研究者詳細 - 田向　権

論文 - 田向　権

分割表示376 件中 61 - 80 件目／全件表示 >>

カオス・ボルツマン・マシンをべースとしたレザバーコンピューティングの高位合成実装

松本茂樹，市川湧希，梶原信樹，田向権

電子情報通信学会リコンフィギャラブルシステム研究会(RECONF) vol.123 ( 261 ) 231 - 236 2023年11月

Simulator-based Dataset Generator for Pothole Detection in Autonomous Driving 査読有り

Yuga Yano, Yukiya Fukuda and Hakaru Tamukoh

11th International Conference on Informatics, Electronics & Vision (ICIEV) 2023年10月

A Tri-modal Fusion Network for Object Detection Using Small Amounts of Low-Quality Data 査読有り

Yusuke Watanabe, Yuma Yoshimoto and Hakaru Tamukoh

11th International Conference on Informatics, Electronics & Vision (ICIEV) 2023年10月

大規模言語モデルと海馬モデルによるホームサービスロボット向け知識獲得システム

水谷彰伸，田中悠一朗，田向権，立野勝巳，野村修，森江隆

電子情報通信学会スマートインフォメディアシステム研究会（SIS） 2023年10月

Reservoir Reinforcement Learning with Chaotic Boltzmann Machines Implemented on an FPGA 査読有り

Sakino Yamato, Tamukoh Hakaru, Morie Takashi, Katori Yuichi

IEICE Proceeding Series ( The Institute of Electronics, Information and Communication Engineers ) 76 422 - 425 2023年09月

記述言語：英語掲載種別：研究論文（学術雑誌）

Reinforcement learning has led to advances in areas such as attitude control in robotics and action planning in autonomous driving systems. However, reinforcement learning algorithms often face computational bottlenecks that limit their application to edge devices. In recent years, reservoir computing has emerged as a potential solution to this problem. One of these models updates the weight matrix using Q-learning, a popular reinforcement learning algorithm. This paper introduces reservoir reinforcement learning using chaotic Boltzmann machines on a field programmable gate array. We demonstrate the efficient implementation of reservoir computing with chaotic Boltzmann machines in hardware, achieving low computational costs. To demonstrate the effectiveness of this approach, we validate the proposed model using an action planning task in a two-dimensional environment consisting of nine rooms. The result shows that the model can be implemented in digital circuits with low power consumption and hardware resource savings while maintaining problem-solving capabilities. This result suggests efficient machine learning hardware in action planning could be applied to real-world scenarios.

DOI： 10.34385/proc.76.c1l-33

Kyutacar

CiNii Research

その他リンク： https://kyutech.repo.nii.ac.jp/records/2001134

Ensemble Learning of Multiple Readouts for Reservoir Computing 査読有り

Tanaka Yuichiro, Tamukoh Hakaru

IEICE Proceeding Series ( The Institute of Electronics, Information and Communication Engineers ) 76 509 - 512 2023年09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 reservoir computing model with multiple readouts and an associated training method to enhance the training capability of reservoir computing. This study conducts a speaker classification task and a word classification task using an audio dataset consisting of digits pronounced by six persons. The experimental results reveal that the proposed model with multiple readouts outperforms a conventional model with a single readout.

DOI： 10.34385/proc.76.c3l-11

Kyutacar

CiNii Research

その他リンク： https://kyutech.repo.nii.ac.jp/records/2000241

he Reproduction of Calcium Ion Response in C. elegans Olfactory Neurons using Echo State Networks

高島康介，石橋涼輔，中西慶一，田中悠一朗，田向権，佐藤則子，石原健，徳永旭将

The Reproduction of Calcium Ion Response in C. elegans Olfactory Neurons using Echo State Networks，" 2023年日本バイオインフォマティクス学会年会第12回生命医薬情報学連合大会 2023年09月

The application of Echo State Network in reproducing the membrane potential response of olfactory neurons in C. elegans

石橋涼輔，高島康介，中西慶一，田向権，田中悠一朗，石原健，佐藤則子，徳永旭将

2023年日本バイオインフォマティクス学会年会第12回生命医薬情報学連合大会 2023年09月

Optimizing a Field-Programmable Gate Array Object Detection System Considering Processing System and Programmable Logic Load Balance 査読有り

Watanabe Y., Tamukoh H.

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 2 ) 105 - 114 2023年09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）

A field-programmable gate array (FPGA) device with a Zynq architecture integrates a processing system (PS) and programmable logic (PL) into a single chip. Although the PL performance is typically considered, the PS load cannot be completely ignored. In this study, using an FPGA board with a Zynq architecture, the conditions under which an object detection system performs the best, while considering the PS and PL load balance, are explored.

DOI： 10.57417/jrnal.10.2_105

Kyutacar

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85196811480&origin=inward

Robust Trash Can Lid Opening System 査読有り国際誌

Kosei Isomoto, Yuga Yano, Yuichiro Tanaka and Hakaru Tamukoh

2023 International Workshop on Smart Info-Media Systems in Asia (SISA2023) 2023年08月

ManifoldNeRF: 視点変化に伴う特徴ベクトルの連続変化に着目したFew-shot NeRF

金岡大樹，薗頭元春，田向権，川西康友

画像の認識・理解シンポジウム（MIRU2023） 2023年07月

Autonomous Waiter Robot System for Recognizing Customers, Taking Orders, and Serving Food 査読有り

Yuga Yano, Kosei Isomoto,Tomohiro Ono, Hakaru Tamukoh

RoboCup 2023: Robot World Cup XXVI 252 - 261 2023年07月

海馬機能を模倣したディジタル・アナログ併用脳型メモリ回路コア査読有り

宍戸優樺 , 野村修立野勝巳 , 田向権 , 森江隆

LSIとシステムのワークショップ2023 2023年05月

未知視点に対する疑似特徴ベクトル評価によるFew-shot NeRFの検討

金岡大樹，薗頭元春，田向権，川西康友

電子情報通信学会パターン認識・メディア理解研究会（PRMU） 2023年03月

DnCNNを用いた生成AIに対する画像作品保護

福田有輝也*，金岡大樹*，田向権

電子情報通信学会パターン認識・メディア理解研究会（PRMU） 2023年03月

未知視点に対する疑似特徴ベクトル評価によるFew-shot NeRFの検討

金岡大樹，薗頭元春，田向権，川西康友

研究報告コンピュータビジョンとイメージメディア（CVIM） 2023-CVIM-233 ( 55 ) 1 - 6 2023年02月

記述言語：英語掲載種別：研究論文（学術雑誌）

任意視点画像生成において Neural Radiance Fields は非常に強力な手法ではあるが，学習のためには多くの画像が必要である．本発表では，パラメトリック固有空間法のアナロジーとして，教師データが存在しない未知視点において，近傍視点の画像から擬似的に生成した特徴ベクトルを教師信号として学習に用いることで，少数の画像でも学習できる Manifold NeRF を提案する．実験の結果，疑似教師信号を用いることで，データセットが少量でも精度良く任意視点画像が生成できることを確認した．

Robust Classification Model with Multimodal Learning for Home Service Robots 査読有り

Matsumoto Ikuya, Kanaoka Daiju, 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 ) 28 404 - 408 2023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 an auxiliary data stream structure as a robust classification model. The model treats one modal as the main input and the other modals as supports. The model chooses how much of the sub-modal is used for classification. We experimented with two and three modal inputs. Moreover, we added pseudo-shadows to the visual information for the experiment with three modal inputs. In all experiments, our proposed model improves the accuracy and robustness to environmental disturbances by using multiple modals.

DOI： 10.5954/icarob.2023.os17-3

CiNii Research

その他リンク： https://kyutech.repo.nii.ac.jp/records/7917

Pose Detection for Flexible-Indefinite Objects using Pseudo-Bone Data 査読有り

Yoshimoto Yuma, 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 ) 28 397 - 399 2023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 method for recognizing the poses of a flexible-indefinite object. Some flexible-indefinite objects, such as fried shrimp, differ between individuals. Therefore, it is difficult to estimate the pose of these foods by point cloud fitting or other methods. We propose "pseudo-skeleton" data for these objects. Pseudo-skeleton data consists of "key-points," which are joints, and "bones," which connect between key-points. For example, fried shrimp are given 3 key-points; "head," "belly," and "tail." In addition, the bones that connect them are given. In the experiment, objects pose recognition model based on the human pose recognition model trains pseudo-skeleton data of fried shrimp. We confirmed that the model estimates the poses in the images.

DOI： 10.5954/icarob.2023.os17-1

CiNii Research

その他リンク： https://kyutech.repo.nii.ac.jp/records/7915

Object Search and Empty Space Detection System for Home Service Robot 査読有り

Shiba Tomoya, Ono Tomohiro, 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 ) 28 400 - 403 2023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）

Home service robots have pick-and-place tasks to grasp and carry objects. When performing pick-andplace tasks, robots need to process to search for objects in the case of missing a target object. We propose approaches for the robot to search for a target object from a shelf and a method for selecting empty spaces to move off-target objects. The proposed method is based on two recognition models to select a space and plan motions. The object is to be moved and the space is selected based on the size and position of empty spaces. In the experiments, the robot planned actions to search for a target object from a shelf and to place an object near a group of similar objects. We used these in the RoboCup@Home competition to evaluate the effectiveness of the proposed method.

DOI： 10.5954/icarob.2023.os17-2

CiNii Research

その他リンク： https://kyutech.repo.nii.ac.jp/records/7916

Impact of PS Load on FPGA Object Detection System Performance 査読有り

Watanabe Yusuke, 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 ) 28 415 - 419 2023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）

A field-programmable gate array (FPGA) device which has a Zynq architecture becomes popular these days. It is featured by integration of processing system (PS) and programmable logic (PL) into a single chip. While we tend to focus on the performance of PL, we can not ignore PS load completely. In this paper, using a Zynq FPGA board, we explore how our object detection system performance changes with PS load and report our experiment results.

DOI： 10.5954/icarob.2023.os17-5

CiNii Research

その他リンク： https://kyutech.repo.nii.ac.jp/records/7912

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