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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)9784990288013

This study developed a self-localization system that uses landmarks and movement to pursue a moving object. Specifically, an omni-directional camera was adopted as a visual sensor and was installed on a robot. The image from the omni-directional camera was processed to detect a landmark (an object), and the robot's distance from that landmark was then measured. These functions allowed the mobile robot to pursue a moving object. The measurement of distance based on the omni-directional image depends on the precise inclination of the camera. Consideration of this factor enabled the measurement of distance of relatively close objects with a high degree of precision. In this study, the effectiveness of this system was investigated by various experiments evaluating the measurement of distance, the movement to pursuit a moving object, and self-localization. The robot demonstrated its ability to recognize a moving object and to measure its distance and its angle in relation to the object. Based on these abilities, the robot could successfully follow a moving object. The robot's ability to recognize its location was seen to be based on its ability to recognize certain landmarks, the functions of which are mentioned above.

关键词： Mobile robots

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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： Hikisaka, Yuta 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)9784990288013

We have developed a system that allows a piano to perform automatically. In order 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 editor must spend a huge amount of time to accurately simulate the emotionally expressive performance of a highly skilled pianist. Therefore, we have developed an interactive musical editing system to edit music more efficiently 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. As a result, it was 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 2007.

关键词： Music

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User-recognition system for an autonomous robot in human living environments

User-recognition system for an autonomous robot in human liv...

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作者： Hane, Yoshitaka 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)9784990288013

In this report, we describe a user-recognition system for an autonomous robot. The proposed method enables the robot to recognize the person who instructs it without placing any markers in human living environments. The system is based on differences information between some camera's images, matches the template, and recognizes color based on HSV information. The threshold can be lowered by combining features of these in formations. This system enables recognition under various environments. A moving object is initially extracted by using the difference between frames. Next, to reduce the load, the image is narrowed to the area on which the difference is concentrated. The system matches the template and forecasts the user's position. In addition, it determines a flesh-colored area by using HSV information. When two or more people are present in the field of view, the system determines that the person with the largest-width silhouette is closest to the robot. After confirming that the person is standing still in its presence, the robot waits for the potential user to identify his or her intention to use the robot;this is signaled by the user raising his or her right hand. This process is repeated every 100 milliseconds. ©ISAROB 2007.

关键词： Robots

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Autonomous control of a robot arm based on contact with an object

Autonomous control of a robot arm based on contact with an o...

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作者： Shimono, Motoki 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)9784990288013

In this paper, I focused on developing a robot arm with three degrees of freedom and an autonomous function. I modeled my research on the actions of animals, which adjust well to environmental change, and aimed for control of an autonomous robot that would imitate the action of an animal. Our laboratory developed a software architecture to control the action of the robot by introducing an evaluation function for action choice into the hierarchically structured model. This is the element that specifically connects the consciousness of the robot with its action, and I named it Consciousness-based Architecture (CBA). In this research, I ran an experiment on a search action for a robot arm executing a detour around obstacles and arriving at a target position. An experiment was performed to evaluate the effectiveness of CBA, and its results are discussed. I let the robot arm imitate the groping movement of a human being and allowed a search action to proceed. In the case of an outward trip, the robot arm recognized the positions of obstacles by touching them, and it avoided these obstacles by executing detours. As a result, the robot arm arrived at the target position while memorizing the course of detours around the obstacles that it recognized. ©ISAROB 2007.

关键词： Animals

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Development of an autonomous mobile robot: Self-localization and mapping using odometry and a laser range sensor

Development of an autonomous mobile robot: Self-localization...

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作者： Niimoto, Keisuke 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)9784990288013

We are attempting to develop an autonomous mobile robot that has the ability to perform practical tasks in a human living environment by using information derived from sensors and a knowledge database. When a robot is made to adjust to a human environment, robots require systems that can recognize the external world and perform correct driving control. We have developed a self-localization method for an autonomous robot. Odometori offers a self-localization method that is of the greatest use, providing a method of calculating and determining the tracks of a robot. However, there is a limit to the accuracy of this self-localization because a cumulative error occurs regarding the self-position determined by Odometori. To solve this problem, this paper describes the development of a self-localization method based on a fusion of Odometori and LRS (Laser Range Sensor) data. ©ISAROB 2007.

关键词： Mapping

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Development of an autonomous mobile system for an autonomous robot in an indoor environment

Development of an autonomous mobile system for an autonomous...

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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)9784990288013

We are developing an autonomous robot that can perform work in a human living environment. To move safely in a human environment, a robot should be able to recognize changes in the environment. Thus, we have developed a mobile system for autonomous robots with an obstacle-detection function and a human-following function. This system uses image information from a CCD camera and image processing. The obstacle-detection function, which is one of the functions of this system, detects obstacles for safe move, while the human-following function allows the robot to follow a person using information from images. In this paper, we explain in detail the image-processing algorithm used with both the obstacle-detection function and the human-following function. Furthermore, we experimentally evaluate the system and discuss its problems based on the results. ©ISAROB 2007.

关键词： Image processing

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Development of an obstacle recognition system for autonomous robots in indoor environments

Development of an obstacle recognition system for autonomous...

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作者： Mizoguchi, Hiroshi 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)9784990288013

We are currently developing an autonomous robot that can work in human living environments and that can carry out users' basic instructions. When such a robot moves and works in a human living space, the robot should be able to recognize elements of its environment. Thus, we are engaged in research aimed at the acquisition of a sense of distance from based on image information, utilizing sight information and not necessitating remodeling of the human living space. We give our robot a "finite space map." This map contains information describing a floor plan including obstacles (desk and sofa, etc.), and the robot's position. The robot searches for a route based on the finite space map, and moves along that route. However, numerous obstacles that would disturb the movement of the robot can exist in a human living environment;in addition, these objects are often unknown to the robot. The robot thus needs a system to recognize unknown obstacles not provided by the finite space map beforehand. Thus, we developed an obstacle recognition system that discovers detects obstacles, and detects determines the distance to the obstacle and obtains three-dimensional data describing the obstacle. ©ISAROB 2007.

关键词： Robots

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Development of a self-care robot - Study of automatic holding of object using robotic arm

Development of a self-care robot - Study of automatic holdin...

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

ISBN: (纸本)9784990288013

This paper describes the development of a self-care support robot, developed to support elderly people with mobility problems. The Kitasap2 consists of a host computer and the physical body of a robot equipped with a robotic arm. The two are connected by a wireless LAN. The robotic arm has six degrees of freedom and is equipped with a robotic hand having three fingers. This paper describes the development of the ability of the robotic arm to hold and transport an object so as to reduce the user's operational load. It is necessary that such an operation be based on easily given instructions from the user. Therefore, we have developed systems in which selection and the recognition of the object are carried out using images provided by an omni-directional camera and a CCD camera. ©ISAROB 2007.

关键词： Robotic arms

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Translocation and insertion of an amphiphilic polymer

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Physical Review E 2007年第1期76卷 011801-011801页

作者： Satoshi Tsuchiya Akihiko Matsuyama []Department of Bioscience and Bioinformatics Faculty of Computer Science and System Engineering Kyushu Institute of Technology Kawazu 680-4 Iizuka Fukuoka 820-8502 Japan

Translocation of amphiphilic polymers (random and block copolymers), consisting of hydrophilic and hydrophobic monomers, threading a pore is studied by using a three-dimensional dynamic Monte Carlo simulation. We find that there is a “translocation-insertion” threshold in the fraction of hydrophobic monomers on an amphiphilic polymer. The translocation time is given by simple scaling laws and increases with increasing the fraction of hydrophobic monomers.

关键词： MONTE-CARLO PHASE-TRANSITIONS MEMBRANE NANOPORE PORE SIMULATIONS ADSORPTION HOLE PROTEINS BEHAVIOR

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Local cause of coherence in Boolean networks

Local cause of coherence in Boolean networks

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作者： Oosawa, Chikoo Takemoto, Kazuhiro Matsumoto, Shogo Savageau, Michael A. Department of Bioscience and Bioinformatics Kyushu Institute of Technology Iizuka Fukuoka 820-8502 Japan Bioinformatics Center Institute for Chemical Research Kyoto University Gokasho Uji Kyoto 611-0011 Japan Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Fukuoka 820-8502 Japan Department of Biomedical Engineering College of Engineering University of California Davis CA 95616 United States Bioalgorithm Project Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Japan

ISBN: (纸本)9784990288013

We have performed numerical study on random Boolean networks with power-law rank outdegree distributions to find local structural cause for emergence of high or low degree of coherence in binary state variables of the entire networks. The degree of randomness and coherence of the binary sequence, are measured by entropy and mutual information, depend on local structure that consists of a node with highly connected, called hub, and its upstream nodes, and types of Boolean functions for the nodes. With the larger number of output connections from a hub, the effects of Boolean function on the hub are more prominent. The local structures that give larger entropy tends to give rise to larger mutual information. On the basis of both numerical results and structural condition we derived time-independnt transmission characteristic function of state variables for local structures. We show good relations between the numerical and the analytical results, reveals that dynamical properties from the whole networks can be inferred from the differences in the local structures. ©ISAROB 2007.

关键词： Entropy

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