研究者詳細 - 我妻　広明

論文 - 我妻　広明

分割表示294 件中 61 - 80 件目／全件表示 >>

A Three-Dimensional Design of the Multi-material Joint System to Realize a Structural Spring-Damper Compliant Mechanism with Versatility in Engineering Fields 査読有り国際誌

Dachkinov P., Bhattacharjee A., Bhattacharya B., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 193 - 200 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（国際会議プロシーディングス）

Design of a 3D printed cross-spring compliant joint is an emerging topic for its multipurpose applications in various fields due to its realization from a combination of flexible materials with different mechanical properties. It performs the motion by deformation in the elastic region and is suitable for precision engineering applications and instruments. The proposed concept is a modification of a traditional cross-spring pivot, which effectively provides frictionless and wear free in-plane motion. The joint’s behavior is analyzed based on a non-linear FEA simulation and the properties were investigated with various loading conditions. Compliant joints are envisaged to bring paradigm shift in the design of high-precision actuators and robotic manipulators.

Scopus

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A Systematic Geometric Design Method of Flexible Bars Available for Personalized Knee Orthoses with Spring-Damper Functions 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 724 - 730 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（国際会議プロシーディングス）

3D printed compliant mechanisms were recently highlighted not only in the traditional way, but also in the reverse engineering of human joint supportive devices. However, a systematic design principle is unclear for solving of the issue how it can be modifiable to fit to target body requirements in the sense of the personalization. We proposed a geometrical approach providing the target design by using a morphological replacement at the concentration of stress. This concept can be verified in orthoses to improve the knee joint function by 3D printed flexible prototypes. It allows larger deformations of the bars to control joint’s motion. Theoretical analysis and experiments demonstrate the flexibility and support during the flexion and extension of the knee. It implies the impact of the geometry in orthosis design.

Scopus

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A Systematic Analysis of the Knee Support Exoskeleton Based on Multibody Dynamics Toward Personalization with 3D printed Spring-Damper Components 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 712 - 716 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（国際会議プロシーディングス）

Exoskeleton-type assistive devices have been studied a long time focusing on the universal design and a simplification for mass production, and recently the concept is extended to the personalization according to the advancement of 3D printing, which allows to embed spring-damper systems in the form of compliant mechanisms. Therefore, a sophisticated kinematic and kinetic analysis is highly important for the realization of integrative systems and theories of multibody dynamics enhance the capability to find best parameters that are suitable for target body requirements. We analyzed a knee support exoskeleton in the form of the linkage system as the rigid-body dynamics and estimated necessary spring-damper components in the system to reduce burden on joint motions, especially persons with joint dysfunctions.

Scopus

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

Dixit A., Oshiumi W., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 717 - 722 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（国際会議プロシーディングス）

Social infrastructure inspections were relying on human experts, and then a recent topic is a possible implementation to realize an automated inspection based on machines and sophisticated software algorithms. We have studied an advancement of Morphological Component Analysis (MCA) to apply the concrete-crack position estimation especially for submillimeter-width cracks, which are highly difficult for traditional methods to detect finely. We demonstrated a concrete crack detection from images obtained from proximity cameras attached a specialized multicopter, by using the MCA-based crack position estimation and the linear regression-based sub-pixel width estimation. It will contribute to the actual field work not only for the concrete crack detection but also various social infrastructure inspections.

Scopus

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Design of Educational Scenarios with BigFoot Walking Robot: A Cyber-physical System Perspective to Pedagogical Rehabilitation 査読有り国際誌

Nikolov V., Dimitrova M., Chavdarov I., Krastev A., Wagatsuma H.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 13258 LNCS 259 - 269 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（国際会議プロシーディングス）

The currently designed novel educational scenarios with the walking robot BigFoot from a cyberphysical system perspective to pedagogical rehabilitation is described in the paper. The sensor system of the robot is presented, which is being developed further in order to adequately apply it to two newly formulated educational scenarios. The results of a pilot study are discussed.

DOI： 10.1007/978-3-031-06242-1_26

Scopus

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A Named Entity Recognition Model for Manufacturing Process Based on the BERT Language Model Scheme 査読有り国際誌

Shrivastava M., Seri K., Wagatsuma H.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 13817 LNAI 576 - 587 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（国際会議プロシーディングス）

Industry 4.0 has put robotics on the forefront of manufacturing process, assistive healthcare etc. Robots are now involved in many aspect of life and therefore it is very important to keep them working all the time. Maintaining and repairing these robots requires highly skilled manpower, to overcome the scarcity of skilled resources we aimed to develop a knowledge base system/intelligent machine that are aware of manufacturing process/machine and thus can help to overcome failure causes or help in repairing. First step in this direction is to transform vast knowledge present in Natural language to a form that is understandable to machine. One way to achieve this goal is by representing language using a logic formula that machines can interpret, like the Resource Description Framework (RDF). The essential component for such representation is to identify entities and the relationship between them. This research focuses on developing an artificial intelligent (AI) model for identifying manufacturing entities from raw text using the Bidirectional Encoder Representation from Transformer (BERT) language model. We fine-tuned different pre-trained models of BERT to achieve improved performance in identifying named entities.

DOI： 10.1007/978-3-031-24667-8_50

Scopus

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Determining the Elastic Properties of Flexible 3D Printed Beams with Variable Infill Densities and Patterns 査読有り国際誌

我妻広明

International Journal of Engineering Advanced Research (IJEAR) 4(3) 12 - 24 2022年01月

A Linear-Time Algorithm to Form a Core Convex Shape from an Arbitrary Non-Convex for Automated Fulfillment in Robotic Manipulation Tasks 査読有り国際誌

我妻広明

International Journal of Engineering Advanced Research (IJEAR) 4(3) 1 - 11 2022年01月

A Comparative Study of Vector and Raster Spatial Data for Image Segmentation Focusing on the Position Estimation Accuracy of Vertices to Form Polygonal Shapes 査読有り国際誌

我妻広明

International Journal of Engineering Advanced Research (IJEAR) 4(3) 25 - 34 2022年01月

運動機能リハビリを模した三種把持動作の脳波識別を可能にする個人差の検討

三嶋暁，柴田宏誠，マリアサンチェス，我妻広明

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 121 ( 272 ) 7 - 12 2021年11月

Corrigendum: A Review of Possible EEG Markers of Abstraction, Attentiveness and Memorisation in Cyber-Physical Systems for Special Education, (Front. Robot. AI, (2021), 8, (715962), 10.3389/frobt.2021.715962) 査読有り

Dimitrova M., Wagatsuma H., Krastev A., Vrochidou E., Nunez-Gonzalez J.D.

Frontiers in Robotics and AI 8 2021年11月

記述言語：その他外国語掲載種別：記事・総説・解説・論説等（その他）

In the original article, Moore (2012) was cited but the reference was missing. This reference has now been included in the References list. The authors apologize for this error and state that this does not change the scientific conclusions of the article in any way. The original article has been updated.

DOI： 10.3389/frobt.2021.795160

Scopus

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A viscoelastic contact analysis of the ground reaction force differentiation in walking and running gaits realized in the simplified horse leg model focusing on the hoof–ground interaction 査読有り国際誌

Batbaatar D., Wagatsuma H.

Journal of Robotics, Networking and Artificial Life 8 ( 2 ) 78 - 84 2021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）

In the present study, the systematic method for the forward dynamics associated with the ground contact model was introduced to be able to consider the viscoelastic effect when contacting with the ground. In particular, we focused on the hoof-ground interaction in the simplified horse leg model because walking and running gaits are known to be different in trajectories; however, the force analysis still remains as unsolved issues. The computational experiments in Matlab, elastic and inelastic impact with the ground was resolved by using the dissipative contact force model proposed by Lankarani and Nikravesh and the ground reaction force was clearly examined in four different conditions from the combination of walking/running and elastic/inelastic contact. As result, two peaks during the stance phase in the walking condition were realized as well as the human gait and a single peak was newly observed in running with a time gap in elastic and inelastic condition. The proposed method contributes to the establishment of the detail time course analysis of the ground reaction force for animal and human gaits in a consistent manner.

DOI： 10.2991/jrnal.k.210713.002

Scopus

CiNii Research

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A Review of Possible EEG Markers of Abstraction, Attentiveness, and Memorisation in Cyber-Physical Systems for Special Education 査読有り国際誌

1. Dimitrova, M., Wagatsuma, H., Krastev, A., Vrochidou, E., Nunez-Gonzalez, J. D.

Frontiers in Robotics and AI 8 ( 2021 ) 252 - 252 2021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）

Cyber-physical systems (CPSs) for special education rely on effective mental and brain processing during the lesson, performed with the assistance of humanoid robots. The improved diagnostic ability of the CPS is a prerogative of the system for efficient technological support of the pedagogical process. The article focuses on the available knowledge of possible EEG markers of abstraction, attentiveness, and memorisation (in some cases combined with eye tracking) related to predicting effective mental and brain processing during the lesson. The role of processing abstraction is emphasised as the learning mechanism, which is given priority over the other mechanisms by the cognitive system. The main markers in focus are P1, N170, Novelty P3, RewP, N400, and P600. The description of the effects is accompanied by the analysis of some implications for the design of novel educational scenarios in inclusive classes.

DOI： 10.3389/frobt.2021.715962

Scopus

CiNii Research

その他リンク： https://www.frontiersin.org/articles/10.3389/frobt.2021.715962/full

Brain signals classification based on fuzzy lattice reasoning 査読有り国際誌

Vrochidou E., Lytridis C., Bazinas C., Papakostas G.A., Wagatsuma H., Kaburlasos V.G.

Mathematics 9 ( 9 ) 1063 2021年05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）

Cyber-Physical System (CPS) applications including human-robot interaction call for automated reasoning for rational decision-making. In the latter context, typically, audio-visual signals are employed. This work considers brain signals for emotion recognition towards an effective human-robot interaction. An ElectroEncephaloGraphy (EEG) signal here is represented by an Intervals’ Number (IN). An IN-based, optimizable parametric k Nearest Neighbor (kNN) classifier scheme for decision-making by fuzzy lattice reasoning (FLR) is proposed, where the conventional distance between two points is replaced by a fuzzy order function (σ) for reasoning-by-analogy. A main advantage of the employment of INs is that no ad hoc feature extraction is required since an IN may represent all-order data statistics, the latter are the features considered implicitly. Four different fuzzy order functions are employed in this work. Experimental results demonstrate comparably the good performance of the proposed techniques.

DOI： 10.3390/math9091063

Scopus

CiNii Research

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A ground reaction force analysis in walking and running gaits in horse leg model on viscoelastic hoof-ground contact 査読有り国際誌

Batbaatar Dondogjamts, 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 ) 26 505 - 512 2021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）

In this paper, we focused on the hoof-ground interaction in the simplified horse leg model because walking and running gaits are known to be different in trajectories; however, the force analysis still remains as unsolved issues. The computational experiments in Matlab, elastic and inelastic impact with the ground was resolved by using the dissipative contact force model and the ground reaction force was clearly examined in four different conditions from the combination of walking/running and elastic/inelastic contact.

DOI： 10.5954/icarob.2021.gs8-6

CiNii Research

A Semantic Web-Based Representation of Human-logical Inference for Solving Bongard Problems 査読有り国際誌

Maniamma, J., Wagatsuma, H.

Journal of Universal Computer Science 26 ( 10 ) 1343 - 1363 2021年01月

An Implementation of Linear Temporal Logic for Driving Safety Suitable for the Concept of Local Dynamic Map 査読有り

Kumar A., Wagatsuma H.

2021 IEEE/SICE International Symposium on System Integration, SII 2021 708 - 709 2021年01月

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）

Safely driving on the road is a highly complicated information process for autonomous driving systems, which requires knowledge in the form of the hierarchical structure to bind them together. According to the past works on Cooperative Intelligent Transport Systems (C-ITS), the concept of Local Dynamic Map (LDM) is one of the critical technologies. It can coordinate environmental information with different time scales to update by mapping onto a consistent geometric structure in a hierarchy. A possible representation of the LDM concept can be associated with a relational database or semantic web technology such as Resource Description Framework (RDF) and Web Ontology Language (OWL). However, moving objects on the road can take infinitely many states. In this study, we propose an integration with Linear Temporal Logic (LTL) to represent events with potential risks to express them on LDM. In the computer experiment, risky situations were examined by using LDM update rules with LTL at turning and roundabout.

DOI： 10.1109/IEEECONF49454.2021.9382772

Scopus

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A ground reaction force analysis in walking and running gaits in horse leg model on viscoelastic hoof-ground contact 査読有り

Batbaatar D., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 2021 505 - 511 2021年01月

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

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An Extension of Kinematic Model for the Linkage Mechanism to Analyze the Workspace and Gait Trajectory Induced by the Swing Leg Motion 査読有り

Batbaatar D., Wagatsuma H.

2020 3rd International Conference on Control and Robots, ICCR 2020 57 - 64 2020年12月

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）

The anatomical structure of animal leg repeatedly represented by open and closed kinematic chains. The open-chain has flexibility in producing functional gait trajectories, while it loses structural strength. On the other hand, closed linkages has well organized structural arrangement that could mobilize or stabilize large anatomical areas, and the range of movement has a limitation due to constraints in the system. In the present study, we focused on the partial extension of the closed linkage mechanism to be able to reproduce particular animal gait trajectories by adding a new link to control the leg's swinging. In the multibody dynamics, the proposed mechanism was analyzed to work as a simple oscillatory control associated with the movement of the constrained part of the leg mechanism. The reachable workspace was derived from the motion range of joints and extension/retraction of the leg mechanism. The extended analysis showed that animal gait trajectories were generated flexibly according to control parameters with driver constraints. It suggests that the specific locomotor behavior differentiate in trajectory due to the amplitude oscillation of swinging motion in the estimated leg workspace.

DOI： 10.1109/ICCR51572.2020.9344186

Scopus

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Real-time Social Distancing for Tackling COVID-19 in Workplaces Using Wearable Inertial Sensor 査読有り国際誌

Almassri A.M.M., Shirasawa N., Wagatsuma H.

International Journal of Bioscience, Biochemistry and Bioinformatics 2020年12月

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