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IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010

作者： She, Jin-Hua Lai, Xu-Zhi Xin, Xin Guo, Li-Li School of Computer Science Tokyo University of Technology 1404-1 Katakura Hachioji Tokyo 192-0982 Japan School of Information Science and Engineering Central South University Changsha Hunan 410083 China Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan Information and Communication Engineering College Harbin Engineering University Harbin 150001 China

ISBN: (纸本)9781424456970

Based on the concept of kinematical controllability, we can decouple the trajectory planning of an acrobot into two steps: finding a path in a configuration space and time-scaling it. In this paper, we apply this concept and plan the swing-up motion of an acrobot based on its falling-down motion. First, the initial state of the acrobot is set to the unstable upright equilibrium position, and the movement from this state to the stable downward equilibrium position is produced by introducing an artificial damping torque. A method to obtaining an optimal damping torque is presented. Then, the reference trajectory for the swing-up motion is taken to be the reverse of the falling-down motion. The validity of this method is demonstrated through simulations. ©2010 IEEE.

关键词： Motion planning

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A small-size handshake robot system based on a handshake approaching motion model with a voice greeting

A small-size handshake robot system based on a handshake app...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Mitsuru Jindai Tomio Watanabe Faculty of Computer Science and System Engineering Okayama Prefectural University Soja Okayama Japan

We previously proposed a model for a handshake approaching motion with a voice greeting and developed a handshake robot system that applied the proposed model for embodied interaction with humans. The handshake robot system was fabricated by considering the average size of a human arm. However, small-size embodied interaction robots are required for use in homes. Therefore, in this study, a small-size handshake robot system is developed for use in the home. Furthermore, a hand position recognition method that involves a combination of an image processing and a 3D model of a human arm is proposed, and the method is adopted in the developed robot system to recognize the position of a human hand without requiring prior contact or any restrictions on humans. The effectiveness of the handshake approaching motion model for a small-size robot and the developed small-size handshake robot system are demonstrated by sensory evaluation.

关键词： Humans Cameras Robot sensing systems Three dimensional displays Image recognition Robot kinematics

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Querying ontology using keywords and quantitatire restriction phrases

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Information Technology Journal 2010年第1期9卷 67-78页

作者： Hasany, N. Jantan, A.B. Selamat, M.H.B. Saripan, M.I. Department of Computer and Communications System Engineering Faculty of Engineering University Putra Malaysia Malaysia Department of Computer Science and Information Technology University Putra Malaysia Malaysia

Many approaches for converting keyword queries to formal query languages are presented for natural language interfaces to ontologies. Some approaches present fixed formal query templates, so they lack in providing support with increasing number of words in the user query. Other approaches work on constructing Techniques are presented to perform operations by obtaining a reduced RDF graph but they limit the input to some type of resources so their complete complexity with all type of input resources is unknown. For formal query generation, we present a variable query template whose computation is facilitated by less complex and distributed RDF property and relation graphs. A prototype QuriOnto is developed to evaluate our design. The user can query QuriOnto with any number of words and resource types. Also, to the best of our knowledge, it is the first system that can handle quantitative restrictions with keyword queries. As QuriOnto has no support for semantic similarity at this time except for rdfs labels so its recall is low but high precision shows that the approach is promising for the generation of corresponding formal queries. © 2010 Asian Network for Scientific Information.

关键词： Ontology

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Self-localization of swarm robots based on voice signal acquisition

Self-localization of swarm robots based on voice signal acqu...

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International Conference on computer and Communication engineering, ICCCE

作者： Farshad Arvin Shyamala Doraisamy Khairulmizam Samsudin Abdul Rahman Ramli Department of Computer System Engineering Faculty of Engineering UPM Serdang Malaysia Department of Multimedia Faculty of Computer Science and Information Technology UPM Serdang Malaysia

This paper presents an acoustical signal tracking experiment by swarm mobile robots. Biological swarm is a fascinating behavior of nature which was inspired from social insects' behavior. A mobile robot that is designed as a swarm robotic platform was employed for implementing voice exploration behavior. An additional module was developed to connect to robots for processing given voice signals using the proportional signal strength approach that estimates orientation of sound source using fuzzy logic approach. The voice processor module utilizes four condenser microphones with around -47db sensitivity which are placed in different directions of the circuit board for capturing surrounding sound signals. Captured samples by microphones are processed to estimate the relative positions of the sound source in the robotic environment. After estimating the position of the signal's source, all participants move towards similar to the insects' colony. The participant robots have an individual task for the estimation of source location from captured samples. Moreover, according to the swarm definition, an additional cooperation between swarm participants is required to achieve a correct colony of robots. Obtained results illustrate the feasibility of the proposed technique and hardware interface for sound signals acquisition with swarm robots.

关键词： Collision avoidance Robot kinematics Microphones Robot sensing systems Mobile robots Hardware

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Determination of weights of generalized Voronoi regions using Tabu search and applications

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Journal of Japan Industrial Management Association 2010年第4期61卷 253-262页

作者： Ono, Tsutomu Kanagawa, Akihiro Yamauchi, Hitoshi Miyazaki, Shigeji Ryobi System Solutions Corporation Japan Faculty of Computer Science and System Engineering Okayama Prefectural University Japan Okayama University Graduate School of Natural Science and Technology Japan

Every Voronoi region has a polygonal form and has a point which is called generatrix. In this paper, we treat the generalized Voronoi regions as Voronoi regions with weighted generatrices. If the weights of all generatrices are identical, these regions conform with usual Voronoi regions. Suppose a set of points which are not generatrices and usual generatrices are distributed on a plane. Proposed procedures in this paper can find a set of suitable generatrix weights so as to include points in the respective region in accordance with the specified proportion. Tabu search is used to determine generatrix weights. An application of these generalized Voronoi regions is introduced. If points and generatrices are regarded as cities and depots, respectively, this proposal can be applied to the vehicle routing problem(VRP).

关键词： Tabu search

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An automated oracle approach to test decision-making structures

An automated oracle approach to test decision-making structu...

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International Conference on computer science and Information Technology (CSIT)

作者： Seyed Reza Shahamiri Wan Mohd Nasir Wan Kadir Suhaimi bin Ibrahim Department of Software Engineering Faculty of Computer Science and Information System Universiti Teknologi Malaysia Malaysia

Decision-making structures are important building blocks in most of the software; however, it may be difficult to verify them because there are various input conditions and several paths causing them to behave differently. Test oracles are reliable sources of how the software must operate. The aim of the present paper is to study the applications of Artificial Neural Networks as an automated oracle to test decision-making structures. First, the decision rules were modeled by the neural network using a training dataset generated based on the software specifications and domain expert knowledge. Next, after the neural network was applied to test a subject-registration application, the proposed approach was evaluated using mutation testing. The accuracy of the resulted oracle is discussed as well.

关键词： Artificial neural networks Presses Backpropagation Error analysis

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Validated pole assignment method based on verified numerical computation

Validated pole assignment method based on verified numerical...

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作者： Yano, Kentaro Koga, Masanobu Nakashima, Hiromasa Department of Information and Multimedia Technology Fukuoka Institute of Technology Junior College 3-30-4 Wajiro-higashi Higashiku Fukuoka Japan Faculty of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka Fukuoka Japan Kyushu Institute of Technology Graduate School of Computer Science and System Engineering 680-4 Kawazu Iizuka Fukuoka Japan

ISBN: (纸本)9784907764364

This paper proposes validated control system design method based on verified numerical computation. The proposed method designs a controller and validates it using verified numerical computation. We also propose a method to find the numerically most design-specification satisfied controller quickly by using multiple-precision arithmetic. And, this paper applies a proposed method to pole assignment problem. © 2010 SICE.

关键词： Controllers

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Development of a shake-motion transit model for a handshake robot system

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japa...

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Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 2010年第766期76卷 1539-1546页

作者： Jindai, Mitsuru Watanabe, Tomio Fukuta, Tadao Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja-shi Okayama 719-1197 Japan

A handshake is an embodied interaction to display human closeness by way of physical contact. To enable a robot to shake hands with a human, we have proposed models that simulate the handshake approaching motion and the handshaking motion by analyzing the handshake motion between humans. These models simulate the approaching motion and the handshaking motion of the human hands during a handshake. However, in addition to the above two motions, smooth transition from the approaching motion to the handshaking motion is necessary to ensure a firm handshake between the robot and a human. In this paper, we analyze the handshaking motion between humans and propose a model to ensure a smooth transition from the approaching motion to the handshaking motion. By using this model, the robot leads the human to the handshaking motion by actively making a leading motion that is synchronized with the start timing of the handshaking motion. Furthermore, a handshake robot system is developed based on this model, and experiments are performed using it. The experimental results show the effectiveness of the proposed model. The robot begins the handshaking motion 0.2 seconds after gripping the human hand, and the direction of motion is determined by the contact height of the robot and human hands.

关键词： Human robot interaction

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A Single-Network ANN-based Oracle to verify logical software modules

A Single-Network ANN-based Oracle to verify logical software...

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International Conference on Software Technology and engineering (ICSTE)

作者： Seyed Reza Shahamiri Wan M.N. Wan Kadir Suhaimi Ibrahim Department of Software Engineering Faculty of Computer Science and Information System Universiti Teknologi Malaysia Skudai Malaysia

Test Oracle is a mechanism to determine if an application executed correctly. In addition, it may be difficult to verify logical software modules due to the complexity of their structures. In this paper, an attempt has been made to study the applications of Artificial Neural Networks as Single-Network Oracles to verify logical modules. First, the logical module under test was modeled by the neural network using a training dataset generated based on the software specifications. Next, the proposed approach was applied to test a subject-registration application; meanwhile, the quality of the proposed oracle is measured by assessing its accuracy, precision, misclassification error and practicality in practice, using mutation testing by implementing two different versions of the case study: a Golden Version and a Mutated Version. The results indicate that neural networks may be reliable and applicative as oracles to verify logical modules.

关键词： Artificial neural networks Training Software Neurons Software testing Accuracy

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An Automated Oracle Approach to Test Decision-Making Structures

An Automated Oracle Approach to Test Decision-Making Structu...

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2010 3rd IEEE International Conference on computer science and Information Technology—ICCSIT 2010

作者： Seyed Reza Shahamiri Wan Mohd Nasir Wan Kadir Suhaimi bin Ibrahim Department of Software Engineering Faculty of Computer Science and Information System Uneversiti Teknologi Malaysia Skudai Malaysia

Decision-making structures are important building blocks in most of the software;however, it may be difficult to verify them because there are various input conditions and several paths causing them to behave differently. Test oracles are reliable sources of how the software must operate. The aim of the present paper is to study the applications of Artificial Neural Networks as an automated oracle to test decision-making structures. First, the decision rules were modeled by the neural network using a training dataset generated based on the software specifications and domain expert knowledge. Next, after the neural network was applied to test a subjectregistration application, the proposed approach was evaluated using mutation testing. The accuracy of the resulted oracle is discussed as well.

关键词： automated software testing test oracles decision making structures artificial neural networks, mutation testing

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