in an unsteady operational environment, they sometimes fail to control the actual plant, including operations such as feed oil changing and process line changing. On the other hand, well-experienced operators can easily manage these operations by appropriately manipulating the set points or adjusting the output of the PID controller using their experience and knowledge. In an ethylene plant, the decoking operation of the cracking furnace is highly unstable. To mimic the well-experienced operator's procedures, we have developed a hierarchical system that consists of an intelligent sequence control and a PID control. The intelligent sequence control plays the role of the well-experienced operator. We applied the hierarchical system to the decoking process in ethylene plant in order to demonstrate its effectiveness.
In a petroleum refining plant equipped with high-pressure equipment, the leak accident of high-pressure may cause a secondary disaster. Thus, expensive acoustic emission is proposed to be used at detection of gas leak in the early stage. Recently, to combine the developed digital processing technology and the microphone technology that can measure wide frequency range of the leak sound. Therefore, the detection of gas leak could has a high performance at a relatively low cost. In a leak accident of high-pressure gas, compare to the steady background noise, the leak sound is becoming unusual. In a current research, we have developed the reverse-filter method that compares the previous measured acoustic data and the reverse-filtered data by designing a reverse-filter that describes the background noise data by the expression like the autoregressive model. However, it is difficult to detect the leak for the unsteadiness of acoustic data. Then, the authors thought that a novel technique that is not using expression like an autoregressive model was required. In this paper, chaos theory is applied to distinguish abnormalities as a technique of evaluating the regularity of acoustic data by using commercial microphones. We can evaluate the deterministic character of unsteady nonlinear time series data by using chaos theory. Therefore, the first work is to simulate a nonflammable gas leak by real equipment, and figure the difference between back ground noise and leak sound by using measured acoustic data. Next, The authors propose a new criteria called chaos information criteria as a specialized evaluation technique for diagnosis. And, the authors firstly developed a gas leak detection system applied the chaos information criteria (acoustic abnormality detection system), then we did a proof experiment to verify that whether or not a nonflammable gas leak in plural of the whole reformed gasoline distillation apparatus in Idemitsu Kosan Chiba refinery can be detected. As a result, the effectiveness is verified.
This paper describes an implementation of mobile robot waypoint navigation system which is compliant to Intelligent Ground Vehicle Competition (IGVC) navigation challenge rules. The IGVC is one of mobile robot competition that has been sponsored by AUVSI (Association for Unmanned Vehicle Systems International) since 1993. Navigation challenge is one of the IGVC challenges that assume to use GPS navigation system. Several waypoints are assigned by longitude and altitude coordinate system as global waypoint map. Based on global waypoint map, the proposed waypoint navigation system incrementally builds both an accurate global trajectory map and global obstacle map by using complex extended Kalman filter. The feature of proposed implementation is employing simple map management algorithm and self-localization and landmark data association. To confirm the validity of proposed waypoint navigation system, an electric wheelchair based mobile robot is used for implementation and tested actual outdoor experiments.
This paper presents flight control of micro helicopter with coaxial counter-rotating blades. By employing fuzzy control approach and by constructing fuzzy control rule maps based on human operator's experience and knowledge, we achieve hovering control and acrobatic path-following control of the micro helicopter.
In this paper, we propose and discuss the distributed information retrieval (IR) manner named the independent indices management manner for contents and services on the overlay networks. The proposal manner has two features; one is un-structured indices management model which generates and manages the indices independently on each management peers selected from overlay networks, and another is the connections based on the P2P technology. The result of evaluations clarifies our proposal manner has both abilities: the peer distribution scalability as same as P2P overlay network applications, and retrieval accuracy as same as indices centralized in a server manner. Comparing with our previous work, our proposal manner in this paper is suitable in view points of distribution scalability, load balancing, and fault tolerance. As last, we could expect that our proposal is used as one of distributed IR manners for the ubiquitous services environments.
In this paper, we consider the stability and stabilization of Takagi-Sugeno fuzzy systems with neutral and distributed delays. We employ a generalized Lyapunov functional to obtain delay-dependent stability conditions of such a fuzzy time-delay system. We introduce some free matrices to such a Lyapunov functional in order to reduce the conservatism in stability conditions. These techniques lead to generalized and less conservative conditions. Applying the same techniques made on the stability conditions, we obtain delay-dependent conditions for the robust stability of uncertain fuzzy systems with neutral and distributed delays. Moreover, we consider the robust stabilization. Based on the robust stability conditions on the closed-loop system, we give design methods of the state feedback controllers for uncertain fuzzy time-delay systems. Finally, we give two examples to illustrate our results.
Fuzzy c-Medoids (FCMdd) is a modified version of Fuzzy c-Means (FCM), in which the prototypes of clusters are selected from data samples, and is easily applied to relational data. This paper proposes a linear fuzzy clustering algorithm based on extended FCMdd in order to extract local sub-structures from relational data by estimating linear prototypes spanned by representative objects (medoids). While the prototype estimation phase is reduced to a combinatorial optimization problem, a linearized algorithm is also considered, in which the representative objects of “medoids” are selected only from a subset of objects having large membership values. The clustering result of the proposed method is also useful for low-dimensional visualization of relational data by estimating multiple 1-D plots even when multi-dimensional scaling fails to construct a meaningful single low-dimensional feature space.