研究者詳細 - 我妻　広明

論文 - 我妻　広明

分割表示327 件中 61 - 80 件目／全件表示 >>

A Computational Approach for Global Trade Analysis Sensitive to Free Trade Agreement Circumstances: A Case Study Focusing on the Great Mekong Subregion 査読有り国際誌

Altaweel Ahmad, Lee Bo-Young, Fujiwara Masayuki, 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 ) 29 1042 - 1046 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（国際会議プロシーディングス）

In the Global Trade Analysis Project (GTAP), GDP and economic statistical indices can be analyzed for forecasting future trends in multiple countries by using the GTAP database and GEMPACK utilities, which realize the numerical calculation based on the concept of Computable General Equilibrium (CGE) models. Even with such well-prepared tools with the official database, appropriate forecasting is still difficult due to the sensitivity of the Free Trade Agreement (FTA) circumstances. FTA scenarios with a uniform tariff reduction can be assumed in general, while an abrupt and unreasonable change may occur in the simulation depending on the network structure of trading countries and the upper and lower bounds of tariffs in the time course. In the present study, we focused on the Great Mekong subregion (GMS) and explored possible methods to calculate substantially.

DOI： 10.5954/icarob.2024.gs6-2

CiNii Research

Trigger circuit design and system integration for simultaneous measurement of human EEG, motion, and gaze 査読有り国際誌

Fujiwara M., Duc P.H.H., Bougrain L., Hénaff P., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 1047 - 1050 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）

Simultaneous measurement of EEG, motion, and gaze in humans has the potential to lead to the discovery of new scientific insights. In order to achieve these simultaneous measurements, it is necessary to manage triggers and time information between measurement devices, as well as to correct time offsets. However, the management of accurate triggers and time information requires the design of a dedicated circuit board and the integration of Transistor- Transistor Logic signal voltage information. In this study, we report on the building of a trigger circuit and an experimental system using it to solve these problems. We created a home-made trigger circuit board for voltage integration and combined it with a commercially available microcomputer to realize an integrated trigger circuit and measurement system.

Kyutacar

Scopus

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An Integration of Contact Force Models with Multibody Dynamics Analyses for Human Joint Mechanisms and Effects of Viscoelastic Ground Contact 査読有り国際誌

Kasai S., Batbaatar D., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 994 - 998 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）

In human movement and rehabilitation analyses, human joint dynamics is a key to consider the incorporation of spring-damper components, flexible bodies and contact forces analytically. In the present study, an analytical method for human gaits were introduced to integrate those essential elements, and viscoelastic properties of musculoskeletal system were modeled with the absolute nodal coordination formula (ANCF) method representing flexible body motions. A contact force model simulates interactions between different body segments and the environment. The proposed system is applied to a slider crank mechanism, demonstrating its capabilities in human joint motion analysis using integrated dynamic model within the framework of multi body dynamics (MBD), which realizes dynamic/inverse dynamics for human biomechanics.

Kyutacar

Scopus

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An image processing mechanism for aerial inspection robots to detect submillimeter-width concrete cracks in social infrastructures 査読有り国際誌

Dixit A., Oshiumi W., Shrivastava M., Wagatsuma H.

Advanced Robotics 38 ( 9-10 ) 698 - 714 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（学術雑誌）

Inspection robots for early detection of potential risks in severe environments require a high accuracy like human experts. A fine mechanism is crucial for extracting target components from noisy signals. We have proposed a detection system for submillimeter-width cracks in concrete surfaces of social infrastructures, such as bridges, by using morphological component analysis (MCA), for aerial image-inspection robots. Traditional schemes like PCA have relied on linear decomposition for the separation of target signal and noise components. Recent advancement in signal decomposition focuses on the enhancement of linearity in the separation by introducing a set of nonlinear basis functions to represent the raw signal even when multiple factors are mixed in a nonlinear manner. In this sense, MCA is a core technique to be able to isolate target components to represent submillimeter-width cracks from others. We proposed a proper pre- and post-processing operations to attach MCA, which demonstrated a high accuracy yet coarse and fine image components have to be integrated redundantly. In the present study, we successfully found a simpler mechanism to set the single basis function to extract the target by introducing a new thresholding mechanism. It suggests a high potential of MCA for inspection robots for various purposes.

DOI： 10.1080/01691864.2024.2324317

Kyutacar

Scopus

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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

Classification of Motor Imagery Using Trial Extension in Spatial Domain with Rhythmic Components of EEG 査読有り国際誌

Molla M.K.I., Ahamed S., Almassri A.M.M., Wagatsuma H.

Mathematics 11 ( 17 ) 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）

Electrical activities of the human brain can be recorded with electroencephalography (EEG). To characterize motor imagery (MI) tasks for brain–computer interface (BCI) implementation is an easy and cost-effective tool. The MI task is represented by a short-time trial of multichannel EEG. In this paper, the signal of each channel of raw EEG is decomposed into a finite set of narrowband signals using a Fourier-transformation-based bandpass filter. Rhythmic components of EEG are represented by each of the narrowband signals that characterize the brain activities related to MI tasks. The subband signals are arranged to extend the dimension of the EEG trial in the spatial domain. The spatial features are extracted from the set of extended trials using a common spatial pattern (CSP). An optimum number of features are employed to classify the motor imagery tasks using an artificial neural network. An integrated approach with full-band and narrowband signals is implemented to derive discriminative features for MI classification. In addition, the subject-dependent parameter optimization scheme enhances the performance of the proposed method. The performance evaluation of the proposed method is obtained using two publicly available benchmark datasets (Dataset I and Dataset II). The experimental results in terms of classification accuracy (93.88% with Dataset I and 91.55% with Dataset II) show that it performs better than the recently developed algorithms. The enhanced MI classification accuracy is very much applicable in BCI implementation.

DOI： 10.3390/math11173801

Scopus

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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 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

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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

An Accuracy Evaluation of Multibody Dynamics for the Knee Support Exoskeleton Model with Respect to Implicit Methods for Numerical Integration 査読有り国際誌

Kasai S., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 989 - 993 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）

Numerical integration takes an important role to analyze models described by ordinary differential equations and it largely contributes to an assurance of the accuracy in displacement analyses of multibody dynamics if the model consists of several bodies especially with dynamic components such as springs and dampers. Exoskeletal assistive devices require flexible materials for absorbing reaction forces from human joints, which implies an inevitable necessity of an accurate evaluation of elastic effects in the model. In the present study, we introduced implicit methods for numerical integration to analyze the model under the formulation of multibody dynamics and computer experiments demonstrated results from explicit and implicit methods for the numerical integration as a comparison analysis. It can improve a degree of accuracy in inverse dynamics even in the theory of flexible Multibody Dynamics (fMBD).

Scopus

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A Structure Pattern Extraction by Using Morphological Component Analysis in the Aerial Image Edge Detection 査読有り国際誌

Oshiumi W., Dixit A., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 883 - 887 2023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（国際会議プロシーディングス）

Automated extraction of areas of interest from aerial images is a central issue for map makers. The road skeleton is one of the most frequent targets, and then the prefiltering of road structures is highly important; however, the isolation of man-made structures from a natural landscape is technically tricky because image parts to represent natural geographical features are not uniform patterns. In the present study, we focused on the function of the Morphological Component Analysis (MCA) method to extract structural patterns when dictionaries were appropriately given and demonstrated the effectiveness of edge detection if the prefiltering was done by using MCA. MCA decomposes the image into two patterns in our computer experiment with Curvelet transform and Local Discrete Cosine Transform (LDCT) dictionaries. This approach will explore extensive possibilities of structural data extraction from complex images as an automated method.

Scopus

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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

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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

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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

Altaweel, A., Uehara, K., Almassri, A. M. M., Wagatsuma, H.

International Journal of Engineering Advanced Research (IJEAR) 4 ( 3 ) 1 - 11 2022年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

In the field of robotic manipulation, a fully automatic object fulfillment is an important issue in applications not only for high-density warehouse optimization but also for agricultural automation. In the present study, a formulation of the fulfillment of the maximum object into a given non-convex area was proposed. For minimizing redundant space inside a container during a packing task, the optimization problem is inevitable. Even edges of the target area are clearly detected, the best scenario to fill candidate objects sequentially is not apparently calculated. To deal with this problem, the proposed method is composed of two processes as decomposition of the original non-convex shape and reconstruction of a convex shape, based on theories of computational geometry. For example, it is difficult to judge a point either inside or outside of the area if it is non-convex, while it is easy to judge if the area is convex in the sense of the theorem of computational geometry. The proposed method is initiated by a recursive procedure proposed to decompose non-convex parts until it forms a remaining part to be a convex shape, and then it shifts to the reconstruction of a developing convex shape by adding decomposed parts in the first process, which it will be convex with the maximum size to be a subset of the original non-convex shape. It finally provides the right answer to be a filling area for candidate objects. Since the decomposition and reconstruction will be done in the circulation of removal and attachment of decomposed triangle parts, which takes computational costs of N (the number of nodes) steps as maximum in rotation as a linear- time algorithm. Theoretically, a simple detection algorithm of the maximum fulfillment area can be derived from an arbitrary combination of nodes as 2N. In the computer experiment, the reduction of the computational cost was clearly demonstrated in the comparison of the proposed method and the combinatory method. It contributes to the enhancement of the potential of computational geometry in an effective design of optimization units for robotics working in unstable and dynamic environments.

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

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

International Journal of Engineering Advanced Research (IJEAR) 4 ( 3 ) 12 - 24 2022年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

Flexible non-linear 3D printed materials are rapidly gaining popularity in various engineering applications such as soft robotics, actuators, medical devices, etc. Due to their wide applicability, there is an increased research interest in characterization of their mechanical properties and performance. Unlike the conventional manufacturing processes, 3D printing has an additive character and allows for the geometry to be controlled from inside. The internal geometry and density corresponding to a given model can be tuned to a desired stiffness. In this study we investigate the effect of the infill percentage and infill geometry on the mechanical properties of 3D printed samples from flexible material by using a desktop type FDM 3D printer. The analyzed samples have the same shape and geometry – a beam with a square cross-section but the infill percentage is varied from 10 % to a 100 % with an increment of 15 %. The effects of three different types of infill geometries– rectangular, square and honeycomb have also been analytically determined. The approach for the analytical formulation adopts the methodology for calculating the in- plane properties and stiffnesses in cellular solids. The results for the mechanical properties for the different infill densities and infill geometries have been compared for all configurations. Despite the common external geometry of all beams, there is a significant change in their stiffness with the variation of the infill patterns and densities. Finally, a non-linear FEA study for the fully solid beam was conducted and compared with the analytical results. The method, used in this study can be applied for optimization of the stiffness to weight ratio during the design process of flexible 3D printed parts undergoing larger deformations.

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

Altaweel, A., Almassri, A. M. M., Purev, A., Wagatsuma, H.

International Journal of Engineering Advanced Research (IJEAR) 4 ( 3 ) 25 - 34 2022年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

In the field of image processing, raster data is frequently used for image segmentation and shape estimations for general purposes. On the other hand, in the medical field, which aims to help doctors in surgical operations, semi-automatic robotic manipulations such as the da Vinci Surgical Systemto minimize the necessary area to open for the living body. In the present study, a computational geometry-based method was proposed for vector data to treat the rearrangement of extracted points as candidates for edges of the target shape. On the other hand, the Harris-Stephens algorithm was introduced as a well-known method to detect vertices to form polygonal shapes in raster data as the counterpart in the comparative study. Typically, such a raster data method is not robust to perform in noisy conditions without appropriate filtering in the pre-processing. In the Harris-Stephens algorithm, the adding noises were detected as new vertices to form shapes in the area, which is inevitable in the condition without any semantic information about the shape. Since the proposed computational geometry-based method contains geometrical properties in its computation, it can be enhanced to be robust against noisy data. In the sense of designing a part of the system to be a surgical robot, which requires high accuracy of the position estimation of the target, a maximization of extractions of geometrical properties provides a significant benefit for accurate manipulation of robotic arms. It contributes not only to surgical robots but also to the solver of 2D replacement puzzles known as tangram puzzles to be a general scheme for robots in all fields behaving in dynamic environments.

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

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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

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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 Pancho, Bhattacharjee Anirudha, Bhattacharya Bishakh, 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 ) 27 193 - 200 2022年01月

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