研究者詳細 - 我妻　広明

論文 - 我妻　広明

分割表示327 件中 101 - 120 件目／全件表示 >>

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

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

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

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

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