研究者詳細 - 我妻　広明

論文 - 我妻　広明

分割表示294 件中 1 - 20 件目／全件表示 >>

バイオメカトロニクスから生体レジリエンスへ査読有り

我妻広明, 笠井慎太郎

情報・システムソサイエティ誌 ( 一般社団法人電子情報通信学会 ) 28 ( 3 ) 4 - 5 2023年11月

汎用人工知能に向けた成長型タスクオントロジー設計の取り組み招待有り

我妻広明

人工知能学会第二種研究会資料 ( 一般社団法人人工知能学会 ) 2023 ( AGI-023 ) 04 2023年03月

担当区分：筆頭著者,　最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

<p>汎用人工知能（AGI）は，人間が解決可能な知的課題はすべて学習または遂行できる知的エージェントとして定義され，Marcus Hutter（2000）は，強化学習を前提として「確率的で不定，しかし計算可能な環境で与えられた目標を達成する能力」を最大化する形でAGIが得られるとした．一方，人間は高度に複雑な課題を知識活用で解決するが，知識の形式は報酬のように数値として積和することで意味が失われる．山川宏（2018）は，「既存の知識を柔軟に組み合わせて推論する」技術Xが，不良設定問題である実世界における課題を仮説生成で解くと指摘した．知識形成と再編集については，市瀬龍太郎ら（2015, 2016, 2017）が提案したルール言語実装の最大効果が得られるADASオントロジー，武田英明（2004），荒川直哉（2006）が注目した上位オントロジーが，鍵となる．本研究では，ADASオントロジーを一般化する手法，上位／下位オントロジーを仮説空間／データ空間から構築する方法論について言及し，専門分野の熟練知を体系化し，知識ベース推論で人の判断を支援する事例を，自動運転，故障診断，人と協働する産業用ロボット，知的パズルボンガード問題の解法器の研究成果から概説し，AGI 基本原理の探求の道筋について議論する．</p>

DOI： 10.11517/jsaisigtwo.2023.agi-023_04

CiNii Research

A Nonlinear Oscillator Coupling Model to Provide the Hough Transform Function Without the Discrete Voting Procedure 査読有り国際誌

Purev Amarbold, Wagatsuma Hiroaki

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 3 ( 4 ) 185 - 192 2023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（学術雑誌）

The most common algorithm for detecting straight lines in a digital image is the Hough Transform method. The method involves two consecutive steps: transforming the image edge location onto parameter space and voting procedure to acquire line characteristics. The former deals in continuous space, and the latter counts votes in a discrete matrix, making the algorithm sensitive to noise. We transformed each image pixel location to the parameter space as a Hough line and generated a nonlinear oscillator to attract them into the intersection with other lines. This concept could contribute to a line detection problem in image processing using a consistent mathematical description.

DOI： 10.57417/jaalr.3.4_185

CiNii Research

A Basic Concept of the Nonlinear Oscillator-Based Hough Transform Implementation to Improve the Voting Procedure in the Scheme of Continuous Dual Spaces 査読有り国際誌

Purev A., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 994 - 1003 2023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）

Hough transform is a well-known algorithm to detect arbitrary lines in the image. The algorithm consists of two steps, mapping image edges to parameter space and voting to find a solution. The first step is executed in the continuous space, while the second relies on counting votes in discrete mesh, which increases susceptibility to noise. In the present study, we propose attractor dynamics in coupled nonlinear oscillators instead of discrete voting. In our computer experiment, image pixels were mapped to the parameter spaces and attracted to the crossing point of lines in the space. This approach may contribute to line detections in the image and other shape detections using a consistent mathematical formulation.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85149450794&origin=inward

A Comparative Analysis of Numerical Integration in Explicit and Implicit Methods to be Evaluated in the Linkage Model with Multibody Dynamics Toward an Optimum Design of Support Devices for Human Joint Workload Reduction 査読有り国際誌

Kasai Shintaro, Wagatsuma Hiroaki

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 2 ) 198 - 203 2023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（学術雑誌）

In the analysis based on multibody dynamics (MBD), the MBD models are described by ordinary
differential equations, and the numerical integration methods applied to the analysis nonnegligibly
affect the accuracy of the results. In consideration of models containing dynamic
components such as spring dampers and flexible elements, the selection of integration methods is
highly important not only for accuracy but also computational costs of the analysis, because it
easily causes integration errors. For the development of exoskeleton-type assistive devices using
flexible elements, an accurate assessment of the effect of their elastic properties is required. In the
present study, we applied the implicit integration method in order to improve the accuracy of
MBD-based analysis, and numerical errors in computer experiments were significantly reduced
in the case of implicit methods with respect to those caused by explicit methods. This verification
result can lead to the improvement of the accuracy of the inverse dynamics analysis based on the
flexible multibody dynamics (fMBD) theory.

DOI： 10.57417/jrnal.10.2_198

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85194290245&origin=inward

A Comparative Analysis of Serial and Parallel Models in the Morphological Component Analysis-Based Structure Pattern Extraction for Aerial Image Edge Detections 査読有り国際誌

我妻広明

Journal of Robotics, Networking and Artificial Life in press 2023年01月

A Kamm’s Circle-Based Potential Risk Estimation Scheme in the Local Dynamic Map Computation Enhanced by Binary Decision Diagrams 査読有り国際誌

Kumar A., Wagatsuma H.

Sensors 22 ( 19 ) 2022年10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）

Autonomous vehicles (AV) are a hot topic for safe mobility, which inevitably requires sensors to achieve autonomy, but relying too heavily on sensors will be a risk factor. A high-definition map (HD map) reduces the risk by giving geographical information if it covers dynamic information from moving entities on the road. Cooperative intelligent transport systems (C-ITS) are a prominent approach to solving the issue and local dynamic maps (LDMs) are expected to realize the ideal C-ITS. An actual LDM implementation requires a fine database design to be able to update the information to represent potential risks based on future interactions of vehicles. In the present study, we proposed an advanced method for embedding the geographical future occupancy of vehicles into the database by using a binary decision diagram (BDD). In our method, the geographical future occupancy of vehicles was formulated with Kamm’s circle. In computer experiments, sharing BDD-based occupancy data was successfully demonstrated in the ROS-based simulator with the linked list-based BDD. Algebraic operations in exchanged BDDs effectively managed future interactions such as data insertion and timing of collision avoidance in the LDM. This result opened a new door for the realization of the ideal LDM for safety in AVs.

DOI： 10.3390/s22197253

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85139946561&origin=inward

Artificial Neural Network Approach to Guarantee the Positioning Accuracy of Moving Robots by Using the Integration of IMU/UWB with Motion Capture System Data Fusion 査読有り国際誌

Almassri A.M.M., Shirasawa N., Purev A., Uehara K., Oshiumi W., Mishima S., Wagatsuma H.

Sensors 22 ( 15 ) 2022年08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 presents an effective artificial neural network (ANN) approach to combine measurements from inertial measurement units (IMUs) and time-of-flight (TOF) measurements from an ultra-wideband (UWB) system with OptiTrack Motion Capture System (OptiT-MCS) data to guarantee the positioning accuracy of motion tracking in indoor environments. The proposed fusion approach unifies the following advantages of both technologies: high data rates from the MCS, and global translational precision from the inertial measurement unit (IMU)/UWB localization system. Consequently, it leads to accurate position estimates when compared with data from the IMU/UWB system relative to the OptiT-MCS reference system. The calibrations of the positioning IMU/UWB and MCS systems are utilized in real-time movement with a diverse set of motion recordings using a mobile robot. The proposed neural network (NN) approach experimentally revealed accurate position estimates, giving an enhancement average mean absolute percentage error (MAPE) of 17.56% and 7.48% in the X and Y coordinates, respectively, and the coefficient of correlation R greater than 99%. Moreover, the experimental results prove that the proposed NN fusion is capable of maintaining high accuracy in position estimates while preventing drift errors from increasing in an unbounded manner, implying that the proposed approach is more effective than the compared approaches.

DOI： 10.3390/s22155737

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85136343179&origin=inward

A COMPUTATIONAL MODEL OF 3D PRINTING ORTHOSES ASSOCIATED WITH A SYSTEMATIC STRUCTURAL ANALYSIS TOWARD REVERSE ENGINEERING ORIENTED PRODUCTION 査読有り国際誌

Dachkinov P., Kasai S., Tanaka K., Wagatsuma H.

ICIC Express Letters, Part B: Applications ( ICIC International 学会 ) 13 ( 7 ) 705 - 713 2022年07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）

According to the recent advancement of the 3D printing technology coupling with CAD designs, a kind of reverse engineering production is getting in touch with reality in the field of assistive device production, which has been relying on expert prosthetists. It provides a large benefit not only for saving costs and time, but also offers a novel solution in senses of designs and materials beyond past knowledge. The computational framework is expected to enhance and accelerate a PDCA cycle of the production, which consists of the determination of the base design (Plan), CAD design with a specific parameter (Do), virtual and physical tests (Check) and improvements associated with the target specification for a subject (Act). In this study, we established such a PDCA framework with virtual and physical tests by using a skeleton computational model designed by the computer algorithm to be able to generate the 3D structure automatically. Focusing on a supportive device in flexing and extending of human knees, a compliant mechanism-inspired design was introduced and validated in the resistance of tensile loading forces, which was assumed to be knee extension. Depending on principle parameters in the skeleton design, the model was successfully transformed to the printable 3D structure, verified in the FEM structural analysis and examined in the physical test with a robotic tool to mimic the human knee motion. This complementary approach to binding virtual and physical validations will open a new door for the reverse engineering production of orthoses beyond projects currently being worked based on try-and-error 3D printing production.

DOI： 10.24507/icicelb.13.07.705

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85131060788&origin=inward

A VALIDATION ANALYSIS OF THE SUBMILLIMETER-WIDTH CONCRETE CRACK DETECTION BASED ON MORPHOLOGICAL COMPONENT ANALYSIS AND ANISOTROPIC DIFFUSION 査読有り国際誌

Dixit A., Oshiumi W., Wagatsuma H.

International Journal of Innovative Computing, Information and Control ( ICIC International 学会 ) 18 ( 3 ) 1009 - 1018 2022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（学術雑誌）

Abnormality detection in an early stage is a crucial issue to maintain social concrete infrastructures. The submillimeter-width concrete crack detection is the inevitable mission to significantly reduce the human burden; however, conventional image processing methods do not reach the same level of human inspections in senses of coverage ratios and hit rates. In the present study, we hypothesized that a concrete crack detection based on the morphological component analysis (MCA) can be upgraded with after-treatments for contrast enhancements by using anisotropic diffusion and related techniques, to be able to detect cracks on images even for less than 10 pixels in width as a submillimeter range. The traditional MCA method was modified to decompose the image into its coarse and fine components and the coefficient of anisotropic diffusion was designed to find cracks in high gradient and low gray level regions. The modified MCA and anisotropic diffusion with the Sobel edge detector were embedded to a con-sistent workflow to detect submillimeter cracks in image. In the accuracy verification, comparisons among the proposed method, conventional methods and the human detection demonstrated that the proposed method had a noteworthy detection efficiency with high coverage ratios and hit rates over 60% in total. It can contribute to the actual field work of the concrete crack detection.

DOI： 10.24507/ijicic.18.03.1009

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85129743643&origin=inward

A BINARY DECISION DIAGRAM BASED APPROACH FOR REFINING ROAD SAFETY SCENARIOS IN THE LOCAL DYNAMIC MAP 査読有り国際誌

Kumar A., Kawano K., Trung H.L.P., Wagatsuma H.

ICIC Express Letters, Part B: Applications ( ICIC International 学会 ) 13 ( 6 ) 597 - 605 2022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（学術雑誌）

In international automobile communities, cooperative, connected and automated mobility have been discussed. For actual implementations of those schemes in the road infrastructure, an effective separation of information types such as static geographical properties and dynamic vehicle movements and its integration is necessary to prevent potential accidents in an early stage. As a de facto international standard in progress, European Commission has supported the layered data structure depending on the spatio-temporal characteristics of things on the road to manage static and dynamic data with different updating time cycles, known as Local Dynamic Map, and recently technical problems to realize its actual implementation were discussed as issues need to be solved. In this paper, we proposed a compact representation method of geographical vehicle positions by using Binary Decision Diagrams (BDDs) integrated with the Geohash geographical encoding of target vehicles in the aim of a significant reduction of computational cost to prevent a serious communication delay. In the computer experiment, our proposed method was validated in the platform of the Robot Operating System (ROS). The comparative analysis with other traditional methods demonstrated that the proposed method clearly reduced the computational time three times smaller than others in cases of two vehicles and the same tendency was observed even if the number of vehicles increas-es. Therefore, the BDD-based formulation might be applicable not only for an effective geographical encoding but also for conflict management in traffic scenarios.

DOI： 10.24507/icicelb.13.06.597

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85129838887&origin=inward

Flexible Bar Geometric Designs for Personalized Knee Orthoses Inspired by Compliant Mechanisms 査読有り国際誌

Dachkinov Pancho, Kasai Shintaro, Tanaka Kouhei, Wagatsuma Hiroaki

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 1 ) 59 - 65 2022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（学術雑誌）

Recently, 3D printed compliant mechanisms have been expected not only in engineering purposes, but also in supportive devices of human motions especially for human joint problems. On the other hand, the establishment of a systematic design principle is the issue to provide an actual solution for the target body problem, i.e. the personalization. In the present study, we proposed a systematic method to design flexible bars to reduce the burden of the human joint. The proposed concept was verified in computational analyses and the 3D printer productions were demonstrated in an actual implementation as prototypes. In computational analyses, larger deformations of the bars were analyzed to absorb the stress occurring a flexing action in joint’s motion. Theoretical analysis and experiments were demonstrated its flexibility and support functions during the flexion and extension of the knee motion. It indicates that high importance of the geometrical analysis of the orthosis design in the sense of compliant mechanisms.

DOI： 10.57417/jrnal.9.1_59

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85178309391&origin=inward

A MBD-based Knee Link Model to Analyze Singular Postures to Find Necessary Restrictions Toward Personalized Knee Support Exoskeleton 査読有り国際誌

Kasai Shintaro, Dachkinov Pancho, Tanaka Kohei, Wagatsuma Hiroaki

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 2 ) 128 - 135 2022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（学術雑誌）

Assistive devices have been studied in the senses of the universal design and a possible simplification for mass production, and such a concept can be extended to the personalization by using advanced 3D printing technologies, which allows to provide suitable exoskeleton-type devices to fit for the subject’s body to achieve symptom relief. A systematic analytical mechanics is highly important for the investigation of proposed integrative systems and multibody dynamics and its computer simulation enhance the capability to find potential problems in design, for example risky postures for the subject. We introduced multibody dynamics to analyze a knee support exoskeleton by using a linkage system newly designed as a simplification of the device. In the computer experiment, a singular posture was successfully found as the limitation of the device to move safely for subjects having joint dysfunctions.

DOI： 10.57417/jrnal.9.2_128

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85149464507&origin=inward

A Concrete Crack Inspection Embedded in the Drone-Based System by Using Sub-Pixel Width Estimation and Morphological Component Analysis 査読有り国際誌

Dixit Ankur, Oshiumi Wataru, Wagatsuma Hiroaki

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 2 ( 4 ) 177 - 183 2022年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

Human experts have assured social infrastructure inspections, and recently an automated inspection is expected as an integrated system of the flight vehicle with software algorithms of the image processing. For the submillimeter-width concrete-crack detection, we have introduced Morphological Component Analysis (MCA) to be able to find those positions. Conventional image processing methods work well for thick-width crack detections, while the thin-width crack detection is highly difficult. We successfully demonstrated a concrete crack detection from images through proximity cameras in a specialized multi-copter and MCA-based crack position estimations and the linear regression-based sub-pixel width estimation were integrated together. It will open a new door to engineering in the actual field work, which can be widely applicable for social infrastructure inspections in general.

DOI： 10.57417/jaalr.2.4_177

CiNii Research

A Multi-Material Joint System as a Three-Dimensional Spring-Damper Compliant Mechanism Toward Functional Versatility 査読有り国際誌

Dachkinov Pancho, Bhattacharjee Anirudha, Bhattacharya Bishakh, Wagatsuma Hiroaki

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 3 ( 2 ) 66 - 72 2022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（学術雑誌）

3D printed material designs have a large capability in the functional aspect. A cross-spring compliant joint is a hot topic in the sense of multipurpose applications in various engineering fields. A combination of flexible materials embedded in the structural form performs a motion of the system according to deformation of parts elastically, which may fit to a specific engineering purpose. In the present study, a traditional cross-spring pivot (CSP) was improved to provide effectively frictionless and wear free in-plane motion. The behavior of the joint was analyzed based on a non-linear FEA computer analysis to focus the properties with various loading conditions. Improved compliant joints will open a new door for designs of high-precision actuators and robotic manipulators.

DOI： 10.57417/jaalr.3.2_66

CiNii Research

A Comparative Analysis of Serial and Parallel Models in the Morphological Component Analysis-Based Structure Pattern Extraction for Aerial Image Edge Detections 査読有り国際誌

Oshiumi Wataru, Dixit Ankur, Wagatsuma Hiroaki

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 3 ( 3 ) 163 - 168 2022年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

A refinement process by human experts is still needed for areas/feature extractions of interest from aerial images in multiple map makers. The construction/road edge extraction is one of them which is highly important in the preprocessing stage for map-making, while it is difficult to isolate man-made structures from a natural landscape involving different size objects. In the present study, we focused on an actual procedure in the decomposition of the Morphological Component Analysis known as MCA to extract specific patterns as serial and parallel models. In our computer experiments, dictionaries of Curvelet and Local Discrete Cosine Transform known as LDCT were introduced for the MCA decomposition and then two models demonstrated a non-negligible difference in the feature extraction performance. This result may contribute to the extension of future possibilities of structural data analyses especially for buildings and roads from shapes in nature.

DOI： 10.57417/jaalr.3.3_163

CiNii Research

その他リンク： https://kyutech.repo.nii.ac.jp/records/2000720

Computational Model of 3D Printing Orthoses Associated with a Systematic Structural Analysis Toward Reverse Engineering Oriented Production 査読有り国際誌

我妻広明

ICIC Express Letters, Part B: Applications (ICIC-ELB) 13(7) 705 - 713 2022年01月

A Binary Decision Diagram Based Approach for Refining Road Safety Scenarios in the Local Dynamic Map 査読有り国際誌

我妻広明

ICIC Express Letters, Part B: Applications (ICIC-ELB) 13(6) 597 - 605 2022年01月

A Validation Analysis of the Submillimeter-Width Concrete Crack Detection Based on Morphological Component Analysis and Anisotropic Diffusion 査読有り国際誌

我妻広明

International Journal of Innovative Computing, Information and Control (IJICIC) 18(3) 1009 - 1018 2022年01月

A Computational Approach for Global Trade Analysis in Korea Contributing to the Forecasting of Future Efficacy in Global and Domestic Korean Transportations 査読有り国際誌

Lee Bo-Young, Altaweel Ahmad, Mine Kazuhito, Yoon Jang-Sok, Wagatsuma Hiroaki

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 ) 30 902 - 906 2025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（国際会議プロシーディングス）

Economic forecasting studies are integral for shaping strategic policy decisions by providing data-driven insights that guide resource allocation, logistics and transportation, and long-term planning. This study investigate the trade dynamics of the Republic of Korea through the Global Trade Analysis Project Recursive dynamic GTAP-RD model with the GTAP v11 database to forecast economic scenarios and Shared Socioeconomic Pathways (SSPs) serve as growth trajectories. The analysis centers on the Republic of Korea's key trading partners, as identified by the GTAP database, and top trading sectors from the Korea Transport Database (KTDB) to compare the key influencers on Korea's trade thereby providing deeper strategic economic planning. This study investigates further the involvement of Korea's logistics and transportation by focusing on changes in import/export tonnage to inform infrastructure planning and strategic transport development. The evaluation of Korea's trade in the global context is of the essence to ensure adaptive logistics, backing economic resilience, and aligning with changeable global trade conditions.

DOI： 10.5954/icarob.2025.gs5-4

Kyutacar

CiNii Research

　前のページ- 次のページ　

<我妻 広明>

論文 - 我妻 広明

<我妻　広明>

論文 - 我妻　広明