研究者詳細 - 田向　権

論文 - 田向　権

分割表示376 件中 21 - 40 件目／全件表示 >>

Evaluation of Lane Detection Based on Missing Lane-Specific Dataset 査読有り国際誌

Kazuma Sakakibara, Yuga Yano, Yukiya Fukuda, Hakaru Tamukoh

The 5th International Symposium on Neuromorphic AI Hardware 2024年03月

Application of a Hippocampus-inspired Model toward Episodic Memory-based Navigation for Autonomous Mobile Robots 査読有り国際誌

Kosei Isomoto, Yuichiro Tanaka, Hakaru Tamukoh, Katsumi Tateno, Osamu Nomura, Takashi Morie

The 5th International Symposium on Neuromorphic AI Hardware 2024年03月

Integration of Cropped Image and Skeleton Information for Hand Waving Recognition by Reservoir Computing 査読有り国際誌

Hiromasa Yamaguchi, Akinobu Mizutani, Arie Rachmad Syulistyo, Yuichiro Tanaka, Hakaru Tamukoh

The 5th International Symposium on Neuromorphic AI Hardware 2024年03月

Analysis of Modular Reservoir Computing Using Chaotic Boltzmann Machines 査読有り国際誌

Kazuo Nakahara, Osamu Nomura, Hakaru Tamukoh, Yuichi Katori, Takashi Morie

The 5th International Symposium on Neuromorphic AI Hardware 2024年03月

An Efficient Spatial Representation Method for Memory-based Hippocampus-inspired Model, 査読有り国際誌

Yuka Shishido, Osamu Nomura, Katsumi Tateno, Hakaru Tamukoh, Takashi Morie

The 5th International Symposium on Neuromorphic AI Hardware 2024年03月

Evaluation of feature extractor trained by grayscale images for industrial anomaly detection 査読有り国際誌

Sansei Hori, Kazumichi Tanaka, Keiichi Nakanishi, Terumasa Tokunaga

The 5th International Symposium on Neuromorphic AI Hardware 2024年03月

Reinforcement Learning of Two Continuous Tasks by Reservoir Computing with Multiple Readouts 査読有り国際誌

Yuichiro Tanaka, Hakaru Tamukoh

The 5th International Symposium on Neuromorphic AI Hardware 2024年03月

リザバー計算の記憶容量増大手法の性能評価

横田篤紀，川島一郎，田向権，野村修，森江隆

第71回応用物理学会春季学術講演会 A-7 25 - 31 2024年03月

YOLO real-time object detection on EV3-Robot using FPGA hardware Accelerator 査読有り

Pramanta Dinda, Fuengfusin Ninnart, Syulistyo Arie Rachmad, Tamukoh Hakaru

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 416 - 420 2024年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

The growing demand for robots necessitates faster and more precise processing. However, running large Artificial Intelligence (AI) models from cloud data centers to mobile robots via inference models uses considerable computation resources, which leads to power limitations, particularly for mobile robots. The use of reconfigurable semiconductor devices at the hardware level is a promising solution to this problem. We introduce the educational kit EV3-Robot with a co-design methodology utilizing Field-programmable Gate Arrays (FPGA) Kria KV260 as a hardware accelerator specifically for object detection. We apply the You Only Look Once (YOLO) model for object detection, which provides real-time results for practical applications. Additionally, we analyze the processing times of the local PC and EV3-Robot.

DOI： 10.5954/icarob.2024.os15-1

Kyutacar

CiNii Research

RoboCup@Home 2023: Stickler for the Rules Task Solutions 査読有り

Shiba Tomoya, Tamukoh Hakaru

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 435 - 437 2024年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

This paper proposes a robot vision system that detects illegal persons who violate house rules such as wearing shoes in a home environment. Such complex vision systems often require multiple AI systems including person detection, object detection, and more. Our approach simplifies this by leveraging the combined capabilities of Grounding DINO and SAM to detect rule violations effectively. The success of our method was proven at RoboCup@Home 2023, where it secured the highest score among all participating teams.

DOI： 10.5954/icarob.2024.os15-5

Kyutacar

CiNii Research

Development of A SayCan-based Task Planning System Capable of Handling Abstract Nouns 査読有り

Yamao Kosei, Kanaoka Daiju, Isomoto Kosei, Mizutani Akinobu, Tanaka Yuichiro, Tamukoh Hakaru

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 430 - 434 2024年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

The task planning system is required to accomplish various requests from a human in real-world environments. SayCan, one of the task planning systems, has high accuracy. However, its accuracy decreases for requests that include abstract nouns of the ambiguous word/phrase. We propose a novel task planning system based on SayCan that introduces a function for checking concrete names of abstract nouns and a rule-based skill extraction, enhancing accuracy. The proposed system facilitates the interpretation of requests and enables appropriate task planning. The effectiveness of the proposed system was demonstrated at RoboCup@Home, where it achieved high performance.

DOI： 10.5954/icarob.2024.os15-4

CiNii Research

A Rapidly Adjustable Object Recognition System through Language Based Prompt Engineering 査読有り

Yamaguchi Naoki, Shiba Tomoya, Isomoto Kosei, Tamukoh Hakaru

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 425 - 429 2024年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

We propose the use of language-based prompt engineering to achieve rapidly adjustable object recognition in RoboCup@Home. The proposed prompt engineering involves humans adding features, such as the color and material of an object, into the text prompts inputted into Language Segment Anything. In this research, we evaluated the effectiveness of our proposed method in three benchmark tests for object recognition at RoboCup@Home 2023. The results show that the highest scores were obtained in specific tasks, indicating that the proposed method applies to various recognition tasks.

DOI： 10.5954/icarob.2024.os15-3

CiNii Research

A Low Computational Cost Hand Waving Action Recognition System with Echo State Network for Home Service Robots 査読有り

Yamaguchi Hiromasa, Mizutani Akinobu, Syulistyo Arie Rachmad, Tanaka Yuichiro, Tamukoh Hakaru

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 421 - 424 2024年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

This study proposes a low computational cost hand-waving action recognition system for non-verbal communication in home service robots. The system is based on an echo state network, which requires lower computational costs than that of deep neural networks (DNNs), and processes time-series data of skeletal coordinates of humans to recognize hand-waving actions. Additionally, this study proposes and compares two types of Preprocessing ing methods of the skeletal coordinates to ensure the robustness of the human positions on the frame: one method extracts shoulder and arm angles, which are invariable regardless of the humans' positions and the other normalizes the skeletal coordinates. The experimental result shows that the proposed system has competitive accuracy and is robust to varying human positions.

DOI： 10.5954/icarob.2024.os15-2

CiNii Research

A hippocampus-inspired memory model with an accumulation function through place representation planes for digital VLSI implementation 国際誌

Akinobu Mizutani, Yuichiro Tanaka, Hakaru Tamukoh, Katsumi Tateno, Osamu Nomura, and Takashi Morie

The 12th RIEC International Symposium on Brain Functions and Brain Computer (BFBC 2024) 2024年02月

Object recognition using CNT-PDMS nanocomposite sensor on a robot hand 査読有り国際誌

Shoshi Tokuno, Kouki Kimizuka, Yuichiro Tanaka, Hirofumi Tanaka, Hakaru Tamukoh

The 22nd International Symposium on Eco-materials Processing and Design (ISEPD2024) 2024年01月

YOLO real-time object detection on EV3-Robot using FPGA hardware Accelerator 査読有り

Pramanta D., Fuengfusin N., Syulistyo A.R., Tamukoh H.

Proceedings of International Conference on Artificial Life and Robotics 416 - 419 2024年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85190308709&origin=inward

極限環境に向けた占有格子地図に基づく走行可能性推定査読有り

福田有輝也, 三井悠也, 矢野優雅, 岩井秀成, 井上慎太郎, 田向権

自動車技術会論文集 ( 公益社団法人自動車技術会 ) 55 ( 4 ) 733 - 738 2024年01月

担当区分：最終著者記述言語：日本語掲載種別：研究論文（学術雑誌）

自動運転において，走行可能性推定は車両周囲の危険性を定量化する技術であり，経路計画などで活用される．<br>走行可能性推定では車両周囲の環境把握が不可欠であるが，障害物の遮蔽などセンサの死角に対しては推定ができない．<br>本研究では，LiDARの点群を効果的に用いて死角の情報を補完し，走行可能性推定を実現する．

DOI： 10.11351/jsaeronbun.55.733

Kyutacar

CiNii Research

その他リンク： https://kyutech.repo.nii.ac.jp/records/2001327

NaN Attacks: Bit-Flipping Deep Neural Network Parameters to NaN or Infinity 査読有り

Fuengfusin N., Tamukoh H.

2024 1st International Conference on Robotics, Engineering, Science, and Technology, RESTCON 2024 33 - 37 2024年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Deep neural networks (DNN) have enabled various intelligent applications on computing devices, e.g., image recognition, voice recognition, and language modeling. When deploying DNNs in safety-critical applications, it is crucial to consider their vulnerabilities. For example, bit-flipping can cause DNNs to malfunction, and it can be induced through various means, e.g., hardware attacks, soft errors, or write errors in emerging memory devices. In this paper, we focus on subsets of bit-flipping outcomes of IEEE-754 32-bit floating point (FP32). These subsets are FP32 special numbers, i.e., not a number (NaN) and infinity (Inf). We found that performing 1-bit flips on subsets of parameters in DNN pretrained weights can produce NaN or Inf, thereby leading to model failure. Such NaN-sensitive and Inf-sensitive parameters were analyzed across 78 torchvision pretrained models. The results provide insight into their probable locations and ranges of magnitude. In addition, heuristic-based protection methods are proposed to mitigate such attacks.

DOI： 10.1109/RESTCON60981.2024.10463548

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85190304668&origin=inward

RoboCup@Home 2023: Stickler for the Rules Task Solutions 査読有り

Shiba T., Tamukoh H.

Proceedings of International Conference on Artificial Life and Robotics 435 - 437 2024年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85190281037&origin=inward

Development of A SayCan-based Task Planning System Capable of Handling Abstract Nouns 査読有り

Yamao K., Kanaoka D., Isomoto K., Mizutani A., Tanaka Y., Tamukoh H.

Proceedings of International Conference on Artificial Life and Robotics 430 - 434 2024年01月