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Chinese Automation Congress (CAC)

作者： Yue Li Xin Xin Yuhang Yan School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

As a typical underactuated experimental platform for robotics and control theory, the rotary inverted pendulum (RIP) system is nonlinear, multi-variable, and strongly coupled. We study the swing-up and balance control for the RIP system with system uncertainty. The classical energy-based swing-up control without compensation for the uncertainty and the signal compensation-based balance control are adopted. In the balance control, from the linearized state-space model near the upright equilibrium point (UEP) and the estimated discrete-time model, a signal compensation-based balance control is constructed to eliminate and suppress the system uncertainty. Simulation results verify the effectiveness of the controllers.

关键词： Uncertainty Automation Simulation Control systems State-space methods Control theory Robots

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Swing-Down Control of a Rings Gymnastic Robot

Swing-Down Control of a Rings Gymnastic Robot

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Chinese Automation Congress (CAC)

作者： Zhijie Jin Xin Xin Zhiyu Peng Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

In this paper, we study the swing-down control of a rings gymnastic robot, which is a 3-link planar robot moving in a vertical plane with only the last joint being actuated. The control objective is to swing the rings gymnastic robot from the DUU (Down–Up–Up) equilibrium point to the DDD (Down–Down– Down) equilibrium point and stabilize it around the latter. We present an SD (sinusoidal-derivative) controller, which is linear feedback of sinusoidal function of the angle of the actuated joint and linear feedback of its angular velocity. We analyze globally the motion of the rings gymnastic robot under the proposed controller, and provide a sufficient condition for achieving the control goal. We study how to find control gains to achieve an exerllent control performance, and verify the effectiveness of the proposed control via simulation.

关键词： Sufficient conditions Automation Stability analysis Angular velocity Robots

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Strong stabilization of two-link underactuated planar robots

Strong stabilization of two-link underactuated planar robots

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Chinese Automation Congress (CAC)

作者： Ziyu Wang Xin Xin Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Janpan

Strong stabilization refers to designing stable feedback controllers that stabilize a given plant. The second-order stable stabilizing controller design of two-link underactuated planar robots around their UEP (Upright Equilibrium Point) is concerned in this paper. The proposed method can obtain explicit transfer function of the controller by solving a set of inequalities, which is relatively more concise and the final set of stable controllers is larger than the existing results. Simulation results of both the Acrobot and the Pendubot are presented to verify the effectiveness and robustness of proposed stabilizing controllers.

关键词： Automation Simulation Transfer functions Robustness Adaptive control Robots

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A speech-driven pupil response system with affective highlight by virtual lighting

A speech-driven pupil response system with affective highlig...

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作者： Sejima, Yoshihiro Kawamoto, Hiroki Sato, Yoichiro Watanabe, Tomio Faculty of Informatics Kansai University 2-1-1 Ryozenji-cho Takatsuki-shi Osaka569-1095 Japan PEOPLE SOFTWARE CORPORATION 1-7-2 Achi Kurashiki-shi Okayama710-0055 Japan Faculty of Computer Science and Systems Engineering Okayama Prefectural University 111 Kuboki Soja-shi Okayama719-1197 Japan

In face-to-face communication, talkers perceive various affects and emotions of other talkers as the eye-impressions such as highlight or dilated pupil. In the previous studies, focusing on the eye-impressions in social robots, various expression methods such as changing the LED color or blinking the LED were proposed and developed. However, it is difficult to generate the affective expressions with the highlight that has an optical reflection characteristic on the surface of the eyeball by using the LED. Therefore, in order to enhance the eye-impressions of social robots, it is expected to develop an expressible method with the affective highlight. In this study, we proposed an affective highlight to enhance the eye-impressions of social robots. This method introduces a virtual lighting in virtual space and can generate rich affective expressions by controlling various parameters of the virtual lighting such as brightness or colors. In addition, we developed a speech-driven pupil response system that applied the affective highlight to the pupil response interface which has been developed. This system can generate the affective expressions by the dilation of pupil response that is synchronized with the talker’s speech as well as the highlight expression with talker’s intentional input. The effectiveness of the developed system with the affective highlight was demonstrated by sensory evaluations. © 2022 The Japan Society of Mechanical Engineers.

关键词： Light emitting diodes

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Influence of negative Poisson’s ratio on fracture morphologies in CFRP laminates 36

Influence of negative Poisson’s ratio on fracture morpholog...

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36th Technical Conference of the American Society for Composites 2021: Composites Ingenuity Taking on Challenges in Environment-Energy-Economy, ASC 2021

作者： Iwasaki, Daiki Nishio, Shuichiro Saito, Hiroshi Manato-Kanesaki Kimpara, Isao Kanazawa Institute of Technology Ishikawa924-0838 Japan Dept. of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

ISBN: (纸本)9781713837596

The Poisson's ratio and Young's modulus of CFRP laminates can be varied by changing their stacking sequences. CFRP with the specific stacking sequence can theoretically perform the "negative" Poisson’s ratio, which causes extension in the direction perpendicular to the loading direction, for example. However, the relationship between Poisson's ratio and fracture morphology has not yet been elucidated. In this study, tensile tests were performed for CFRP laminates with negative, zero and positive Poisson’s ratios, and failure morphologies were experimentally investigated. © 2021 36th Technical Conference of the American Society for Composites 2021: Composites Ingenuity Taking on Challenges in Environment-Energy-Economy, ASC 2021. All rights reserved.

关键词： Elastic moduli

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A Deployment of Ensemble-Based IDS on Raspberry Pi

A Deployment of Ensemble-Based IDS on Raspberry Pi

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IEEE Global Conference on Consumer Electronics (GCCE)

作者： Muhammad Bisri Musthafa Samsul Huda S. M. Shamim Yuta Kodera Jedidah Mwaura Shunsuke Araki Yasuyuki Nogami Graduate School of Environmental Life Natural Science and Technology Okayama University Japan Green Innovation Center Okayama University Japan Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

ISBN: (数字)9798350355079

ISBN: (纸本)9798350355086

Intrusion Detection systems (IDS) are essential for safeguarding IoT networks against various attacks. Our previously developed ensemble-based IDS model, which combines stacked Long Short-Term Memory (LSTM) networks with ANOVA feature selection, achieved a remarkable accuracy of 97.46% and an overfitting value of 0.22% in classifying network attacks. However, deploying this powerful model on resource-constrained devices like Raspberry Pi poses challenges due to limited computational resources. In this paper, we tackle these challenges by converting the original model to TensorFlow Lite (TFLite) and applying quantization techniques to optimize the model size for deployment on a Raspberry Pi 3b+. Our approach significantly reduces the model size by 90.9% while maintaining an impressive accuracy of 96.96%, only a 0.5% reduction from the original model. The optimized model demonstrates efficient performance on the Raspberry Pi, with a loading time of 100.2ms and an inference time of 1.2ms.

关键词： Accuracy Quantization (signal) Power demand Computational modeling Loading Security Resource management Long short term memory Load modeling Overfitting

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A NOTE ON t-DESIGNS IN ISODUAL CODES

arXiv

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arXiv 2023年

作者： Awada, Madoka Miezaki, Tsuyoshi Munemasa, Akihiro Nakasora, Hiroyuki School of Fundamental Science and Engineering Waseda University Tokyo169–8555 Japan Faculty of Science and Engineering Waseda University Tokyo169–8555 Japan Graduate School of Information Sciences Tohoku University Tohoku980-8579 Japan Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama719-1197 Japan

关键词： Polynomials

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A fast and accurate tube diameter visualization method for digestive system medical images

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on Electronics, Information and systems 2021年第9期141卷 982-991页

作者： Ueda, Mitsuru Kondo, Masafumi Kayano, Isao Sejima, Yoshihiro Yokogawa, Tomoyuki Sato, Yoichiro Sugihara, Yuusaku Matsumoto, Kazuyuki Graduate School of Computer Science and Systems Engineering Okayama Prefectural University 111 Kuboki Soja Okayama719-1197 Japan Faculty of Health Science and Technology Kawasaki University of Medical Welfare 288 Matsushima Kurashiki Okayama701-0193 Japan Faculty of Informatics Kansai University 2-1-1 Ryozenji-cho Osaka Takatsuki569-1095 Japan Department of Gastroenterology Okayama University Hospital 2-5-1 Shikata-cho Kita-ku Okayama700-8558 Japan

Although the tube diameter and stenosis rate are important observations in the diagnosis using medical images of digestive organ, such as digestive systems, the diagnosis is based on the physician’s subjective evaluation. On the other hand, automatic measurement of tube diameters by image processing has been used for blood vessels, which are tubular tissues similar to digestive systems, and it is also possible to visualize the vessel diameter by assigning pseudo-colors according to the length of the vessel. However, it is difficult to apply the existing diameter visualization methods directly to digestive system medical images due to the processing time and accuracy problems because the tubes are large and tortuous, unlike blood vessels. In this paper, we propose a method to measure the tube diameter quickly by dynamically calculating the next featured pixel using the history of the midpoints of the tube diameter line. Furthermore, we derive an approximate curve corresponding to the centerline of the tube from the history of the featured pixels and measure the tube diameter with high accuracy. We applied the proposed method to various types of digestive system medical images and confirmed that the proposed method could accurately measure and visualize the tube diameter along the shape of the tube and reduce the processing time by up to 99%. 2021 The Institute of Electrical Engineers of Japan.

关键词： Pixels

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The Multiple Determinants of Infection Prevention and Control Practices in Nursing Homes: A Scoping Review

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Journal of the American Medical Directors Association 2025年第6期26卷 105593页

作者： Fujimoto, Kanako Utsumi, Momoe Swa, Toshiyuki Furuya, Aoi Ikuji, Ayumi Nakanishi, Ayami Harada, Nahoko of Interdisciplinary Science and Engineering in Health Systems Okayama University Okayama Okayama Japan of Health and Nursing Sciences Kyoto Prefectural University of Medicine Kyoto Kyoto Japan Division of Health Sciences of Medicine The University of Osaka Osaka Suita Japan Department of Nursing Ikeda Municipal Hospital Osaka Ikeda Japan Department of Nursing University Hospital Kyoto Prefectural University of Medicine Kyoto Kyoto Japan Faculty of Interdisciplinary Science and Engineering in Health Systems Okayama University Okayama Okayama Japan

Objectives: To map the barriers and facilitators influencing infection prevention and control (IPC) practices in nursing homes (NHs) from a behavior change perspective and to identify research gaps. Design: Scoping review using the Joanna Briggs Institute methodology. Setting and Participants: NHs for older adults and health care workers in NHs. Methods: We conducted database searches in March 2022 and updated them in November 2024, including additional sources from citation tracking and reference list checks. We analyzed barriers and facilitators using the Theoretical Domains Framework (TDF) and the Capability, Opportunity, and Motivation–Behavior (COM-B) model. Results: Of 1591 identified records, 54 reports published between 2003 and 2024 met our inclusion criteria. The analysis identified 101 determinants (25 in Capability, 46 in Opportunity, and 30 in Motivation within the COM-B model) categorized into 36 categories and 16 themes as barriers and facilitators. The most frequently mentioned barriers were related to the “Environmental context and resources” domain of the TDF. Relatively few reports addressed the determinants of the TDF domain classified within the Motivation area of the COM-B model. Although many facilitators were identified in this area, including beliefs, intentions, and goals, they were coded based on limited descriptions. Conclusions and Implications: This review provides a detailed mapping of the barriers and facilitators to IPC in NHs based on existing literature. It demonstrates the complexity of sustaining IPC practices, influenced by multiple determinants. Although Motivation may impact IPC adherence, its determinants remain insufficiently studied, indicating a research gap. Further research is needed to explore these determinants and understand how Motivation interacts with other factors in IPC implementation. © 2025 The Author(s)

关键词： behavior change health care workers Infection prevention and control long-term care facilities nursing homes older adults

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Have Java Production Methods Co-Evolved With Test Methods Properly?: A Fine-Grained Repository-Based Co-Evolution Analysis

Have Java Production Methods Co-Evolved With Test Methods Pr...

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Euromicro Conference on Software engineering and Advanced Applications (SEAA)

作者： Tenma Kitai Hirohisa Aman Sousuke Amasaki Tomoyuki Yokogawa Minoru Kawahara Department of Computer Science Faculty of Engineering Ehime University Matsuyama Ehime Japan Center for Information Technology Ehime University Matsuyama Ehime Japan Faculty of Computer Science and Systems Engineering Okayama Prefectural University Soja Okayama Japan

Any source code of a software product (production code) is expected to be tested to ensure its correct behavior. Whenever a developer updates production code, the developer should also update or create the corresponding test code to check if the updated parts still work correctly. Such a desirable co-evolution relationship between production and test code forms a logical coupling. Although the logical coupling is detectable through an association analysis on the code repository such as Git, the detection granularity is coarse because the conventional repository is at the file level. For observing those logical couplings as precisely as possible, this paper utilizes the finer-grained, Java method-level repository (FinerGit). Then the paper proposes a metric measuring the extent to which a production method has co-evolved with test methods and conducts a case study using ten open-source projects. The results show that most Java methods (98% on average) have co-evolved with test methods, but some have not; The proposed metric helps detect those methods having the potential risk that the developers might not test adequately.

关键词： Couplings Measurement Java Codes Source coding Production Software

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