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Publisher: Springer-Verlag   (Total: 2345 journals)

 Artificial Life and Robotics   [SJR: 0.231]   [H-I: 14]   [7 followers]  Follow         Hybrid journal (It can contain Open Access articles)    ISSN (Print) 1614-7456 - ISSN (Online) 1433-5298    Published by Springer-Verlag  [2345 journals]
• A control law for vehicle merging inspired by dragonfly behavior
• Authors: Kazuyuki Ito; Naoyuki Sakuraba; Kei Yamaguchi
Pages: 153 - 162
Abstract: Autonomous control of vehicles has recently attracted considerable attention. In this sense, vehicle merging has become an important topic in this field of research. However, in conventional studies, the controlled vehicle must calculate the movement of other surrounding vehicles to complete the merge, requiring high computational costs. In this paper, we focus on dragonfly behavior to solve this issue. Indeed, insects can behave adaptively in the complex real world in spite of the limited size of their brains. They reduce the computational requirements of their brain by relying on different properties of their surroundings, basing their intelligent behaviors on simple strategies. The behavior of a dragonfly when chasing a prey is an example of these strategies. In this study, we address the vehicle merging maneuver by applying dragonfly’s strategies to control the movement of the merging vehicle. We propose a simple control method inspired by the aforementioned strategies and, finally, we present simulation results that were conducted to demonstrate the effectiveness of this method.
PubDate: 2017-06-01
DOI: 10.1007/s10015-016-0342-1
Issue No: Vol. 22, No. 2 (2017)

• Recommendation from access logs with ensemble learning
• Authors: Takashi Ayaki; Hidekazu Yanagimoto; Michifumi Yoshioka
Pages: 163 - 167
Abstract: Many recommendation systems find similar users based on a profile of a target user and recommend products that he/she may be interested in. The profile is constructed with his/her purchase histories. However, histories of new customers are not stored and it is difficult to recommend products to them in the same fashion. The problem is called a cold start problem. We propose a recommendation method using access logs instead of purchase histories, because the access logs are gathered more easily than purchase histories and the access logs include much information on their interests. In this study, we construct user’s profiles using product categories browsed by them from their access logs and predict products with Gradient Boosting Decision Tree. In addition, we carry out evaluation experiments using access logs in a real online shop and discuss performance of our proposed method comparing with conventional machine learning and Support Vector Machine (SVM). We confirmed that the proposed method achieved higher precision than SVM over 10 data sets. Especially, under unbalanced data sets, the proposed method is superior to SVM.
PubDate: 2017-06-01
DOI: 10.1007/s10015-016-0346-x
Issue No: Vol. 22, No. 2 (2017)

• Moving objects detection employing iterative update of the background
• Authors: F. X. Arinto Setyawan; Joo Kooi Tan; Hyoungseop Kim; Seiji Ishikawa
Pages: 168 - 174
Abstract: Detection of objects from a video is one of the basic issues in computer vision study. It is obvious that moving objects detection is particularly important, since they are those to which one should pay attention in walking, running, or driving a car. This paper proposes a method of detecting moving objects from a video as foreground objects by inferring backgrounds frame by frame. The proposed method can cope with various changes of a scene including large dynamical change of a scene in a video taken by a stationary/moving camera. Experimental results show satisfactory performance of the proposed method.
PubDate: 2017-06-01
DOI: 10.1007/s10015-016-0347-9
Issue No: Vol. 22, No. 2 (2017)

• Modeling of humanoid dynamics including slipping with nonlinear floor
friction
• Authors: Xiang Li; Hiroki Imanishi; Mamoru Minami; Takayuki Matsuno; Yanou Akira
Pages: 175 - 183
Abstract: Biped locomotion created by controlling methods based on zero-moment point has been realized in real world and been well verified its efficacy for stable walking. However, the walking strategies that have been proposed so far seems to avoid such considerations as slipping of foot on the floor, even though there should exist the slipping large or small in real world. In this research, a dynamical model of humanoid robot including slipping of foot is proposed, which is derived by the Newton–Euler method. To confirm the veracity of the derived dynamical model, the model has been verified from the view point that when all friction coefficients are identical to zero, the total kinetic energy should be conserved to be unchanged, and when the coefficients are not zero, the total kinetic energy should decrease monotonously.
PubDate: 2017-06-01
DOI: 10.1007/s10015-017-0349-2
Issue No: Vol. 22, No. 2 (2017)

• Hypothesis testing based on observation from Thai sentiment classification
• Authors: Ponrudee Netisopakul; Kitsuchart Pasupa; Rathawut Lertsuksakda
Pages: 184 - 190
Abstract: This work focuses on error analyzes from the Support Vector Machine (SVM) classification on Thai children stories at a sentence level. The construction of the Sentiment Term Tagging System (STTS) program allows the researchers to make observations and hypothesize around the areas where most anomalies occur. Three hypotheses, based on terms sentiment chosen for SVM predictions, are evidently proved to hold. In addition, a number of ways to improve the Thai sentiment classification research are suggested, including considerations to add negation into the process, add weighing scheme for different part-of-speech, disambiguate word senses, and update the Thai sentiment resource.
PubDate: 2017-06-01
DOI: 10.1007/s10015-016-0341-2
Issue No: Vol. 22, No. 2 (2017)

• Evaluation of the impact of tablet screen size on children tracing
performance
• Authors: Ratchadaporn Amornchewin; Karanya Sitdhisanguan
Pages: 191 - 196
Abstract: Tablet PCs are used in various situations in everyday life. Many researchers found that tablets have the potential to enhance young children in learning; however, the optimal of tablet size on finger tracing for young children was not investigated. In this paper, we explored the impact of three different sizes of touch screen tablets: iPad, Samsung Galaxy Tab 7″, and Samsung Galaxy S4 on efficiency and usability for young children ages between 4 and 6 year. Our study focused on the mechanics of tracing alphabets using finger on capacitive-touch tablets, while its outcome has potential implications towards tablet screen size for interfaces to support finger tracing on such devices. The performances were recorded and observed for the analysis of the data with respect to task efficiency and usability. Then, we adopted the Smileyometer based on a 1–5 Likert Scale as an instrument to measure perceived satisfaction. The usability evaluation’s results showed no significant difference in speed and accuracy performance. Nevertheless, tracing the alphabet on iPad was easier, more attractive and was able to increase more attention span than others. As well as the result from the Smileyometer, all of the participants preferred and felt more comfortable to use iPad.
PubDate: 2017-06-01
DOI: 10.1007/s10015-016-0343-0
Issue No: Vol. 22, No. 2 (2017)

• Fabrication of micro-gelatin fiber utilizing coacervation method
• Authors: Takafumi Arai; Ryuichiro Tanaka; Katsuhisa Sakaguchi; Shinjiro Umezu
Pages: 197 - 202
Abstract: Biotechnology has drastically been advanced by the development of iPS and ES cells, which are representative forms induced pluripotent stem cells. In the micro/nano bio field, the development of cells and Taylor-made medicine for a potential treatment of incurable diseases has been a center of attention. The melting point of gelatin is between 25 and 33 °C, and the sol–gel transition occurs in low temperature. This makes the deformation of this useful biomaterial easy. The examples of gelatin fiber applications are suture threads, blood vessel prosthesis, cell-growth-based materials, filter materials, and many others. Because the cell size differs depending on the species and applications, it is essential to fabricate gelatin fibers of different diameters. In this paper, we have developed a fabrication method for gelatin fibers the coacervation method. We fabricated narrow gelatin fibers having a diameter over 10 μm.
PubDate: 2017-06-01
DOI: 10.1007/s10015-016-0344-z
Issue No: Vol. 22, No. 2 (2017)

• Bio-inspired wing-folding mechanism of micro air vehicle (MAV)
• Authors: Tomohiro Jitsukawa; Hisaya Adachi; Takamichi Abe; Hiroshi Yamakawa; Shinjiro Umezu
Pages: 203 - 208
Abstract: Over the past few years, many researchers have shown an interest in micro air vehicle (MAV), since it can be used for rescue mission and investigation of danger zone which is difficult for human being to enter. In recent years, many researchers try to develop high-performance MAVs, but a little attention has been given to the wing-folding mechanism of wings. When the bird and the flying insects land, they usually fold their wings. If they do not fold their wings, their movement area is limited. In this paper, we focused on the artificial wing-folding mechanism. We designed a new artificial wing that has link mechanism. With the wing-folding mechanism, the wing span was reduced to 15%. In addition, we set feathers separately on the end of wings like those of real birds. The wings make thrust force by the change of the shape of the feathers. However, the wings could not produce enough lift force to lift it. Therefore, we have come to the conclusion that it is necessary to optimize the wings design to get stronger lift force by flapping.
PubDate: 2017-06-01
DOI: 10.1007/s10015-016-0339-9
Issue No: Vol. 22, No. 2 (2017)

• Macroscopic fundamental diagram in simple model of urban traffic
• Authors: Naoki Yoshioka; Takashi Shimada; Nobuyasu Ito
Pages: 217 - 221
Abstract: Macroscopic fundamental diagram (MFD) is a reproducible unimodal relation between average vehicle density and average flow rate in urban traffic. Although this idea is tested by a few observations and simulations, its mechanism is not well understood. In order to understand it, a simple graph-based model of urban traffic is proposed. MFDs in our model system are investigated numerically for grid networks. It is found that MFDs in our system are discontinuous, which is inconsistent with the observation of real urban traffic.
PubDate: 2017-06-01
DOI: 10.1007/s10015-016-0345-y
Issue No: Vol. 22, No. 2 (2017)

• Stacked convolutional auto-encoders for surface recognition based on 3d
point cloud data
• Authors: Maierdan Maimaitimin; Keigo Watanabe; Shoichi Maeyama
Pages: 259 - 264
Abstract: This paper addresses the problem of feature extraction for 3d point cloud data using a deep-structured auto-encoder. As one of the most focused research areas in human–robot interaction (HRI), the vision-based object recognition is very important. To recognize object using the most common geometry feature, surface condition that can be obtained from 3d point cloud data could decrease the error during the HRI. In this research, the surface normal vectors are used to convert 3D point cloud data to a surface-condition-feature map, and a sub-route stacked convolution auto-encoder (sCAE) is designed to classify the difference between the surfaces. The result of the trained filters and the classification of sCAE shows the surface-condition-feature and the specified sCAE are very effective in the variation of surface condition.
PubDate: 2017-06-01
DOI: 10.1007/s10015-017-0350-9
Issue No: Vol. 22, No. 2 (2017)

• Influence on the propulsive performance due to the difference in the fin
shape of a robotic manta
• Authors: Masaaki Ikeda; Kota Mikuriya; Keigo Watanabe; Shigeki Hikasa; Yukito Hamano; Isaku Nagai
Pages: 276 - 282
Abstract: This paper experimentally investigates the influence on the propulsive performance by the difference in the fin shape of a robotic manta. Five kinds of fin shapes, i.e., a rectangle, a triangle, a trapezoid, and two right triangles, are used in experiment to measure the forward speed of the robot, where two types of right triangle are discriminated, depending on the arrangement of the right angle part and each fin area is assumed to be approximately equal, and the number of fin rays is the same at all the fins. It is proved that a significant difference in propulsive speed arises depending on the difference in the fin shape. Some experiments are additionally conducted to examine the influence on the propulsive speed and its efficiency, due to the parameter change of a progressive wave in the fin.
PubDate: 2017-06-01
DOI: 10.1007/s10015-017-0351-8
Issue No: Vol. 22, No. 2 (2017)

• Hardware neural network models of CPG and PWM for controlling servomotor
system in quadruped robot
• Abstract: This paper discusses the pulse-type hardware neural networks (P-HNNs) that contain a central pattern generator (CPG) and a pulsewidth modulation (PWM) servomotor controller and the application to quadruped robots. The purpose of our study is mimicking the biological neural networks and reproducing the similar motion of the living organisms in the robot. The CPG of the living organism generates the walking rhythms. We mimicked this CPG by modeling the cell body and the synapse of the living organism. The developed CPG composed of the P-HNN output four pulse signal sequences and the four outputs are introduced to each leg of the quadruped robot. On the other hand, the angle of the servomotor is controlled by the PWM. The PWM is obtained by modeling the axon of the living organism. The CPG and the PWM servo control system perform the walking motion of the quadruped robot. Moreover, the gate pattern change of quadruped animals is reproduced by these P-HNNs.
PubDate: 2017-06-22

• Teleoperation system for a mobile robot with visual servo mechanism based
on automatic template generation
• Authors: Yoshitaka Matsuda; Takenao Sugi; Satoru Goto; Naruto Egashira
Abstract: In this paper, a teleoperation system for a mobile robot with visual servo mechanism is developed. The teleoperation system has two kinds of motions: rough motion and accurate motion. In the rough motion, the mobile robot is controlled manually. In the accurate motion, it is done autonomously by visual servoing, where the template matching technique is used to realize the visual servoing. The template image is automatically generated by only assigning one pixel of the target object. The usefulness of the developed teleoperation system is evaluated by experimental result for the automatic template generation and the teleoperation.
PubDate: 2017-06-20
DOI: 10.1007/s10015-017-0374-1

• iOS application for quadrotor remote control
• Authors: Zeming Lu; Fusaomi Nagata; Keigo Watanabe; Maki K. Habib
Abstract: With the progress of electronics technology, the development of civilian UAV (unmanned aerial vehicle) applications becomes possible. In addition, smartphones have rapidly gained popularity and become very important due to the simple operability and mobility. Hence, there is a need to have an easy and flexible way to control a UAV using such technology. In this study, a remote controller using an iOS device is developed for a quadrotor to enable remote control with easy operations. Four basic programs for obtaining compass information, controlling a gimbal, autopilot function for return, and video preview function are developed and implemented for an iOS device. The basic functionalities of the programs are evaluated and confirmed through experiments using a quadrotor and an iOS device.
PubDate: 2017-06-20
DOI: 10.1007/s10015-017-0372-3

• Implementation of a decision support system using an interactive
large-scale high-resolution display
• Authors: Tomoyuki Ishida; Yusuke Hirohara; Nobuyuki Kukimoto; Yoshitaka Shibata
Abstract: In this research, we propose and evaluate a decision support system using an interactive large-scale high-resolution display. This decision support system supports the summarization and decision-making of a large amount of disaster information during the occurrence of a large-scale natural disaster. Municipal employees at the disaster control headquarters can display disaster information on the large-scale display with a touch or flick on a laptop or tablet. To evaluate the operability, readability, functionality, and necessity of the decision support system, we surveyed 23 municipal employees in the disaster prevention division using a questionnaire. The system received a great evaluation in all the evaluation items.
PubDate: 2017-06-12
DOI: 10.1007/s10015-017-0369-y

• Quantifying the impact of communication on performance in multi-agent
teams
• Authors: Mathew Zuparic; Victor Jauregui; Mikhail Prokopenko; Yi Yue
Abstract: In this work, we relate the extent and quality of inter-agent communication and the overall performance in teams of multiple agents. Specifically, we examine the RoboCup Soccer Simulation 2D League, and carry out multiple simulation experiments against two evenly matched teams. For each simulated run (a 2D soccer simulation game), we generate the communication efficiencies (i.e., communications sent/communications received) for each agent pair. Applying linear regression and principal component analyses, we then correlate these efficiencies with measures of performance (i.e., goals scored and goals conceded), enabling the construction of inter-agent communication networks. Analysis of these networks highlights the microscopic player-to-player and macroscopic role-to-role communications correlated with performance. The approach determines the salient pathways within inter-agent communications which globally affect the coordination and the overall performance in multi-agent teams.
PubDate: 2017-06-01
DOI: 10.1007/s10015-017-0367-0

• Customer state estimation with Poisson distribution model
• Authors: Hidekazu Yanagimoto
Abstract: In this paper, a new access log analysis is proposed which estimates both active states and inactive states from observations simultaneously. I improved burst analysis and developed enthusiasm analysis to detect not only active states but also inactive states. Speaking concretely, I constructed a generative model that assumed observations, which meant event occurrence frequency in this paper, were generated under some Poisson distributions. The generative model based on Poisson distributions consists of some distributions including $$\lambda$$ s which are less than average frequency and more than average frequency. A cost function, which consists of log likelihood and state transition cost, is defined and enthusiasm levels are estimated from the observations minimizing the cost function. The proposed method was applied to query occurrence data in access logs and I confirmed the proposed method could find active states and inactive states from submission patterns and the results showed relationship between enthusiasm levels and real events.
PubDate: 2017-04-05
DOI: 10.1007/s10015-017-0354-5

• Development of an automatic flocculation tester for highly-efficient data
acquisition
• Authors: Y. Hitaka; N. Nishio; K. Fujisaki
Abstract: A new flocculation tester which automates mixing/stopping the suspended solution for flocculation processes and monitoring the turbidity of the supernatant or settling velocity of the flocculated particles on a real-time basis is developed to conduct the flocculation test with highly efficient data acquisition. To achieve the automatic mixing/stopping or monitoring, the Arduino microcontrollers are installed in our tester. For mixing/stopping, the DC motor is controlled by the sequence control. Moreover, PI control is implemented to control the motor speed accurately and robustly. For monitoring, the transmission photo sensor is installed to measure the turbidity or settling velocity. In this paper, the details of our proposed tester are presented. Also, the preparation of the calibration curve by using the spline interpolation method is presented and the validity of the calibration curve is investigated by experiments.
PubDate: 2017-03-17
DOI: 10.1007/s10015-017-0352-7

• Offset control of traffic signal using cellular automaton traffic model
• Authors: Chengyou Cui; Zhanglian Kui; Heehyol Lee; Zhezhi Jin
Abstract: This paper deals with an offset control of traffic signals using a cellular automaton traffic model. A stochastic optimal control method for distributed traffic signals is modified to achieve coordinated traffic signal control with the proposed offset control method. In the proposed coordinated traffic signal control method, splits of each cycle and common cycle length are calculated using a modified stochastic optimal control method, and then the offset is calculated using an estimation method based on a modified CA traffic model at intervals. Also, simulations are carried out at multiple intersections using a micro traffic simulator. The effectiveness of the proposed coordinated control method is proved by comparing with other traffic signal control methods such as pre-timed signal control, two types of the traditional coordinated control and distributed control.
PubDate: 2017-03-16
DOI: 10.1007/s10015-017-0356-3

• Psychophysiological assessment of an adaptive asynchronous human–machine
system with the dual-task method
• Authors: Shizuka Bando; Kosuke Oiwa; Akio Nozawa
PubDate: 2017-03-08
DOI: 10.1007/s10015-017-0353-6

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