研究者詳細 - 我妻　広明

論文 - 我妻　広明

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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 Pancho, Kasai Shintaro, Tanaka Kohei, 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 ) 27 724 - 730 2022年01月

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 Shintaro, Dachkinov Pancho, Tanaka Kohei, 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 ) 27 712 - 716 2022年01月

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 Ankur, Oshiumi Wataru, 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 ) 27 717 - 723 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

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 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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125133156&origin=inward

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125139095&origin=inward

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125149075&origin=inward

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125148649&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

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85132013431&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 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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85149900634&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

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

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 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 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

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