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Distributed behavior arbitration network: Autonomous behavior control architecture for humanoids

Systems and computers in Japan 2002年第6期33卷 32-43页

作者： Murata, Tsuyoshi Kato, Hiroki Shimura, Masamichi Numao, Masayuki Department of Computer Science Faculty of Engineering Gunma University Gunma 376-8515 Japan Corporate Research Labs. Fuji Xerox Co. Ltd. Kanagawa 259-0157 Japan Department of Industrial Administration Faculty of Science and Technology Science University of Tokyo Chiba 278-0022 Japan Graduate School of Information Science and Engineering Tokyo Institute of Technology Tokyo 152-8552 Japan

A new concept of decentralized behavior control architecture for humanoids, termed the Distributed Behavior Arbitration Network, is proposed in this paper. First, policies for constructing the architecture are discussed and then the proposed architecture is designed according to these policies. In the proposed architecture, each competence of a humanoid is differentiated based on the behavior-based framework and individual agents represent these differentiated competences. An agent consists of NetIBSI, which describes behavior patterns of the agent using state transition network, and the Conflict Resolution Strategy, which mediates with other agents. Autonomous distributed cooperation among agents becomes possible through these two components. The effect of the cooperation among multiple agents is to achieve various behavior patterns for humanoids. The proposed architecture was implemented in two types of humanoids constructed in our laboratory. It was able to realize fall avoidance behavior that required quick response and goal search behavior that required cooperation between two agents. The obtained results demonstrate that the proposed architecture is capable of generating complicated and intelligent behaviors for humanoids. © 2002 Wiley Periodicals, Inc. Syst. Comp. Jpn.

关键词： Man machine systems

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Effect of filament sausaging on current-voltage characteristics in a superconducting Bi-2223 tape

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AIP Conference Proceedings 2002年第1期614卷 1110-1117页

作者： Y. Ueno E. S. Otabe T. Matsushita M. Kiuchi 1Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka 820-8502 Japan 2Graduate School of Information Science and Electronic Engineering Kyushu University 6-10-1 Hakozaki Higashi-ku Fukuoka 812-8581 Japan

The current-voltage characteristics of superconducting Bi-2223 tapes are not as sharp as those of metallic superconductors. This feature, characterized by their low n values especially at high fields and at high temperatures, is partly influenced by the sausaging of the superconducting filaments. In order to improve the n values, therefore, the effect of filament sausaging on the transport property was investigated in this research. It was found that the distribution of the thickness of the filaments is of a Gaussian type. The real distribution of the critical current density (Jc) is obtained from the thickness distribution and the apparent distribution of pinning strength estimated using the flux creep-flow model. The estimated real distribution of Jc is slightly sharper than the apparent distribution of Jc. However, the improvement of the n-value is predicted not to be remarkable, even if the filament thickness can be made uniform.

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Paraconsistent logic program based safety verification for air traffic control

Paraconsistent logic program based safety verification for a...

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2002 IEEE International Conference on Systems, Man and Cybernetics

作者： Nakamatsu, Kazumi Suito, Hiroshi Abe, Jair Minoro Suzuki, Atsuyuki School of H.E.P.T. Himeji Institute of Technology 1-1-12 Shinzaike Himeji 670-0092 Japan Graduate School of Information Shizuoka University 3-5-1 Johoku Hamamatsu 432-8011 Japan Dept. Computer Science ICET Paulista University Rua Dr. Bacelar 1212 04026-002 Sao Paulo SP Brazil Faculty of Information Shizuoka University 3-5-1 Johoku Hamamatsu 432-8011 Japan

It has become a crucial issue to assure the safety for air traffic control. We consider some air traffic accidents can be avoided by verifying the safety for air traffic control logically. In this paper, we propose a theoretical framework for a logical safety verification for air traffic control based on a paraconsistent logic program called an Extended Vector Annotated Logic program with Strong Negation (EVALPSN for short). Compared to other kinds of safety verification such as safety verification for railway interlocking, the safety verification for air traffic control contains more uncertainty and sometimes has to deal with probabilistic datum. Therefore, we extend EVALPSN to probabilistic EVALPSN(P-EVALPSN for short) for dealing with the safety verification containing probability. We introduce the ideas of the safety verification based on both EVALPSN and P-EVALPSN with taking a simple example for landing clearance by air traffic controllers.

关键词： Logic programming

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Dependence of irreversibility and vortex glass-liquid transition fields on electric field criterion in a superconducting Bi-2223 tape

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AIP Conference Proceedings 2002年第1期614卷 1193-1200页

作者： T. Matsushita M. Fukuda T. Kodama E. S. Otabe M. Kiuchi T. Kiss T. Akune N. Sakamoto K. Itoh 1Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka 820-8502 2Graduate School of Information Science and Electronic Engineering Kyushu University 6-10-1 Hakozaki Higashi-ku Fukuoka 812-8501 Japan 3Faculty of Engineering Kyushu Sangyo University 3-1 Matsukadai 2 chome Higashi-ku Fukuoka 813-8503 Japan 4National Institute for Materials Science 1-2-1 Sengen Tsukuba-shi Ibaraki 305-0047 Japan

It is known that the irreversibility field depends largely on the electric field criterion, Ec, for the determination of the critical current density. In addition, it was recently found that the vortex glass-liquid transition field determined by the scaling of current-voltage curves also depended on the range of electric field in the measurement. In this paper the two characteristic fields are measured for a Bi-2223 silver-sheathed tape as a function of the electric field. The obtained result of the irreversibility field is compared with the theoretical result of the flux creep-flow model. Based on the agreement with the theoretical model a standard test method of the irreversibility field is proposed.

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Type-based useless-variable elimination

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Higher-Order and Symbolic Computation 2001年第2-3期14卷 221-260页

作者： Kobayashi, Naoki Department of Computer Science Graduate School of Information Science and Engineering Tokyo Institute of Technology 2-12-1 Ookayama Meguro-ku Tokyo 152-8552 Japan

Useless-variable elimination is a transformation that eliminates variables whose values does not affect the result of a computation. We present a type-based method for useless-variable elimination and prove its correctness. The algorithm is a surprisingly simple extension of the usual type-reconstruction algorithm. Our method has several attractive features. First, it is simple, so that the proof of the correctness is clear and the method can be easily extended to deal with a polymorphic language. Second, it is efficient: for a simply-typed λ-calculus, it runs in time almost linear in the size of an input expression. Moreover, our transformation is optimal in a certain sense among those that preserve well-typedness, both for the simply-typed language and for an ML-style polymorphically-typed language.

关键词： program debugging

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A hybrid approach to online and offline partial evaluation

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Higher-Order and Symbolic Computation 2001年第2-3期14卷 101-142页

作者： Sumii, Eijiro Kobayashi, Naoki Department of Information Science Graduate School of Science University of Tokyo Hongo 7-3-1 Bunkyo-ku Tokyo 113-0033 Japan Department of Computer Science Graduate School of Information Science and Engineering Tokyo Institute of Technology Oookayama 2-12-1 Meguro-ku Tokyo 152-8552 Japan

This article presents a hybrid method of partial evaluation (PE), which is exactly as precise as naive online PE and nearly as efficient as state-of-the-art offline PE, for a statically typed call-by-value functional language. PE is a program transformation that specializes a program with respect to a subset of its input by reducing the program and leaving a residual program. Online PE makes the reduction/residualization decision during specialization, while offline PE makes it before specialization by using a static analysis called binding-time analysis. Compared to offline PE, online PE is more precise in the sense that it finds more redexes, but less efficient in the sense that it takes more time. To solve this dilemma, we begin with a naive online partial evaluator, and make it efficient without sacrificing its precision. To this end, we (1) use state (instead of continuations) for let-insertion, (2) take a so-called cogen approach (instead of self-application), and (3) remove unnecessary let-insertion, unnecessary tags, and unnecessary values/expressions by using a type-based representation analysis, which subsumes various monovariant binding-time analyses. We implemented and compared our method and existing methods-both online and offline-in a subset of Standard ML. Experiments showed that (1) our method produces as fast residual programs as online PE and (2) it does so at least twice as fast as other methods (including a cogen approach to offline PE with a polyvariant binding-time analysis) that produce comparable residual programs.

关键词： computer software selection and evaluation

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Development of a prototype based on TINA accounting management architecture 7

Development of a prototype based on TINA accounting manageme...

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7th IEEE/IFIP International Symposium on Integrated Network Management, IM 2001

作者： Sekkaki, A. Alvarez, L.M.C. Watanabe, W.T. Westphall, C.B. Department of Mathematics and Computer Science Faculty of Sciences - Ain Chock Hassan II University Casablanca Morocco Network and Management Laboratory Post-Graduate Program in Computer Science Federal University of Santa Catarina Caixa Postal 476 FlorianópolisSC88040-970 Brazil

ISBN: (纸本)0780367197

Concepts and principles of TINA (Telecommunications information Networking Architecture) are introduced with the objective of correcting problems of centralized service control and service data model existent in INs (intelligent networks). Now, it is becoming clear that future sophisticated services breaking away from the simple telephony call model, e.g., multimedia, multi-party conferencing, etc., will need to be rapidly and efficiently introduced, deployed, operated and managed. In this context, TINA developed a comprehensive architecture for multi-service networks that will support multimedia services. On the other hand, the provisioning of all the service management functionality for TINA services (i.e. FCAPS) is still an open research question. In this paper, we discuss accounting features and requirements, security of accounting management, and issues for their integration in a TINA-based service environment. A prototype has been implemented to validate the concepts and results are also presented. © 2001 IEEE.

关键词： Network architecture

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Feature-based image metamorphosis optimization algorithm

Feature-based image metamorphosis optimization algorithm

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International Conference on Virtual Systems and MultiMedia

作者： H. Karam A. Hassanien M. Nakajima Faculty of Science Mathematics & Computer Science Department Ain Shams University Cairo Egypt Faculty of Computer Science & Information Computer Science Department Cairo University Cairo Egypt Graduate School of Information Science & Engineering Tokyo Institute of Technology Meguro Japan

Image metamorphosis using simple features provides flexible and easy control of visual effects. The feature-based image metamorphosis algorithm proposed by Beier and Neely (1992) suffers from two problems; speed and strange effects. The paper presents an optimization technique to recover these problems in a reasonable time. The idea is based on local decomposition of metamorphosis into piecewise approximation and then applying the above technique to establish one-to-one correspondence to recover such effects. The combination of all mappings produces a foldover-free result as well as dominating the ghost effect. The results show that our implementation is efficient in time complexity, smoothly interpolates metamorphosis images with only a remarkably small number of specified feature points, and the speed of computations makes image metamorphosis animation reliable for interactive machines.

关键词： Animation Color Image segmentation User interfaces Interpolation Visual effects Piecewise linear approximation TV Videos Motion pictures

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A knowledge base for program debugging

A knowledge base for program debugging

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ACS/IEEE International Conference on computer Systems and Applications

作者： A. Tubaishat Faculty of Computer and Information Technology Jordan University of Science and Technology Irbid Jordan

ISBN: (纸本)0769511651

We present a Conceptual Model for Software Fault Localization (CMSFL), and an Automated Assistant (AASFL) called BUG-DOCTOR to aid programmers with the problem of software fault localization. A multi-dimensional approach is suggested with both shallow and deep reasoning phases to enhance the probability of localizing many types of faults. BUG-DOCTOR uses these two approaches and switches between them to localize the faults. The AASFL is being developed based on this theoretical model. It is programming language independent, capable of handling different programming styles and implementations.

关键词： Debugging Cognitive science programming profession computer languages Software maintenance information technology Switches computer architecture Testing Thumb

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Towards realistic modeling and rendering of 3-D escape-time deterministic fractal shapes

Towards realistic modeling and rendering of 3-D escape-time ...

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International Conference on Virtual Systems and MultiMedia

作者： H. Karam M. Nakajima Faculty of Science Mathematics& Computer ScienceDepartmentAbbassia Ain Shams University Cairo Egypt Graduate School of Information Science & Engineering Tokyo Institute of Technology Meguro Tokyo Japan

An escape-time method was introduced to generate the images of Julia and Mandelbrot sets and has been applied to visualize attractors of iterated function systems (IFS). Rendering deterministic fractal shapes by IFS escape-time methods suffer from some problems: the intersection of a ray with a fractal surface is not easy, surface normals are undefined, and the object aliases at all sampling resolutions. We propose a method called direct continuous escape-time for rendering deterministic fractals and attempt to recover these rendering problems in a reasonable time. The simple representation and the speed of computation of our algorithm makes rendering deterministic fractals reliable for interactive machines.

关键词： Fractals Shape Multimedia systems

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