研究者詳細 - 我妻　広明

論文 - 我妻　広明

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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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85095835713&origin=inward

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85079043369&origin=inward

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

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.

Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018 734 - 738 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.

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

Two-stage wavelet shrinkage and EEG-EOG signal contamination model to realize quantitative validations for the artifact removal from multiresource biosignals 査読有り国際誌

Singh B., Wagatsuma H.

Biomedical Signal Processing and Control 47 96 - 114 2019年01月

自動運転安全性評価における走行シナリオの生成的分類構築法の提案

川野啓太, Kumar Arvind, 我妻広明

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 35 ( 0 ) 698 - 702 2019年01月

決定表に基づく自動運転用判断システムの構築と評価

宮﨑椋瑚, 三井悠也, 石田裕太郎, 渡辺政彦, 宇井健一, 横田剛典, 市瀬龍太朗, 我妻広明, 田向権

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 35 ( 0 ) 722 - 727 2019年01月

Approximation of discrete OpenStreetMap way-nodes using Bezier curve fitting for OpenDrive format 国際誌

Kumar Arvind, 川野啓太, 我妻広明

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 35 ( 0 ) 703 - 704 2019年01月

Epilepsy EEG classification using morphological component analysis 査読有り国際誌

Mahapatra A., Singh B., Wagatsuma H., Horio K.

Eurasip Journal on Advances in Signal Processing 2018 ( 1 ) 2018年12月

MCA Based Epilepsy EEG Classification Using Time Frequency Domain Features 査読有り国際誌

Mahapatra A., Singh B., Horio K., Wagatsuma H.

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2018-July 3398 - 3401 2018年10月

Simultaneous Analysis of EEGs and Movements in Interactive 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 of the 2018 IEEE International Conference on Systems, Man, and Cybernetics ( SMC2018) 2018年10月

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