-
小澤 誠一, 白神 那央人, 阿部 重夫
p.
401
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In reinforcement learning, forgetting by incremental learning can be serious when neural networks are utilized for approximating action-value functions of agents. To avoid the forgetting, we present a feedforward neural network model with long-term memories and its reinforcement learning algorithm. In the simulations, we apply our model to an extended mountain-car task, and the number of steps to the goal is evaluated as compared with a neural network without long-term memories. As a result, we demonstrate that the forgetting is effectively suppressed in the proposed model.
抄録全体を表示
-
中山 弘隆
p.
402
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
When the environment changes over time, we need to make additional learning in order to adapt the new environment. However, if we make only additional learning, the rule becomes more and more complex which causes poor generalization ability. Then, it is important to decrease the effect of data causing misclassification. This is called forgetting. In this paper, the effectiveness of additional learning and forgetting will be shown along with several examples.
抄録全体を表示
-
前田 雄介, 井澤 秀益, 菊地 悠, 小河 寛揮, 新井 民夫
p.
403
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In this paper, we develop an agent-based assembly system, which enables easy addition/removal of assembly devices using its decentralized nature. Solutions of crucial problems accompanied by addition/removal of robots, such as calibration of robot coordinates or workspace allocation, are presented. The implemented assembly cell shows its high reconfigurability in assembly experiments.
抄録全体を表示
-
下村 芳樹, 高田 ファビオ ノリユキ, 冨山 哲男
p.
404
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
As opposed to highly centralized present systems, cellular-type machines were proposed. A cellular-type machine is a mechanical system composed of distributed autonomous intelligent units, called cells, of as few kinds as possible, and with no central control. In this paper, we introduce a concept of movable cells (cells with the introduction of moving function) as a method to improve the flexibility of the previously developed system.
抄録全体を表示
-
成瀬 継太郎, 嘉数 侑昇
p.
405
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
-
近藤 伸亮, 梅田 靖, 冨山 哲男
p.
406
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In recent highly competitive and complex global market place, cooperation and alliance of multiple production systems is indispensable for delivering value to customers with minimum lead time. This paper proposes a calculation model of multiple production systems environment based on multi agent system, and illustrates an algorithm for finding out effective cooperation among them thorough self-organizing simulation of multi agent system.
抄録全体を表示
-
古川 正志, 渡辺 美知子
p.
407
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
A production system consists of many components such as an automated warehouse, a various type of machining cells, and transportation equipment. From a viewpoint of multi-agent system, these components can be regarded as agent system. This short article presents a learning agents approach derived from the multi-agent system to an autonomous and decentralized production system. Especially, an AGV is focused on and it is modeled as the learning agent. Then, some experimental results are shown that such an AGV can autonomously behave to transport work-pieces at a factory.
抄録全体を表示
-
—サプライネットワークへの適用
貝原 俊也, 藤井 進, 大家 健司
p.
408
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In order to clarify causal relationships between the utilities of transactors and the prices of goods in Electronic Commerces(EC), various researches are performed. In this study, an artificial market based on the concept of “Economics of Complex Systems” is developped. We analyse the relationship between agents’ behaviors and prices of goods in this market, and show the applicability of the proposed method to EC mediation algorithm.
抄録全体を表示
-
武藤 敏之, 岡本 洋一, 渕上 明弘
p.
409
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Adhesive parts must be removed from products before they can be recycled. Removing is difficult because it requires high skills. We have developed a prototype of an automatic disassembly system for adhesive parts. The goal of the system is to stabilize and speed up work. This paper reports the results of removing adhesive seals by a unique robot hand.
抄録全体を表示
-
平澤 友康, 原田 忠克, 山田 茂
p.
410
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
To automate the production of large items with small quantities, a robot hand must handle various parts. Using product analysis, we looked at requirements of the hand for industrial use. Using the analysis, we developed a three-finger gripper that changes its conformation. Basic experiments confirmed effectiveness of the hand.
抄録全体を表示
-
大嶋 悠之, 毛利 哲也, 川崎 晴久, 伊藤 聡
p.
411
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
When grasping an object by the robot hand, the visual information on the grasped object is partially covered by the hand itself and the external environment. In this paper, the method of measuring the three-dimensional position/Orientation of a known object is proposed using envelope points paying attention to the convex hull figure of the object whose visual information always does not change.
抄録全体を表示
-
朴 貴浩, 金 丙鎬, 平井 慎一
p.
412
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In this paper, we will propose a simple modeling method of a soft fingertip based on geometrical analysis. First, we introduce a virtual spring system of the soft fingertip with two-dimensional contact between a planar object and fingertip. Second, we describe the equation of pressure distribution from hydrostatic equation, and validate this theory by simulating the equation and comparing the equation and the measurements of tactile sensor, and the soft fingertip. Finally, we denote how to obtain amplitude θ
0 and maximum displacement d
0 from the tactile sensor.
抄録全体を表示
-
佐野 明人, 西 恒介, 藤本 英雄
p.
413
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
When doing the delicate work of dishwashing etc., inner force sense and tactile sense information is made very important. A tactile sensor is developed and this research aims at realization of tele-grasping in consideration of the tactile sense of a multi-finger hand. Specifically, the sensor which detects a slip is developed.
抄録全体を表示
-
MINYONG Panya, 寺嶋 一彦, 北川 秀夫
p.
414
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This paper presents a massage motion control system of multi-fingers robot hand. Finger movement is controlled by using the algorithm which converts the deired fingertip trajectory into the desired angle by means of inverse kinematics. For the finger force control, PD servo compensation and inverse Jacobian matrix are applied.
抄録全体を表示
-
三井 淳也, 増田 良介
p.
415
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Tactile feedback is important in the operation of a robot hand. Many tactile display and tactile feedback system have been made abundantly, but not yet completed for dexterous manipulation use. Here we propose a new presentation method which gives the grasping information including the contact force and the slip to a human operator at the same time and it can be used as a robot control device.
抄録全体を表示
-
—視覚情報との融合—
山本 晃生, 石井 利樹, 樋口 俊郎
p.
416
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
A transparent type of electrostatic tactile display using friction control is developed. Since this tactile display is composed of transparent ITO electrode, it is possible to attach the device on LCD without obstructing the vision. Therefore, the user can directly scan and feel the pattern displayed on LCD. In this paper, the novel technique of this device is described.
抄録全体を表示
-
高崎 正也, 水野 毅, 奈良 高明
p.
417
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
We have developed a tactile display using surface acoustic wave (SAW). Mechanical vibration is generated using SAW, provided to an operator’s finger and perceived as tactile sensation at mechanoreceptors in the finger skin. A display was fabricated on trial and installed on a computer mouse button. The mouse also can be used as a computer interface through tactile sensation.
抄録全体を表示
-
梶本 裕之, 川上 直樹, 舘 すすむ
p.
418
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
We have proposed to selectively stimulate each types of mechanoreceptors inside skin by using electrical current from surface electrodes. Our goal is to produce natural tactile sensation by combining them. In this paper we show the psychophysical evidence that the selective stimulation of Meissner corpuscle was achieved. We also found that the selective stimulation of Pacinian corpuscle was not attained by the electrical stimulation, which results in unnatural vibratory sensation. We propose to user mechanical vibration in combination with electrical stimulation to selectively stimulate Pacinian corpuscle.
抄録全体を表示
-
昆陽 雅司, 赤澤 和伸, 田所 諭, 高森 年
p.
419
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In order to display delicate touch feeling of surface of some materials, active touch of human hand movements should be considered. In this paper, a wearable stimulation device which can produce various distributed stimuli on human skin in response to hand movements was developed using ICPF actuators. A stimulation method which generates selective stimuli to sense receptors in accordance with velocities and accelerations of hand motions was proposed. It was confirmed experimentally that some kinds of pattern of driving waves express touch feelings such as starting, stopping and sliding feel of hand motions.
抄録全体を表示
-
Benjamin CROS, Akio YAMAMOTO, Toshiro HIGUCHI
p.
420
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In this paper we propose a temperature tactile display, based on Peltier device technology, which integrates in its control system the concept of “effusivity”. In that view, we built a model and proposed an approach aimed at allowing a better rendering of material display, and totally computer-built virtual reality.
抄録全体を表示
-
永谷 圭司, 五福 明夫, 田中 豊
p.
421
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
The authors had developed four mobile robots as research platforms to research motion planning for mobile robots. Each robot’s controller consists of a standard PC and some ISA/PCI boards to control motors and sensors. To supervise them, ART Linux is adopted for operating system. In this paper, an overview of the robot’s control system using ART Linux is introduced.
抄録全体を表示
-
奥村 和之, 遠藤 善道
p.
422
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Here we propose the real-time yarn printing system synchronized with knitting for the purpose of making colored knit without colored yarn packages. This system is composed with ink-jet nozzles, a fiberoptic sensor for detection of knitting motion, a computer and a circular knitting machine, and is able to make colored knit with uncertainty of less than one loop.
抄録全体を表示
-
森 友一朗
p.
423
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
The description of features and merits of RTLinux Professional version which has been developed as the commercial version of Open RTLinux.
抄録全体を表示
-
石綿 陽一
p.
424
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
ART-Linux is a real-time operating system kernel which has prominent compatibility with Linux. Although it previously had principal instability, I have succeeded to stabilize it based on SMP support of Linux kernel. In this paper I describe the method how to stabilize the ART-Linux kernel, and result of measurement of its real-time processing performance.
抄録全体を表示
-
川久保 武明
p.
425
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
-
脇田 慎一
p.
426
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
High throughput microchip assays for NO metabolites and catecholamines in human body fluids were investigated, which have several advantages for human-fluids monitoring. In NO metabolite assay, we fabricated quartz microchips using laser beam direct draw (LBDD) and developed an advanced microfluidic control to realize high throughput assay. The NO metabolites were completely separated within ca. 15 seconds. In catecholamines (CAs) assay, we fabricated plastic microchips using LIGA process and developed a method to analyze CAs. The CAs were separated within 2 minutes. We also applied a human saliva before/after the tension-stress model. We demonstrated the stress marker assay using microchip technology at the first time as far as we know.
抄録全体を表示
-
吉野 公三, 松岡 克典
p.
427
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This study shows that mental arithmetic stress significantly increases the normalized causal coherence from the systolic blood pressure to the RR interval in the low frequency (LF:0.04-0.15 Hz) component, whereas it significantly decreases that from the RR interval to the systolic blood pressure. This suggests that mental stress increases the functional interaction from the blood pressure to the heart rate.
抄録全体を表示
-
松岡 克典
p.
428
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In the aged society to come, a life support technology adapting to the individual condition will become more important. An experiment house with 117 sensors has been developed to study how to evaluate the human stress or health condition from the individual behaviors in an everyday life. The sensing system and the algorithm to extract the change of behaviors depending on the stress or health are described.
抄録全体を表示
-
榊原 清美, 田口 敏行
p.
429
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
We examined two biochemical components in saliva, chromogranin A (CgA), and secretory immunoglobulin A (sIgA), as indices of the driver’s mental stress state. It was confirmed that salivary CgA is a substantial index of driver’s mental stress, which influences driving performance. It was also suggested that salivary sIgA can be an index of pleasantness or motivation.
抄録全体を表示
-
道盛 章弘, 福頼 薫, 萩原 啓
p.
430
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Human sleep state is generally staged by polysomnogram (PSG), but special equipments and skills are required. In this paper, the estimation of sleep state and sleep latency using heart rate variability, which is easy to measure, has been investigated. The four sleep states (WAKE, REM, non-REM, and SWS) were classified every minute and the accuracy of estimation was 67%.
抄録全体を表示
-
阿部 達也, 辻 敏夫, 宮口 英樹
p.
431
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This paper examines human impedance perception ability during manipulation of an impedance-controlled robot. A series of experiments are carried out to reveal the mechanism of impedance perception. Experimental results show that the human impedance perception is much influenced by dynamic properties of robot as well as human hand movements.
抄録全体を表示
-
上地 正昭, 内藤 裕, 佐藤 誠, 小池 康晴
p.
432
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This paper discusses a concept of motion assist system for replaying and teaching human motion. We propose a motion assist method by functional electrical stimulation technique that makes player sense position, force and stiffness of motion. We also show experimental results and availability of using this method.
抄録全体を表示
-
程度表現指示による物体の位置決め作業
梶川 伸哉, 平塚 誠良, 石原 正, 猪岡 光
p.
433
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In this paper, we discuss about human friendly robot control system via voice instruction. In voice instruction, ambiguous degree expression is frequently used (“i.e. Move it a little. or Lift it more.”). Therefore, we analyze human arm movement in positioning task guided by some ambigous degree expression. From this analysis, we obtain a model which can calculate the movement displacement according to each degree expression. Experimental results show our model can lead the robot to target position with several times of instructions as human does.
抄録全体を表示
-
柴田 論, 勘久保 広一
p.
434
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
When robots coexist with humans, it is important that robot’s movement in response to human instruction is acceptable for human state of mind. When human gives instructions to a robot with his or her finger, we pay attention to a simple and easy interface in which conversion of finger indication to robot’s motion is realized by a transfer function. In this paper, we evaluate relations between the transfer functions and human emotions using SD method. The results of SD method show that there are typical forms of transfer functions and parameters to generate comfortable motion for human. Desirable transfer functions are the first or the second order lag elements in which the parameters must be chosen so that the maximum velocity of generated robot motion exists in the range of 71-77% of the maximum velocity of instruction movement. In addition, human emotions to the robot motion generated by human indication are represented by the factors of “lively”, “mild”, and “interest”.
抄録全体を表示
-
中沢 信明, 三浦 郁奈子, 猪岡 光
p.
435
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This paper describes the contact force of the two digits in the grasping motion. In picking up an object, each contact force is increased while the force ratio between the two digits is kept with constant. Even though the two digits forces must be controlled separately, the force ratio converges to constant value when the force is increased.
抄録全体を表示
-
田口 典明, 谷岡 祥, 池浦 良淳, 新木 隆志, 松岡 敏生, 水谷 一樹
p.
436
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This paper describes an experimental system for automatically evaluating sitting postures using active mechanism. The mechanism is constructed by a motor and a ball screw and moves with two dimensional impedance control. It is shown that the system can make the human sit with any specified posture.
抄録全体を表示
-
若林 将人, 満田 隆, 川村 貞夫
p.
437
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
A Particle Mechanical Constraint changes the viscosity and elastic property by the inside air pressure. We developed the orthosis to hold weight using Particle Mechanical Constraints. This Paper describes the effect to body by shift of applied position and the method to hold weight.
抄録全体を表示
-
Minoru Sasaki, Kyoung ho Choi
p.
438
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
A computer communication interface based on brain-wave bio potentials for physically disabled people is developed. The work focuses on using EOG and EMG signals to input characters one by one using cursor movements on a GUI screen. The Cyberlink
TM system used to acquire brain waves in real time with electrodes. EMG and EOG signals are used to direct a cursor, to select, or to click a character on the screen. We present a novel method for automatic EOG pattern detection by using wavelet transforms with a neuro-fuzzy approach. User gesture recognition is done by the neural network which moves the cursor in accordance with the user’s desire. In the GUI, the 26 letters of the alphabet, together with several symbols, and commands are displayed in a matrix on a screen which serves the function of a keyboard. By manipulating his brain-wave bio-potentials, the user moves a cursor to select a character. The computer detects the chosen character on-line and in real time. The raising of an eyebrow is termed “clicking” and one, two, or three clicks, each associated with a different command. After a sentence has been built, at any time, a command can be manipulate it to a voice synthesizer.
抄録全体を表示
-
中沢 信明, 三冨 太洋, 松井 利一, 伊藤 勲
p.
439
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This paper describes the human’s operation of PC mouse cursor by using simple gesture. Accelerometers are put on the operator’s wrist and fingertips, and the mouse operation system is constructed so that a cursor can be moved by sinusoidal hand moving, just like a gesture with the intention of moving an object. Through the repeated operation trials of tracking a target point, it is confirmed that the performance concerned with an error can be improved after some practices.
抄録全体を表示
-
中谷 一郎, 松本 甲太郎, 泉 達司
p.
440
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
SELENE-B is the lunar lander mission, which is under proposal, to establish the following technologies such as obstacle detection and avoidance at the time of landing, highly precise lunar landing using image data, robust, lightweight landing mechanism, and mobility on the lunar surface together with a manipulator capability. In addition, scientific observation will also be conducted using a rover.
抄録全体を表示
-
佐々木 晶, 久保田 孝, 岡田 達明, 加藤 学, 佐伯 和人, 國井 康晴, 大竹 真紀子, 杉原 孝充, 平田 成, 出村 裕英, 金 ...
p.
441
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Unmanned lunar geologic exploration of a crater’s central peak to investigate subsurface layering is discussed. Rover-lander corporative mission is executed. From a lander which is within 500m from the frank of the central peak, a rover should make a round-trip to the frank and bring samples back to the lander. Multi-band camera, gamma-ray spectrometer, rock-coring mechanism, sampling and transportation mechanism should be on board the rover. Detailed analyses of the returned samples including microscopic spectroscopy and X-ray spectrometry and diffraction should be done in the lander.
抄録全体を表示
-
樋口 健, 松本 甲太郎, 三浦 博, 金森 洋史, 児島 敦, 横山 隆明, 吉田 和哉, 川辺 洋, 能見 公博
p.
442
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
ISAS, NAL, and NASDA are researching for SELENE-B system. In this paper discuss to landing gear, and safely landing system for the SELENE-B lunar landing system.
抄録全体を表示
-
澤井 秀次郎, 橋本 樹明, 児島 敦, 林 健太郎, 石島 義之, 佐々 修一, 二宮 哲次郎, 藤原 健, SELENE-B着陸航法誘導 ...
p.
443
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
SELENE-B is the lunar landing mission, which is under consideration at the joint group of NAL, NASDA and ISAS. It aims at the development of the pin-point landing technology associated with the obstacle avoidance capability. The pin-poing landing capability on the hazardous planetary surface will be neccesary at the future planetary missions. In this paper, we summarize the guidance and navigation aspect of SELENE-B.
抄録全体を表示
-
松本 甲太郎, 佐々 修一, 二宮 哲次郎, 片山 保宏, 澤井 秀次郎, 橋本 樹明, 石島 義之, 児島 敦, SELENE-B着陸航法 ...
p.
444
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
SELENE-B WG is proposing for the 1
st Japanese Lunar Lander. As the landing site, the unexplored and precipitous region around the central peak of a crater will be selected from the scientific requirements. Thus the autonomous obstacle detection and avoidance control capability is essential for SELENE-B safe landing. In this report, we briefly summarize the candidates of algorithms for such autonomous capabilities.
抄録全体を表示
-
久保田 孝, 國井 康晴, 金森 洋史, 若林 幸子, 黒田 洋司, 飯島 純一, 吉光 徹雄, 松本 甲太郎, SELENE-Bローバサイ ...
p.
445
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Science rover exploration is one of excellent mission for Lunar Landing Exploration SELENE-B. This paper describes the purpose of the rover mission, exploration scenario, and requirement briefly. This paper also presents rover system for SELENE-B mission.
抄録全体を表示
-
大橋 勇夫, 國井 康晴
p.
446
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In this paper, we discuss about a slipping rate between tires and the ground for a navigation of planetary rover. A slipping rate can be measured by using a camera focused to the ground and detecting tire tracks. Optical flow can be applied as an image processing for tire track. Finally, we evaluate a discussed method by using our rover test bed.
抄録全体を表示
-
—新しい国際標準技術のあり方とOPC標準の意義—
島貫 洋
p.
447
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
OPC (OLE (Object Linking & Embedding) for Process Control) is an international standard of software interface specification for industrial automation systems. International standardization activities are now into new paradigm era due to a lot of crucial challenges for industrial automation systems raised by manufacturing businesses. An overview of recent international standardization environment and OPC’s position and/or points are reviewed in this paper.
抄録全体を表示
-
柳澤 政夫, 濱口 猛智
p.
448
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Recently, most manufacturing systems have been developed by using object models on open platforms. Several organizations which have described standard I/Fs have supported this movement. Considering the recent web application technology, some new technologies, like XML and Web Services, are becoming essential, and the software platform which is the most suitable for manufacturing systems is discussed in this paper.
抄録全体を表示
-
棚田 析
p.
449
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
OPC (OLE(Object Linking & Embedding) for Process Control) DA (Data Access) Server hasn’t from server to server exchanging data protocol (or interface). OPC Bridge Client way of connecting different vender’s OPC DA Servers (OPC DA 1.0A and OPC DA 2.0 servers) and exchanging data using OPC Client ActiveX Control and Windows Script Host (WSH).
抄録全体を表示
-
—OPC仕様の適用事例—
田辺 繁美
p.
450
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
OPC(OLE(Object Linking & Embedding) for Process Control) is an international standard software interface specification for industrial automation systems. The Data Access specification is constantly updated with three versions now released, DA1.02, DA2.0, DA3.0 (now in draft phase). As basic interfaces are compatible in each version, different version of DA Client and the DA Server are easily connected. This paper describes the use case of DA Client and DA Server connection.
抄録全体を表示