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This project is started from 2006 supported by NEDO (New Energy and Industrial Technology Development Organization). This project is organized by The University of Electro-Communications and Internet Initiative Japan Inc. among other institutes. The aim of this project is to accomplish the searching task for rescue activities in damaged buildings with rescue robot systems. In this project we focus on the following two sub-themes.

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We are constructing a system which search inside of damaged buildings by grouped robots. Especially, we developed a new wireless ad-hoc network system called 'Robohoc network' system. It is necessary to communicate information include video images from robots stably considering not to break down all network performance. In this paper, the system integration of the network and robots are described.

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[in Japanese]

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When we create an environment map based on information collected by rescue robot, robot position estimation error and variability of communication is a major problem. In this study, we developed the user interface to fix quickly the robot position estimation error, and to gather the important information quickly through the unstable communication.

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Our research group aims to develop ad-hoc network as information communication infrastructure using mobile robots in a collapsed building. In this ad-hoc network communication nodes have to be arranged because mobile robots has limited payload. In this paper I develop a way for communication nodes layout planning based on map information of a target building which made before disaster.

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[in Japanese]

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[in Japanese]

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There exists a trade-off between amount of inventory and line stoppage time in mixed-model assembly lines. It becomes extremely important to reveal such trade-off relationship or to engage multi-objective analysis for the decision making on product sequencing. Previously, we compared the performance of a traditional weighting method and a new meta-heuristic approach like PSA and revealed respectively the advantages and disadvantages of both methods. In this study, we propose a new method termed Elite-induced PSA having only good properties of both methods. Through case study, we will validate its effectiveness.

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[in Japanese]

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We will report the experimental results for applying our proposed FRIT approach to temperature control experimetal model.

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In this paper, we provide a new method of a controller parameter tuning based on FRIT, which yields desired parameter with only one-shot experimental data, applied to IMC. We also the proposed method enables to obtain not only the optimal controller parameter but also the parameter of a plant to be controlled.

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In this work, a design scheme of performance-driven controllers is proposed, and the behavior of the proposed control system is examined for a pilot-scale experimental system.

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We will propose a direct PID control gain tuning using closed loop input output data using least square method and PSO approach.

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[in Japanese]

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In this paper, we compare the modified COMMONS GAME utilizing MOEAs & NNs with the original COMMONS GAME from the point of view of "Which game playing is more exciting ?" Several game playings by our university students confirm that the modified COMMONS GAME utilizing MOEAs & NNs can provide by far the best chance for letting players consider seriously about the commons.

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[in Japanese]

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In this paper, a probabilistic classification approach is proposed in order to increase the accuracy in IDS (Intrusion Detection Systems). The proposed approach can distinguish network connections as normal, misuse or anomaly and experiment results demonstrate that it is capable of achieving high classification accuracy.

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This paper describes a control strategy for throwing motion of the Pendubot based on the concept of unstable zero dynamics. An underactuated two-link planar robot called the Pendubot is investigated to realize dexterous actions of the superior limb in human throwing motion. In the proposed control strategy, the zero dynamics is intentionally unstabilized when the end-effector of the Pendubot is constrained on a geometric path via output zeroing control. Numerical simulations and experimental results confirm the effectiveness of the proposed control strategy.

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The parametrically excited pendulum has been studied as a classical nonlinear dynamical system. The rotation appears as a conversion from forcing vibration to rotational motion, which is applicable to energy scavenging and so on. In this paper, we show a method to establish the entrainment to a periodic rotation of parametric pendulum by the external force control.

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Under recent ecological environment, effective operation for supply of energy is one of significant issues. Although use of natural energy is thought to be a key to reduce consumption of energy, natural energy obtained is insufficient to demand required in an individual house. Therefore, different supply procedures are combined to supply energy and to control consumption of energy. This study focuses on construction of mathematical model for introduction of facilities to control supply of energy in urban area. If the model is involving specs of facilities for supply of energy, optimal specs of the facilities are obtained by resolving the model. Cost for facilities introduced and energy consumed in the model area are discussed from numerical results obtained by using optimal method in this paper.

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In general, it is important to reduce the area and the number of I/O terminals, when the cryptographic circuit such as DES circuit is implemented on FPGA. In this paper, we propose the FPGA implementation technique for cryptographic circuit. Simulation results show the effectiveness of the proposed implementation technique.

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[in Japanese]

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It aims at the MDA development in the manufacturing execution system and the spread of the development technique by the code automatic operation generation. This time, the research on the development support for the manufacturing execution system that used the code automatic operation generation based on MDA was executed.

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[in Japanese]

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Search queries consisting of few keywords are frequently used in document retrieval. There are, however, many documents that do not contain these keywords but are still relevant. We therefore propose a system that encourages the user to expand the query with relevant keywords, obtained from estimation of semantic structure of terms. We also implemented an interface that helps the user to build a Boolean query through visual grouping of keywords.

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We propose a recommendation method for a local-limited spot. We define a local-limited spot as a spot available in only limited areas but not in a user's home area. First, our method extracts words and phrases from text information of spots (such as introductory sentences of spots). Secondly, our method extracts words and phrases occurred in only limited areas but not in a user's home area. Then, spots including those words and phrases are recommended to the user. In this paper, we explain our proposed method and consider basic experimental results.

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Recommendation systems suggest items to an user, based on history of evaluation which is represented as a matrix with missing values. Matrix factorization is a well-known method for predicting missing values of the matrix and its cost function corresponds to the log-likelihood with Gaussian model, whose mean is assumed to be factorizes. However, in real datasets, a group of users forms a cluster having different characteristics and the conventional model is not appropriate for the situation. To deal with the situation, we propose matrix factorization method with a mixture model and investigate its performance.

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[in Japanese]

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