研究者詳細 - 我妻　広明

論文 - 我妻　広明

分割表示294 件中 81 - 100 件目／全件表示 >>

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

Batbaatar D., Wagatsuma, H.

Proceeding of 2020 3rd International Conference on Control and Robots (ICCR 2020) 2020年12月

Analytical method based on the absolute nodal coordinate formulation for elastic material components to reform the design-style of human assistive devices 査読有り

Kato Y., Wagatsuma H.

ICIC Express Letters 14 ( 9 ) 891 - 899 2020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）

© 2020 ICIC International. In fields of soft-robotics and human assistive devices, the utilization of elastic materials is highly expected as alternatives of conventional electric actuators. On the other hand, the difficulty in combining traditional mathematical methods for rigidbody mechanics and elastic material prevents systematic and consistent analysis. In this study, we introduced the absolute nodal coordinate formulation as the extended theory and proposed the systematic evaluation of the necessary stiffness of the elastic material embedded in the human assistive devices. Our computer experiment successfully demonstrated the evaluation when the device is dynamically deforming depending on the human posture. It will contribute to opening the new era of the systematic design of human assistive devices, which will significantly reduce the trial-and-error workload of expert prosthetists.

DOI： 10.24507/icicel.14.09.891

Scopus

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A systematic evaluation method for product configurations in the dynamic warehouse focusing on the zone-specificity 査読有り

Almassri A.M.M., Kariya T., Takizawa C., Wagatsuma H.

International Journal of Innovative Computing, Information and Control 16 ( 4 ) 1313 - 1322 2020年08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）

© INRA and Springer-Verlag France. In the warehouse, workload reduction is an important factor, while a simple automation cannot solve completely because supply and demand are dynamically changing. Recently, sophisticated machines have been introduced; however, a partial replacement of human operations does not guarantee an effective workload reduction in the sense of the whole warehousing management. A standard criterion is necessary for fair comparisons and a systematic and generalized evaluation method is expected beyond partial and heuristic assessments in logistics. For example, a zone-specific configuration of products was believed to have a benefit in the warehouse management as an expert knowledge, while it is unclear whether it actually contributes to a cost reduction or preventions of human errors. In this study, we proposed a systematic evaluation method for picking costs in the shelf by using the Dijkstra’s algorithm, which calculates the minimum trajectory length connecting among target locations to pick. Our computer experiments demonstrated not only the comparison of picking processes based on two types of Dijkstra’s algorithm with/without the zone-specificity, but also the difference of performances between the uniform random configuration of products and hit-rate based configuration depending on zones. In the proposed criterion, the hit-rate based configuration reduced 21.9% cost as the maximum in the evaluation by the efficacy based on the cumulative trajectory length in the single picking-up session in the comparison with the random configuration. This generalized evaluation method will contribute to improving the quality management in logistics and enhancing a transparent competition of automated systems of different companies.

DOI： 10.24507/ijicic.16.04.1313

Scopus

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Methodological design for integration of human eeg data with behavioral analyses into human-human/robot interactions in a real-world context 査読有り国際誌

Sanchez M.R.V., Mishima S., Fujiwara M., Ai G., Jouaiti M., Kobryn Y., Rimbert S., Bougrain L., Hénaff P., Wagatsuma H.

ICIC Express Letters 14 ( 7 ) 693 - 701 2020年07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）

© 2020. Analysis of human activities is a complex task that needs multifactorial considerations. So an electroencephalographic (EEG) data analysis can be improved by a conjunction of devices that monitor time courses of multiple types of physiological factors of the subject and counterparts when interactions are on-going in the environment. In this article, we propose a method to provide the complementary hardware and software treatment that associate devices to be able to synchronize simultaneous data recording to fit the high sampling rate of the EEG signal, such as more than 512 Hz. This method of synchronizing physiological data gathered from three different devices through the use of trigger signals is crucial for an accurate post-analysis and is validated in the experiment. The proposed method is widely applicable in various cases accompanied with EEG measurements and offers a wide possibility in device developments for rehabilitation and communications. ICIC International

DOI： 10.24507/icicel.14.07.693

Scopus

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Service Robots for Special Education of Children with Disabilities: Robotized Systems for Social Applications 査読有り

Zahariev R., Valchkova N., Wagatsuma H.

ACM International Conference Proceeding Series 300 - 306 2020年06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）

© 2020 Owner/Author. The article presents a methodology for using service robots in the process of rehabilitation for children in special education. The aim of the study is to provide effective experimental use of an innovative model for overcoming the social exclusion of disabled people (with special focus on young people), ensuring a dignified and independent life by piloting an intelligent modular service mobile robots called AnRI (Anthropomorphic Robot Intelligent). The EC-Funded Marie Curie Project H2020-MSCA-RISE-2017, No77720, Cyber-Physical Systems for Pedagogical Rehabilitation in Special Education, (CybSPEED), is contributing to the introduction of a model for the use of robotic technologies and AnRI robots in special education by disabled children and young people. The opportunity to explore experience and sustainable cooperation between beneficiaries and partners was used in the frame of the Project. It is shown, using from Service Robots AnRI, the innovative approach, developed by KyuTech University - Japan, a partner in the CybSPEED project, for transmitting information with the help of Key Words. The generation of knowledge and expertise in the field of pedagogical rehabilitation of people with disabilities is described, which will help to identify the needs of the target group of students with the use of service robots. It is shown also the processes of the study, testing of robotic assistive devices for people with disabilities and knowledge sharing, which provides project partners with completely new tools and forms of assistance for people with disabilities and will contribute to the improvement of existing practices. In the methodology described, not only an innovative element, the use of AnRI robots, but also new solutions for social problems, which will implemented in good cooperation with the professional team of the Social Services Center St. Nedelya, Sandanski, Bulgaria.

DOI： 10.1145/3407982.3408023

Scopus

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任意N体相互作用解析に向けた自動運転安全評価用走行シナリオの網羅的分析法の検討

川野啓太，加藤良祐，今長　久，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 ) 119 ( 382 ) 45 - 50 2020年01月

動物の跳躍動作の力学モデルとしての弾性体を用いた簡易跳躍機構の提案と力の蓄積-開放ダイナミクスの分析

塚本健太，Pancho Dachkinov，Dondogjamts Batbaatar，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 ) 119 ( 382 ) 57 - 62 2020年01月

自律分散型経路探索モデルのロボットアーム応用の検討

白澤夏樹，Dondogjamts Batbaatar，上田肇一，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 ) 119 ( 382 ) 51 - 56 2020年01月

組込みソフトウェア開発とオントロジー査読有り

渡辺政彦, 市瀬龍太郎, 我妻広明, 田向権, 穴田啓樹

人工知能 ( 一般社団法人人工知能学会 ) 35 ( 2 ) 155 - 162 2020年01月

「自動運転のための知的処理」特集にあたって査読有り

我妻広明, 田向権, 大屋勝敬

知能と情報 ( 日本知能情報ファジィ学会 ) 32 ( 3 ) 54 - 55 2020年01月

A semantic web-based representation of human-logical inference for solving bongard problems 査読有り

Maniamma J., Wagatsuma H.

Journal of Universal Computer Science 26 ( 9 ) 1154 - 1174 2020年01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）

© 2020, IICM. All rights reserved. Bongard Problems (BPs) are a set of 100 visual puzzles introduced by M. M. Bongard in the mid-1960s. BPs have been established as benchmark puzzles for understanding the human context-based learning abilities to solve ill-posed problems. The puzzle requires the logical explanation as the answer to distinct two classes of figures from redundant options, which can be obtained by a thinking process to alternatively change the target frame (hierarchical level of analogy) of thinking from a wide range concept networks as D. R. Hofstadter suggested. Some minor research results to solve a limited set of BPs have reported based a single architecture accompanied with probabilistic approaches; however the central problem on BP’s difficulties is the requirement of flexible changes of the target frame, therefore non-hierarchical cluster analyses does not provide the essential solution and hierarchical probabilistic models needs to include unnecessary levels for learning from the beginning to prevent a prompt decision making. We hypothesized that logical reasoning process with limited numbers of meta-data descriptions realizes the sophisticated and prompt decision-making and the performance is validated by using BPs. In this study, a semantic web-based hierarchical model to solve BPs was proposed as the minimum and transparent system to mimic human-logical inference process in solving of BPs by using the Description Logic (DL) with assertions on concepts (TBox) and individuals (ABox). Our results demonstrated that the proposed model not only provided individual solutions as a BP solver, but also proved the correctness of Hofstadter’s idea as the flexible frame with concept networks for BPs in our actual implementation, which no one has ever achieved. This fact will open the new horizon for theories for designing of logical reasoning systems especially for critical judgments and serious decision-making as expert humans do in a transparent and descriptive way of why they judged in that manner.

Scopus

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A proposal of the kinematic model of the horse leg musculoskeletal system by using closed linkages 査読有り国際誌

Batbaatar D., Wagatsuma H.

IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 869 - 874 2019年12月

担当区分：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）

© 2019 IEEE. In part, closed loop mechanisms can be found in musculoskeletal systems in animals, which are not only composed of combinations with bones and muscles but also of tendons in proper positions. Indeed, the mechanism provides flexible animal gait patterns which is associated with different leg trajectories depending on the ground condition and the purpose. In this paper, we focused on the horse leg mechanism as an animal to be able to adapt to the guidance of the house rider and hypothesized that the principle mechanism can be modeled with closed linkages with a changeable length link, which is formulated as a distance driver. The horse hind limb is driven in a complex manner by kinematic joints and forces generated by muscles and tendons, while in the viewpoint of the geometrical structure of principal joints were selected from the original structure and coupling with other reconstructed linkages as a simple form. In the computer experiment based on the multibody dynamics, the proposed linkage system demonstrated that horse leg-like trajectories were provided by the proposed model with eleven fixed links and a relative distance driver as a function of muscle-tendon unit. In the closed linkage, a uniform circular motion is assumed in the input driving force and the force is transmitted to the end-effector as toe and then a desired locomotive trajectory is provided. The important finding is that a kicking force is generated in the toe just before the grounding. This non-linear kinematic transmission may provide a hint to analyze adaptive capabilities in the animal locomotion even by the simple closed linkage without a complex actuator control system.

DOI： 10.1109/ROBIO49542.2019.8961819

Scopus

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A Systematic Evaluation Method for Product Configurations in the Shelf to Minimize the Picking Cost by Using Zone-Specific Dijkstra’s Algorithm: Effectiveness of the Planogram in the Warehouse 査読有り国際誌

Ahmed M. M. Almassri, Takuma Kariya, Chiyuki Takizawa and Hiroaki Wagatsuma

Proceedings of the 14th International Conference on Innovative Computing, Information and Control (ICICIC2019) 2019年08月

Analytical Method Based on the Absolute Nodal Coordinate Formulation for Elastic Material Components to Reform the Design-Style of Human Assistive Devices 査読有り国際誌

Yoshitaka Kato and Hiroaki Wagatsuma

Proceedings of the 14th International Conference on Innovative Computing, Information and Control (ICICIC2019) 2019年08月

Methodological Design for Integration of Human EEG Data with Behavioral Analyses into Human-Human/Robot Interactions in a Real-World Context 査読有り国際誌

Maria Rodalyn V. Sanchez, Satoru Mishima, Masayuki Fujiwara, Guangyi Ai Mélanie Jouaiti, Yuliia Kobryn, Sébastien Rimbert, Laurent Bougrain, Patrick Hénaff and Hiroaki Wagatsuma

Proceedings of the 14th International Conference on Innovative Computing, Information and Control (ICICIC2019) 2019年08月

Application-Independent Ontology Design Shared in Human-Assist Systems for Automated Driving, Agricultural Plant Automation and Nursing-Care Managements 査読有り国際誌

Wagatsuma, H., Maniamma, J., Ichise, R., Tamukoh, H., Anada, K., Watanabe, M.

Proceeding of the 19th International Symposium on Advanced Intelligent Systems in conjunction with Intelligent Systems Workshop 2018 (SCIS & ISIS2018) 2019年05月

Design and motion capabilities of an emotion-expressive robot EmoSan 査読有り国際誌

Dachkinov P., Tanev T., Lekova A., Batbaatar D., Wagatsuma H.

Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018 1320 - 1326 2019年05月

Logical scenarios and coverage analyses enhanced by a representative trajectory model to reduce test cases to limited combinations 査読有り国際誌

Wagatsuma H.

Comparison of Effectiveness of Dual Tree Complex Wavelet Transform and Anisotropic Diffusion in MCA for Concrete Crack Detection 査読有り国際誌

Dixit A., Wagatsuma H.

Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 2681 - 2686 2019年01月

Simultaneous Analysis of EEGs and Movements in Interative Hand Shaking Required Skills to Synchronize Cooperatively in Game 査読有り国際誌

Ai G., Hagio M., Ichiki M., Wagatsuma H.

Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 590 - 594 2019年01月

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