29_10_05.dvi
|
|
- しょうこ あかさか
- 4 years ago
- Views:
Transcription
1 954 Vol. 9 No. 10, pp.954 9, 011 Development of Air Hockey Robot tat Makes a Decision based on Game Situation Sakyo Matsusita and Akio Namiki Tis paper proposes a robot wic can play air ockey game wit a uman. Te robot consists of a 4-axis robot arm and a ig-speed vision, and te robot is controlled based on visual information at a rate of 500 [Hz]. Te robot system as te abilities to adjust te strengt level and to cange te strategy based on te game situation. A system designer can easily adjust tese abilities by setting several specified parameters. In tis paper, first, a recursive trajectory generation using continuous images from ig-speed vision is explained. Secondly, te response control to adjust te strengt level of te robot is explained. Tirdly, te decision-making using AHP (Analytic Hierarcy Process) is proposed. Tis ability enable te robot to switc te game plan. Finally, we sow te data of experiments and verify te effectiveness of te system. Key Words: Air Hockey, Response Control, AHP, Hig Speed Vision 1. [1] Bisop [] [3] Bentivegna [4] Wang [5] Nuvation Researc [] Ciba University, Graduate Scool of Engineering Fig. 1 Decision making for robot Fig. 1 AHP Analytic Hierarcy Process.. 1 Barrett Arm Barrett Tecnology Inc Barrett Arm 4-DOF [7] JRSJ Vol. 9 No Dec., 011
2 955 Table 1 Parameters of te air ockey robot system H Heigt of te Hockey Table [m] 0.80 W Widt of te Hockey Table [m] 0.9 D Dept of te Hockey Table [m] 1.99 W g Widt of Goal [m] 0.1 d p Puck Diameter [mm] 81.0 d p Smaser Diameter [mm] 3.0 l 1 Lengt of Link1 [m] 0.55 l Lengt of Link [m] 0.4 Fig. Air ockey robot system Fig. 4 System configuration Fig. 3 Air ockey table and robot CAN Barrett Arm 4. Potron IDP Express [8] 50 10,000 [fps] 500 [fps] Fig. Barrett Arm Barrett Arm Barrett Arm Fig. 3 Table 1. 4 Fig. 4 Vision PC Vision PC GPU Grapics Processing Unit Geforce GTX 95 CUDA Host PC Barrett Arm MATLAB Real Time Worksop Target PC xpc Target CAN Barrett Arm Vision PC Target PC Barrett Arm 500 [Hz] (i, j) Δf n(i, j) f b (i, j) f(i, j) ˆf(i, j) ˆf(i, j) = ( 1:if f(i, j) <f b (i, j) 1 Δfn(i, j) 0:if f(i, j) f b (i, j) 1 Δfn(i, j) 1 CUDA
3 95 3. (x p,y p) t x p = a 1t + a 0 y p = b 1t + b 0 3 a 1,a 0,b 1,b a 1,a 0,b 1,b [Hz] a 1,a 0,b 1,b 0 y y p 3 t x x p t = y p b 0 b 1 x p = a 1t + a (x p,y p ) (x p,y p ) d p d s (x s,y s ) " # " # x s x p = y s y p dp+ds 1 0 x â 1, â 0 â 1 = a 1 â 0 =sgn(a 1)x lim a x p x lim x lim y [fps] 3. 3 (x s,y s ) (ẋ s, ẏ s ) ẏ s =0 ẏ s > 0 (ẋ s, ẏ s ) t q q (x s,y s ) (ẋ s, ẏ s ) )t 0 q 0 q 0 t q q t q T t 0 t 0 t 0 α 0 β 0 q T 3 4 q T 7 5 = 1 t t t α 1 β t 0 3t α β t 3t α 3 β 3 q T 9 α i β i(i =0 4) q ref 3 " # 1 α 0 α 1 α α 3 t q ref = β 0 β 1 β β 3 4 t t = t 3. 4 Barrett Arm [9] Fig. 5 M(q) q + (q, q)+g(q) =τ t 3 11 M(q) (q, q) g(q) u q τ = (q, q)+g(q)+m(q)u q q = u q 1 13 u q = q ref + K D( q ref q)+k P (q ref q) JRSJ Vol. 9 No Dec., 011
4 957 Fig. 5 Computed torque metod Fig. 7 Evaluations on te scales wic are different 5. 1 AHP Fig. Bode diagram of transfer function from q ref to q α(0 α 1) 14 α α 0 0 α 1 14 α K 1 K K 3 u q = K 3 q ref + K D(K q ref q)+k P K 1(q ref q) q ref q Q = K3s + K DK s + K P K 1 1 Q ref s + K Ds + K P K 1 1 K 1(α) =K (α) =K 3(α) =α α Fig. Fig. α 1 K 1 K K 3 α 5. Coice Criterion Fig. 7 AHP Analytic Hierarcy Process: [10] [11] AHP
5 958 C C 3 C Fig. 8 AHP for air ockey Fig. 8 C 5 1/5 C C 1 = 4 1/ /7 1/ , λ max(c 1) W C1 4 C.I. C.I. = λmax(c1) m m 1 18 m C.I. 0.1 C 1 C.I C 1 W C1 W C W C3 W C4 W i W = W C W C3 W C4 W C1 = w 1 w w 3 19 w 1 w w 3 w 1 w w 3 5. AHP AHP Fig. 8 x R x R = R a R b 0 R a R b C 1 x R C 1(x R) x E x E = v p d a d b 1 v p d a d b y s =0.15[m] y s = 0.07 [m] y s C C 3 C 4 x E C (x E) C 3(x E) C 4(x E) 5. 3 C x 3 C(x) = 4 W 11(x) W 1q(x) W q1(x) W qq(x) 7 5 (i, j =1,,...,q) 1,Wji(x) =Wij (x) q i <j x n x = x 1 x x n 1 3 JRSJ Vol. 9 No Dec., 011
6 959 C x n +1 k x (k =1,,...,n +1) k C k n +1 C(x) k C C(x) k W ij W ij(x) k W ij( k x)= k W ij (k =1,,, n +1) 4 W ij(x) AHP W ij(x) > 0 W ij(x) W ij(x) =exp(a T ij x/b T ij x) 5 a ij b ij a ij b ij (i, j) a ij b ij 5 C(x) k 4 5 a ij b ij 5 k x 4 a ij b ij k W ij =exp( k x T a ij/ k x T b ij) k x T a ij =(ln k W ij) k x T b ij 7 k =1,,...,n +1 7 Xa ij = Y b ij 8 X = 1 x x n+1 x 9 Y = y 1 y y n+1 30 y k =(ln k W ij) k x 31 X Y R (n+1) (n+1) a ij b ij R n+1 8 Zc ij = 0 i Z = X Y c ij = a ij T b ij T Z R (n+1) (n+) c ij R n+ 3 c ij c ij l 1 c ij l ĉ ij R n+1 Z l Ẑ Fig. 9 Flow cart of AHP Table Designed values ( k W 1, k W 13, k W 3 )about k C 1 k k R a k R b k W 1 k W 13 k W /3 1/ / / Table 3 Calculated coefficient vectors in C 1 (x R ) W 1 (x R ) W 13 (x R ) W 3 (x R ) a ij b ij R (n+1) (n+1) l z l R n+1 3 Ẑĉ ij = z l 35 Ẑ Ẑ 1 ĉ ij Ẑ k C ĉ ij l 1 34 a ij b ij x AHP AHP Fig. 9 C 1 n = C C 3 C 4 n =3 q =3 C 1 4 Table k W 1 k W 13 k W 3 Table a ij b ij Table 3 C C 3 C Fig
7 90 Fig. 10 Block diagram of all of te system.. 1 Fig. 11 Fig. 13 Fig. 14 Fig. 15 Fig Fig. 13 Fig. 14 Fig. 15 y 0. α = {1.00, 0.5, 0.0, 0.10} 3 Fig. 1 α =1.00 α Fig.. 3 R a R b Fig. 1 Fig. 17 Fig. 18 Fig. 1 Fig. 17 Fig. 18 R a R b R a R b 100 R a R b (a) t =0.0[s] (b) t =0.1[s] (c) t =0.[s] (d) t =0.3[s] (e) t =0.4[s] (f) t =0.5[s] (g) t =0.[s] () t =0.7[s] (i) t =0.8[s] Fig. 11 Attack motion Fig. 1 Motion by different value of α R a R b JRSJ Vol. 9 No Dec., 011
8 91 Fig. 13 Trajectories of te puck and te mallet (Attack motions) Fig. 14 Trajectories of te puck and te mallet (Block motions) Fig. 15 Trajectories of te puck and te mallet (Disregard motions)
9 9 Fig. 1 Fig. 17 Frequency istogram (Attack motion) Frequency istogram (Block motion) 7. 1 AHP [1] [ ] B.E. Bisop and M.W. Spong: Vision-Based Control of an Air Hockey Playing Robot, IEEE Control Systems Magazine, pp.3 3, [3] PC 8 SI007 pp , 007. [ 4 ] D.C. Bentivegna, C.G. Atkeson and G. Ceng: A Framework for Learning from Observation using Primitives, vol., no., pp , 004. [ 5 ] W.-J. Wang, I. Tsai, Z.-D. Cen and G.-H. Wang: A vision based air ockey system wit fuzzy control, IEEE Int. Conf. on Control Applications, vol., no.4, pp , 00. [ ] Nuvation Researc Air-HockeyBot 1000: Nuvation introduces a robot tat aims to top umans playing air ockey, Nuvation Current Headlines, [ 7 ] Barrett Tecnology URL : ttp:// [8] I.Isii,T.Tatebe,Q.Gu,Y.Moriue,T.TakakiandK.Tajima: 000 fps Real-time Vision System wit Hig-frame-rate Video Recording, Proc. of te 010 IEEE International Conference on Robotics and Automation (ICRA010), pp , 010. [9] [10] AHP 000. [11] AHP 000. Sakyo Matsusita Fig. 18 Frequency istogram (Disregard motion) Akio Namiki JRSJ Vol. 9 No Dec., 011
1 Fig. 1 Extraction of motion,.,,, 4,,, 3., 1, 2. 2.,. CHLAC,. 2.1,. (256 ).,., CHLAC. CHLAC, HLAC. 2.3 (HLAC ) r,.,. HLAC. N. 2 HLAC Fig. 2
CHLAC 1 2 3 3,. (CHLAC), 1).,.,, CHLAC,.,. Suspicious Behavior Detection based on CHLAC Method Hideaki Imanishi, 1 Toyohiro Hayashi, 2 Shuichi Enokida 3 and Toshiaki Ejima 3 We have proposed a method for
More informationSICE東北支部研究集会資料(2012年)
77 (..3) 77- A study on disturbance compensation control of a wheeled inverted pendulum robot during arm manipulation using Extended State Observer Luis Canete Takuma Sato, Kenta Nagano,Luis Canete,Takayuki
More information4. C i k = 2 k-means C 1 i, C 2 i 5. C i x i p [ f(θ i ; x) = (2π) p 2 Vi 1 2 exp (x µ ] i) t V 1 i (x µ i ) 2 BIC BIC = 2 log L( ˆθ i ; x i C i ) + q
x-means 1 2 2 x-means, x-means k-means Bayesian Information Criterion BIC Watershed x-means Moving Object Extraction Using the Number of Clusters Determined by X-means Clustering Naoki Kubo, 1 Kousuke
More information第 55 回自動制御連合講演会 2012 年 11 月 17 日,18 日京都大学 1K403 ( ) Interpolation for the Gas Source Detection using the Parameter Estimation in a Sensor Network S. T
第 55 回自動制御連合講演会 212 年 11 月 日, 日京都大学 1K43 () Interpolation for the Gas Source Detection using the Parameter Estimation in a Sensor Network S. Tokumoto, T. Namerikawa (Keio Univ. ) Abstract The purpose of
More information特-3.indd
Development of Automation Technology for Precision Finishing Works Employing a Robot Arm There is demand for the automation of finishing processes that require technical skills in the manufacturing of
More informationInput image Initialize variables Loop for period of oscillation Update height map Make shade image Change property of image Output image Change time L
1,a) 1,b) 1/f β Generation Method of Animation from Pictures with Natural Flicker Abstract: Some methods to create animation automatically from one picture have been proposed. There is a method that gives
More information2). 3) 4) 1.2 NICTNICT DCRA Dihedral Corner Reflector micro-arraysdcra DCRA DCRA DCRA 3D DCRA PC USB PC PC ON / OFF Velleman K8055 K8055 K8055
1 1 1 2 DCRA 1. 1.1 1) 1 Tactile Interface with Air Jets for Floating Images Aya Higuchi, 1 Nomin, 1 Sandor Markon 1 and Satoshi Maekawa 2 The new optical device DCRA can display floating images in free
More information5D1 SY0004/14/ SICE 1, 2 Dynamically Consistent Motion Design of Humanoid Robots even at the Limit of Kinematics Kenya TANAKA 1 and Tomo
5D1 SY4/14/-485 214 SICE 1, 2 Dynamically Consistent Motion Design of Humanoid Robots even at the Limit of Kinematics Kenya TANAKA 1 and Tomomichi SUGIHARA 2 1 School of Engineering, Osaka University 2-1
More information& Vol.5 No (Oct. 2015) TV 1,2,a) , Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Ro
TV 1,2,a) 1 2 2015 1 26, 2015 5 21 Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Rotation Using Mobile Device Hiroyuki Kawakita 1,2,a) Toshio Nakagawa 1 Makoto Sato
More informationIP IIS Construction of Overhead View Images by Estimating Intrinsic and Extrinsic Camera Parameters of Multiple Fish-Eye Cameras Shota Kas
I-08- IIS-08- Construction of Overead View Images by Estimating Intrinsic and Extrinsic Camera arameters of Multiple Fis-Eye Cameras Sota Kase, Ryota Okutsu, Hisanori Mitsumoto (Cuo University) Yoei Aragaki,
More information2. CABAC CABAC CABAC 1 1 CABAC Figure 1 Overview of CABAC 2 DCT 2 0/ /1 CABAC [3] 3. 2 値化部 コンテキスト計算部 2 値算術符号化部 CABAC CABAC
H.264 CABAC 1 1 1 1 1 2, CABAC(Context-based Adaptive Binary Arithmetic Coding) H.264, CABAC, A Parallelization Technology of H.264 CABAC For Real Time Encoder of Moving Picture YUSUKE YATABE 1 HIRONORI
More information23 The Study of support narrowing down goods on electronic commerce sites
23 The Study of support narrowing down goods on electronic commerce sites 1120256 2012 3 15 i Abstract The Study of support narrowing down goods on electronic commerce sites Masaki HASHIMURA Recently,
More informationIPSJ SIG Technical Report Vol.2014-CG-155 No /6/28 1,a) 1,2,3 1 3,4 CG An Interpolation Method of Different Flow Fields using Polar Inter
,a),2,3 3,4 CG 2 2 2 An Interpolation Method of Different Flow Fields using Polar Interpolation Syuhei Sato,a) Yoshinori Dobashi,2,3 Tsuyoshi Yamamoto Tomoyuki Nishita 3,4 Abstract: Recently, realistic
More informationMmUm+FopX m Mm+Mop F-Mm(Fop-Mopum)M m+mop MSuS+FX S M S+MOb Fs-Ms(Mobus-Fex)M s+mob Fig. 1 Particle model of single degree of freedom master/ slave sy
Analysis and Improvement of Digital Control Stability for Master-Slave Manipulator System Koichi YOSHIDA* and Tetsuro YABUTA* Some bilateral controls of master-slave system have been designed, which can
More informationFig. 3 Flow diagram of image processing. Black rectangle in the photo indicates the processing area (128 x 32 pixels).
Fig. 1 The scheme of glottal area as a function of time Fig. 3 Flow diagram of image processing. Black rectangle in the photo indicates the processing area (128 x 32 pixels). Fig, 4 Parametric representation
More information1 Web [2] Web [3] [4] [5], [6] [7] [8] S.W. [9] 3. MeetingShelf Web MeetingShelf MeetingShelf (1) (2) (3) (4) (5) Web MeetingShelf
1,a) 2,b) 4,c) 3,d) 4,e) Web A Review Supporting System for Whiteboard Logging Movies Based on Notes Timeline Taniguchi Yoshihide 1,a) Horiguchi Satoshi 2,b) Inoue Akifumi 4,c) Igaki Hiroshi 3,d) Hoshi
More informationuntitled
29 10 1 2011 12 JRSJ Vol. 29 No. 10 2 Dec., 2011 29 10 3 2011 12 JRSJ Vol. 29 No. 10 4 Dec., 2011 29 10 5 2011 12 JRSJ Vol. 29 No. 10 6 Dec., 2011 29 10 7 2011 12 JRSJ Vol. 29 No. 10 8 Dec., 2011 29 10
More informationit-ken_open.key
深層学習技術の進展 ImageNet Classification 画像認識 音声認識 自然言語処理 機械翻訳 深層学習技術は これらの分野において 特に圧倒的な強みを見せている Figure (Left) Eight ILSVRC-2010 test Deep images and the cited4: from: ``ImageNet Classification with Networks et
More information1 Table 1: Identification by color of voxel Voxel Mode of expression Nothing Other 1 Orange 2 Blue 3 Yellow 4 SSL Humanoid SSL-Vision 3 3 [, 21] 8 325
社団法人人工知能学会 Japanese Society for Artificial Intelligence 人工知能学会研究会資料 JSAI Technical Report SIG-Challenge-B3 (5/5) RoboCup SSL Humanoid A Proposal and its Application of Color Voxel Server for RoboCup SSL
More informationProceedings of the 61st Annual Conference of the Institute of Systems, Control and Information Engineers (ISCIE), Kyoto, May 23-25, 2017 The Visual Se
The Visual Servo Control of Drone in Consideration of Dead Time,, Junpei Shirai and Takashi Yamaguchi and Kiyotsugu Takaba Ritsumeikan University Abstract Recently, the use of drones has been expected
More information光学
Range Image Sensors Using Active Stereo Methods Kazunori UMEDA and Kenji TERABAYASHI Active stereo methods, which include the traditional light-section method and the talked-about Kinect sensor, are typical
More informationIPSJ SIG Technical Report Vol.2012-IS-119 No /3/ Web A Multi-story e-picture Book with the Degree-of-interest Extraction Function
1 2 2 3 4 2 Web A Multi-story e-picture Book with the Degree-of-interest Extraction Function Kunimichi Shibata, 1 Masakuni Moriyama, 2 Kazuhide Yukawa, 2 Koji Ueno, 3 Kazuo Takahashi 4 and Shigeo Kaneda
More informationID 3) 9 4) 5) ID 2 ID 2 ID 2 Bluetooth ID 2 SRCid1 DSTid2 2 id1 id2 ID SRC DST SRC 2 2 ID 2 2 QR 6) 8) 6) QR QR QR QR
Vol. 51 No. 11 2081 2088 (Nov. 2010) 2 1 1 1 which appended specific characters to the information such as identification to avoid parity check errors, before QR Code encoding with the structured append
More information1, 2, 2, 2, 2 Recovery Motion Learning for Single-Armed Mobile Robot in Drive System s Fault Tauku ITO 1, Hitoshi KONO 2, Yusuke TAMURA 2, Atsushi YAM
1, 2, 2, 2, 2 Recovery Motion Learning for Single-Armed Mobile Robot in Drive System s Fault Tauku ITO 1, Hitoshi KONO 2, Yusuke TAMURA 2, Atsushi YAMASHITA 2 and Hajime ASAMA 2 1 Department of Precision
More information,,,,., C Java,,.,,.,., ,,.,, i
24 Development of the programming s learning tool for children be derived from maze 1130353 2013 3 1 ,,,,., C Java,,.,,.,., 1 6 1 2.,,.,, i Abstract Development of the programming s learning tool for children
More informationVol. 42 No. SIG 8(TOD 10) July HTML 100 Development of Authoring and Delivery System for Synchronized Contents and Experiment on High Spe
Vol. 42 No. SIG 8(TOD 10) July 2001 1 2 3 4 HTML 100 Development of Authoring and Delivery System for Synchronized Contents and Experiment on High Speed Networks Yutaka Kidawara, 1 Tomoaki Kawaguchi, 2
More informationIPSJ SIG Technical Report iphone iphone,,., OpenGl ES 2.0 GLSL(OpenGL Shading Language), iphone GPGPU(General-Purpose Computing on Graphics Proc
iphone 1 1 1 iphone,,., OpenGl ES 2.0 GLSL(OpenGL Shading Language), iphone GPGPU(General-Purpose Computing on Graphics Processing Unit)., AR Realtime Natural Feature Tracking Library for iphone Makoto
More informationIPSJ SIG Technical Report Vol.2016-CE-137 No /12/ e β /α α β β / α A judgment method of difficulty of task for a learner using simple
1 2 3 4 5 e β /α α β β / α A judgment method of difficulty of task for a learner using simple electroencephalograph Katsuyuki Umezawa 1 Takashi Ishida 2 Tomohiko Saito 3 Makoto Nakazawa 4 Shigeichi Hirasawa
More informationDPA,, ShareLog 3) 4) 2.2 Strino Strino STRain-based user Interface with tacticle of elastic Natural ObjectsStrino 1 Strino ) PC Log-Log (2007 6)
1 2 1 3 Experimental Evaluation of Convenient Strain Measurement Using a Magnet for Digital Public Art Junghyun Kim, 1 Makoto Iida, 2 Takeshi Naemura 1 and Hiroyuki Ota 3 We present a basic technology
More information258 5) GPS 1 GPS 6) GPS DP 7) 8) 10) GPS GPS 2 3 4 5 2. 2.1 3 1) GPS Global Positioning System
Vol. 52 No. 1 257 268 (Jan. 2011) 1 2, 1 1 measurement. In this paper, a dynamic road map making system is proposed. The proposition system uses probe-cars which has an in-vehicle camera and a GPS receiver.
More informationJFE.dvi
,, Department of Civil Engineering, Chuo University Kasuga 1-13-27, Bunkyo-ku, Tokyo 112 8551, JAPAN E-mail : atsu1005@kc.chuo-u.ac.jp E-mail : kawa@civil.chuo-u.ac.jp SATO KOGYO CO., LTD. 12-20, Nihonbashi-Honcho
More informationIEEE HDD RAID MPI MPU/CPU GPGPU GPU cm I m cm /g I I n/ cm 2 s X n/ cm s cm g/cm
Neutron Visual Sensing Techniques Making Good Use of Computer Science J-PARC CT CT-PET TB IEEE HDD RAID MPI MPU/CPU GPGPU GPU cm I m cm /g I I n/ cm 2 s X n/ cm s cm g/cm cm cm barn cm thn/ cm s n/ cm
More information28 Horizontal angle correction using straight line detection in an equirectangular image
28 Horizontal angle correction using straight line detection in an equirectangular image 1170283 2017 3 1 2 i Abstract Horizontal angle correction using straight line detection in an equirectangular image
More informationIPSJ SIG Technical Report Vol.2012-CG-148 No /8/29 3DCG 1,a) On rigid body animation taking into account the 3D computer graphics came
3DCG 1,a) 2 2 2 2 3 On rigid body animation taking into account the 3D computer graphics camera viewpoint Abstract: In using computer graphics for making games or motion pictures, physics simulation is
More informationIPSJ SIG Technical Report Pitman-Yor 1 1 Pitman-Yor n-gram A proposal of the melody generation method using hierarchical pitman-yor language model Aki
Pitman-Yor Pitman-Yor n-gram A proposal of the melody generation method using hierarchical pitman-yor language model Akira Shirai and Tadahiro Taniguchi Although a lot of melody generation method has been
More informationTable 1. Assumed performance of a water electrol ysis plant. Fig. 1. Structure of a proposed power generation system utilizing waste heat from factori
Proposal and Characteristics Evaluation of a Power Generation System Utilizing Waste Heat from Factories for Load Leveling Pyong Sik Pak, Member, Takashi Arima, Non-member (Osaka University) In this paper,
More informationTF-IDF TDF-IDF TDF-IDF Extracting Impression of Sightseeing Spots from Blogs for Supporting Selection of Spots to Visit in Travel Sat
1 1 2 1. TF-IDF TDF-IDF TDF-IDF. 3 18 6 Extracting Impression of Sightseeing Spots from Blogs for Supporting Selection of Spots to Visit in Travel Satoshi Date, 1 Teruaki Kitasuka, 1 Tsuyoshi Itokawa 2
More information( ) [1] [4] ( ) 2. [5] [6] Piano Tutor[7] [1], [2], [8], [9] Radiobaton[10] Two Finger Piano[11] Coloring-in Piano[12] ism[13] MIDI MIDI 1 Fig. 1 Syst
情報処理学会インタラクション 2015 IPSJ Interaction 2015 15INT014 2015/3/7 1,a) 1,b) 1,c) Design and Implementation of a Piano Learning Support System Considering Motivation Fukuya Yuto 1,a) Takegawa Yoshinari 1,b) Yanagi
More information2 ( ) i
25 Study on Rating System in Multi-player Games with Imperfect Information 1165069 2014 2 28 2 ( ) i ii Abstract Study on Rating System in Multi-player Games with Imperfect Information Shigehiko MORITA
More information第62巻 第1号 平成24年4月/石こうを用いた木材ペレット
Bulletin of Japan Association for Fire Science and Engineering Vol. 62. No. 1 (2012) Development of Two-Dimensional Simple Simulation Model and Evaluation of Discharge Ability for Water Discharge of Firefighting
More information2003/3 Vol. J86 D II No.3 2.3. 4. 5. 6. 2. 1 1 Fig. 1 An exterior view of eye scanner. CCD [7] 640 480 1 CCD PC USB PC 2 334 PC USB RS-232C PC 3 2.1 2
Curved Document Imaging with Eye Scanner Toshiyuki AMANO, Tsutomu ABE, Osamu NISHIKAWA, Tetsuo IYODA, and Yukio SATO 1. Shape From Shading SFS [1] [2] 3 2 Department of Electrical and Computer Engineering,
More information2.2 (a) = 1, M = 9, p i 1 = p i = p i+1 = 0 (b) = 1, M = 9, p i 1 = 0, p i = 1, p i+1 = 1 1: M 2 M 2 w i [j] w i [j] = 1 j= w i w i = (w i [ ],, w i [
RI-002 Encoding-oriented video generation algorithm based on control with high temporal resolution Yukihiro BANDOH, Seishi TAKAMURA, Atsushi SHIMIZU 1 1T / CMOS [1] 4K (4096 2160 /) 900 Hz 50Hz,60Hz 240Hz
More informationIPSJ SIG Technical Report Vol.2011-EC-19 No /3/ ,.,., Peg-Scope Viewer,,.,,,,. Utilization of Watching Logs for Support of Multi-
1 3 5 4 1 2 1,.,., Peg-Scope Viewer,,.,,,,. Utilization of Watching Logs for Support of Multi-View Video Contents Kosuke Niwa, 1 Shogo Tokai, 3 Tetsuya Kawamoto, 5 Toshiaki Fujii, 4 Marutani Takafumi,
More informationIPSJ SIG Technical Report Vol.2011-MUS-91 No /7/ , 3 1 Design and Implementation on a System for Learning Songs by Presenting Musical St
1 2 1, 3 1 Design and Implementation on a System for Learning Songs by Presenting Musical Structures based on Phrase Similarity Yuma Ito, 1 Yoshinari Takegawa, 2 Tsutomu Terada 1, 3 and Masahiko Tsukamoto
More informationIPSJ SIG Technical Report Vol.2014-HCI-158 No /5/22 1,a) 2 2 3,b) Development of visualization technique expressing rainfall changing conditions
1,a) 2 2 3,b) Development of visualization technique expressing rainfall changing conditions with a still picture Yuuki Hyougo 1,a) Hiroko Suzuki 2 Tadanobu Furukawa 2 Kazuo Misue 3,b) Abstract: In order
More informationKII, Masanobu Vol.7 No Spring
KII, Masanobu 1 2 3 4 5 2 2.1 1945 60196075 19759019904 002 Vol.7 No.1 2004 Spring 1194560 1 1946 2 195328 3 4 1958 1960 2196075 5 6 7 8 1946 2 1972 1/23/4 1974 1968481973 1969 3197590 9 1980 1987 41990
More information5) 2. Geminoid HI-1 6) Telenoid 7) Geminoid HI-1 Geminoid HI-1 Telenoid Robot- PHONE 8) RobotPHONE 11 InterRobot 9) InterRobot InterRobot irt( ) 10) 4
Remote Hand Clapping Transmission Using Hand Clapping Machines on Live Video Streaming Masato Takahashi, Yuto Kumon,ShuheyTakeda and Masahiko Inami Abstract We propose a remote transmission system of hand
More information(3.6 ) (4.6 ) 2. [3], [6], [12] [7] [2], [5], [11] [14] [9] [8] [10] (1) Voodoo 3 : 3 Voodoo[1] 3 ( 3D ) (2) : Voodoo 3D (3) : 3D (Welc
1,a) 1,b) Obstacle Detection from Monocular On-Vehicle Camera in units of Delaunay Triangles Abstract: An algorithm to detect obstacles by using a monocular on-vehicle video camera is developed. Since
More information20 Method for Recognizing Expression Considering Fuzzy Based on Optical Flow
20 Method for Recognizing Expression Considering Fuzzy Based on Optical Flow 1115084 2009 3 5 3.,,,.., HCI(Human Computer Interaction),.,,.,,.,.,,..,. i Abstract Method for Recognizing Expression Considering
More informationB HNS 7)8) HNS ( ( ) 7)8) (SOA) HNS HNS 4) HNS ( ) ( ) 1 TV power, channel, volume power true( ON) false( OFF) boolean channel volume int
SOA 1 1 1 1 (HNS) HNS SOA SOA 3 3 A Service-Oriented Platform for Feature Interaction Detection and Resolution in Home Network System Yuhei Yoshimura, 1 Takuya Inada Hiroshi Igaki 1, 1 and Masahide Nakamura
More information9_18.dvi
Vol. 49 No. 9 3180 3190 (Sep. 2008) 1, 2 3 1 1 1, 2 4 5 6 1 MRC 1 23 MRC Development and Applications of Multiple Risk Communicator Ryoichi Sasaki, 1, 2 Yuu Hidaka, 3 Takashi Moriya, 1 Katsuhiro Taniyama,
More information9.プレゼン資料(小泉)R1
1 Me-DigIT 2 TRO, TMECH Interesting Readings IJMRCAS, TUFFC The Most 3., etc.. etc.. etc. 4 TRO09 5 J TRO09 The Most Interesting Readings J http://www.learner.org/interactives/renaissance/printing.html
More informationPerrett et al.,,,, Fig.,, E I, 76
Attempting to Express Strong-impression Face Images from Features of Spatial Frequency: A Consideration of Billiken Statues and Bijin-ga Sakura Torii abstract It is difficult to express the psychological
More informationa) Extraction of Similarities and Differences in Human Behavior Using Singular Value Decomposition Kenichi MISHIMA, Sayaka KANATA, Hiroaki NAKANISHI a
a) Extraction of Similarities and Differences in Human Behavior Using Singular Value Decomposition Kenichi MISHIMA, Sayaka KANATA, Hiroaki NAKANISHI a), Tetsuo SAWARAGI, and Yukio HORIGUCHI 1. Johansson
More information5b_08.dvi
, Circularly Polarized Patch Antennas Combining Different Shaped Linealy Polarized Elements Takanori NORO,, Yasuhiro KAZAMA, Masaharu TAKAHASHI, and Koichi ITO 1. GPS LAN 10% [1] Graduate School of Science
More informationIIC Proposal of Range Extension Control System by Drive and Regeneration Distribution Based on Efficiency Characteristic of Motors for Electric
IIC-1-19 Proposal of Range Extension Control System by Drive and Regeneration Distribution Based on Efficiency Characteristic of Motors for Electric Vehicle Toru Suzuki, Hiroshi Fujimoto (Yokohama National
More information17 Proposal of an Algorithm of Image Extraction and Research on Improvement of a Man-machine Interface of Food Intake Measuring System
1. (1) ( MMI ) 2. 3. MMI Personal Computer(PC) MMI PC 1 1 2 (%) (%) 100.0 95.2 100.0 80.1 2 % 31.3% 2 PC (3 ) (2) MMI 2 ( ),,,, 49,,p531-532,2005 ( ),,,,,2005,p66-p67,2005 17 Proposal of an Algorithm of
More information28 TCG SURF Card recognition using SURF in TCG play video
28 TCG SURF Card recognition using SURF in TCG play video 1170374 2017 3 2 TCG SURF TCG TCG OCG SURF Bof 20 20 30 10 1 SURF Bag of features i Abstract Card recognition using SURF in TCG play video Haruka
More information光学
Fundamentals of Projector-Camera Systems and Their Calibration Methods Takayuki OKATANI To make the images projected by projector s appear as desired, it is e ective and sometimes an only choice to capture
More informationKey Words: probabilisic scenario earthquake, active fault data, Great Hanshin earthquake, low frequency-high impact earthquake motion, seismic hazard map 3) Cornell, C. A.: Engineering Seismic
More informationIPSJ SIG Technical Report Vol.2014-GN-90 No.16 Vol.2014-CDS-9 No.16 Vol.2014-DCC-6 No /1/24 1,a) 2,b) 2,c) 1,d) QUMARION QUMARION Kinect Kinect
1,a) 2,b) 2,c) 1,d) QUMARION QUMARION Kinect Kinect Using a Human-Shaped Input Device for Remote Pose Instruction Yuki Tayama 1,a) Yoshiaki Ando 2,b) Misaki Hagino 2,c) Ken-ichi Okada 1,d) Abstract: There
More information25 Removal of the fricative sounds that occur in the electronic stethoscope
25 Removal of the fricative sounds that occur in the electronic stethoscope 1140311 2014 3 7 ,.,.,.,.,.,.,.,,.,.,.,.,,. i Abstract Removal of the fricative sounds that occur in the electronic stethoscope
More informationHuman-Agent Interaction Simposium A Heterogeneous Robot System U
Human-Agent Interaction Simposium 2006 2A-3 277-8561 5 1-5 113-8656 7-3-1 E-mail: {hosoi,mori,sugi}@itl.t.u-tokyo.ac.jp 3 Heterogeneous Robot System Using Blimps Kazuhiro HOSOI, Akihiro MORI, and Masanori
More information23 Fig. 2: hwmodulev2 3. Reconfigurable HPC 3.1 hw/sw hw/sw hw/sw FPGA PC FPGA PC FPGA HPC FPGA FPGA hw/sw hw/sw hw- Module FPGA hwmodule hw/sw FPGA h
23 FPGA CUDA Performance Comparison of FPGA Array with CUDA on Poisson Equation (lijiang@sekine-lab.ei.tuat.ac.jp), (kazuki@sekine-lab.ei.tuat.ac.jp), (takahashi@sekine-lab.ei.tuat.ac.jp), (tamukoh@cc.tuat.ac.jp),
More informationTHE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS TECHNICAL REPORT OF IEICE.
THE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS TECHNICAL REPORT OF IEICE. E-mail: {ytamura,takai,tkato,tm}@vision.kuee.kyoto-u.ac.jp Abstract Current Wave Pattern Analysis for Anomaly
More information[2] OCR [3], [4] [5] [6] [4], [7] [8], [9] 1 [10] Fig. 1 Current arrangement and size of ruby. 2 Fig. 2 Typography combined with printing
1,a) 1,b) 1,c) 2012 11 8 2012 12 18, 2013 1 27 WEB Ruby Removal Filters Using Genetic Programming for Early-modern Japanese Printed Books Taeka Awazu 1,a) Masami Takata 1,b) Kazuki Joe 1,c) Received: November
More informationIPSJ SIG Technical Report Vol.2014-EIP-63 No /2/21 1,a) Wi-Fi Probe Request MAC MAC Probe Request MAC A dynamic ads control based on tra
1,a) 1 1 2 1 Wi-Fi Probe Request MAC MAC Probe Request MAC A dynamic ads control based on traffic Abstract: The equipment with Wi-Fi communication function such as a smart phone which are send on a regular
More informationxx/xx Vol. Jxx A No. xx 1 Fig. 1 PAL(Panoramic Annular Lens) PAL(Panoramic Annular Lens) PAL (2) PAL PAL 2 PAL 3 2 PAL 1 PAL 3 PAL PAL 2. 1 PAL
PAL On the Precision of 3D Measurement by Stereo PAL Images Hiroyuki HASE,HirofumiKAWAI,FrankEKPAR, Masaaki YONEDA,andJien KATO PAL 3 PAL Panoramic Annular Lens 1985 Greguss PAL 1 PAL PAL 2 3 2 PAL DP
More informationKochi University of Technology Aca 距 離 型 ファジィ 推 論 法 とその 医 療 福 祉 ロボットへの Title 応 用 Author(s) 王, 碩 玉 Citation 高 知 工 科 大 学 紀 要, 10(1): 19-28 Date of 2013-07-20 issue URL http://hdl.handle.net/10173/1073 Rights
More information19 Systematization of Problem Solving Strategy in High School Mathematics for Improving Metacognitive Ability
19 Systematization of Problem Solving Strategy in High School Mathematics for Improving Metacognitive Ability 1105402 2008 2 4 2,, i Abstract Systematization of Problem Solving Strategy in High School
More informationスライド 1
swk(at)ic.is.tohoku.ac.jp 2 Outline 3 ? 4 S/N CCD 5 Q Q V 6 CMOS 1 7 1 2 N 1 2 N 8 CCD: CMOS: 9 : / 10 A-D A D C A D C A D C A D C A D C A D C ADC 11 A-D ADC ADC ADC ADC ADC ADC ADC ADC ADC A-D 12 ADC
More information鉄鋼協会プレゼン
NN :~:, 8 Nov., Adaptive H Control for Linear Slider with Friction Compensation positioning mechanism moving table stand manipulator Point to Point Control [G] Continuous Path Control ground Fig. Positoining
More informationuntitled
( œ ) œ 138,800 17 171,000 60,000 16,000 252,500 405,400 24,000 22 95,800 24 46,000 16,000 16,000 273,000 19,000 10,300 57,800 1,118,408,500 1,118,299,000 109,500 102,821,836 75,895,167 244,622 3,725,214
More information(a) 1 (b) 3. Gilbert Pernicka[2] Treibitz Schechner[3] Narasimhan [4] Kim [5] Nayar [6] [7][8][9] 2. X X X [10] [11] L L t L s L = L t + L s
1 1 1, Extraction of Transmitted Light using Parallel High-frequency Illumination Kenichiro Tanaka 1 Yasuhiro Mukaigawa 1 Yasushi Yagi 1 Abstract: We propose a new sharpening method of transmitted scene
More information2007/8 Vol. J90 D No. 8 Stauffer [7] 2 2 I 1 I 2 2 (I 1(x),I 2(x)) 2 [13] I 2 = CI 1 (C >0) (I 1,I 2) (I 1,I 2) Field Monitoring Server
a) Change Detection Using Joint Intensity Histogram Yasuyo KITA a) 2 (0 255) (I 1 (x),i 2 (x)) I 2 = CI 1 (C>0) (I 1,I 2 ) (I 1,I 2 ) 2 1. [1] 2 [2] [3] [5] [6] [8] Intelligent Systems Research Institute,
More informationEQUIVALENT TRANSFORMATION TECHNIQUE FOR ISLANDING DETECTION METHODS OF SYNCHRONOUS GENERATOR -REACTIVE POWER PERTURBATION METHODS USING AVR OR SVC- Ju
EQUIVALENT TRANSFORMATION TECHNIQUE FOR ISLANDING DETECTION METHODS OF SYNCHRONOUS GENERATOR -REACTIVE POWER PERTURBATION METHODS USING AVR OR SVC- Jun Motohashi, Member, Takashi Ichinose, Member (Tokyo
More informationMDD PBL ET 9) 2) ET ET 2.2 2), 1 2 5) MDD PBL PBL MDD MDD MDD 10) MDD Executable UML 11) Executable UML MDD Executable UML
PBL 1 2 3 4 (MDD) PBL Project Based Learning MDD PBL PBL PBL MDD PBL A Software Development PBL for Beginners using Project Facilitation Tools Seiko Akayama, 1 Shin Kuboaki, 2 Kenji Hisazumi 3 and Takao
More information10_4.dvi
Vol.44, No.1, 1/7 28 Synchronzed Control for Blateral Teleoperaton wth Dfferent Confguratons and Communcaton Delays Hsanosuke Kawada,KoueYoshda and Toru Namerkawa Ths paper addresses the problem of the
More information013858,繊維学会誌ファイバー1月/報文-02-古金谷
Development of Non-Contact Measuring Method for Final Twist Number of Double Ply Staple Yarn Keizo Koganeya 1, Youichi Yukishita 1, Hirotaka Fujisaki 1, Yasunori Jintoku 2, Hironori Okuno 2, and Motoharu
More information知能と情報, Vol.30, No.5, pp
1, Adobe Illustrator Photoshop [1] [2] [3] Initital Values Assignment of Parameters Using Onomatopoieas for Interactive Design Tool Tsuyoshi NAKAMURA, Yuki SAWAMURA, Masayoshi KANOH, and Koji YAMADA Graduate
More informationGPGPU
GPGPU 2013 1008 2015 1 23 Abstract In recent years, with the advance of microscope technology, the alive cells have been able to observe. On the other hand, from the standpoint of image processing, the
More information,, 2. Matlab Simulink 2018 PC Matlab Scilab 2
(2018 ) ( -1) TA Email : ohki@i.kyoto-u.ac.jp, ske.ta@bode.amp.i.kyoto-u.ac.jp : 411 : 10 308 1 1 2 2 2.1............................................ 2 2.2..................................................
More informationVol.54 No (July 2013) [9] [10] [11] [12], [13] 1 Fig. 1 Flowchart of the proposed system. c 2013 Information
Vol.54 No.7 1937 1950 (July 2013) 1,a) 2012 11 1, 2013 4 5 1 Similar Sounds Sentences Generator Based on Morphological Analysis Manner and Low Class Words Masaaki Kanakubo 1,a) Received: November 1, 2012,
More information公益社団法人日本都市計画学会都市計画論文集 Vol.53 No 年 10 月 Journal of the City Planning Institute of Japan, Vol.53 No.3, October, 2018 A queueing model for goods d
A queueing model for goods delivery service by drones In many depopulated rural districts in Japan, it as been ard to run regional retail stores and many of tem ave closed down. As te result, tere as been
More informationFIT2013( 第 12 回情報科学技術フォーラム ) I-032 Acceleration of Adaptive Bilateral Filter base on Spatial Decomposition and Symmetry of Weights 1. Taiki Makishi Ch
I-032 Acceleration of Adaptive Bilateral Filter base on Spatial Decomposition and Symmetry of Weights 1. Taiki Makishi Chikatoshi Yamada Shuichi Ichikawa Gaussian Filter GF GF Bilateral Filter BF CG [1]
More informationVol.55 No (Jan. 2014) saccess 6 saccess 7 saccess 2. [3] p.33 * B (A) (B) (C) (D) (E) (F) *1 [3], [4] Web PDF a m
Vol.55 No.1 2 15 (Jan. 2014) 1,a) 2,3,b) 4,3,c) 3,d) 2013 3 18, 2013 10 9 saccess 1 1 saccess saccess Design and Implementation of an Online Tool for Database Education Hiroyuki Nagataki 1,a) Yoshiaki
More informationsoturon.dvi
12 Exploration Method of Various Routes with Genetic Algorithm 1010369 2001 2 5 ( Genetic Algorithm: GA ) GA 2 3 Dijkstra Dijkstra i Abstract Exploration Method of Various Routes with Genetic Algorithm
More informationVol.53 No (Mar. 2012) 1, 1,a) 1, 2 1 1, , Musical Interaction System Based on Stage Metaphor Seiko Myojin 1, 1,a
1, 1,a) 1, 2 1 1, 3 2 1 2011 6 17, 2011 12 16 Musical Interaction System Based on Stage Metaphor Seiko Myojin 1, 1,a) Kazuki Kanamori 1, 2 Mie Nakatani 1 Hirokazu Kato 1, 3 Sanae H. Wake 2 Shogo Nishida
More informationkiyo5_1-masuzawa.indd
.pp. A Study on Wind Forecast using Self-Organizing Map FUJIMATSU Seiichiro, SUMI Yasuaki, UETA Takuya, KOBAYASHI Asuka, TSUKUTANI Takao, FUKUI Yutaka SOM SOM Elman SOM SOM Elman SOM Abstract : Now a small
More informationIPSJ SIG Technical Report Vol.2009-DPS-141 No.23 Vol.2009-GN-73 No.23 Vol.2009-EIP-46 No /11/27 t-room t-room 2 Development of
t-room 1 2 2 2 2 1 1 2 t-room 2 Development of Assistant System for Ensemble in t-room Yosuke Irie, 1 Shigemi Aoyagi, 2 Toshihiro Takada, 2 Keiji Hirata, 2 Katsuhiko Kaji, 2 Shigeru Katagiri 1 and Miho
More information2. Twitter Twitter 2.1 Twitter Twitter( ) Twitter Twitter ( 1 ) RT ReTweet RT ReTweet RT ( 2 ) URL Twitter Twitter 140 URL URL URL 140 URL URL
1. Twitter 1 2 3 3 3 Twitter Twitter ( ) Twitter (trendspotter) Twitter 5277 24 trendspotter TRENDSPOTTER DETECTION SYSTEM FOR TWITTER Wataru Shirakihara, 1 Tetsuya Oishi, 2 Ryuzo Hasegawa, 3 Hiroshi Hujita
More informationš š o š» p š î å ³å š š n š š š» š» š ½Ò š ˆ l ˆ š p î å ³å š î å» ³ ì š š î å š o š š ½ ñ š å š š n n å š» š m ³ n š
š š o š» p š î å ³å š š n š š š» š» š ½Ò š ˆ l ˆ š p î å ³å š î å» ³ ì š š î å š o š š ½ ñ š å š š n n å š» š m ³ n š n š p š š Ž p í š p š š» n É» š å p š n n š û o å Ì å š ˆ š š ú š p š m å ìå ½ m î
More information1 Kinect for Windows M = [X Y Z] T M = [X Y Z ] T f (u,v) w 3.2 [11] [7] u = f X +u Z 0 δ u (X,Y,Z ) (5) v = f Y Z +v 0 δ v (X,Y,Z ) (6) w = Z +
3 3D 1,a) 1 1 Kinect (X, Y) 3D 3D 1. 2010 Microsoft Kinect for Windows SDK( (Kinect) SDK ) 3D [1], [2] [3] [4] [5] [10] 30fps [10] 3 Kinect 3 Kinect Kinect for Windows SDK 3 Microsoft 3 Kinect for Windows
More informationOptical Lenses CCD Camera Laser Sheet Wind Turbine with med Diffuser Pitot Tube PC Fig.1 Experimental facility. Transparent Diffuser Double Pulsed Nd:
*1 *2 *3 PIV Measurement of Field of the Wind Turbine with a med Diffuser Kazuhiko TOSHIMITSU *4, Koutarou NISHIKAWA and Yuji OHYA *4 Department of Mechanical Engineering, Matsue National Collage of Technology,
More information0401489‐工芸‐医用画像22‐1/12[論文]柳田
364-8501 6-100 321-3292 20-2 XR 277-0804 2-1 2004 10 3 2004 12 6 Effectiveness of Mobile Flat Panel Detector system Satoshi YANAGITA, Masako HITACHI, Tomoyuki SAKURAI, Yoshihiro SUZAKI, Takashi OGURA Eiji
More informationIPSJ SIG Technical Report An Evaluation Method for the Degree of Strain of an Action Scene Mao Kuroda, 1 Takeshi Takai 1 and Takashi Matsuyama 1
1 1 1 An Evaluation Method for the Degree of of an Action Scene Mao Kuroda, 1 Takeshi Takai 1 and Takashi Matsuyama 1 The purpose of our research is to investigate structure of an action scene scientifically.
More informationSynthesis and Development of Electric Active Stabilizer Suspension System Shuuichi BUMA*6, Yasuhiro OOKUMA, Akiya TANEDA, Katsumi SUZUKI, Jae-Sung CHO
Synthesis and Development of Electric Active Stabilizer Suspension System Shuuichi BUMA*6, Yasuhiro OOKUMA, Akiya TANEDA, Katsumi SUZUKI, Jae-Sung CHO and Masaru KOBAYASHI Chassis Engineering Management
More information29 jjencode JavaScript
Kochi University of Technology Aca Title jjencode で難読化された JavaScript の検知 Author(s) 中村, 弘亮 Citation Date of 2018-03 issue URL http://hdl.handle.net/10173/1975 Rights Text version author Kochi, JAPAN http://kutarr.lib.kochi-tech.ac.jp/dspa
More information