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2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Sugahara, Yusuke Kawase, Masamiki Mikuriya, Yutaka Hosobata, Takuya Sunazuka, Hiroyuki Hashimoto, Kenji Lim, Hun-Ok Takanishi, Atsuo Grad. Sch. of Sci. and Engineering Waseda University Tokyo Japan Dept. of System Design Engineering Kanagawa Institute of Technology Kanagawa Japan School of Science and Engineering Waseda University Tokyo Japan

ISBN: (纸本)0780384636

This paper describes the development of the Support Torque Reduction Mechanism for a biped locomotor with leg mechanisms using Stewart Platforms, designed for heavy payload and low power consumption during walking. The basic design of this mechanism was decided through preliminary experiments. Each leg of the robot is equipped with this mechanism consisting of 2 gas springs with different reaction forces, which are switched according to the swing / support phase. The experiment measuring motor current during walking with payload and the walking experiment with maximum payload confirmed the effectiveness of this mechanism.

关键词： Biped locomotion

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Realization of dynamic human-carrying walking by a biped locomotor

Realization of dynamic human-carrying walking by a biped loc...

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Proceedings- 2004 IEEE International Conference on Robotics and Automation

作者： Sugahara, Yusuke Lim, Hun-Ok Hosobata, Takuya Mikuriya, Yutaka Sunazuka, Hiroyuki Takanishi, Atsuo Grad. Sch. of Sci. and Engineering Waseda University Tokyo Japan Dept. of System Design Engineering Kanagawa Institute of Technology Kanagawa Japan School of Science and Engineering Waseda University Tokyo Japan

This paper describes the mechanism of biped locomotor, WL-16 (Waseda Leg - No.16), its compliance control method and experiments carrying a human. This robot is developed based on WL-15's basic design using new gimbals' mechanisms with small backlash and new linear actuators dealing with a heavy payload and a wide movable range. Walking experiments carrying a human are successfully completed and the effectiveness of WL-16's mechanism and control method are confirmed.

关键词： Biped locomotion

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Universal switch blocks for three-dimensional FPGA design

Universal switch blocks for three-dimensional FPGA design

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作者： Wu, G.-M. Shyu, M. Chang, Y.-W. Dept. of Mgmt. of Information System Nanhua University Taiwan Department of Computer Science National Chiao Tung University Taiwan Department of Electrical Engineering Grad. Inst. of Electron. Engineering National Taiwan University Taiwan

The authors consider the switch-block design problem for three-dimensional FPGAs. A three-dimensional switch block M with W terminals on each face is said to be universal if every set of nets satisfying the dimension constraint (i.e. the number of nets on each face of M is at most W) is simultaneously routable through M. A class of universal switch blocks for three-dimensional FPGAs is presented. Each of the switch blocks has 15W switches and switch-block flexibility 5 (i.e. FS=5). It is proved that no switch block with less than 15W switches can be universal. The proposed switch blocks are compared with others of the topology associated with those used in the Xilinx XC4000 FPGAs. Experimental results demonstrate that the proposed universal switch blocks improve routabilty at the chip level. Further, the decomposition property of a universal switch block provides a key insight into its layout implementation with a smaller silicon area.

关键词： Field programmable gate arrays

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Dynamic data replication using aperiodic updates in mobile adhoc networks

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9th International Conference on Database systems for Advanced Applications, DASFAA 2004

作者： Hara, Takahiro Madria, Sanjay Kumar Dept. Of Multimedia Engineering Grad. School of Info. Science and Technology Osaka University Osaka565-0871 Japan Department of Computer Science University of Missouri-Rolla RollaMO65409 United States

ISBN: (纸本)3540210474

In this paper, we present three extended dynamic data replication schemes for mobile ad-hoc networks. We improve upon existing replication algorithms by considering aperiodic updates and integrating user profiles consisting of mobile users’ mobility schedules, access behavior and read/write patterns. Our schemes actively reconfigure the replicas to adjust to the changes in user behavior and network status. We present three replication algorithms and their performance in an environment where data items are updated aperiodically, and where frequency of access to each data objects from mobile hosts and the status of network connection are also considered. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Mobile ad hoc networks

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Marionette system for operating and displaying robot whole-body motion -development of similar humanoid-type device

Marionette system for operating and displaying robot whole-b...

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2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Takubo, Tomohito Nishii, Kazutoshi Inoue, Kenji Mae, Yasushi Arai, Tatsuo Department of Systems Innovation Grad. School of Engineering Science Osaka University 1-3 Machikaneyama Toyonaka Osaka 560-8531 Japan Dept. of Human Intelligence System Faculty of Engineering University of Fukui 9-1 Bunkyo 3-Chome Fukui Fukui 910-8507 Japan

ISBN: (纸本)0780384636

We propose "Marionette system" as a master slave teleoperation. The operation/display device which presents form and posture equivalent to the remote robot is named "Marionette Device". In the system, it is possible, making exact dicsrimination, to control flexibly the remote robot by using Marionette device. Marionette system is the operation/presentation technique which not only enables to operate flexibly all movable joints but to discriminate correctly by checking the Marionette Device. Since the condition of the Marionette Device is made almost equivalent to the remote robot, the operator can check and operate the device as treating a doll for judgments of operation. Thus, we named the control system "Marionette system." In this paper, we develop the Humanoid-Robot(HR) type device as an example of the remote control of the humanoid robot When a humanoid robot is set as an operation target, it becomes easy to transpose and image a robot pattern from human motion. HR type device used as operation/display equipment enables intuitive approach in operation. In order to verify the validity of the proposed system, we have carried out various experiments comparing two types of device. One is conventional the method employing graphic simulators and a joystick, the other is a proposed control/display device employing humanoid type device. The effectiveness of the the proposed system is confirmed by the experimental results.

关键词： Mobile robots

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Development, evaluation and benchmarking of simulation software for biomolecule-based computing

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Natural Computing 2004年第4期3卷 427-442页

作者： Blain, Derrel Garzon, Max Shin, Soo-Yong Zhang, Byoung-Tak Kashiwamura, Satoshi Yamamoto, Masahito Kameda, Atsushi Ohuchi, Azuma Computer Science Division The University of Memphis Memphis TN 38152-3240 United States Biointelligence Lab. Sch. of Computer Science/Engineering Seoul National University 151-742 Seoul South Korea Graduate School of Engineering Hokkaido University Kita-ku Sapporo 060-8628 North 13 West 8 Japan Japan Science/Technology Corporation Saitama Japan Grad. Sch. of Info. Sci./Technology Hokkaido University Kita-ku Sapporo 060-0814 North 14 West 9 Japan

Simulators for biomolecular computing, (both in vitro and in silico), have come to play an important role in experimentation, analysis, and evaluation of the efficiency and scalability of DNA and biomolecule based computing. Simulation in silico of DNA computing is useful to support DNA-Computing algorithm design and to reduce the cost and effort of lab experiments. Although many simulations have now been developed, there exists no standard for simulation software in this area. Reliability, performance benchmarks, user interfaces, and accessibility are arguably the most important criteria for development and wide spread use of simulation software for BMC. The requirements and evaluation of such software packages for DNA computing software are discussed, particularly questions about software development, appropriate user environments, standardization of benchmark data sets, and centrally available common repositories for software and/or data. © 2004 Kluwer Academic Publishers.

关键词： Access and common repository Benchmarking DNA-based computing Evaluation Simulation Software architecture User interfaces

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An improvement on binary-swap compositing for sort-last parallel rendering

An improvement on binary-swap compositing for sort-last para...

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Proceedings of the 2003 ACM Symposium on Applied Computing

作者： Takeuchi, Akira Ino, Fumihiko Hagihara, Kenichi Department of Informatics Grad. School of Engineering Science Osaka University 1-3 Machikaneyama Toyonaka Osaka 560-8531 Japan Department of Computer Science Grad. Sch. of Info. Sci./Technology Osaka University 1-3 Machikaneyama Toyonaka Osaka 560-8531 Japan

Sort-last parallel rendering is a good rendering scheme on distributed memory multiprocessors. This paper presents an improvement on the binary-swap (BS) method, which is an efficient image compositing algorithm for sort-last parallel rendering. Our compositing method uses three acceleration techniques, compared to the original BS method. Through the use of the three techniques, our method balances the compositing load among processors, exploits more sparsity of the image, and reduces the cost of communication. We also show some experimental results on a PC cluster. The results show that our method completes the image compositing faster than the original BS method, and its speedup to the original increases with the number of processors.

关键词： Multiprocessing systems

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Does the vestibular (otolith) system contribute to stabilizing vision during linear transient head movement?

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systems and computers in Japan 2003年第7期34卷 1-9页

作者： Hikita, Shinichi Kasai, Takeshi Division of System Science Grad. School of Engineering Science Osaka University Toyonaka 560-8351 Japan Faculty of Health and Sport Sciences Osaka University Toyonaka 560-0043 Japan

When the head is suddenly translated, eye movement of the vestibular (otolith) system and of the visual (smooth pursuit) system possibly contribute to stabilization of vision. To investigate how these two systems work together, we compared the eye velocity while fixating on a visual target (LVORv) or a remembered target (LVORr) during head translation with that of smooth pursuit (SP). Latency of LVORv and LVORr responses proved much shorter than that of pursuit. The eye velocity of LVORv response was close to the addition of those in LVORr and SP responses until 216 ms from motion onset. These findings suggest that the neural command signal of the otolith system is linearly added to those of the pursuit system. © 2003 Wiley Periodicals, Inc.

关键词： Binocular vision

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Texture presentation capabilities of a high resolution tactile display mounted on a mouse

Computational Methods in Circuits and Systems Applications

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Computational Methods in Circuits and systems Applications 2003年 190-194页

作者： Ohka, Masahiro Koga, Hiroshi Mitsuya, Yasunaga Dept. of Complex Systems Science Grad. School of Information Science Nagoya University Furo-cho Chikusa-ku Nagoya 464-8601 Japan MACNICA Inc. Dept. of Micro System Engineering Graduate School of Engineering Nagoya University

ISBN: (纸本)9608052882

In order to establish a method designing a tactile display, we developed a matrix-type tactile display mounted on a mouse, and tested it in several experiments. In virtual texture presentation experiments, the human subjects touched virtual textures composed of crossed-axis patterns and judged variations in crossed-axis angles. They palpated two virtual textures;one is standard texture fixed during entire experiment;the other is comparison texture changed freely by them. Human subjects try to change the comparison texture as it coincides with the standard texture. If the difference between crossed-axis angles of standard and comparison textures is called the threshold in psychophysics and is assumed to be sensitivity of human sensation. By evaluating changes in the threshold, it was found that the value of the two-point threshold was adopted as pitch between stimulus pins in the design of the tactile display and that under the pin stroke of 0.25 mm the human operators were not able to distinguish striped virtual textures.

关键词： Man machine systems

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Coupled Markov random field models with phases as line field and region field

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systems and computers in Japan 2003年第7期34卷 24-33页

作者： Tanaka, Kazuyuki Furusato, Daiki Horiguchi, Tsuyoshi Department of Computer Sciences Grad. School of Information Science Tohoku University Sendai 980-8579 Japan Dept. of Electrical Communication School of Engineering Tohoku University Sendai 980-8579 Japan

We investigate a boundary-based and a region-based coupled Markov random field model, both of which are useful in image restorations of gray-level images. In the conventional boundary-based and the conventional region-based coupled Markov random field models, both a line field and a region field take only two discrete states, 0 and 1. In the boundary-based coupled random field model, existence and nonexistence of the edge at each nearest-neighbor pair of pixels are denoted by 1 and 0, respectively. In the region-based coupled random field model, some different regions at each pixel are labeled by discrete numbers. We propose a boundary-based coupled Markov random field model with continuous line field and a region-based coupled Markov random field model with continuous segmentation field from a standpoint of a plane rotator model in statistical mechanics. The iterative algorithms for image restoration are constructed by using a mean-field approximation. We investigate how the proposed models produce a better quality of restored images. © 2003 Wiley Periodicals, Inc.

关键词： Markov processes

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