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International Conference on Semantics, Knowledge and Grid (SKG)

作者： Masako Omachi Shinichiro Omachi Advanced Course of Production System and Design Engineering Sendai National Collage of Technology Natori Japan Graduate School of Engineering Tohoku University Sendai Japan

ISBN: (纸本)9781509047963

Clustering is a fundamental tool for data analysis. Typically, all attributes of the data are used for clustering. However, if a set of attributes can be divided into meaningful subsets, it may be effective to cluster the data for each subset. In this paper, we propose a method for dividing the set of elements of feature vectors into meaningful subsets. Considering the dependencies between the elements, the correlation is used as the metric for clustering. In order to effectively solve the optimization problem, a technique for graph cut is used. After dividing the set of elements into subsets, clustering is performed for each subset. Experiments using a handwritten image database show the effectiveness of the proposed method.

关键词： Correlation Measurement Optimization Pattern recognition Probability Databases Clustering algorithms

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Detection of traffic light using structural information

Detection of traffic light using structural information

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International Conference on Signal Processing Proceedings (ICSP)

作者： Masako Omachi Shinichiro Omachi Advanced Course of Production System and Design Engineering Sendai National College of Technology Natori Japan Graduate School of Engineering University of Tohoku Sendai Japan

Driver support systems using images are paid attention and various researches on recognizing and understanding the road environment have been done. If it is possible to detect and recognize traffic lights, it will give useful information to a driver to understand the road environment. In this paper, a method of detecting a traffic light in a scene image is proposed. Considering the structure of a traffic light, we propose a method for detecting a traffic light based on the Hough transform. Experimental results using images including a traffic light taken by a digital camera through a windshield verifies the effectiveness of the proposed method.

关键词： Pixel Image edge detection Image color analysis Transforms Roads Accuracy

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Trajectory planning for hand-over between human and robot

Trajectory planning for hand-over between human and robot

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： S. Kajikawa E. Ishikawa Department of Mechanical Engineering Miyagi National College of Technology Natori Miyagi Japan Advanced Course of Production System Engineering Miyagi National College of Technology Natori Miyagi Japan

In the future, there will be many cases where robots should perform cooperative tasks with humans in daily life. We focus on a hand-over motion as an example of cooperative work between a human and a robot, and propose an algorithm which enables a robot to perform a human-like motion. First we analyze trajectories and velocity patterns of a hand-over motion performed by two humans. From this experimental results we notice that a receiver's motion, during hand-over has some typical characteristics. We then confirm that a human-like motion can be generated using these characteristics. Finally, we plan the robot's motion considering these results. Initially, two kinds of potential fields are used to generate a motion command which leads the robot along a trajectory similar to that followed by the human. In addition, more precise motion is considered at the end of the hand-over operation to guarantee accurate positioning and to soften the shock of contact. Experimental results using 2-link planar robot arm show the validity of the proposed method.

关键词： Trajectory Humans Humanoid robots Motion planning Collaborative work Pattern analysis Performance analysis Motion analysis Character generation Robot motion

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3D Map Generation for Decommissioning Work

3D Map Generation for Decommissioning Work

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International Conference on Intelligent Autonomous systems (ICoIAS)

作者： Ryoma Hanabusa Yasuto Nagase Satoshi Mitsui Toshifumi Satake Naoki Igo Advanced Course of Production System Engineering National Institute of Technology Asahikawa College Asahikawa Japan Control and Information Engineering National Institute of Technology Asahikawa College Asahikawa Japan

ISBN: (数字)9781728160788

ISBN: (纸本)9781728160795

At the Fukushima Daiichi Nuclear Power Station (NPS), robots are used to propel the decommissioning work. Creating a 3D map of the internal environment of the decommissioning work is a necessary technology for improving the working efficiency of a decommissioning robot. The purpose of this research is to realize a 3D map creating a system using a camera by operating the humanoid general-purpose robot Pepper using the Robot Operating system (ROS) and implementing and executing Visual SLAM. The system aims to be applied to a decommissioning robot in the future. In this study, we implemented Visual SLAM methods R-tab Map, which is a method for constructing 3D maps in real-time, and Large-Scale Direct SLAM, which is method that generates a map using luminance with a large gradient between frames without using features for map generation. We also compared and evaluated the effectiveness of the generated maps. Besides, the robot was manually operated using nao_teleop, which can operate Pepper from the ROS library with the PS3 controller, the visualization software rviz, and the point cloud visualization library PointCloudViewer. Using two Visual SLAM's methods, we implemented the experiment. During the experiment, a chair was placed in front of Pepper as an obstacle. In this environment, Pepper was rotated 360 [deg] by manual operation. However, nao_teleop and Visual SLAM methods caused a conflict between the manual operation of Pepper and the 3D map generation process, and both processes stopped. Therefore, the 3D map wasn't generated. To resolve the conflict with operation, Pepper was moved by human and the experiment was again. As a result, the camera image obtained from Pepper was distorted, the map could not be optimized. Therefore, the part of 3D map was only generated. For this reason, to realize a 3D map generation system, it was important to properly calibrate the camera that could acquire a flat image without distortion.

关键词： Three-dimensional displays Cameras Libraries Robot vision systems

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Nondestructive evaluation of ductile cast iron matrix via casting surface by electromagnetic method 73

Nondestructive evaluation of ductile cast iron matrix via ca...

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73rd World Foundry Congress: Creative Foundry, WFC 2018

作者： Horikawa, Noritaka Wang, Lin Tani, Kazuma National Institute of Technology Asahikawa College 1-62-2 Shunkodai Asahikawa072-8142 Japan Hitachi Metals Ltd. Casting Technology Research Laboratory 11 Kinugaoka Moka321-4367 Japan National Institute of Technology Asahikawa College Advanced Course of Production System Engineering Japan

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Bayesian Inference in Optical Measurement Due to Remote Sensing to Synthetic Aperture Radar Interferometry

Bayesian Inference in Optical Measurement Due to Remote Sens...

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International Conference on Control, Automation and systems

作者： Yohei Saika Shouta Akiyama Hiroki Sakaematsu Department of Information and Computer Engineering Gunma National College of Technology Maebashi 371-8530 Japan Advanced Production System Engineering Course Gunma National College of Technology Maebashi 371-8530 Japan

ISBN: (纸本)9781479905492

We investigated the Bayesian inferences using the maximize a posteriori (MAP) estimation for the problem of phase unwrapping in remote sensing using the synthetic aperture radar (SAR) interferometry. Then, in order to clarify performance of the Bayesian inference estimate, we carried out Monte Carlo simulation for a set of wave-fronts generated by an assumed true prior. Then, we clarified that optimal performance was achieved under the Bayes-optimal condition within statistical uncertainty. Then, we clarified that the present method was effective even for an artificial wave-front in remote sensing due to SAR interferometry. Also, we found that the Bayesian inference via the conjugate gradient method to derive the MAP solution for this problem. Using the numerical simulation for the wave-front, we found that the MAP estimation using the conjugate gradient method was effective for phase unwrapping as well as the MPM estimate approximately.

关键词： Bayesian inference phase unwrapping MPM estimate MAP estimation conjugate gradient method

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An interactive genetic algorithm-based image sharpening system considering user's liking

An interactive genetic algorithm-based image sharpening syst...

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IEEE Symposium on Computational Intelligence for engineering Solutions (CIES)

作者： Yoshiaki Ueda Yohei Kuramoto Ryosuke Kubota Noriaki Suetake Eiji Uchino Advanced Course of Production Systems Engineering Ube National College of Technology Ube Japan Graduate School of Science and Engineering Yamaguchi University Yamaguchi Japan Department of Intelligent System Engineering Ube National College of Technology Ube Japan

Nowadays, digital images can be easily obtained, recorded and processed in accordance with the widespread use of digital cameras and personal computers. There is an image enhancement as one of most general image processing techniques. In the image enhancement, unsharp masking (UM) has been used widely because its algorithm is very simple and can produce good results. However, over-enhancement occurs in edge parts of the image. Additionally UM also is easy to generate artifacts such as jaggy and halo. To cope with these problems, the authors proposed the selective UM method based on the edge-preserved smoothing filter. However, the image quality obtained by our method depends on values of the enhancement parameters, and their optimal values vary according to user's liking. In this paper, we propose an image enhancement system considering the user's liking by using an interactive genetic algorithm (IGA). In the proposed system, the IGA optimizes the parameters of the image enhancement. Further, a new genetic operation is introduced in order to achieve the effective search in the IGA of the proposed system. Through the experiments using some images, the effectiveness of the proposed system is verified.

关键词： Smoothing methods

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Residence time of Cl- on inside-ward web of girder of the bridge

Zairyo to Kankyo/ Corrosion Engineering

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Zairyo to Kankyo/ Corrosion engineering 2013年第11期62卷 420-425页

作者： Takebe, Masamichi Goto, Kazuya Ohya, Makoto Hirose, Nozomu Department of Civil and Environmental Engineering Matsue College of Technology 14-4 Nishi-ikuma-cho Matsue 690-8518 Japan Adovanced Production and Construction System Course Advanced Engineering Faculty Matsue College of Technology 14-4 Nishi-ikuma-cho Matsue 690-8518 Japan

Considering that Cl- influences corrosion rate of girders of steel bridges, precipitation rate of air-born salt is used to discuss the stability of steel bridges in a corrosion environment. While precipitation rate of Cl- is one of the factors in residence time of Cl-, residence time of Cl- on girder is considered to directly affect the corrosion of that of steel bridges. So this study examines the residence time of Cl- on inside-ward web of the girder of the bridge, based on the precipitation rate of Cl- on girder and removing rate of Cl - from web by rinsing with dewdrop. Exposed period of the examined web are 1 month, 3 months, and 1 year. The residence time of Cl- on inside-ward web exposed during 1 month or 3 months is calculated to be 30 to 700 days. The residence time is long during winter and spring, short during summer and fall. This fluctuation of residence time infers that Cl- is accumulate during winter and spring, and rinsed during summer and fall. The residence time of Cl- obtained from web exposed during 1 year is 250 days, suggesting that Cl- on the inside-ward web is replaced within period of 1 year.

关键词： Steel corrosion

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Sensor network system to promote energy conservation realization of energy smart school

Sensor network system to promote energy conservation realiza...

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IEEE Annual Conference on Pervasive Computing and Communications Workshops (PerCom)

作者： Koichi Kuzume Masakazu Okada Dept. of Information and Science Technology Yuge National College of Technology Kamishima-cho Ehime-ken Japan Advanced Course of Production System Engineering Yuge National College of Technology Kamishima-cho Ehime-ken Japan

Owing to the occurrence of the Great East Japan Earthquake and a rise in concern about the global warming issue, we are required to review the conventional Japanese life style and to improve our awareness of energy conservation. At schools, education on energy saving as part of the environmental education field attracts our attention. “Technology for visualization of electric power consumption” has been developed as a tool to promote energy saving activity. In this research, we propose a novel system to promote energy saving activity at school using a sensor network, and complete the proto-type equipment and confirm its performance and usefulness. The system has the following features: offers various functions for energy-saving activities, lower price and ease of construction when compared with conventional tools.

关键词： Educational institutions Power demand Clocks Cloud computing Energy conservation

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Switching median filter with signal dependent thresholds designed by using genetic algorithm

Switching median filter with signal dependent thresholds des...

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International Conference on Computer Vision Theory and Applications (VISAPP)

作者： Ryosuke Kubota Keisuke Onaga Noriaki Suetake Department of Intelligent System Engineering Ube National College of Technology Ube-shi Japan Ube National College of Technology Advanced Course of Production Systems Ube-shi Japan Graduate School of Science and Engineering Yamaguchi University Yamaguchi-shi Yamaguchi Japan

ISBN: (纸本)9781479976867

In this paper, we propose a new switching median filter with signal dependent thresholds designed by a genetic algorithm (GA). The switching median filter detects noise-corrupted pixels based on a threshold. Then it restores only the detected pixels. The present switching median filter deals with the random-valued impulse noises, whose distribution is ideally assumed as a uniform distribution. In the present method, the switching median filter, which has two kinds of the thresholds, is introduced. One is switching thresholds to detect the noise, and the other is selecting thresholds to choose the suitable switching threshold. As the suitable selecting threshold, a variance of signals is used. Then all of the switching and selecting thresholds of the proposed switching median filter are automatically optimized by using GA. To optimize the thresholds with GA, distribution distance between the assumed and the detected noises is employed as a fitness function. The validity and effectiveness of the proposed method is verified by some experiments.

关键词： Noise Switches Genetic algorithms Tuning Image restoration Detectors Sun

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