Faculty Profiles - WAGATSUMA Hiroaki

A Nonlinear Oscillator Coupling Model to Provide the Hough Transform Function Without the Discrete Voting Procedure Reviewed International journal

Purev Amarbold, Wagatsuma Hiroaki

Journal of Advances in Artificial Life Robotics ( ALife Robotics Corporation Ltd ) 3 ( 4 ) 185 - 192 2023.01

Authorship：Last author Language：English Publishing type：Research paper (scientific journal)

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

A Basic Concept of the Nonlinear Oscillator-Based Hough Transform Implementation to Improve the Voting Procedure in the Scheme of Continuous Dual Spaces Reviewed International journal

Purev A., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 994 - 1003 2023.01

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 Reviewed International journal

Kasai Shintaro, Wagatsuma Hiroaki

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 2 ) 198 - 203 2023.01

Authorship：Last author Language：English Publishing type：Research paper (scientific journal)

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85194290245&origin=inward

A Comparative Analysis of Serial and Parallel Models in the Morphological Component Analysis-Based Structure Pattern Extraction for Aerial Image Edge Detections Reviewed International journal

我妻広明

Journal of Robotics, Networking and Artificial Life in press 2023.01

A Kamm’s Circle-Based Potential Risk Estimation Scheme in the Local Dynamic Map Computation Enhanced by Binary Decision Diagrams Reviewed International journal

Kumar A., Wagatsuma H.

Sensors 22 ( 19 ) 2022.10

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 Reviewed International journal

Almassri A.M.M., Shirasawa N., Purev A., Uehara K., Oshiumi W., Mishima S., Wagatsuma H.

Sensors 22 ( 15 ) 2022.08

A Computational Model of 3D Printing Orthoses Associated with a Systematic Structural Analysis toward Reverse Engineering Oriented Production Reviewed International journal

Dachkinov Pancho, Kasai Shintaro, Tanaka Kohei, Wagatsuma Hiroaki

ICIC Express Letters, Part B: Applications ( ICIC International ) 13 ( 7 ) 705 - 713 2022.07

A Validation Analysis of the Submillimeter-Width Concrete Crack Detection Based on Morphological Component Analysis and Anisotropic Diffusion Reviewed International journal

Dixit Ankur, Oshiumi Wataru, Wagatsuma Hiroaki

International Journal of Innovative Computing, Information and Control ( ICIC International ) 18 ( 3 ) 1009 - 1018 2022.01

Authorship：Last author Language：English Publishing type：Research paper (scientific journal)

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 consistent 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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85129743643&origin=inward

A Binary Decision Diagram Based Approach for Refining Road Safety Scenarios in the Local Dynamic Map Reviewed International journal

Kumar Arvind, Kawano Keita, Trung Huynh Le Phu, Wagatsuma Hiroaki

ICIC Express Letters, Part B: Applications ( ICIC International ) 13 ( 6 ) 597 - 605 2022.01

Authorship：Last author Language：English Publishing type：Research paper (scientific journal)

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 increases.
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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85129838887&origin=inward

A MBD-based Knee Link Model to Analyze Singular Postures to Find Necessary Restrictions Toward Personalized Knee Support Exoskeleton Reviewed International journal

Kasai Shintaro, Dachkinov Pancho, Tanaka Kohei, Wagatsuma Hiroaki

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 2 ) 128 - 135 2022.01

Authorship：Last author Language：English Publishing type：Research paper (scientific journal)

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85149464507&origin=inward

Flexible Bar Geometric Designs for Personalized Knee Orthoses Inspired by Compliant Mechanisms Reviewed International journal

Dachkinov Pancho, Kasai Shintaro, Tanaka Kouhei, Wagatsuma Hiroaki

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 1 ) 59 - 65 2022.01

Authorship：Last author Language：English Publishing type：Research paper (scientific journal)

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85178309391&origin=inward

A Multi-Material Joint System as a Three-Dimensional Spring-Damper Compliant Mechanism Toward Functional Versatility Reviewed International journal

Dachkinov Pancho, Bhattacharjee Anirudha, Bhattacharya Bishakh, Wagatsuma Hiroaki

Journal of Advances in Artificial Life Robotics ( ALife Robotics Corporation Ltd ) 3 ( 2 ) 66 - 72 2022.01

Authorship：Last author Language：English Publishing type：Research paper (scientific journal)

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

A Concrete Crack Inspection Embedded in the Drone-Based System by Using Sub-Pixel Width Estimation and Morphological Component Analysis Reviewed International journal

Dixit Ankur, Oshiumi Wataru, Wagatsuma Hiroaki

Journal of Advances in Artificial Life Robotics ( ALife Robotics Corporation Ltd ) 2 ( 4 ) 177 - 183 2022.01

Authorship：Last author,　Corresponding author Language：English Publishing type：Research paper (scientific journal)

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

A Comparative Analysis of Serial and Parallel Models in the Morphological Component Analysis-Based Structure Pattern Extraction for Aerial Image Edge Detections Reviewed International journal

Oshiumi Wataru, Dixit Ankur, Wagatsuma Hiroaki

Journal of Advances in Artificial Life Robotics ( ALife Robotics Corporation Ltd ) 3 ( 3 ) 163 - 168 2022.01

Authorship：Last author,　Corresponding author Language：English Publishing type：Research paper (scientific journal)

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

Other Link： 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 Reviewed International journal

我妻広明

ICIC Express Letters, Part B: Applications (ICIC-ELB) 13(7) 705 - 713 2022.01

A Binary Decision Diagram Based Approach for Refining Road Safety Scenarios in the Local Dynamic Map Reviewed International journal

我妻広明

ICIC Express Letters, Part B: Applications (ICIC-ELB) 13(6) 597 - 605 2022.01

A Validation Analysis of the Submillimeter-Width Concrete Crack Detection Based on Morphological Component Analysis and Anisotropic Diffusion Reviewed International journal

我妻広明

International Journal of Innovative Computing, Information and Control (IJICIC) 18(3) 1009 - 1018 2022.01

A Systematic Recording System to Analyze ERD/ERS in EEG to Focus Individual Timing Differences in a Three-Grasping-Type Task Reviewed International journal

Shibata Kosei, Fujiwara Masayuki, Duc Phan Hoang Huu, Bougrain Laurent, Henaff Patrick, Wagatsuma Hiroaki

ICIC Express Letters, Part B: Applications ( ICIC International ) 15 ( 10 ) 1009 - 1016 2024.10

Personalized Feedback in Formative Assessment Support System “Key Words Meeting” for Encouraging Motivation of Learners and Monitoring Their Performance in Individual Classrooms Reviewed International journal

Lee Seungshin, Kurishima Kazuhiro, Jahng Doosub, Wagatsuma Hiroaki

ICIC Express Letters ( ICIC International ) 18 ( 7 ) 731 - 738 2024.07

A Quality Analysis of the BiLSTM Encoder Decoder Model with Modified J-Divergence for Sentences with Different Complexities Reviewed International journal

Shrivastava Manu, Wagatsuma Hiroaki

ICIC Express Letters ( ICIC International ) 18 ( 7 ) 721 - 729 2024.07

An ANCF-Based Theoretical Framework to Deal with Large Deformation of Elastic Element Embedded in Human Knee Joint Orthoses Reviewed International journal

Kasai Shintaro, Wagatsuma Hiroaki

ICIC Express Letters ( ICIC International ) 18 ( 6 ) 607 - 614 2024.06

Motor Imagery Classification Using Effective Channel Selection of Multichannel EEG Reviewed

Shiam A.A., Hassan K.M., Islam M.R., Almassri A.M.M., Wagatsuma H., Molla M.K.I.

Brain Sciences 14 ( 5 ) 2024.05

Trigger circuit design and system integration for simultaneous measurement of human EEG, motion, and gaze Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics 1047 - 1050 2024.01

An Integration of Contact Force Models with Multibody Dynamics Analyses for Human Joint Mechanisms and Effects of Viscoelastic Ground Contact Reviewed International journal

Kasai S., Batbaatar D., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 994 - 998 2024.01

An image processing mechanism for aerial inspection robots to detect submillimeter-width concrete cracks in social infrastructures Reviewed International journal

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

Advanced Robotics 38 ( 9-10 ) 698 - 714 2024.01

A Computational Approach for Global Trade Analysis Sensitive to Free Trade Agreement Circumstances: A Case Study Focusing on the Great Mekong Subregion Reviewed International journal

Altaweel A., Lee B.Y., Fujiwara M., Yoon J.S., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 1042 - 1046 2024.01

Classification of Motor Imagery Using Trial Extension in Spatial Domain with Rhythmic Components of EEG Reviewed International journal

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

Mathematics 11 ( 17 ) 2023.09

An Accuracy Evaluation of Multibody Dynamics for the Knee Support Exoskeleton Model with Respect to Implicit Methods for Numerical Integration Reviewed International journal

Kasai S., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 989 - 993 2023.01

A Structure Pattern Extraction by Using Morphological Component Analysis in the Aerial Image Edge Detection Reviewed International journal

Oshiumi W., Dixit A., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 883 - 887 2023.01

A Linear-Time Algorithm to Form a Core Convex Shape from an Arbitrary Non-Convex for Automated Fulfillment in Robotic Manipulation Tasks Reviewed International journal

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

International Journal of Engineering Advanced Research (IJEAR) 4 ( 3 ) 1 - 11 2022.09

Authorship：Corresponding author Language：English Publishing type：Research paper (scientific journal)

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 Reviewed International journal

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

International Journal of Engineering Advanced Research (IJEAR) 4 ( 3 ) 12 - 24 2022.09

Authorship：Corresponding author Language：English Publishing type：Research paper (scientific journal)

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 Reviewed International journal

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

International Journal of Engineering Advanced Research (IJEAR) 4 ( 3 ) 25 - 34 2022.09

Authorship：Corresponding author Language：English Publishing type：Research paper (scientific journal)

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.

A Three-Dimensional Design of the Multi-material Joint System to Realize a Structural Spring-Damper Compliant Mechanism with Versatility in Engineering Fields Reviewed International journal

Dachkinov Pancho, Bhattacharjee Anirudha, Bhattacharya Bishakh, Wagatsuma Hiroaki

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 193 - 200 2022.01

A Systematic Geometric Design Method of Flexible Bars Available for Personalized Knee Orthoses with Spring-Damper Functions Reviewed International journal

Dachkinov Pancho, Kasai Shintaro, Tanaka Kohei, Wagatsuma Hiroaki

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 724 - 730 2022.01

A Drone-Based Concrete Crack Inspection System by Using Morphological Component Analysis and Sub-Pixel Width Estimation Reviewed International journal

Dixit Ankur, Oshiumi Wataru, Wagatsuma Hiroaki

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 717 - 723 2022.01

A Systematic Analysis of the Knee Support Exoskeleton Based on Multibody Dynamics Toward Personalization with 3D printed Spring-Damper Components Reviewed International journal

Kasai Shintaro, Dachkinov Pancho, Tanaka Kohei, Wagatsuma Hiroaki

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 712 - 716 2022.01

A Three-Dimensional Design of the Multi-material Joint System to Realize a Structural Spring-Damper Compliant Mechanism with Versatility in Engineering Fields Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics 193 - 200 2022.01

A Systematic Analysis of the Knee Support Exoskeleton Based on Multibody Dynamics Toward Personalization with 3D printed Spring-Damper Components Reviewed International journal

Kasai S., Dachkinov P., Tanaka K., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 712 - 716 2022.01

A Systematic Geometric Design Method of Flexible Bars Available for Personalized Knee Orthoses with Spring-Damper Functions Reviewed International journal

Dachkinov P., Kasai S., Tanaka K., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 724 - 730 2022.01

A Drone-Based Concrete Crack Inspection System by Using Morphological Component Analysis and Sub-Pixel Width Estimation Reviewed International journal

Dixit A., Oshiumi W., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 717 - 722 2022.01

Design of Educational Scenarios with BigFoot Walking Robot: A Cyber-physical System Perspective to Pedagogical Rehabilitation Reviewed International journal

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 2022.01

A Named Entity Recognition Model for Manufacturing Process Based on the BERT Language Model Scheme Reviewed International journal

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 2022.01

Determining the Elastic Properties of Flexible 3D Printed Beams with Variable Infill Densities and Patterns Reviewed International journal

我妻広明

International Journal of Engineering Advanced Research (IJEAR) 4(3) 12 - 24 2022.01

A Linear-Time Algorithm to Form a Core Convex Shape from an Arbitrary Non-Convex for Automated Fulfillment in Robotic Manipulation Tasks Reviewed International journal

我妻広明

International Journal of Engineering Advanced Research (IJEAR) 4(3) 1 - 11 2022.01

A Comparative Study of Vector and Raster Spatial Data for Image Segmentation Focusing on the Position Estimation Accuracy of Vertices to Form Polygonal Shapes Reviewed International journal

我妻広明

International Journal of Engineering Advanced Research (IJEAR) 4(3) 25 - 34 2022.01

An Influence of Individual Differences in EEG ERD/ERS Analysis in the Three Grasping Posture Task for Motor Rehabilitation

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 121 ( 272 ) 7 - 12 2021.11

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) Reviewed

Dimitrova M., Wagatsuma H., Krastev A., Vrochidou E., Nunez-Gonzalez J.D.

Frontiers in Robotics and AI 8 2021.11

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 Reviewed International journal

Batbaatar D., Wagatsuma H.

Journal of Robotics, Networking and Artificial Life 8 ( 2 ) 78 - 84 2021.09

A Review of Possible EEG Markers of Abstraction, Attentiveness, and Memorisation in Cyber-Physical Systems for Special Education Reviewed International journal

Dimitrova M., Wagatsuma H., Krastev A., Vrochidou E., Nunez-Gonzalez J.D.

Frontiers in Robotics and AI 8 ( 2021 ) 252 - 252 2021.08

Brain signals classification based on fuzzy lattice reasoning Reviewed International journal

Vrochidou E., Lytridis C., Bazinas C., Papakostas G.A., Wagatsuma H., Kaburlasos V.G.

Mathematics 9 ( 9 ) 1063 2021.05

A ground reaction force analysis in walking and running gaits in horse leg model on viscoelastic hoof-ground contact Reviewed International journal

Batbaatar Dondogjamts, Wagatsuma Hiroaki

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 26 505 - 512 2021.01

Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings)

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

A Semantic Web-Based Representation of Human-logical Inference for Solving Bongard Problems Reviewed International journal

26 ( 10 ) 1343 - 1363 2021.01

An Implementation of Linear Temporal Logic for Driving Safety Suitable for the Concept of Local Dynamic Map Reviewed

Kumar A., Wagatsuma H.

2021 IEEE/SICE International Symposium on System Integration, SII 2021 708 - 709 2021.01

A ground reaction force analysis in walking and running gaits in horse leg model on viscoelastic hoof-ground contact Reviewed

Batbaatar D., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 2021 505 - 511 2021.01

An Extension of Kinematic Model for the Linkage Mechanism to Analyze the Workspace and Gait Trajectory Induced by the Swing Leg Motion Reviewed

Batbaatar D., Wagatsuma H.

2020 3rd International Conference on Control and Robots, ICCR 2020 57 - 64 2020.12

An Extension of Kinematic Model for the Linkage Mechanism to Analyze the Workspace and Gait Trajectory Induced by the Swing Leg Motion Reviewed International journal

Batbaatar D., Wagatsuma, H.

Proceeding of 2020 3rd International Conference on Control and Robots (ICCR 2020) 2020.12

Real-time Social Distancing for Tackling COVID-19 in Workplaces Using Wearable Inertial Sensor Reviewed International journal

Almassri A.M.M., Shirasawa N., Wagatsuma H.

International Journal of Bioscience, Biochemistry and Bioinformatics 2020.12

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

Kato Y., Wagatsuma H.

ICIC Express Letters 14 ( 9 ) 891 - 899 2020.09

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

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

International Journal of Innovative Computing, Information and Control 16 ( 4 ) 1313 - 1322 2020.08

Methodological design for integration of human eeg data with behavioral analyses into human-human/robot interactions in a real-world context Reviewed International journal

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 2020.07

Service Robots for Special Education of Children with Disabilities: Robotized Systems for Social Applications Reviewed

Zahariev R., Valchkova N., Wagatsuma H.

ACM International Conference Proceeding Series 300 - 306 2020.06

An exhaustive scenario inspection of two vehicles on the road toward the complete safety assessment of automated driving systems with arbitrary N-body interactions

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 119 ( 382 ) 45 - 50 2020.01

A Simplified Model with Elastic Materials to Reproduce the Jumping Dynamics of Animals and Analyses of the Accumulation-Release Relationship at the Kicking Moment

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 119 ( 382 ) 57 - 62 2020.01

An Extension of the Multistate Network Model with a Self-Recovery Property to the Robot Arm Posture Problem in a Dynamic Environment

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 119 ( 382 ) 51 - 56 2020.01

Embedded Software Development and Ontology Reviewed

Journal of the Japanese Society for Artificial Intelligence ( The Japanese Society for Artificial Intelligence ) 35 ( 2 ) 155 - 162 2020.01

「自動運転のための知的処理」特集にあたって Reviewed

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 2020.01

A semantic web-based representation of human-logical inference for solving bongard problems Reviewed

Maniamma J., Wagatsuma H.

Journal of Universal Computer Science 26 ( 9 ) 1154 - 1174 2020.01

A proposal of the kinematic model of the horse leg musculoskeletal system by using closed linkages Reviewed International journal

Batbaatar D., Wagatsuma H.

IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 869 - 874 2019.12

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 Reviewed International journal

2019.08

Analytical Method Based on the Absolute Nodal Coordinate Formulation for Elastic Material Components to Reform the Design-Style of Human Assistive Devices Reviewed International journal

2019.08

Methodological Design for Integration of Human EEG Data with Behavioral Analyses into Human-Human/Robot Interactions in a Real-World Context Reviewed International journal

2019.08

Proceeding of the 19th International Symposium on Advanced Intelligent Systems in conjunction with Intelligent Systems Workshop 2018 (SCIS & ISIS2018) Reviewed International journal

2019.05

Design and motion capabilities of an emotion-expressive robot EmoSan Reviewed International journal

1320 - 1326 2019.05

Logical scenarios and coverage analyses enhanced by a representative trajectory model to reduce test cases to limited combinations Reviewed International journal

734 - 738 2019.05

Comparison of Effectiveness of Dual Tree Complex Wavelet Transform and Anisotropic Diffusion in MCA for Concrete Crack Detection Reviewed International journal

2681 - 2686 2019.01

Simultaneous Analysis of EEGs and Movements in Interative Hand Shaking Required Skills to Synchronize Cooperatively in Game Reviewed International journal

590 - 594 2019.01

Two-stage wavelet shrinkage and EEG-EOG signal contamination model to realize quantitative validations for the artifact removal from multiresource biosignals Reviewed International journal

47 96 - 114 2019.01

A Proposal of the OWL-Python Framework for the Systematic Generation of Comprehensive Patterns of Scenarios in the Road

Kawano Keita, Kumar Arvind, Wagatsuma Hiroaki

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 35 ( 0 ) 698 - 702 2019.01

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

In automatic driving technology, various technological developments was highlighted recently, and it goes to a serious discussion for making a standard criterion of the safety assessment. According to an international leading project, such as PEGASUS project in Germany, test scenarios are need to be clariﬁed. As the important concept, they provided the scenarios can be classiﬁed as three abstract levels, called Functional Scenario (FS), Logical Scenario(LS), Concrete Scenario(CS). LS is highly important to establish as the open format as discussed in those international community. In this study, we focused on the LS and proposed a generative use-cases in the test scenario, which can automatically imported the ontology data format. This framework is based on the mesoscopic model that we proposed in 2018, which detect representative cases to face the car-collision with respect to the representative trajectory description. This approach will contribute to the reﬁnement of the logical scenarios according to requirements, eﬀective reduction the number of scenarios rather than CS and bridge between FS and CS.

DOI： 10.14864/fss.35.0_698

Other Link： https://ci.nii.ac.jp/naid/130007773131

Construction and evaluation of a decision-making system for autonomous cars based on a decision table

Miyazaki Ryogo, Mii Yuya, Ishida Yutaro, Watanabe Masahiko, Ui Kenichi, Yokota Masanori, Ichise Ryutaro, Wagatsuma Hiroaki, Tamukoh Hakaru

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 35 ( 0 ) 722 - 727 2019.01

Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

We propose a decision-making system for autonomous cars based on a decision table. By using the decision table, the proposed system oﬀers faster reasoning speed than a conventional system using ontologies and reasoning rules. Furthermore, we propose an automatic conversion system from a set of ontologies and reasoning rules to a decision table, thus, the result of reasoning is equivalent to the conventional one. Experimental results show that the proposed system realizes approximately 40 times faster processing time than the conventional system.

DOI： 10.14864/fss.35.0_722

Other Link： https://ci.nii.ac.jp/naid/130007773200

Approximation of discrete OpenStreetMap way-nodes using Bezier curve fitting for OpenDrive format International journal

Kumar Arvind, Kawano Keita, Wagatsuma Hiroaki

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 35 ( 0 ) 703 - 704 2019.01

Authorship：Corresponding author Language：English Publishing type：Research paper (conference, symposium, etc.)

Evaluation of an Autonomous Driving System (ADS) is a challenging task due to the associated risk of human life in practical scenarios. To solve this problem most of the models are first tested on simulated environment such as CARLA [1], TORCS[2]. These simulation tool in first construct the road map from some predefined data format. One such widely accepted format is OpenDrive[3](OD). However, the road map data of the world is not available in the OD format while it is available in the OpenStreetMap (OSM) format. So, if we can map the data of OSM format to OD format then many scenarios of real world can be created inside the existing simulators. The problem of mapping of OSM format data into the OD format data is a difficult task as roads in OSM are represented by discrete data while roads in OD format are continuous function. In this study, we have addressed this difficulty by approximating a continuous function from the discrete nodes of OSM format using Bezier curve fitting..

DOI： 10.14864/fss.35.0_703

Other Link： https://ci.nii.ac.jp/naid/130007773206

Epilepsy EEG classification using morphological component analysis Reviewed International journal

2018 ( 1 ) 2018.12

MCA Based Epilepsy EEG Classification Using Time Frequency Domain Features Reviewed International journal

2018-July 3398 - 3401 2018.10

Simultaneous Analysis of EEGs and Movements in Interactive Hand Shaking Required Skills to Synchronize Cooperatively in Game Reviewed International journal

2018.10

A Semantic Web Technique as Logical Inference Puzzle-Solver for Bongard Problems Reviewed International journal

2018.10

Comparison of Effectiveness of Dual Tree Complex Wavelet Transform and Anisotropic Diffusion in MCA for Concrete Crack Detection Reviewed International journal

2018.10

On-Vehicle Danger Forecast System based on Knowledge-based Artificial Intelligence Invited Reviewed

Hashimoto Kouhei, Ishida Yutaro, Ichise Ryutaro, Wagatsuma Hiroaki, Tamukoh Hakaru

Transactions of the Institute of Systems, Control and Information Engineers 31 ( 5 ) 191 - 201 2018.08

Epilepsy EEG Classification Using Morphological Component Analysis Reviewed International journal

2018.08

CFRP複合材料弾性体を用いた筋力支援の提案

香月佑也, 我妻広明

JSAI大会論文集 2014 ( 0 ) 1F4OS06a3 - 1F4OS06a3 2018.07

脳内言語処理から発想を得た人-ロボット指示理解

相川大輔, 我妻広明

JSAI大会論文集 2014 ( 0 ) 1F25 - 1F25 2018.07

人の「こだわり」を読み解く数独解法

赤池早紀, 我妻広明

JSAI大会論文集 2014 ( 0 ) 2B34 - 2B34 2018.07

脳性麻痺児のためのリズムベース上肢リハビリテーションの提案

小路健太, アイコウイツ, 我妻広明, 橘香織

JSAI大会論文集 2014 ( 0 ) 1F4OS06a6 - 1F4OS06a6 2018.07

車椅子バスケ競技のシュート動作に注目した三次元動作解析・床反力計同時計測データからの脳内身体イメージ可視化のてがかり

井上恭輔, 古茂田和馬, 我妻広明, 橘香織, 小林育斗, 藤井範久, 阿江通良

JSAI大会論文集 2014 ( 0 ) 1F4OS06a1 - 1F4OS06a1 2018.07

自己駆動粒子の集団運動様相

齋藤萌香, 我妻広明

JSAI大会論文集 2014 ( 0 ) 1F31 - 1F31 2018.07

自動運転用危険予測装置へのオントロジー導入の方策と課題

我妻広明, 市瀬龍太郎

JSAI大会論文集 2016 ( 0 ) 2D55 - 2D55 2018.07

An ontology-based knowledge representation towards solving Bongard problems Reviewed International journal

12 ( 7 ) 681 - 688 2018.07

MCA Based Epilepsy EEG Classification Using Time Frequency Domain Features Reviewed International journal

2018.07

Human Abduction for Solving Puzzles to Find Logically Explicable Rules in Bongard Problems: An Ontology-based Model Reviewed International journal

2018.07

Investigating the effectiveness of the sobel operator in the MCA-based automatic crack detection Reviewed International journal

1 - 6 2018.05

Investigating the Effectiveness of the Sobel Operator in the MCA-based Automatic Crack Detection Reviewed International journal

2018.04

A Combination of Anisotropic Diffusion and Sobel Operator to Enhance the Performance of the Morphological Component Analysis for Automatic Crack Detection Reviewed International journal

2018.03

Autonomous quadcopter altitude for measuring risky gases in hazard area Reviewed International journal

10 ( 2-5 ) 31 - 34 2018.01

A semantic web technique as logical inference puzzle-solver for Bongard problems Reviewed International journal

2180 2018.01

An Application of Pix2Pix Approach from Aerial Photos to Vector Representation in the Digital Map and its Limitation

WON JungHyun, KANAMARU Kazuki, WAGATSUMA Hiroaki

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 34 ( 0 ) 330 - 333 2018.01

Authorship：Last author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

As a deep learning algorithm, software tools based on Generative Adversarial Network (GAN) are released in the form of pix2pix. In the present study, we report a preliminary study of the application of pix2pix to the automatic conversion from aerial photos to vector representation in the digital map and discuss its limitation.

DOI： 10.14864/fss.34.0_330

Other Link： http://id.ndl.go.jp/bib/029268673

A PHD Filter Solution for Instability of the Target Labeling in the Vehicle Installation EHF-Band Radar System

KANAMARU Kazuki, Fukushima Katsumi, WON JungHyun, WAGATSUMA Hiroaki

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 34 ( 0 ) 326 - 329 2018.01

Authorship：Last author,　Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

As a limitation of the vision sensor or camera in the night and bad weather conditions, EHF-band radar is used to compensate the limitation. However, the disadvantage of the EHF-band radar is automatic generation of the clatter and multi-pass waves. In the present study, we applied the Probability Hypothesis Density (PHD) particle filter to treat the problem.

DOI： 10.14864/fss.34.0_326

Other Link： http://id.ndl.go.jp/bib/029268665

Integrated Simulator for Decision Making System of Autonomous Driving

Miyoshi Ryuhei, Miyazaki Ryogo, Hashimoto Kouhei, Ishida Yutaro, Watanabe Masahiko, Ui Kenichi, Ichise Ryutarou, Wagatsuma Hiroaki, Tamukoh Hakaru

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 34 ( 0 ) 450 - 455 2018.01

Authorship：Last author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Autonomous driving is performed by artificial intelligence (AI) on a computer. If an accident is occurred, the autonomous driving system should show the evidence of decision making to analyze the reasons of accident. In this report, we propose an integrated simulator for a knowledge-based AI that shows the evidence of decision making. To construct the simulator, we combine Autoware, Gazebo and the knowledge-based AI. Autoware is an open source software for autonomous driving, and Gazebo can simulate arbitarary road environments. By using the proposed simulator, we can verify the practicality of knowledge-based AI for autonomous driving many times. Experimental results show that the proposed simulator successfully presents the evidence of decision making.

DOI： 10.14864/fss.34.0_450

Other Link： http://id.ndl.go.jp/bib/029269004

"Standardization of Data Formats, Metadata and Protocols for the Safety Assessment of Automated Driving Systems: A Mesoscopic Analysis" International journal

WAGATSUMA Hiroaki, WON JungHyun, KANAMARU Kazuki

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 34 ( 0 ) 456 - 458 2018.01

Authorship：Last author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

As an international automated driving research project, Pegasus Research Project is driven by the German organization, BMWi, is a hot topic, which discussed four issues: 1) Requirements Definition & Convert for Database, 2) Data Processing, 3) Scenario Compilation / Database and 4) Assessment of Highly Automated Driving Function. In the present study, we explore a mesoscopic model to solve the problem on the standardization of metadata in the safety assessment of automated driving systems, especially focusing on vehicle interaction scenario.

DOI： 10.14864/fss.34.0_456

Other Link： http://id.ndl.go.jp/bib/029269008

Unmanned aerial vehicle quadcopter: A review Reviewed International journal

14 ( 12 ) 5663 - 5675 2017.12

Quadcopter sensing system for risky area Reviewed International journal

216 - 219 2017.10

A Significant Correlation Between Scores in Sociality and Exam Implies the Enhancement of the Power of Lecture Through Student Status Visibility and Instructor's Feedback with the Assistance of 'Key Words Meeting' Reviewed International journal

2017.08

A Narrative Speech, Gaze and Gesturing Robot Accessing to Human Emotion and Memory Which is Investigated by Using a Simultaneous Recording of Electroencephalogram and Eye-Tracker System Reviewed International journal

2017.08

論理知識型AI に基づく自動運転のための危険予測システムの構築と評価 Reviewed

橋本康平，石田裕太郎，市瀬龍太郎，我妻広明，田向権

システム制御情報学会論文誌 2017.07

Removal of Drift and Blink Artifacts in EEG based on Sparse Morphological Decomposition Reviewed International journal

2017.07

MCA-Based Denosing for In-Vehicle EEG Measurements to Estimate the Driver's Mental Workload Influenced by Distractions Reviewed International journal

2017.07

A High-Precision Skilled Movement Evaluation by using Curvature Analysis in the Simultaneous Recording of 3D Motion Capture System and Intracranial Video-EEG Monitoring and Stimulation Reviewed International journal

2017.07

Energy-efficacy comparisons and multibody dynamics analyses of legged robots with different closed-loop mechanisms Reviewed International journal

40 ( 2 ) 123 - 153 2017.06

An Investigation of the EEG Noise Removal from Measurement Data During the Real Vehicle Driving by Using Morphological Component Analysis

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 116 ( 521 ) 31 - 36 2017.03

An Impact Force Analysis of the Simple Hammering Mechanism for Concrete Damage Detection

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 116 ( 521 ) 97 - 102 2017.03

Problems in Interpolation of Invisible Markers of the 3D Motion Capture System during Experiments Investigating Brain Regions Responsible for Skilled Motor Activities by Using Intracranial EEGs

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 116 ( 521 ) 25 - 30 2017.03

Driver emotion recognition framework based on electrodermal activity measurements during simulated driving conditions Reviewed International journal

365 - 369 2017.02

An Orthosis Design with CFRP Bones to Fit the Body Morphology and Kinematics Toward the Non-Electric Support Device for Backbone Problems

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 116 ( 424 ) 1 - 6 2017.01

A Removal of Eye Movement and Blink Artifacts from EEG Data Using Morphological Component Analysis Reviewed International journal

2017 2017.01

An effective lifting scheme method for EEG decomposition in targeted frequency range Reviewed International journal

11 ( 1 ) 65 - 70 2017.01

Fostering Professional Personnel for Intelligent Car and Robotics in Car-Robo Joint Graduate School Invited Reviewed

MORIE Takashi, ISHII Kazuo, WAGATSUMA Hiroaki, TAMUKOH Hakaru, ENOKIDA Shuichi, SAITOH Takeshi, MATSUNAGA Ryoichi, MATSUNAMI Isamu, OGAI Harutoshi

Journal of JSEE 65 ( 4 ) 4_51 - 4_56 2017.01

The Detection of the Rise to Stand Movements Using Bereitschaftspotential from Scalp Electroencephalography (EEG) Reviewed International journal

10 ( 3 ) 149 - 155 2017.01

Theoretical Analysis of the Hammering Mechanism by Using Bifurcations in a Nonlinear Spring System

YOSHIDA Yuki, OKUMURA Katsuhiro, KOGA Fumitaka, YAMADA Keiichi, TANAKA Masatoshi, WADA Hideki, WAGATSUMA Hiroaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 1P1-C04 2017.01

Authorship：Last author,　Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

In the purpose of the development of an automated system to detect cracks and internal holes in the concrete infrastructure, a mechanical system to reproduce hammering tests is highly important. The system is required to provide an effective impact force for the accuracy in acoustic analysis. In the present study, we focused on bifurcation phenomenon of the nonlinear spring system in the form of the buckling instability, proposed a prototype of the hammering system based on the spring dynamics to provide a quick motion of the hammer head and analyzed the energy theoretically.

DOI： 10.1299/jsmermd.2017.1p1-c04

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1P1-C04/_pdf

Ontology-Based Search Server (ObSS) Extends Availability of Neuroinformatics Data by Listing Relevant Metadata if it is Unfamiliarly Indexed Reviewed International journal

ASAI Yoshiyuki, KAMIYOSHI Kyota, KIDO Yoshiyuki, NOMURA Taishin, WAGATSUMA Hiroaki

INCF Japan Node International Workshop Advances in Neuroinformatics ( INCF Japan Node ) Ⅳ 42 2017.01

Inference Speed Evaluation of Ontology-Based Decision Making System for Automatic Driving Reviewed

HASHIMOTO Kouhei, ISHIDA Yutaro, MIYOSHI Ryuhei, ICHISE Ryutaro, WAGATSUMA Hiroaki, TAMUKOH Hakaru

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 33 ( 0 ) 681 - 684 2017.01

An Investigation of Requirements for the Pedestrian Detection in Radar-Based Sensing Systems

Fukushima Katsumi, Won Junghyun, Maniamma Jisha, Wagatsuma Hiroaki

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 33 ( 0 ) 679 - 680 2017.01

脳波-モーションキャプチャ同時測定を用いた運動の巧緻性分析のためのマーカー消失問題への取り組み

我妻広明

電子情報通信学会技術研究報告(NC研究会) 116 25 - 30 2017.01

An Optimized Problem in the Refinement of the Map Information Toward a Smooth Navigation of Automated Driving Systems

Wagatsuma Hiroaki, Fukushima Katsumi, Won Junghyun, Dixit Ankur, Maniamma Jisha

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 33 ( 0 ) 591 - 592 2017.01

Linking INCF Japan Node Platforms with Application Networks based on Garuda Platform Reviewed International journal

ASAI Yoshiyuki, Samik GHOSH, TSORMAN Nikolaos, WAGATSUMA Hiroaki

INCF Japan Node International Workshop Advances in Neuroinformatics ( INCF Japan Node ) Ⅳ 41 2017.01

An Effective Lifting Scheme Method for EEG Decomposition in Targeted Frequency Range Reviewed International journal

Singh Balbir, Ichiki Mayu, Ai Guangyi, Wagatsuma Hiroaki

ICIC Express Letters ( ICIC International ) 11 ( 01 ) 65 2017.01

Development of an on-line simulation environment for computational neuroscience Reviewed International journal

IKENO Hidetoshi, YAMAZAK Tadashi, KANNON Takayuki, OKUMURA Yoshihiro, KAMIYAMA Yoshimi, ISHIHARA Akito, INAGAKI Keiichiro, HIRATA Yutaka, SATOH Shunji, WAGATSUMA Hiroaki, ASAI Yoshiyuki, YAMAGUCHI Yoko, McDOUGAL Robert, WANG Rixin, MARENCO Luis, MORSE Thomas, SHEPHERD Gordon, USUI Shiro

INCF Japan Node International Workshop Advances in Neuroinformatics ( INCF Japan Node ) Ⅳ 53 2017.01

The bereitschaftspotential for rise of stand-up towards robot-assist device preparation Reviewed International journal

998 - 1003 2016.11

An Ontology Based Map Converter for Intelligent Vehicles Reviewed International journal

2016.10

A Sensor Fusion of the Millimeter-Wave Radar and Camera-Based Visual Processing for Detection of Lanes in the Automated Driving Reviewed International journal

2016.09

A Timing Coordinator Model for Automated Driving with Reasonable Inferences Derived from the Ontology-Based Hierarchical Representations of Constraints and Risks on the Road Reviewed International journal

2016.09

A Hybrid Human Support Bionic Devices Consisted of Rigid Body Mechanics and Elastic Body Kinematics Analyzed by Multibody Dynamics Reviewed International journal

2016.09

The Bereitschaftspotential for Rise of Stand-Up towards Robot-Assist Device Preparation Reviewed International journal

2016.09

A Comparative Analysis of Indexing of Mental Workload by using Neuro-Driving Tools based on EEG Measurements Coupling with the Eye-Tracking System Reviewed International journal

2016.07

Direction and viewing area-sensitive influence of EOG artifacts revealed in the EEG topographic pattern Reviewed International journal

Ai, G., Sato, N., Singh, B., Wagatsuma, H.

Cognitive Neurodynamics 10 ( 4 ) 301 - 314 2016.03

Viewing-area sensitive eog influences in EEG topographic map that contribute to ocular artifact removals in future combined analyses with eye-tracker system Reviewed International journal

7 ( 3 ) 657 - 664 2016.03

Viewing-Area Sensitive EOG Influences in EEG Topographic Map That Contribute to Ocular Artifact Removals in Future Combined Analyses with Eye-Tracker System Reviewed International journal

Ai, G., Sato, N., Singh, B., Wagatsuma, H.

ICIC Express Letters, Part B: Applications 7 ( 3 ) 657 - 664 in Press 2016.03

An ontology based map converter for intelligent vehicles Reviewed International journal

1690 2016.01

Seven Years of the Workshop for Synergetics between Neuroscience, Rehabilitation and Robotics Reviewed

Sakamoto Kazuhiro, Wagatsuma Hiroaki, Tachibana Kaori

The Brain & Neural Networks ( Japanese Neural Network Society ) 23 ( 4 ) 169 - 175 2016.01

車椅子バスケットボールにおけるティルティング動作のキネティクス的検討　－床反力に着目して－ Reviewed

TACHIBANA KAORI, WAGATSUMA Hiroaki

日本障害者スポーツ学会誌２２ 36 - 41 2016.01

Semantic Information Extraction on Automated Driving and its Logical Expression for Complex Decision Making

Fukushima Katsumi, Singh Balbir, Won Junghyun, Wagatsuma Hiroaki

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 32 ( 0 ) 151 - 156 2016.01

Viewing-Area Sensitive EOG Influences in EEG Topographic Map That Contribute to Ocular Artifact Removals in Future Combined Analyses with Eye-Tracker System Reviewed International journal

Ai Guangyi, Sato Naoyuki, Singh Balbir, Wagatsuma Hiroaki

ICIC Express Letters, Part B: Applications ( ICIC International ) 07 ( 03 ) 657 2016.01

A determinant analysis to detect the singularity of the extended Theo Jansen mechanism in the phase-rotation-amplitude parameter space Reviewed International journal

Komoda, K., Wagatsuma, H.

Journal of Computer Science & Systems Biology 9 ( 1 ) 010-022 - 010-022 2015.12

Artificial Intelligence for Autonomous Cars and Mobility Services: Trends and Perspectives Invited Reviewed

Hiroaki Wagatsuma

Journal of The Society of Instrument and Control Engineers 54 ( 11 ) 808 - 815 2015.11

A Comparison of Joint Energy for Sit-Stand Motion Generated by Human learned Trajectories and Artificial Trajectories Reviewed International journal

Tripathi, G. N., Wagatsuma, H., Dimitrova, M., Vircikova, M., Sinčák, P.

Proceedings of the 19th International Conference of Mechatronics Technology (ICMT-2015) 19 ( 75 ) 1 - 6 2015.11

Artificial Intelligence for Autonomous Cars and Mobility Services: Trends and Perspectives Reviewed

54 ( 11 ) 808 - 815 2015.11

PCA Based Algorithms to Find Synergies for Humanoid Robot Motion Behavior Reviewed International journal

Tripathi, G.N., Wagatsuma, H.

International Journal of Humanoid Robotics 12 ( 3 ) 1550037-1--21 - 1550037-1--21 2015.09

Hippocampal Functions Related with Working Memory and Meta-Cognition and Its Foresight Implementations Invited Reviewed

Hiroaki Wagatsuma

30 ( 5 ) 652 - 664 2015.09

Hippocampal Functions Related with Working Memory and Meta-Cognition and Its Foresight Implementations Reviewed

WAGATSUMA Hiroaki, Hiroaki Wagatsuma

Journal of the Japanese Society for Artificial Intelligence ( The Japanese Society for Artificial Intelligence ) 30 ( 5 ) 652 - 664 2015.09

Hippocampal Functions Related with Working Memory and Meta-Cognition and Its Foresight Implementations Reviewed

30 ( 5 ) 652 - 664 2015.09

Simultaneous Recording of EEGs and Eye-Tracking for Investigating Situation Awareness and Working Memory Load in Distracted Driving: A Prospective Analysis Toward the Neuro-Driving Framework Reviewed International journal

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

Front. Neurosci. Conference Abstract: Neuroinformatics 2015 2015.91.00029 2015.08

Infrastructure for Neuroscience Ontologies Bridging Between Experimental Data in 3D Atlas, Computational Modeling and Analytical Tools: A basement Approach of DynamicBrain Platform (DB-PF) toward Inter-Platform Coordination in the J-Node Reviewed International journal

Wagatsuma, H., Asai, Y., Nomura, T.

Front. Neurosci. Conference Abstract: Neuroinformatics 2015 2015.91.00049 2015.08

Development of an on-line simulation platform for neuroscience research Reviewed International journal

Ikeno, H., Yamazaki, T., Kamiyama, Y., Ishihara, A., Inagaki, K., Hirata, Y., Okumura, Y., Kannon, T., Satoh, S., Wagatsuma, H., Asai, Y., Yamaguchi, Y., Usui, S.

Front. Neurosci. Conference Abstract: Neuroinformatics 2015 2015.91.00029 2015.08

Denoising of EOG artifact contaminated EEG Signals Using an Undecimated Wavelet Decomposition- A Case Study of Accuracy Verification in the Simple Measurement Tool International journal

50 - 51 2015.07

An Electrooculography Analysis in the Time-Frequency Domain Using Morphological Component Analysis Toward the Development of Mobile BCI Systems Reviewed International journal

9176 528 - 537 2015.07

A Method to Evaluate Intuitive Sense by Using a Robotic Tool: Towards Engineering for Assistive Technology and Accessibility Reviewed International journal

Tripathi, G. N., Wagatsuma, H., Dimitrova, M., Vircikova, M., Sinčák, P.

Universal Access in Human-Computer Interaction, Lecture Notes in Computer Science 9176 561 - 569 2015.07

An Electrooculography Analysis in Time-Frequency Domain Using Morphological Component Analysis Toward Development of Mobile BCI Systems Reviewed International journal

Singh, B., Ai, G., Wagatsuma, H.

Universal Access in Human-Computer Interaction, Lecture Notes in Computer Science 9176 528 - 537 2015.07

Redesign of Computer Games towards Serious Motion-Sensing Games for Children with Limited Physical Skills: A Developer Perspective Reviewed International journal

Lekova, A. Stancheva, V., Krastev, A., Dimitrova, M., Wagatsuma, H.

Proceedings of ICT Innovations 2015 224 - 233 2015.06

Redesign of Computer Games towards Serious Motion-Sensing Games for Children with Limited Physical Skills: A Developer Reviewed International journal

2015.06

Adaptive and Intuitive Interactions with Socially-Competent Educational Robots Reviewed International journal

Dimitrova, M., Wagatsuma, H., Tripathi, G. N., Ai, G.

Proceedings of 2015 International Conference on Information Technology Based Higher Education and Training (ITHET 2015) 1 - 6 2015.06

A. M. チューリング著, 伊藤和行編, 佐野勝彦,杉本舞訳:解説, コンピュータ理論の起源, 第1巻, 近代科学社, 2014 Reviewed

我妻広明

人工知能 = journal of the Japanese Society for Artificial Intelligence ( 一般社団法人人工知能学会 ) 30 ( 3 ) 2015.05

Cloud-Based Image Recognition for Robots, Robot Intelligence Technology and Applications 3 Reviewed International journal

345 785 - 796 2015.04

Designing Humanoid Robots with Novel Roles and Social Abilities Reviewed International journal

Dimitrova, M., Wagatsuma, H.

Lovotics 3 ( 112 ) 1000112-1 - 1000112-3 2015.02

A Structure of Recognition for Natural and Artificial Scenes: Effect of Horticultural Therapy Focusing on Figure-Ground Organization Reviewed International journal

Ai, G., Shoji, K., Wagatsuma, H., Yasukawa M

Advanced Intelligent Systems, Advances in Intelligent Systems and Computing 268 189 - 196 2014.12

Singular Configurations Analyses of the Modifiable Theo Jansen-like Mechanism by Focusing on the Jacobian Determinant - A Finding Limitations to Exceed Normal Joint Range of Motion Reviewed International journal

Komoda, K., Wagatsuma, H

Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014) 76 - 81 2014.12

Interoperability between multilevel modeling platform PhysioDesigner and databases in Physiome.jp and Dynamic Brain Platform through Garuda platform, Reviewed International journal

Asai, Y., Kuwae, K., Li, L., Kitano H, Wagatsuma, H., Yamaguchi, Y.

Conference Abstract: Neuroinformatics 2014 2014.12

A Neurorobotic Approach of Emotion: Implemented Neurodynamics Mediate a Coupling Between Top-Down Abductive Inference and Bottom-Up Sensations Reviewed International journal

Saito, M., Tripathi G., N., Wagatsuma, H

Conference Abstract: Neuroinformatics 2014 2014.12

A Working Memory Mechanism and Strategy Transition Dynamics When Solving SUDOKU Puzzle Reviewed International journal

Akaike, S., Wagatsuma, H

Conference Abstract: Neuroinformatics 2014 2014.12

Denoising of EOG artifact -contaminated EEG Signals Using an Undecimated Wavelet Decomposition - A Case Study of Accuracy Verification in the Simple Measurement Tool Reviewed International journal

Singh, B., Ai, G., Wagatsuma, H

Proceedings of the 24st Annual Conference of the Japanese Neural Networks Society (JNNS 2014) 50 - 51 2014.11

Cloud-based Intelligence for Robots Invited Reviewed International journal

Lorencik, D., Ondo, J., Sincak, P., Wagatsuma, H

Robot Intelligence Technology and Applications, Advances in Intelligent Systems and Computing 345 ( 3 ) 785 - 796 2014.11

A Visualization of the Parse Tree in Word-Sentence English Matching Test Through an Acquisition Process of Trees with Nodes of Principal Nouns Obtained in Each Sentence

Daisuke Aikawa, Hiroaki Wagatsuma

IPSJ SIG Notes. ICS ( Information Processing Society of Japan (IPSJ) ) 2014 ( 4 ) 1 - 5 2014.07

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

We have been proposed and demonstrated a tree structure to discriminate the right answer in the word-sentence English matching test, which is built as the network of "principal nouns" obtained from the tight link referring the English dictionary and thesaurus. In this model, we hypothesized that the level of complexity can be used for judgements to determine which is the right answer, however the evaluation and accuracy could not achieve its desired level. In this report, we attempt to visualize individual differences of the tree structure depending on the depth to dig in the dictionary and step into the improvement of the proposed model.

Other Link： https://ci.nii.ac.jp/naid/110009804784

Differences in eye tracking motions while performing a free-viewing task with artificial, nature-inspired images

AI Guangyi, SHOJI Kenta, WAGATSUMA Hiroaki, YASUKAWA Midori

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 113 ( 500 ) 329 - 334 2014.03

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Horticultural therapy is a well-known and effective preventive healthcare method for depression, and therefore this discipline is expected to contribute to the social demands of our aging country. In this study, we focus on the spontaneous perception-action cycle as a clue to better understand how natural imagery might enhance patients' motivations to continue therapy. We examine the visual perception processes of the therapy and highlight subjects' spontaneous motivations, based on their personalities and interests. In our experiments, three types of representations were depicted: a single plant, multiple plants, and plants in a natural background. The results of the free-viewing task demonstrate that the frequencies of the subjects' eye movements did not simply decrease while viewing the nature-inspired images. In fact, the subjects eagerly examined the details of the images repeatedly, which is quite different from the trends in artificial diagrams. These results may help to determine the effectiveness of horticultural therapy, which enhances environmental interactions through targets (plants), gardening tools, and their therapeutic associates - including therapists. This corresponds with a fundamental effect of the therapy against targets and provides indications of effective mood enhancers at the subconscious level.

Other Link： https://ci.nii.ac.jp/naid/110009862381

Sport Dynamics of Wheel Chair Basket Athletes Focusing on a Relationship Among the Body Motion, Ball Trajectory and Ground Reaction Force

INOUE Kyosuke, KOMODA Kazuma, WAGATSUMA Hiroaki, TACHIBANA Kaori, KOBAYASHI Yasuto, FUJII Norihisa, AE Michiyoshi

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 113 ( 382 ) 95 - 100 2014.01

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

The purpose of this study was to investigate characteristics of the shooting motion for wheel-chair basketball players, in conditions of the free throw (FT) and three-point (3p) shots. The ground reaction forces and three-dimensional kinematics of the motions were collected from 4 skilled players and an amateur. In the present paper, we focused on motions of two skilled players and analyzed the relationship between the shooting motion and the change of the ground reaction force. The ground reaction force changes with respect to transitions among primitive acts, such as handling a ball, pulling it down, flicking it up and stretching out arms and the whole body, and the temporal profiles in FT and 3p conditions differentiate especially in the stretching act and release timing of the ball. Throwing distance, ball velocity and release height were accurately controlled by the smooth transition of the acts as the temporal profile of the ground reaction force indicated.

Other Link： https://ci.nii.ac.jp/naid/110009825568

A Garuda-based cooperative system that utilizes modeling and simulation tools with the Dynamic Brain Platform

ASAI Yoshiyuki, KUWAE Ken, KITANO Hiroaki, WAGATSUMA Hiroaki, YAMAGUCHI Yoko

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 113 ( 382 ) 111 - 116 2014.01

Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

In a database developed in the Dynamic Brain Platform (DBPF), a neuroinformatics platform promoted by the INCF Japan Node, there are mathematical models of physiological functions, as well as other information, such as commentaries. To effectively utilize these data, a DBPF client application complying with Garuda alliance has been developed. The DBPF client can seamlessly bridge information in the DBPF database to tools, such as the modeling platform, PhysioDesigner, and the simulator, Flint. The linkage can also be expanded to any tools com- plying with Garuda alliance. The seamless linkage between DBPF and tools for, such as, modeling and simulation will greatly enhance DBPF utility, making it a choice system for development of models in neuroinformatics.

Other Link： https://ci.nii.ac.jp/naid/110009825571

Force generation in the elastic range of carbon blades toward the development of power assist tools when standing up and down in the bathroom

Katsuki Yuya, Wagatsuma Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 113 ( 382 ) 89 - 94 2014.01

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

We have investigated a possibility of carbon-fiber-reinforced plastic (CFRP) when applying to muscular power supports in the standing up motion. Recently, robotic mechanical systems with electronic actuators are popular in the welfare-engineering field; however its cost and maintenance problems are still difficulties in popularization of such assist tools. In considering of care for persons with mild impairments of legs and the paralyses by a partial brain damage, the market of light and maintenance-free tools is expected to grow and composite materials have a high potential for applications to muscular power supports, such as prosthetic limbs for athletes, hi the present paper, we report elastic characteristics of the material, which is aimed to enhance a power at the best moment to need the maximum force during the standing up. hi our experiments, we measured possible curvatures in the elastic range of the material and the force generation when the deflection of the material blade is released in the static condition, by using an original hybrid measurement system. It might become an indispensable foundation for usage those materials for muscle power support.

Other Link： https://ci.nii.ac.jp/naid/110009825567

A proposal of expansion and contraction mechanism for changing wheel distances in the bio-inspired multi-wheel vehicle connected with elastic materials

URATA Tatsuyuki, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 113 ( 382 ) 55 - 60 2014.01

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Wheels are used for transporting objects and people in a wide range of areas. In principle, wheels require a well-prepared road surface for preventing a slipping, and basically it is not suitable for climbing slope with a high gradient. Crawler vehicle is an effective option as climbing mechanisms, which is currently popular in rescue robots, while multi-wheel vehicle is still used for planetary explorers because of less complexity in the assembly level rather than crawlers. We have been investigated a possibility of multi-wheel vehicles for an application to stairs-climbing, by using a bio-inspired linkage mechanism with elastic materials. In our past report, we demonstrated that the vehicle has an ability to climb stars in some level, but a spontaneous flexibility of the material is not enough for wheel engagement with star surface. In the present study, we proposed a contraction mechanism of the distance between wheels, like muscle, by using a sensori-motor feedback control with two elastic blades. In our real robotic experiment, the proposed mechanism works depending on a suitable elasticity difference of upper and lower blades.

Other Link： https://ci.nii.ac.jp/naid/110009825561

Analyses of the optimal timing to change the running direction in the parking problem : An automated tricycle model with the linearized path tracking control and its target axis rotation

ISHIKAWA Takuro, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 113 ( 382 ) 43 - 48 2014.01

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

In this study, we investigated methods for steering systems with nonholonomic and environmental constraints based on the path tracking controller by using exact linearization technique and non-linear time scale transformation originally proposed by Sampei and Ito [1] and proposed a target axis rotation to maximize the usefulness to be obtained from the original method in terms of a parking path planning in the narrow space. A problem of our proposed target axis rotation method was instability to determine the center of axis rotations triggered by obstacle detections with walls. In this paper, we calculated an ideal trajectory of the parking by using geometrical analyses from the minimum rotation radius of the vehicle. In computer experiments, our improved method demonstrated a fitting trajectory with the ideal one in the condition of best parameters in the linear quadratic (LQ) optimal control.

Other Link： https://ci.nii.ac.jp/naid/110009825559

Improvement of Simulation Platform for Providing Reliable and Easy Use Model Simulation Environment Reviewed International journal

2014.01

A Method to Deal With Prospective Risks at Home in Robotic Observations by Using a Brain-Inspired Model Reviewed International journal

Chik, D., Tripathi, G. N., Wagatsuma, Hv

Neural Information Processing, Lecture Notes in Computer Science 8228 33 - 40 2013.12

How Difficult is it for Robots to Maintain Home Safety? - A Brain-Inspired Robotics Point of View Reviewed International journal

Tripathi, G. N., Chik, D., Wagatsuma, H

Neural Information Processing, Lecture Notes in Computer Science 8226 528 - 536 2013.12

The Neurodynamics of Intelligence to Choose the Right Solution from Many Possible Options in a Hypothetical Reasoning Reviewed International journal

Wagatsuma, H

Advances in Cognitive Neurodynamics (III) 363 - 368 2013.12

ロボット言語指示課題に向けた文法構造を反映した構文解析ツリーの検討

相川大輔，我妻広明

第9回ネットワークが創発する知能研究会(JWEIN'13)論文集 78 - 83 2013.08

数独解法アルゴリズムにおける脳内計算過程の検討

赤池早紀，我妻広明

第9回ネットワークが創発する知能研究会(JWEIN'13)論文集 41 - 46 2013.08

粒子モデルにおける壁面形状複雑度に依存した運動軌道稠密性と壁面衝突周期不規則性の関係

齋藤萌香，我妻広明

第9回ネットワークが創発する知能研究会(JWEIN'13)論文集 37 - 40 2013.08

Phase Response Curves Explain How Multiplicative Feedback on Neural Phase Elements Differs from Adaptive Physical Feedback in Robotic Motion Controls Reviewed International journal

Nakada, K, Miura, K., Wagatsuma, H.

The International Joint Conference on Neural Networks (IJCNN 2013) 2013.08

Rethinking Intelligence(<Special Issue>Singularity Age: Coevolution with Superhuman Intelligence)

CHURCHILL Elizabeth F., WAGATSUMA Hiroaki, Elizabeth F. Churchill, Hiroaki Wagatsuma

28 ( 3 ) 439 - 443 2013.05

ダイナミクスから知能を考える(<特集>編集委員今年の抱負2013)

我妻広明, Hiroaki Wagatsuma

人工知能学会誌 = Journal of Japanese Society for Artificial Intelligence 28 ( 1 ) 2013.01

An application of attractor dynamics to autocruise control systems by using a mobile robot and real-time simulator Reviewed International journal

Ono, K., Wagatsuma, H

Proceedings of RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing (NCSP'12) 513 - 514 2012.12

Attractor dynamics approach to vehicle behavior control: a transformation between different state-space of nonlinear dynamics Reviewed International journal

Wagatsuma, H., Ono, K.

Proceedings of RISP International Workshop on Nonlinear Circuit and Signal Processing (NCSP'12) 511 - 512 2012.12

Robotic rehabilitation tool supporting up and down motions in the bathroom-analyses of the catapult-assisted taking-off mechanism Reviewed International journal

Sone, M., Wagatsuma, H., Tachibana, K., Sakamoto, K.

Proceedings of 9th International Conference on Disability, Virtual Reality and Associated Technologies (ICDVRAT 2012) 511 - 514 2012.12

Neurocognitive rehabilitation approach for cerebral palsy syndrome by using the rhythm-based tapping tool to extend fields of perception and motion Reviewed International journal

Fukudome, M., Wagatsuma, H., Tachibana, K., Sakamoto, K.

Proceedings of 9th International Conference on Disability, Virtual Reality and Associated Technologies (ICDVRAT 2012) 451 - 454 2012.12

A kinetic model of failure occurrences in a chain reaction and an analysis using Bernstein polynomials and the Brownian motion with some relativity Reviewed International journal

Wagatsuma, H

Proceeding of the 6th International Conference on Soft Computing and Intelligent Systems, and the 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012) IEEE, 2012 332 - 335 2012.12

Theoretical basis of Theo Jansen linkage for analysis of dynamics by using kinematic constraint formulations, Reviewed International journal

Komoda, K., Wagatsuma, H

Proceedings of the 22st Annual Conference of the Japanese Neural Networks Society (JNNS 2012) 3 - 16 2012.12

An expansion and contraction of links in the syntactic parsing tree during a compensation process between the human instruction and robot operations in the real world Reviewed International journal

Wagatsuma, H., Aikawa, M

Proceedings of the 22st Annual Conference of the Japanese Neural Networks Society (JNNS 2012) 3 - 18 2012.12

A phenomenological model of emotional intelligence - emotion prevents a dispute Reviewed International journal

Wagatsuma, H., Saito, M

Proceedings of the 22st Annual Conference of the Japanese Neural Networks Society (JNNS 2012) 3 - 23 2012.12

A Displacement Calculation of Theo Jansen Mechanism by Piecewise Jacobians to Enhance a Systematic Robust Stability Analysis

KOMODA Kazuma, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 112 ( 227 ) 115 - 120 2012.10

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

The displacement calculation is necessary for detail analyses of movements of planar manipulators, and the Jacobian matrix is conventionally used for the calculation of position, angular and torque displacements. We have been investigated the potential and the extension of the Theo Jansen mechanism, which represent a smooth motion of the animal locomotion kinematically, and we found the possibility of what the mechanism is decomposed into parts of four-link planar manipulators, as subspaces of the original Jacobian. In our analyses, the decomposition is examined to be able to compose the whole system again. which is approximately fit in the original Jacobian. This may contributes a further extension of the Theo Jansen mechanism systematically, such as trot and climbing types.

Other Link： https://ci.nii.ac.jp/naid/110009636973

授業の形成的評価を支援するWebシステム“Key Words Meeting”の開発 Reviewed

栗島一博, 我妻広明, 金子宗司, 内田信二, Doosub Jahng

教育システム情報学会誌 29 ( 4 ) 180 - 189 2012.10

Trade-off problem between the accurate object recognition and real-time responses:a path-finding operation in the process map

TOMONAGA Yousuke, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 112 ( 227 ) 121 - 126 2012.09

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Biologically-inspired robots have been studied to mimic biological intelligence that provides complex behaviors. In the purpose of the real-time information processing in the real world, robots are required to manage many information processing in the same time yet it is difficult to complete in a short time because of the limitation of the processing power that is implemented in the robot. We focus on on-demand skipping of steps in the visual processing according to the situation that allows a low-resolution picture for recognition because the target object is already captured in the current running direction. This concept may apply an online re-organizing method in the complex parallel processing to reduce the calculated load of the robot's controller.

Other Link： https://ci.nii.ac.jp/naid/110009636974

A Displacement Calculation of Theo Jansen Mechanism by Piecewise Jacobians to Enhance a Systematic Robust Stability Analysis

KOMODA Kazuma, WAGATSUMA Hiroaki

112 ( 227 ) 105 - 120 2012.09

An auto-cruise control system by using attractor dynamics to navigate a mobile robot to trace the desired orbit

ONO Kosuke, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 112 ( 227 ) 27 - 32 2012.09

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

In consideration of bio-inspired architectures, we have developed a method to implement spontaneous orbit generations by autonomous differential equations into the vehicle motion. A serious problem is that how to transform an orbit represented in two dimensional (x-y) coordinates to the equation of motion that is constrained right and left wheels (wheel speeds). In this paper, we designed a transformation system from the x-y coordinates to the vehicle motion and demonstrated a smooth orbit by using the transformation system from the original of an autonomous differential equation, such as the VDP oscillator. In experiments of theoretical simulations and real-vehicle robot running experiments, we investigated the error between the simulation and the real robot orbits, suggesting the difference is small enough to control real vehicles in principle.

Other Link： https://ci.nii.ac.jp/naid/110009636807

Guest editorial: Biologically inspired human-robot interactionsdeveloping more natural ways to communicate with our machines Invited Reviewed International journal

4 ( 3 ) 190 - 191 2012.09

Extending the World to Sense and Behave: A Supportive System Focusing on the Body Coordination for Neurocognitive Rehabilitation Reviewed International journal

Wagatsuma, H., Fukudome, M., Tachibana, K., Sakamoto, K

Proceedings of The Fourth International Conference on Advanced Cognitive Technologies and Applications (COGNITIVE 2012) 171 - 174 2012.07

A proposal of the extended mechanism for Theo Jansen linkage to modify the walking elliptic orbit and a study of cyclic base function Reviewed International journal

Komoda, K., Wagatsuma, H.

Dynamic Walking Conference 2012 2012.05

海馬の理論研究：ニューロンから行動まで Reviewed

佐藤直行, 大森敏明, 我妻広明

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 ) 17 ( 2 ) 4 - 5 2012.01

Development of Web-Based Formative Assessment Support System "Key Words Meeting" Reviewed

Kurishima Kazuhiro, Wagatsuma Hiroaki, Kaneko Shuji, Uchida Shinji, Jahng Doosub

Transactions of Japanese Society for Information and Systems in Education ( Japanese Society for Information and Systems in Education ) 29 ( 4 ) 180 - 189 2012.01

Language：Japanese Publishing type：Research paper (scientific journal)

Formative assessment, which focuses on the use of learners' responses, is an important concept for instructional improvement. This paper presents a web-designed class support system called Key Words Meeting (KWM). KWM stores information on teacher's pre-class key words and their description as well as the student's post class responses to them with memorized key words and their descriptions. By comparing these, the teacher can obtain scales that represent how well each instructional content is transmitted and understood by the students. Teachers can also refer to KWM indicators to manage which key words need to be supplemented. The teacher provides feedbacks to the students by commenting based on their responses and estimated comprehensions. Our experimental results show that KWM helps teachers manage feedbacks and helps students review the class effectively throughout the semester.

DOI： 10.14926/jsise.29.180

Other Link： https://ci.nii.ac.jp/naid/130006728697

SUDOKU puzzle: the neurodynamics of intelligence to choose the right solution from many possible options in a hypothetical reasoning Reviewed International journal

Wagatsuma, H.

Proceedings of International Joint Conference on Neural Networks (IJCNN 2011) 99 - 99 2011.12

Problems of Temporal Granularity in Robot control: Levels of Adaptation and a Necessity of Self-Confidence Reviewed International journal

Wagatsuma, H., Tomonaga

Proceedings of International Joint Conference on Neural Networks (IJCNN 2011) 2670 - 2675 2011.12

A stress-generated backlash power in S-shaped plates for the development of robotic plastic muscles Reviewed International journal

Sone, M., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 188 - 189 2011.12

Analyses of information flow in the cycle of action and perception in an object-pursuit task of the humanoid robot Reviewed International journal

Tomonaga, Y., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 190 - 191 2011.12

A study of availability and extensibility of Theo Jansen mechanism toward climbing over bumps Reviewed International journal

Komoda, K., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 192 - 193 2011.12

Modeling of spontaneous orbit generation by using the VDP oscillator toward adaptive cruise control systems Reviewed International journal

Ono, K., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 204 - 205 2011.12

A supportive system focusing on the body coordination for neurocognitive rehabilitation Reviewed International journal

Fukudome, M., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 216 - 217 2011.12

Problems of temporal granularity in robot control: Levels of adaptation and a necessity of self-confidence Reviewed International journal

2670 - 2675 2011.10

An extension mechanism of Theo Jansen linkage for walking in bump condition

KOMODA Kazuma, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 111 ( 241 ) 77 - 82 2011.10

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Since ancient times the wheels have been used to transport heavy loads. In addition, Crawler has been used in rough terrain. On the other hand, organisms are often moved by the feet and repeat the basic dynamics of muscle contraction. Leg's movements are similar to an elliptical orbit. This is the trajectory of ground legs and floating legs. Theo Jansen has reproduced this linkage in 8 node orbit. Thus, Theo Jansen has been attracting attention recently. In this study, we don't apply an additional new mechanism. We naturally extend the original link characteristics Theo Jansen Mechanism and propose a new framework for overcoming. Thus, we can develop a multi-leg mechanism. In the future, we can be expected to be a promising candidate as a mechanism to walk rough terrain on the multi-legs instead of wheels or crawlers.

Other Link： https://ci.nii.ac.jp/naid/110008900432

A study of orbit vehicle behavior by using the VDP oscillator

ONO Kosuke, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 111 ( 241 ) 41 - 46 2011.10

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Many of the vehicle robots using the sensors, they drive avoid collision with obstacle to get outside information on real-time. However, they are considering the information ahead of present location when the majority of drivers drive a car. Because Motorsports drivers circling the circuits at very fast speeds, and has been driving the circuit with only current information is unlikely. With all these factors, instead of relying on sensor information the robot vehicle when traveling on course, a robot that can move that may vary depending on the situation, such as when there are obstacles in front of you while maintaining the image of the entire course were considered necessary. The study is not using a sensor to a vehicle robot; a vehicle driving in the rhythm experiments based non-linear mathematical models. This model used to van der Pol (VDP) oscillator. First driving simulation experiments, second experiments using small vehicle robot e-puck, confirmed the integrity of the VDP model. If you can incorporate into the trajectory of a real robot to draw a circular orbit VDP oscillator can be expected to be available to other non-linear trajectory models in the future.

Other Link： https://ci.nii.ac.jp/naid/110008900426

A proposal of plastic muscle by using the S-shaped structure with high-speed reflection

SONE Masafumi, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 111 ( 241 ) 71 - 76 2011.10

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Flexibility and quickness of biological muscles is of interest in recent robotics. We attempt to reproduce an artificial muscle based on elastic-plastic materials and investigate rebound characteristics in a S-shaped structure. Experimental results demonstrated that a cyclic motion in the controller induces the S-shaped structure to generate instantaneous force enough for flick off a ball.

Other Link： https://ci.nii.ac.jp/naid/110008900431

Analyses of information flow in the cycle of action and perception in an object-pursuit task of the humanoid robot

TOMONAGA Yousuke, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 111 ( 241 ) 143 - 148 2011.10

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Biologically-inspired robots have been studied on biological intelligence that provides complex behaviors. Humanoid robot is a trend to investigate how the human body works such as bipedal walking, but we focus on on-demand planning and rescheduling of it in dynamic environment. In the object pursuit task, experimental results demonstrated a online circulation between the internal controller and the environment to prevent fluctuations by an irregular noise, and to enable the robot to reach the target position, without the endless loop of the same motion that frequently occur in real time robotics.

Other Link： https://ci.nii.ac.jp/naid/110008900443

Focusing on the body coordination to enhance neurocognitive rehabilitation

FUKUDOME Marie, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 111 ( 241 ) 59 - 64 2011.10

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

In this study, to develop a support equipment for rehabilitation of children with cerebral palsy. Incorporating the concept of cognitive exercise that focus on brain plasticity, to associate the movement and perception. Fusing the knowledge of brain science and robotics with support this therapy. Especially it is important to balance the trunk for brain control and the structure of the body, expect the effect of further rehabilitation by synchronize the movement of the right and left. Therefore, used Wii remote and to get or save the state of rehabilitation motion. In this way, I can check the balance right-and-left and it is expected to be able to an indicator for set the difficulty level or tasks setting.

Other Link： https://ci.nii.ac.jp/naid/110008900429

Modeling of clash avoidance in automobile race using real robot-simulation matching system Reviewed International journal

5 ( 10 ) 3907 - 3912 2011.10

Modeling of Clash Avoidance in Automobile Race Using Real Robot - Simulation Matching System, Reviewed International journal

Ono, K., Wagatsuma, H

ICIC Express Letters 5. ( 10 ) 3907 - 3912 2011.10

A testable robotic platform for brain-based architecture implementation using analog-digital parallel wireless communication Reviewed International journal

5 ( 9 B ) 3477 - 3482 2011.09

A Testable Robotic Platform for Brain-Based Architecture Implementation Using Analog-Digital Parallel Wireless Communication Reviewed International journal

Tomonaga, Y., Wagatsuma, H

ICIC Express Letters 5 ( 9B ) 3477 - 3482 2011.09

自律分散制御から知能創発の工学化への視点 Reviewed

我妻広明

コンピュータソフトウェア ( 日本ソフトウェア科学会 ) 28 ( 1 ) 2 - 20 2011.01

Authorship：Corresponding author Language：Japanese Publishing type：Article, review, commentary, editorial, etc. (scientific journal)

コンピュータの分野において，自律分散制御方式は集中型システムの開発・稼働における欠点を補うものとして注目され研究が進められて来た．今やインターネット普及等を背景に，分散した情報を知識として再集約する集合知の仕組みを考える必要性がある．全体機能や目的をシステム自身が再定義する，つまり集団全体が意志決定を行うという観点が導入されつつある．工学化において自明であるべき目的すら再構成されるとすればシステム破綻や暴走のリスクが増すことは疑いない．本論では，現実に自律分散制御の内部機構を持ちながら，自らで目的を定義し意図をもって行動計画を立てる「脳」の機能を工学的に再構成する脳型ロボットの立場から俯瞰し，要素の自律性と全体性創出の関係からある種の集合知を得る工学的方法論を模索したい．そして，ネットワークダイナミクスが発展的でありつつも，破綻に向かわない構成論と関連する「意識」の話題を解説する．

DOI： 10.11309/jssst.28.1_2

A look at the hidden side of situated cognition: A robotic study of brain- oscillation-based dynamics of instantaneous, episodic, and conscious memories Reviewed International journal

274 - 302 2011.01

Neuromorphic and brain-based robots Reviewed International journal

233 209 - 214 2011.01

Experimental platform of brain-based robots toward human-robot real-time interactions

WAGATSUMA Hiroaki

IEICE technical report ( The Institute of Electronics, Information and Communication Engineers ) 110 ( 246 ) 17 - 22 2010.10

Authorship：Lead author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

The brain is capable of various cognitive functions in perception and action, and the functions appear in a system-environmental loop, through the brain, body and environment. In studies of the robotics and artificial intelligence, the notion of the embodiment was highlighted in the last decade, which encourages a viewpoint of the relationship between the agent and the environment. However, the peripheral and central nervous systems are hierarchically organized in time and space. Ignoring of such complex organization, a priori separation of the agent from the environment misses the most important point of how the brain exhibits a single entity such as the self as a consequence of cooperation among distributed autonomous components. We propose here a research approach of the brain-based robotics, which focuses on the process of how independent autonomous components cooperatively works in the context of a task accomplishment in the real world. It therefore requires a construction of robotic systems with the real-time interaction between the simulator of internal neuronal models and environmental changes. The on-line simulator system transmits and receives data from the robot body so that it offers a way to investigate coordination mechanisms in human-robot interactions. This synthetic approach may help understanding brain functions in a social environment and a prototype of self-conscious in human developmental process.

Other Link： https://ci.nii.ac.jp/naid/110008106476

The Emergence of Intelligence and Dynamics of Biological Systems:Possible insights from neuro-robotic approach Reviewed

WAGATSUMA Hiroaki

Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers ( The Institute of Systems, Control and Information Engineers ) 10 ( 0 ) 85 - 85 2010.01

Authorship：Lead author Language：Japanese Publishing type：Article, review, commentary, editorial, etc. (scientific journal)

Recent expectations of what computational neuroscience contributes to the development of robotic technologies are remarkable. In dynamic environments, robots are required to work as an online and on-demand system, like humans do. However a simple conjunction of neural network models merely provides a pre-ordered circuit to control the robot, and then such a constructive approach casts doubt on the strength of the reality of brain-based robots. Nowadays, neuroscientists know the limitation of the traditional analytic science and start to explore a kind of the synthetic approach as the integration of past knowledge that have been investigated analytically. In this study, we discuss on the direction to the synthetic approach through the neuro-robotics.

DOI： 10.11509/sci.SCI10.0.85.0