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作者： Miyamoto, K. Hayashi, E. Sonoda, T. Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288020

This research aims to develop a combined sense system that uses the sense of force feedback and a visual image based on the shape of microscopic features of a micro sample. It is thought that the efficiency of minute work would be improved if the operator could obtain a sense of force while using the manipulator. We used a cantilever to touch the minute object, and obtained anti-power from the degree of its bend. We constructed a haptic device that provides force feedback to the operator. The operator can feel the force through this device when he touches the sample with the cantilever. In addition, when he uses the hapic device and the simulation the operator will feel as if he is touching the sample. ©ISAROB 2008.

关键词： Nanocantilevers

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Three-dimensional object recognition using an LRS

Three-dimensional object recognition using an LRS

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作者： Mochizuki, Tatsuya Hayashi, Eiji Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288020

Image information provided by cameras is strongly affected by environmental influence of an object's circumjacent circumference. Therefore, in this study, we integrate distance information provided from a laser range sensor (LRS) and image information provided by a camera. This combination reduced environmental influence. This system consists of an object extraction section and a recognition processing section, and we are now developing the object extraction section. First, the object extraction section performs region splitting of image information provided by a camera. The distance information that was provided from the LRS is converted into a set of three-dimensional coordinates that matched the camera image. The integrated processing matches distance information with the image which did the region splitting. And it calculates the distance to each area. It integrates all of the converted information and extracts the object from the integrated information. In this study we inspected the effectiveness of the system by performing an object extraction experiment using the combined integrated distance information and image information. From these results, we have learned how to remove a background and a floor surface by using the distance information, and simpler object extraction was enabled. ©ISAROB 2008.

关键词： Object recognition

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Interactive musical editing system to support human errors and offer personal preferences for an automatic piano - Method of searching for similar phrases with DP matching and inferring performance expression

Interactive musical editing system to support human errors a...

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作者： Chigoi, Yuichi Hayashi, Eiji Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288020

We have developed a system that allows a piano to perform automatically. To get the piano to play music in the manner of a live pianist, we must add expression to the piano's performance. In the case of piano music, there are often 1000 or more notes in the score of even a short piece of music, and the automatic editor must spend a huge amount of time to accurately simulate the emotionally expressive performance of a highly skilled pianist. To shorten this editorial time, we have developed an interactive musical editing system to edit music more efficiently by utilizing a database. We have analyzed MIDI data regarding the performances of highly skilled pianists in order to observe the stylistic tendencies of their performances. We found that phrases having similar patterns in the same composition were performed in similar styles. Therefore, we developed a system that searches for similar phrases throughout the musical score and infers the style of their performance. Here, we propose a method using DP (Dynamic Programming) matching as a way to search for similar phrases and a method for inferring performance expression. ©ISAROB 2008.

关键词： Music

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Obstacle recognition system using monocular camera for an autonomous robot

Obstacle recognition system using monocular camera for an au...

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作者： Uewaki, Toshifumi Hayashi, Eiji Department of Mechanical Information Science and Technology Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka-City Fukuoka Prefecture Japan

ISBN: (纸本)9784990288020

We are developing an autonomous robot that recognizes its surrounding environment based on visual information obtained by a monocular camera. In order for the robot to move autonomously, it is necessary that it recognize obstacles and avoid them without collision. Therefore, we developed system that allows the robot to recognize obstacles through the use of image processing. In this paper, we explain in detail the image processing algorithm used in the obstacle recognition system, and we experimentally evaluate the system and discuss its problems based on the results. ©ISAROB 2008.

关键词： Image processing

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Development of distance recognition using an ocellus camera for an autonomous personal robot

Development of distance recognition using an ocellus camera ...

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作者： Kinoshita, Tomoyuki Hayashi, Eiji Department of Mechanical Information Science and Technology Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka-City Fukuoka Prefecture Japan

ISBN: (纸本)9784990288020

We are attempting to develop an autonomous personal robot that has the ability to perform practical tasks in a human living environment by using information derived from sensors. When a robot operates in a human environment, the issue of safety must be considered in regard to its autonomous movement. Thus, robots absolutely require systems that can recognize the external world and perform correct driving control. We have thus developed a navigation system for an autonomous robot. The system requires only image data captured by an ocellus CCD camera. In this system, we allow the robot to search for obstacles present on the floor. Then, the robot obtains distance recognition necessary for evasion of the object, including data of the obstacle's width, height, and depth by calculating the angles of images taken by the CCD camera. We applied the system to a robot in an indoor environment and evaluated its performance, and we consider the resulting problems in the discussion of our experimental results. ©ISAROB 2008.

关键词： Robots

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Development of an autonomous-drive personal robot: An object recognition system using a database

Development of an autonomous-drive personal robot: An object...

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作者： Moritaka, Yuki Hayashi, Eiji Department of Mechanical Information Science and Technology Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka City Fukuoka Prefecture Japan

ISBN: (纸本)9784990288020

We are developing an autonomous personal robot with the ability to perform practical tasks in a human environment based on information derived from image sensors and a knowledge database. In its adjustment to a human environment, it is very important for the robot to identify specific objects. We have thus developed an object recognition system that allows the autonomous robot to identify objects within its environment. The system requires only image data captured by an ocellus CCD camera. This object recognition system is composed of a shape recognition system and a color recognition system. In the shape recognition system, an object is identified based on its distinctive shape. The color recognition system identifies the object based on its color information. Here we explain the algorithm used for the object search and the method for processing images. In addition we describe the result of an experiment done to evaluate the system as it performed an object search. ©ISAROB 2008.

关键词： Object recognition

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Query-trail-mediated topology reconstruction for exploring performance trade-off in unstructured P2P networks

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International Journal of Hybrid Intelligent systems 2008年第2期5卷 97-108页

作者： Ohnishi, Kei Nagamatsu, Satoshi Oie, Yuji Department of Computer Science and Electronics Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka Fukuoka 820-8502 Japan

This paper presents a topology reconstruction method to explore better trade-off points between search and access load balancing performance in unstructured Peer-to-Peer (P2P) file sharing networks. The proposed topology reconstruction method changes a network topology in a dynamic, autonomous, and decentralized manner. The topology reconstruction is based on local threshold-based rules that use query trails, which stand for information on previous successful search paths. The scenario for the evaluation of the proposed method is that the topology reconstruction method consisting of the local threshold-based rules operates to explore the performance trade-off in the situation that new kinds of files are about to spread over a power-law network. The simulation results show that, depending on the setting of the threshold values, compared to the case without topology reconstruction, the proposed method can explore better trade-off points between search and storage access load balancing performance in the assumed scenario.

关键词： Unstructured P2P networks network topology topology reconstruction file sharing query-trail

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Yeast cells proliferation on various strong static magnetic fields and temperatures

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Journal of Physics: Conference Series 2009年第1期156卷

作者： E S Otabe S Kuroki J Nikawa Y Matsumoto T Ooba K Kiso H Hayashi Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka Fukuoka 820-8502 Japan Fukuoka University 8-19-1 Nanakuma Jonan-ku Fukuoka 814-0180 Japan Fukuoka Industrial Technology Center 1465-5 Aikawa-machi Kurume Fukuoka 839-0861 Japan Fukuoka Regional Taxation Bureau 2-11-1 Hakataekihigashi Hakata-ku Fukuoka 812-8547 Japan Kyushu Power Electric 2-1-47 Shiobaru Minami-ku Fukuoka 815-8520 Japan

The effect of strong magnetic fields on activities of yeast cells were investigated. Experimental yeast cells were cultured in 5 ml of YPD(Yeast extract Peptone Dextrose) for the number density of yeast cells of 5.0 ±0.2 x 106/ml with various temperatures and magnetic fields up to 10 T. Since the yeast cells were placed in the center of the superconducting magnet, the effect of magnetic force due to the diamagnetism and magnetic gradient was negligibly small. The yeast suspension was opened to air and cultured in shaking condition. The number of yeast cells in the yeast suspension was counted by a counting plate with an optical microscope, and the time dependence of the number density of yeast cells was measured. The time dependence of the number density of yeast cells, ρ, of initial part is analyzed in terms of Malthus equation as given by ρ = ρo exp(kt), where k is the growth coefficient. It is found that, the growth coefficient under the magnetic field is suppressed compared with the control. The growth coefficient decreasing as increasing magnetic field and is saturated at about 5 T. On the other hand, it is found that the suppression of growth of yeast cells by the magnetic field is diminished at high temperatures.

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Trial Formation of Artificial Bone by Inkjet Powder-Layered Manufacturing

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International Journal of Automation technology 2008年第3期2卷 156-161页

作者： Yamazawa, Kenji Anzai, Masahiro Yokota, Hideo Himeno, Ryutaro Suzuki, Hiroshi Narahara, Hiroyuki Suzuki, Shigeki Advanced Engineering Team Advanced Development and Supporting Center RIKEN 2-1 Hirosawa Wako-shi Saitama351-0198 Japan Computational Biomechanics Unit RIKEN 2-1 Hirosawa Wako-shi Saitama351-0198 Japan Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka-shi Fukuoka820-8502 Japan NEXT21 K.K 3-38-1 Hongo Bunkyo-ku Tokyo113-0033 Japan

Artificial bone implants are in relatively simple shapes for use mainly by cutting or manually. To produce a desired bone shape, we used tribasic calcium phosphate bone ash powder as the material and aqueous sodium chondroitin sulfate solution as the binder in inkjet powder-layered manufacturing. In experiments, we reproduced a rabbit femur with a precision of 0.6 mm and a minimum longitudinal hollow shaft 2 mm in diameter based on computed tomography data. We gave the brittle artificial bone a compressive strength of 3 MPa by dipping it in water and binder through its hydrate reaction. © Fuji technology Press Ltd.

关键词： Sulfur compounds

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H loop shaping-based robust control design of PSS and TCSC for dynamic stability enhancement

H loop shaping-based robust control design of PSS and TCSC f...

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5th International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information technology, ECTI-CON 2008

作者： Cuk Supriyadi, A.N. Ngamroo, I. Kaitwanidvilai, S. Kunakorn, A. Hashiguchi, T. Goda, T. Department of Electrical Engineering Faculty of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok 10520 Thailand Department of Electrical and Electronic System Engineering Graduate School of Information Science and Electrical Engineering Kyushu University Fukuoka 819-0395 Japan

ISBN: (纸本)1424421012

In this paper, the robust control design of power system stabilizer (PSS) and thyristor controlled series capacitor (TCSC) for enhancement of power system dynamic stability is proposed. To take system uncertainties such as variations of system parameters, several loading conditions etc., into account, the normalized coprime factorization is used to represent unstructured uncertainties in the system. The H loop shaping technique is applied to design robust PSS and TCSC controllers. Simulation results in a single machine infinite bus system show that the performance and robustness of the proposed H controllers of PSS and TCSC are superior to those of the conventional PSS and TCSC. © 2008 IEEE.

关键词： Robust control

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