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IEEE/SICE International Symposium on System Integration

作者： Satoru Shibata Tomonori Yamamoto Mitsuru Jindai Graduate School of Science and Engineering Ehime University Matsuyama Ehime Japan Faculty of Computer Science and System Engineering Okayama Prefectural University Soja Okayama Japan

A human-robot system in which a mobile robot follows the movement of the laser spot projected on the floor by the laser pointer attached at the human head is considered. Human gives instruction of desired movement to the robot by rotating his or her head. Robot can realize intended movement by following the movement of the laser spot on the floor. Kansei controller is introduced between the instruction movement of the laser spot and following motion of the robot to realize psychologically acceptable motion of the robot. In addition, three modes, stopping mode, following mode, and parameter adjustment mode for the Kansei controller, are considered. The effectiveness of the proposed system was discussed experimentally, and confirmed by the smooth trajectory of the following motion of the mobile robot and good psychological evaluations.

关键词： Mobile robots Laser modes Laser applications Humans Floors

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Set-Point Control for Folded Posture of 3-Link Underactuated Gymnastic Planar Robot: Beyond the Swing-up Control

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IFAC Proceedings Volumes 2011年第1期44卷 11875-11880页

作者： Xin Xin Yannian Liu Jinhua She Lei Guo Faculty of Computer Science and System Engineering Okayama Prefectural University Okayama 719-1197 Japan Okayama 701-1213 Japan School of Computer Science Tokyo University of Technology Hachioji Tokyo 192-0982 Japan School of Instrument Science and Opto-Electronics Engineering Beihang University Beijing 100191 China

Abstract This paper concerns a set-point control for a folded posture of a 3-link gymnastic planar robot moving in the vertical plane with the first joint being passive and the others being active. To realize the goal posture of the kip motion of a gymnast on the high bar, the control objective is to drive the robot from any arbitrary initial state to any arbitrarily small neighborhood of the up-down-down equilibrium point and then balance the robot about that point, where the first link is in the upright position and the second and third links are in the downward position. This paper uses the energy-based control approach and the notion of virtual composite link to design a controller and provides a global motion analysis of the robot. This paper shows that the control toward such a folded posture is different from the swing-up control problem, for which all three links are fully stretched out in the upright position at the goal posture. A new result of this paper is that in addition to some conditions on the control parameters, a constraint on the mechanical parameters of the robot is needed for achieving the set-point control of the folded posture. The simulation results for two 3-link robots are provided to validate the effectiveness of the proposed control law and the necessity of the constraint.

关键词： Underactuated mechanical systems robot control set-point control nonlinear control passivity Lyapunov stability motion analysis

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Broadband design method of SIW directional couplers

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作者： Murai, Katsuya Ikeuchi, Hiroaki Kawai, Tadashi Kishihara, Mitsuyoshi Ohta, Isao Graduate School of Engineering University of Hyogo 2167 Shosha Himeji Hyogo 671-2280 Japan Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan University of Hyogo 1-3-3 Higashikawasaki-cho Chuo-ku Kobe Hyogo 650-0044 Japan

ISBN: (纸本)9787308085557

This paper treats two-fold symmetrical SIW directional couplers with simple structure and broadband characteristics. The proposed directional coupler consists of a rectangular cavity connected four input/output ports at its corner, and several metallic posts inserted within the cavity in order to obtain a desired property. By optimizing the circuit structure, broadband characteristics can be obtained for several directional couplers with a coupling coefficient of 0dB or 3dB. In analysis and design, SIW circuits are treated as waveguide circuits filled with dielectric material, and applied to the H-plane planar circuit approach, the segmentation method, and short-circuiting of fictitious ports. Finally, we demonstrate the validity of this design procedure by em-simulations and measurement of fabricated couplers including microstrip line to SIW transitions. © 2011 CJMW.

关键词： Directional couplers

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Broadband design method of SIW directional couplers

Broadband design method of SIW directional couplers

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China-Japan Joint Microwave Conference

作者： Katsuya Murai Hiroaki Ikeuchi Tadashi Kawai Mitsuyoshi Kishihara Isao Ohta Graduate School of Engineering University of Hyogo Himeji Hyogo Japan Faculty of Computer Science and System Engineering Okayama Prefectural University Soja Okayama Japan University of Hyogo Kobe Hyogo Japan

关键词： Directional couplers Scattering parameters Simulation Bandwidth Broadband communication Dielectric materials

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Paraphrasing Japanese Light Verb Constructions: Towards the Normalization of Complex Predicates

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International Journal of computer Processing of Languages 2011年第2期23卷 147-167页

作者： TOMOKO IZUMI KENJI IMAMURA GENICHIRO KIKUI ATSUSHI FUJITA SATOSHI SATO NTT Cyber Space Laboratories NTT Corporation 1-1 Hikarinooka Yokosuka Kanagawa 239-0847 Japan Faculty of Computer Science and Systems Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan Faculty of Systems Information Science Future University Hakodate 116-2 Kamedanakano-cho Hakodate Hokkaido 041-8655 Japan Graduate School of Engineering Nagoya University Furo-cho Chikusa-ku Nagoya Aichi 464-8601 Japan

We introduce novel paraphrasing rules for Japanese light verb constructions (LVCs) that reduce the differences in the surface forms while retaining several of the crucial syntactic/semantic functions of these light verbs. An analysis of the linguistic properties of light verbs allows us to create paraphrasing patterns that map 151 different light verbs into 10 simple forms. Of these 10 forms, 7 convert complex noun-particle-verb structures into simple predicative forms. By constructing a list of 923 examples for ambiguous light verbs, we show that we can correctly distinguish real LVCs from those in which the light verbs were actually functioning as a main verb. The results of experiments indicate that our paraphrasing rules offer high accuracy. The experiments also reveal that our paraphrasing system works as a normalizer of complex predicates, which improves the recall rate of the predicate extraction task.

关键词： LVC paraphrasing complex predicates normalization

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THE MONOTONICITY OF ABSOLUTE NORMALIZED NORMS ON C~n

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Nihonkai mathematical journal 2011年第2期22卷 91-102页

作者： Ken-Ichi Mitani Kichi-Suke Saito Naoto Komuro Department of Systems Engineering Okayama Prefectural University Soja719-1197 Japan Department of Mathematics Faculty of Science Niigata University Niigata 950-2181 Japan Department of Mathematics Hokkaido University of Education Asahikawa Campus Asahikawa 070-8621 Japan

In this paper, we characterize some monotonicity property of absolute normalized norms on C~n (resp. ?~n) by means of their corresponding continuous convex functions.

关键词： absolute normalized norm monotonicity modulus of convexity cyanogen ABSOLUTE monotonicity

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Development of a Real-Space Sharing Edutainment System based on Communication Support with Make-Believe Play

Development of a Real-Space Sharing Edutainment System based...

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SICE Annual Conference

作者： Masaru Yamane Michiya Yamamoto Tomio Watanabe Graduate School of Science and Technology Kwansei Gakuin University School of Science and Technology Kwansei Gakuin University Faculty of Computer Science and Systems Engineering Okayama Prefectural University

ISBN: (纸本)9784907764388

Various e-learning systems that support remote education have been developed utilizing information technology. However, it is still not easy to communicate smoothly and to evaluate how well users of such systems have understood. We focus on communication support with make-believe play and propose a real-space sharing edutainment system that allows its users to enjoy make-believe play. We develop a prototype of the system in which we introduce distinctive CG characters and communication support functions to enhance user communication through a virtual environment. Finally, we confirm the effectiveness of the system through an evaluation experiment.

关键词： Embodied communication Embodied interaction Edutainment

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Development of a Handshake Request Motion Model Based on Analysis of Handshake Motion between Humans

Development of a Handshake Request Motion Model Based on Ana...

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

作者： Mitsuru Jindai Tomio Watanabe Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 JAPAN

ISBN: (纸本)9781457708381

A handshake is an embodied interaction to display closeness using physical contact. In the case of a handshake between a human and a robot, robots can now smoothly communicate and coexist with humans without eliciting feelings of aversion in humans. To enable such a handshake, we proposed a model that simulates a handshake approach motion by analyzing the human-human handshake motion. With this model, a robot generates a handshake motion when a handshake is requested by a human. However, embodied interaction between a human and a robot can be promoted if, instead, a robot requests a handshake from a human. Therefore, in this paper, we propose a handshake request motion model with which a robot requests humans for a handshake. In this model, a robot stretches its hand out to a human to request a handshake. Furthermore, a gaze presentation is generated based on the analysis of the handshake between humans. A handshake robot system with the proposed model is developed, and the effectiveness of the model is experimentally demonstrated.

关键词： Handshake Robot-Human System Embodied Interaction Human Emotion

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Effects of delayed presentation of self-embodied avatar motion with network delay

Effects of delayed presentation of self-embodied avatar moti...

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2010 4th International Universal Communication Symposium, IUCS 2010

作者： Ishii, Yutaka Sejima, Yoshihiro Watanabe, Tomio Information Science and Technology Center Kobe University 1-1 Rokkodai Nada Kobe Japan Graduate School of Science and Engineering Yamaguchi University Faculty of Computer Science and System Engineering 2-16-1 Tokiwadai Ube Yamaguchi Japan Faculty of Computer Science and System Engineering Okayama Prefectural University CREST 111 Kuboki Soja Okayama Japan

ISBN: (纸本)9781424478200

A large network delay is likely to obstruct human interaction in telecommunication systems such as telephony or video conferencing systems. In spite of the extensive investigations that have been carried out on network delays of voice and image data, there have been few studies regarding support for embodied communication under the conditions of network delay. To maintain smooth human interaction, it is important that the various ways in which delay is manifested are understood. We have already developed an embodied virtual communication system that uses an avatar called "VirtualActor," in which speakers who are remotely located from one another can share embodied interaction in the same virtual space. Responses to a questionnaire that was used in a communication experiment confirmed that a fixed 500-ms network delay has no effect on interactions via VirtualActors. In this paper, we propose a method of presenting a speaker's voice and an avatar's motion feedback in the case of a 1.5-s network delay using VirtualActors. We perform two communication experiments under different conditions of network delay. The aim of the first experiment is to examine the effect of a random time delay on the conversation. The second experiment is conducted under the conditions of a free-form conversation that takes place in 5 scenarios - 1 real-time scenario without a network delay and 4 scenarios with network delay that involve a combination of a delay in the talker's voice and in his/her avatar's motion feedback. The subjects consisted of a total of 30 students who worked in 15 pairs and who were familiar with each other. A sensory evaluation shows the effects upon communication of delays in the avatar's motion feedback, from the viewpoint of supporting the interaction. ©2010 IEEE.

关键词： Video conferencing

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An embodied entrainment character cell phone by speech and head motion inputs

An embodied entrainment character cell phone by speech and h...

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19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010

作者： Yamamoto, Michiya Osaki, Kouzi Matsune, Shotaro Watanabe, Tomio School of Science and Technology Kwansei Gakuin University Sanda Hyogo 669-1337 Japan Open Technology Co. Ltd. Shinjuku-ku Tokyo 160-0004 Japan Graduate School of Systems Engineering Okayama Prefectural University Soja Okayama 719-1197 Japan Computer Science and System Engineering Okayama Prefectural University Soja Okayama 719-1197 Japan

ISBN: (纸本)9781424479917

The head movements and actions have an important role of the intentional expression of the affirmative and the denial in communications as well as the regulation of conversation. In this paper, we develop a speech-input-driven embodied interaction cell phone with a Narikiri-headset which reflects the user's head movements and actions directly in Inter-Actor by an acceleration sensor and a gyro sensor. Therefore, humans can use this system to communicate effectively by using deliberate body movements as well as natural communicative movements and actions in a mobile environment. In addition, the effectiveness of the system is demonstrated by a sensory evaluation experiment. © 2010 IEEE.

关键词： Cellular telephones

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