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A Novel Robot Vision Employing a Silicon Retina

Journal of Robotics and Mechatronics 2001年第6期13卷 614-620页

作者： Shimonomura, Kazuhiro Kameda, Seiji Ishii, Kazuo Yagi, Tetsuya Faculty of Computer Science and Systems engineering Kyushu Institute of Technology Fukuoka Japan Department of Electronic Engineering Graduate School of Engineering Osaka University Osaka Japan Control Engineering and Science Department at Kyushu Institute of Technology Berkeley Japan Graduate School of Engineering Osaka University Berkeley Japan

A Robot vision system was designed using a silicon retina, which has been developed to mimick the parallel circuit structure of the vertebrate retina. The silicon retina used here is an analog CMOS very large-scale integrated circuit, which executes Laplacian-Gaussian like filtering on the image in real time. The processing is robust to change of illumination condition. Analog circuit modules were designed to detect the contour from the output image of the silicon retina and to binarize the output image. The images processed by the silicon retina as well as those by the analog circuit modules are received by the DOS/V-compatible mother-board with NTSC signal, which enables higher level processings using digital image processing techniques. This novel robot vision system can achieve real time and robust processings in natural illumination condition with a compact hardware and a low power consumption. © 2001, Fuji Technology Press. All rights reserved.

关键词： Field programmable gate arrays (FPGA)

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Stress Relaxation Behavior of Angle-Ply CFRP Laminate at Elevated Temperature

Stress Relaxation Behavior of Angle-Ply CFRP Laminate at Ele...

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第十三届国际复合材料会议

作者： M.Kawai Y.Masuko T.Kazama Institute of Engineering Mechanics and Systems University of Tsukuba Tsukuba 305-8573 JAPAN Graduate School of Systems and Information Engineering University of Tsukuba Master's Program in Science and Engineering University of Tsukuba

Introduction Polymers exhibit larger elongation and more significant rate- and time-dependent behavior at higher temperature [1]. To understand properties of polymer matrix composites and to correctly evaluate their performance characteristics, therefore, it is one of the most important issues to elucidate the time- and rate-dependent nonlinear behavior of polymer matrix composites at elevated temperature. The objective of the present study is to elucidate characteristics of the short-term stress relaxation behavior of angle-ply CFRP laminates at high temperature. The stress relaxation curves for various angle-ply laminates are presented. By the normalization with respect to the maximum stress at the beginning of each relaxation test, we obtain a master relaxation curve that is characterized by the off-axis time-dependent response of constituent unidirectional plies.

关键词： stress relaxation, angle-ply laminate, high-temperature, carbon fiber, epoxy

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U-Mart project: Learning economic principles from the bottom by both human and software agents 15th

U-Mart project: Learning economic principles from the bottom...

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15th International Workshop on Japanese Society for Artificial Intelligence, JSAI 2001

作者： Sato, Hiroshi Matsui, Hiroyuki Ono, Isao Kita, Hajime Terano, Takao Deguchi, Hiroshi Shiozawa, Yoshinori Dept. of Computer Science National Defence Academy Hashirimizu 1–10–20 YokosukaKanagawa Japan Graduate School of Economics Kyoto University Japan Faculty of Engineering University of Tokushima Japan National Institution for Academic Degrees Japan Graduate School of Systems Management University of Tsukuba Japan Faculty of Economics Osaka City University Japan

ISBN: (纸本)9783540455486

U-Mart is an interdisciplinary research program of agent-based artificial market. U-Mart proposes an open-type test bed to study trading strategies of agents, behavior of the market and their relationship. An experiment open to public (Pre U-Mart 2000) using the proposed system is held in August 2000. More than 40 software agents (computer programs for trading) from 11 teams participated in this experiment. This paper reports the outline of the experiment, the trading strategies of the participated agents and the results of the experiment. While Pre U-Mart 2000 treated only software agents, the U-Mart system is designed considering participation of the human players as well as the software agents. A gaming simulation by human using the U-Mart system held in Kyoto University is also introduced briefly. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Software agents

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A theoretical model for autism

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Journal of Theoretical Medicine 2001年第4期3卷 271-286页

作者： Vidal De Caralho, Luís Alfred De Carvalho Ferreifa, Níve Fiszman, Adriana Program of Systems Engineering and Computer Science RJ Brazil Institute of Psychiatry Rio de Janeiro Brazil

Autism is a mental disorder characterized by deficits in socialization, communication, and imagination. Along with the deficits, autistic children may show savant skills ("islets of ability") of unknown origin that puzzles their families and the psychologists. Comorbidity with epilepsy and mental retardation has brought the researchers' attention to neurobiological and cognitive theories of the syndrome. The present article proposes a neurobiological model for the autism based on the fundamental biological process of neuronal competition. A neural network capable of defining neural maps-synaptic projections preserving neighborhoods between two neural tissues-simulates the process of neurodevelopment. Experiments were performed reducing the level of neural growth factor released by the neurons, leading to ill-developed maps and suggesting the cause of the aberrant neurogenesis present in autism. The computer simulations hint that brain regions responsible for the formation of higher level representations are impaired in autistic patients. The lack of this integrated representation of the world would result in the peculiar cognitive deficits of socialization, communication, and imagination and could also explain some "islets of abilities", like excellent memory for raw data and stimuli discrimination. The neuronal model is based on plausible biological findings and on recently developed cognitive theories of autism. Close relations are established between the computational properties of the neural network model and the cognitive theory of autism denominated "weak central coherence", bringing some insight to the understanding of the disorder.

关键词： Autism Cortical maps Neural networks Neurodevelopment Plasticity Weak central coherence

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Learning relational rule from examples that are neither positive nor negative

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systems and computers in Japan 2001年第14期32卷 34-40页

作者： Ichise, Ryutaro Numao, Masayuki Knowledge Systems Research Intelligent Systems Research Division National Institute of Informatics Tokyo 101-8430 Japan Department of Computer Science Graduate School of Information Science and Engineering Tokyo Institute of Technology Tokyo 152-8552 Japan

Over the past decade, several inductive logic programming (ILP) systems have been developed. However, the normal ILP system does not have enough power to induce logic programs in some domains. Therefore, various new ILP systems, such as nonmonotonic ILP, that apply new learning tasks, have been proposed. In the present paper, a new learning task, called relational learning from nondichotomizable examples, is proposed for relational domains. The scheme of this task is similar to that of normal ILP, with the exception of the training examples. Normally, conventional ILP uses positive and negative examples in the training process. However, the examples of the proposed learning task are not strictly positive or negative: the training examples have a continuous scale. This new learning task is defined and a new method for learning this task is proposed. A new ILP system, SYNGIP (for SYNthesized system using Genetic programming and Inductive logic programming), is developed based on this method and the performance of SYNGIP is compared experimentally to that of the conventional ILP method for the task of human feeling acquisition. © 2001 Scripta Technica, Syst. Comp. Jpn.

关键词： Logic programming

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Achievement of essentially full spatial coherence in a high-average-power soft-x-ray laser

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Physical Review A 2001年第3期63卷 033802-033802页

作者： Y. Liu M. Seminario F. G. Tomasel C. Chang J. J. Rocca D. T. Attwood Applied Science and Technology Graduate Program University of California Berkeley California 94720 Center for X-ray Optics Lawrence Berkeley National Laboratory Berkeley California 94720 Department of Electrical and Computer Engineering Colorado State University Fort Collins Colorado 80523 Department of Electrical Engineering and Computer Science University of California Berkeley California 94720

We report an observation of essentially full spatial coherence in a high average power soft-x-ray laser. Rapid coherence buildup due to strong refractive antiguiding in a long plasma column is experimentally demonstrated. This allows the generation of fully coherent, milliwatt-level average power soft-x-ray radiation by a tabletop device. The peak brightness of this laser reaches 2×1025photonss−1mm−2mrad−2 within 0.01% spectral bandwidth, making it one of the brightest soft-x-ray sources available.

关键词： .full spatial high average coherence buildup plasma column degree of spatial

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Robust H/spl infin/ filter design for uncertain linear systems with multiple time-varying state delays

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IEEE Transactions on Signal Processing 2001年第3期49卷 569-576页

作者： C.E. de Souza R. Martinez Palhares P.L. Dias Peres Department of Systems and Control Laboratorio Nacional de Computacao Cientifica Petropolis Brazil Graduate Program in Electrical Engineering Pontifical Catholic University of Minas Gerais Belo Horizonte Brazil School of Electrical and Computer Engineering State University of Campinas-UNICAMP Campinas Brazil

The problem of robust H/spl infin/ filtering for continuous-time uncertain linear systems with multiple time-varying delays in the state variables is investigated. The uncertain parameters are supposed to belong to a given convex bounded polyhedral domain. The aim is to design a stable linear filter assuring asymptotic stability and a prescribed H/spl infin/ performance level for the filtering error system, irrespective of the uncertainties and the time delays. Sufficient conditions for the existence of such a filter are established in terms of linear matrix inequalities, which can be efficiently solved by means of powerful convex programming tools with global convergence assured. An example illustrates the proposed methodology.

关键词： Robustness Nonlinear filters Linear systems Filtering Time varying systems Asymptotic stability Uncertainty Delay effects Sufficient conditions Linear matrix inequalities

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Logic programming in a fragment of intuitionistic temporal linear logic 17

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17th International Conference on Logic programming, ICLP 2001

作者： Banbara, Mutsunori Kang, Kyoung-Sun Hirai, Takaharu Tamura, Naoyuki Department of Mathematics Nara National College of Technology 22 Yata Yamatokoriyama639-1080 Japan Department of Computer Engineering Pusan University of Foreign Studies 55-1 Uam-dong Nam-gu Pusan608-738 Korea Republic of Graduate School of Science and Technology Kobe University 1-1 Rokkodai Nada Kobe657-8501 Japan Department of Computer and Systems Engineering Kobe University 1-1 Rokkodai Nada Kobe657-8501 Japan

ISBN: (纸本)9783540429357

Recent development of logic programming languages based on linear logic suggests a successful direction to extend logic programming to be more expressive and more efficient. The treatment of formulasas- resources gives us not only powerful expressiveness, but also efficient access to a large set of data. However, in linear logic, whole resources are kept in one context, and there is no straight way to represent complex data structures as resources. For example, in order to represent an ordered list and time-dependent data, we need to put additional indices for each resource formula. This paper describes a logic programming language, called TLLP, based on intuitionistic temporal linear logic. This logic, an extension of linear logic with some features from temporal logics, allows the use of the modal operators ‘’(next-time) and ‘’(always) in addition to the operators used in intuitionistic linear logic. The intuitive meaning of modal operators is as follows: B means that B can be used exactly once at the next moment in time;B means that B can be used exactly once any time;!B means that B can be used arbitrarily many times (including 0 times) at any time. We first give a proof theoretic formulation of the logic of the TLLP language. We then present a series of resource management systems designed to implement not only interpreters but also compilers based on an extension of the standard WAM model. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Logic programming

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Hyperbolic Penalty: A New Method for Nonlinear programming with Inequalities

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International Transactions in Operational Research 2001年第6期8卷 659-671页

作者： Xavier, Adilson Elias Department of Systems Engineering and Computer Science Graduate School of Engineering (COPPE) Federal University of Rio de Janeiro Rio de Janeiro RJ 21945-970 Brazil

This work intends to present and to analyze a new penalty method that purposes to solve the general nonlinear programming problem subject to inequality constraints. The proposed method has the important feature of being completely differentiable and combines features of both exterior and interior penalty methods. Numerical results for some problems are commented on. International Federation of Operational Research Societies 2001.

关键词： Nonlinear programming Penalty methods

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Learning a coordinate transformation for a human visual feedback controller based on disturbance noise and the feedback error signal

Learning a coordinate transformation for a human visual feed...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： E. Oyama Nak Young Chong A. Agah T. Maeda S. Tachi K.F. MacDorman National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA School of Engineering University of Tokyo Bunkyo Tokyo Japan Department of Systems and Human Science Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan

ISBN: (纸本)0780365763

The speed, accuracy, and adaptability of human movement depends on the brain performing an inverse kinematics transformation-that is, a transformation from visual to joint angle coordinates-based on learning from experience. In human motion control, it is important to learn a feedback controller for the hand position error in the human inverse kinematics solver. This paper proposes a novel model that uses disturbance noise and the feedback error signal to learn coordinate transformations of the human visual feedback controller. The proposed model redresses drawbacks in current models because it does not rely on complex signal switching, which does not seem neurophysiologically plausible. Numerical simulations show the effectiveness of the model.

关键词： Humans Adaptive control Biological system modeling Error correction Thumb Fingers Inverse problems Kinematics Feedback Acceleration

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