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In order to understand the underwater environment, it is essential to use sensing methodologies able to perceive the three dimensional (3D) information of the explored site. Sonar sensors are commonly employed in underwater exploration. This paper presents a novel methodology able to retrieve 3D information of underwater objects. The proposed solution employs an acoustic camera, which represents the...
In recent Japanese society, we are facing a severe increase in the number of patients who suffer from motor paralysis and other dysfunctions. Establishing an effective rehabilitation system for them is important, and the key to attain this target is to clarify the mechanisms of one's body perception in the brain. The feeling of controlling our action and external event is an important aspect of body...
We propose a prediction method for lane changes in other vehicles. According to previous research, over 90 % of car crashes are caused by human mistakes, and lane changes are the main factor. Therefore, if an intelligent system can predict a lane change and alarm a driver before another vehicle crosses the center line, this can contribute to reducing the accident rate. The main contribution of this...
We propose a feature extraction method for lane changes of other traffic participants. According to previous research, over 90 % of car crashes are caused by human mistakes, and lane changes are the main factor. Therefore, if an intelligent system can predict a lane change and alarm a driver before another vehicle crosses the center line, this can contribute to reducing the accident rate. The main...
According to the proxemics, it is very important for pedestrians to keep themselves out of the personal spaces of others. The encroachment of the personal space usually causes discomfort, anxiety, or anger. In the human robot coexisting environment, the mobile robots are also expected to navigate like human beings and obey the motion conventions of human beings. Inspired by that, a pedestrian discomfort...
Car race drivers are always in dangerous and harsh environments. In order to reduce risks due to mental stress, it is important to evaluate stress during a car race in real-time. The present study measured three physiological indices, heart rate variability, sweat rate, and electromyogram of massester from a professional racer during a car race. However, the relation between these indices, and the...
To improve rehabilitation of the diseases which are caused by the mismatch between real body and body representation, it is necessary to understand the mechanism of body representation change. It is assumed that sense of agency and sense of ownership are closely-related with body representation and influence body representation change of the body parts without visual information. We focused on human...
Clustering on weighted networks needs consideration of particular techniques. Medoid-based clustering seems promising in this sense. Although K-medoids have already been studied, agglomerative hierarchical clustering using medoids should also be studied. A drawback of agglomerative hierarchical clustering is that large number of objects cannot be handled, while it has the advantage of having much...
This paper discusses an object handling system using three position-controlled manipulators. Mechanical compliance units are installed between each manipulator tip and its hand in order not to generate an excessive inner forces among manipulators caused by mutual positioning errors. From our previous studies, the kinematic conditions of the compliance units necessary for the position control based...
The aim of this paper is to propose a two-stage method of clustering in which the first stage uses one-pass k-median++ and the second stage uses an agglomerative hierarchical clustering. To handle medians in the second stage, we proposed two calculation methods. One method uses L1 distance as similarity. Another uses error of L1 distance like the Ward method. In this paper, we compared proposed method...
For smooth interaction between human and robot, the robot should have an ability to manipulate human attention and behaviors. In this study, we developed a visual attention model for manipulating human attention by a robot. The model consists of two modules, such as the saliency map generation module and manipulation map generation module. The saliency map describes the bottom-up effect of visual...
A teleoperation system for a crane is developed. The crane uses a small actuator and large actuator in each direction (x and y). The large actuator is controlled by input signals from a laser pointer interface, and the small actuator is used as a regulator and is feedback-controlled by a wire angle sensor. To avoid overshoots in the suspended object at the target point and to eliminate the effect...
In order for robots to safely move in human-robot coexisting environment, they must be able to predict their surrounding people's behavior. In this study, a pedestrian behavior model that produces humanlike behavior was developed. The model takes into account the pedestrian's intention. Based on the intention, the model pedestrian sets its subgoal and moves toward the subgoal according to virtual...
Path planning field for autonomous mobile robot is an optimization problem that involves computing a collision-free path between initial location and goal location. In this paper, we present an improved artificial potential field based regression search (Improved APF-based RS) method which can obtain a global sub-optimal/optimal path efficiently without local minima and oscillations in complete known...
Human cognitive and psychological characteristics should be considered for design of user interfaces. In this study, the relationship between the sense of agency and the task performance was examined through an experiment. The experimental task was target-searching by controlling a joystick. In the experiment, temporal delay of visual feedback was set to indirectly control the participants' sense...
Dynamical mobile task allocation, by which tasks can move randomly before they are assigned robots to execute. For such a new task assignment domain, we propose a hybrid dynamic mobile task allocation and reallocation method that combines our previous proposed dynamical sequential method and global optimal method. Robots bid for tasks and transmit the costs to other robots. Then all robots select...
In order to operate mobile robot that can coexist with human, it is necessary to strike a balance between safety and efficiency. It is effective to make a prediction about when and where human exist from data of pedestrian movement and environment. Then, we need to know how the configuration of environment effects pedestrian. This paper presents a measuring system of pedestrian movement tendency,...
We previous proposed a dynamical sequential task allocation and reallocation method to resolve a new task assignment domain: dynamical mobile task allocation, by which tasks can move randomly before they are assigned robots to execute, is the condition in which tasks and robots are allowed to be time-dependent before assigned robots to accomplish the relational tasks. It was demonstrated that our...
We firstly consider a kind of dynamical mobile task assignment problem, which allows the condition of tasks and robots to be time dependent before assigned robots accomplish the relational tasks. For such new domain, we propose two methods, one is called dynamical sequential task allocation and reallocation, and another is global optimal task allocation and reallocation, for the distributed multi-robot...
Recently, the falsification attack to bury an illegal script under the Web site by using SQL injection becomes a problem. Authors previously proposed the detection method by the algorithm made based on the site title actually obtained through the survey of a falsification site and an illegal script and the analysis data of the description pattern of the script. In this study, we improved the method...
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