研究者詳細 - 我妻　広明

A Nonlinear Oscillator Coupling Model to Provide the Hough Transform Function Without the Discrete Voting Procedure 査読有り国際誌

Purev Amarbold, Wagatsuma Hiroaki

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 3 ( 4 ) 185 - 192 2023年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

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 査読有り国際誌

Purev A., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 994 - 1003 2023年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Hough transform is a well-known algorithm to detect arbitrary lines in the image. The algorithm consists of two steps, mapping image edges to parameter space and voting to find a solution. The first step is executed in the continuous space, while the second relies on counting votes in discrete mesh, which increases susceptibility to noise. In the present study, we propose attractor dynamics in coupled nonlinear oscillators instead of discrete voting. In our computer experiment, image pixels were mapped to the parameter spaces and attracted to the crossing point of lines in the space. This approach may contribute to line detections in the image and other shape detections using a consistent mathematical formulation.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85149450794&origin=inward

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 査読有り国際誌

Kasai Shintaro, Wagatsuma Hiroaki

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 2 ) 198 - 203 2023年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

In 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

その他リンク： 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 査読有り国際誌

我妻広明

Journal of Robotics, Networking and Artificial Life in press 2023年01月

A Kamm’s Circle-Based Potential Risk Estimation Scheme in the Local Dynamic Map Computation Enhanced by Binary Decision Diagrams 査読有り国際誌

Kumar A., Wagatsuma H.

Sensors 22 ( 19 ) 2022年10月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Autonomous vehicles (AV) are a hot topic for safe mobility, which inevitably requires sensors to achieve autonomy, but relying too heavily on sensors will be a risk factor. A high-definition map (HD map) reduces the risk by giving geographical information if it covers dynamic information from moving entities on the road. Cooperative intelligent transport systems (C-ITS) are a prominent approach to solving the issue and local dynamic maps (LDMs) are expected to realize the ideal C-ITS. An actual LDM implementation requires a fine database design to be able to update the information to represent potential risks based on future interactions of vehicles. In the present study, we proposed an advanced method for embedding the geographical future occupancy of vehicles into the database by using a binary decision diagram (BDD). In our method, the geographical future occupancy of vehicles was formulated with Kamm’s circle. In computer experiments, sharing BDD-based occupancy data was successfully demonstrated in the ROS-based simulator with the linked list-based BDD. Algebraic operations in exchanged BDDs effectively managed future interactions such as data insertion and timing of collision avoidance in the LDM. This result opened a new door for the realization of the ideal LDM for safety in AVs.

DOI： 10.3390/s22197253

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85139946561&origin=inward

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 査読有り国際誌

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

Sensors 22 ( 15 ) 2022年08月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

This study presents an effective artificial neural network (ANN) approach to combine measurements from inertial measurement units (IMUs) and time-of-flight (TOF) measurements from an ultra-wideband (UWB) system with OptiTrack Motion Capture System (OptiT-MCS) data to guarantee the positioning accuracy of motion tracking in indoor environments. The proposed fusion approach unifies the following advantages of both technologies: high data rates from the MCS, and global translational precision from the inertial measurement unit (IMU)/UWB localization system. Consequently, it leads to accurate position estimates when compared with data from the IMU/UWB system relative to the OptiT-MCS reference system. The calibrations of the positioning IMU/UWB and MCS systems are utilized in real-time movement with a diverse set of motion recordings using a mobile robot. The proposed neural network (NN) approach experimentally revealed accurate position estimates, giving an enhancement average mean absolute percentage error (MAPE) of 17.56% and 7.48% in the X and Y coordinates, respectively, and the coefficient of correlation R greater than 99%. Moreover, the experimental results prove that the proposed NN fusion is capable of maintaining high accuracy in position estimates while preventing drift errors from increasing in an unbounded manner, implying that the proposed approach is more effective than the compared approaches.

DOI： 10.3390/s22155737

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85136343179&origin=inward

A COMPUTATIONAL MODEL OF 3D PRINTING ORTHOSES ASSOCIATED WITH A SYSTEMATIC STRUCTURAL ANALYSIS TOWARD REVERSE ENGINEERING ORIENTED PRODUCTION 査読有り国際誌

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

ICIC Express Letters, Part B: Applications ( ICIC International 学会 ) 13 ( 7 ) 705 - 713 2022年07月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

According to the recent advancement of the 3D printing technology coupling with CAD designs, a kind of reverse engineering production is getting in touch with reality in the field of assistive device production, which has been relying on expert prosthetists. It provides a large benefit not only for saving costs and time, but also offers a novel solution in senses of designs and materials beyond past knowledge. The computational framework is expected to enhance and accelerate a PDCA cycle of the production, which consists of the determination of the base design (Plan), CAD design with a specific parameter (Do), virtual and physical tests (Check) and improvements associated with the target specification for a subject (Act). In this study, we established such a PDCA framework with virtual and physical tests by using a skeleton computational model designed by the computer algorithm to be able to generate the 3D structure automatically. Focusing on a supportive device in flexing and extending of human knees, a compliant mechanism-inspired design was introduced and validated in the resistance of tensile loading forces, which was assumed to be knee extension. Depending on principle parameters in the skeleton design, the model was successfully transformed to the printable 3D structure, verified in the FEM structural analysis and examined in the physical test with a robotic tool to mimic the human knee motion. This complementary approach to binding virtual and physical validations will open a new door for the reverse engineering production of orthoses beyond projects currently being worked based on try-and-error 3D printing production.

DOI： 10.24507/icicelb.13.07.705

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85131060788&origin=inward

A VALIDATION ANALYSIS OF THE SUBMILLIMETER-WIDTH CONCRETE CRACK DETECTION BASED ON MORPHOLOGICAL COMPONENT ANALYSIS AND ANISOTROPIC DIFFUSION 査読有り国際誌

Dixit A., Oshiumi W., Wagatsuma H.

International Journal of Innovative Computing, Information and Control ( ICIC International 学会 ) 18 ( 3 ) 1009 - 1018 2022年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Abnormality detection in an early stage is a crucial issue to maintain social concrete infrastructures. The submillimeter-width concrete crack detection is the inevitable mission to significantly reduce the human burden; however, conventional image processing methods do not reach the same level of human inspections in senses of coverage ratios and hit rates. In the present study, we hypothesized that a concrete crack detection based on the morphological component analysis (MCA) can be upgraded with after-treatments for contrast enhancements by using anisotropic diffusion and related techniques, to be able to detect cracks on images even for less than 10 pixels in width as a submillimeter range. The traditional MCA method was modified to decompose the image into its coarse and fine components and the coefficient of anisotropic diffusion was designed to find cracks in high gradient and low gray level regions. The modified MCA and anisotropic diffusion with the Sobel edge detector were embedded to a con-sistent workflow to detect submillimeter cracks in image. In the accuracy verification, comparisons among the proposed method, conventional methods and the human detection demonstrated that the proposed method had a noteworthy detection efficiency with high coverage ratios and hit rates over 60% in total. It can contribute to the actual field work of the concrete crack detection.

DOI： 10.24507/ijicic.18.03.1009

その他リンク： 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 査読有り国際誌

Kumar A., Kawano K., Trung H.L.P., Wagatsuma H.

ICIC Express Letters, Part B: Applications ( ICIC International 学会 ) 13 ( 6 ) 597 - 605 2022年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

In international automobile communities, cooperative, connected and automated mobility have been discussed. For actual implementations of those schemes in the road infrastructure, an effective separation of information types such as static geographical properties and dynamic vehicle movements and its integration is necessary to prevent potential accidents in an early stage. As a de facto international standard in progress, European Commission has supported the layered data structure depending on the spatio-temporal characteristics of things on the road to manage static and dynamic data with different updating time cycles, known as Local Dynamic Map, and recently technical problems to realize its actual implementation were discussed as issues need to be solved. In this paper, we proposed a compact representation method of geographical vehicle positions by using Binary Decision Diagrams (BDDs) integrated with the Geohash geographical encoding of target vehicles in the aim of a significant reduction of computational cost to prevent a serious communication delay. In the computer experiment, our proposed method was validated in the platform of the Robot Operating System (ROS). The comparative analysis with other traditional methods demonstrated that the proposed method clearly reduced the computational time three times smaller than others in cases of two vehicles and the same tendency was observed even if the number of vehicles increas-es. Therefore, the BDD-based formulation might be applicable not only for an effective geographical encoding but also for conflict management in traffic scenarios.

DOI： 10.24507/icicelb.13.06.597

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85129838887&origin=inward

Flexible Bar Geometric Designs for Personalized Knee Orthoses Inspired by Compliant Mechanisms 査読有り国際誌

Dachkinov Pancho, Kasai Shintaro, Tanaka Kouhei, Wagatsuma Hiroaki

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 1 ) 59 - 65 2022年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Recently, 3D printed compliant mechanisms have been expected not only in engineering purposes, but also in supportive devices of human motions especially for human joint problems. On the other hand, the establishment of a systematic design principle is the issue to provide an actual solution for the target body problem, i.e. the personalization. In the present study, we proposed a systematic method to design flexible bars to reduce the burden of the human joint. The proposed concept was verified in computational analyses and the 3D printer productions were demonstrated in an actual implementation as prototypes. In computational analyses, larger deformations of the bars were analyzed to absorb the stress occurring a flexing action in joint’s motion. Theoretical analysis and experiments were demonstrated its flexibility and support functions during the flexion and extension of the knee motion. It indicates that high importance of the geometrical analysis of the orthosis design in the sense of compliant mechanisms.

DOI： 10.57417/jrnal.9.1_59

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85178309391&origin=inward

A MBD-based Knee Link Model to Analyze Singular Postures to Find Necessary Restrictions Toward Personalized Knee Support Exoskeleton 査読有り国際誌

Kasai Shintaro, Dachkinov Pancho, Tanaka Kohei, Wagatsuma Hiroaki

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 2 ) 128 - 135 2022年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Assistive devices have been studied in the senses of the universal design and a possible simplification for mass production, and such a concept can be extended to the personalization by using advanced 3D printing technologies, which allows to provide suitable exoskeleton-type devices to fit for the subject’s body to achieve symptom relief. A systematic analytical mechanics is highly important for the investigation of proposed integrative systems and multibody dynamics and its computer simulation enhance the capability to find potential problems in design, for example risky postures for the subject. We introduced multibody dynamics to analyze a knee support exoskeleton by using a linkage system newly designed as a simplification of the device. In the computer experiment, a singular posture was successfully found as the limitation of the device to move safely for subjects having joint dysfunctions.

DOI： 10.57417/jrnal.9.2_128

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85149464507&origin=inward

A Concrete Crack Inspection Embedded in the Drone-Based System by Using Sub-Pixel Width Estimation and Morphological Component Analysis 査読有り国際誌

Dixit Ankur, Oshiumi Wataru, Wagatsuma Hiroaki

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 2 ( 4 ) 177 - 183 2022年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

Human experts have assured social infrastructure inspections, and recently an automated inspection is expected as an integrated system of the flight vehicle with software algorithms of the image processing. For the submillimeter-width concrete-crack detection, we have introduced Morphological Component Analysis (MCA) to be able to find those positions. Conventional image processing methods work well for thick-width crack detections, while the thin-width crack detection is highly difficult. We successfully demonstrated a concrete crack detection from images through proximity cameras in a specialized multi-copter and MCA-based crack position estimations and the linear regression-based sub-pixel width estimation were integrated together. It will open a new door to engineering in the actual field work, which can be widely applicable for social infrastructure inspections in general.

DOI： 10.57417/jaalr.2.4_177

A Multi-Material Joint System as a Three-Dimensional Spring-Damper Compliant Mechanism Toward Functional Versatility 査読有り国際誌

Dachkinov Pancho, Bhattacharjee Anirudha, Bhattacharya Bishakh, Wagatsuma Hiroaki

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 3 ( 2 ) 66 - 72 2022年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

3D printed material designs have a large capability in the functional aspect. A cross-spring compliant joint is a hot topic in the sense of multipurpose applications in various engineering fields. A combination of flexible materials embedded in the structural form performs a motion of the system according to deformation of parts elastically, which may fit to a specific engineering purpose. In the present study, a traditional cross-spring pivot (CSP) was improved to provide effectively frictionless and wear free in-plane motion. The behavior of the joint was analyzed based on a non-linear FEA computer analysis to focus the properties with various loading conditions. Improved compliant joints will open a new door for designs of high-precision actuators and robotic manipulators.

DOI： 10.57417/jaalr.3.2_66

A Comparative Analysis of Serial and Parallel Models in the Morphological Component Analysis-Based Structure Pattern Extraction for Aerial Image Edge Detections 査読有り国際誌

Oshiumi Wataru, Dixit Ankur, Wagatsuma Hiroaki

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 3 ( 3 ) 163 - 168 2022年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

A refinement process by human experts is still needed for areas/feature extractions of interest from aerial images in multiple map makers. The construction/road edge extraction is one of them which is highly important in the preprocessing stage for map-making, while it is difficult to isolate man-made structures from a natural landscape involving different size objects. In the present study, we focused on an actual procedure in the decomposition of the Morphological Component Analysis known as MCA to extract specific patterns as serial and parallel models. In our computer experiments, dictionaries of Curvelet and Local Discrete Cosine Transform known as LDCT were introduced for the MCA decomposition and then two models demonstrated a non-negligible difference in the feature extraction performance. This result may contribute to the extension of future possibilities of structural data analyses especially for buildings and roads from shapes in nature.

DOI： 10.57417/jaalr.3.3_163

その他リンク： https://kyutech.repo.nii.ac.jp/records/2000720

Computational Model of 3D Printing Orthoses Associated with a Systematic Structural Analysis Toward Reverse Engineering Oriented Production 査読有り国際誌

我妻広明

ICIC Express Letters, Part B: Applications (ICIC-ELB) 13(7) 705 - 713 2022年01月

A Binary Decision Diagram Based Approach for Refining Road Safety Scenarios in the Local Dynamic Map 査読有り国際誌

我妻広明

ICIC Express Letters, Part B: Applications (ICIC-ELB) 13(6) 597 - 605 2022年01月

A Validation Analysis of the Submillimeter-Width Concrete Crack Detection Based on Morphological Component Analysis and Anisotropic Diffusion 査読有り国際誌

我妻広明

International Journal of Innovative Computing, Information and Control (IJICIC) 18(3) 1009 - 1018 2022年01月

A Computational Approach for Global Trade Analysis in Korea Contributing to the Forecasting of Future Efficacy in Global and Domestic Korean Transportations 査読有り国際誌

Lee Bo-Young, Altaweel Ahmad, Mine Kazuhito, Yoon Jang-Sok, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 902 - 906 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Economic forecasting studies are integral for shaping strategic policy decisions by providing data-driven insights that guide resource allocation, logistics and transportation, and long-term planning. This study investigate the trade dynamics of the Republic of Korea through the Global Trade Analysis Project Recursive dynamic GTAP-RD model with the GTAP v11 database to forecast economic scenarios and Shared Socioeconomic Pathways (SSPs) serve as growth trajectories. The analysis centers on the Republic of Korea's key trading partners, as identified by the GTAP database, and top trading sectors from the Korea Transport Database (KTDB) to compare the key influencers on Korea's trade thereby providing deeper strategic economic planning. This study investigates further the involvement of Korea's logistics and transportation by focusing on changes in import/export tonnage to inform infrastructure planning and strategic transport development. The evaluation of Korea's trade in the global context is of the essence to ensure adaptive logistics, backing economic resilience, and aligning with changeable global trade conditions.

DOI： 10.5954/icarob.2025.gs5-4

A Mathematical Framework for Logit Model in Transportation Mode Choice Analysis 査読有り

Altaweel Ahmad, Mine Kazuhito, Lee Bo-Young, Yoon Jang-Sok, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 897 - 901 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Traditional transportation demand forecasting has relied on massive zone-specific aggregations, which assume a linear demand increase. Such models may lack the flexibility needed to perform dynamic and context-sensitive analyses. Recently, disaggregated behavioral models have gained prominence for requiring less data and enabling sensitivity analyses in policy decisions. This study explores the feasibility of a model focusing on the mathematical formulation and validation of the transportation mode choice model. The study uses the logit model with a non-linear probability distribution function represented by a logistic curve and incorporates a linear combination of independent predictor variables. The mathematical model is examined for its ability to estimate choice probabilities. The methodology is formulated to be adaptable to diverse contexts that provide an analytical framework for transportation systems independently of geographic or demographic considerations.

DOI： 10.5954/icarob.2025.gs5-3

A Gait Analysis with Multibody Dynamics Toward Energy-Efficient Active Knee Prostheses 査読有り国際誌

Purevdorj Choisuren, Ge Yiqian, Kasai Shintaro, Dondogjamts Batbaatar, Naranbaatar Erdenesuren, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 873 - 877 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In general, prosthetic knee users have a large stress in the locomotion due to less smoothness and unnecessary energy consumption. In the passive prosthesis, it is difficult to regulate the stiffness depending on the ground contact force. In consideration of designs for such an adaptivity to improve passive systems, we propose an artificial knee kinematics design to absorb the redundant contact force for the smooth and stable walking and explore necessary constraints for the proposed mechanics to be able to have multi-functions not only for walking but also knee flexion accumulating the power for jumping. In the analysis, we used Multibody Dynamics (MBD) to investigate. This result will contribute to design an integrated dynamic model by incorporating a flexible body and ground contact forces in various purposes.

DOI： 10.5954/icarob.2025.gs4-3

Signal Decomposition and Noise Reduction in Single-Channel EEG: A Morphological Component Analysis (MCA) Approach 査読有り国際誌

Shibata Kosei, Yang Yide, Kato Rena, Chame Hendry Ferreira, Bougrain Laurent, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 923 - 927 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This study applies the Morphological Component Analysis (MCA) to single-channel EEG data obtained during human-to-human interactions in a board game (Hex-game). MCA, a dictionary-based signal decomposition method, separates signals into distinct morphological components. It enables the extraction of plausible brain activity and the removal of noise, such as ocular and muscular artifacts. By focusing on neural dynamics in interactive settings, this approach highlights the relationship between cognitive processes and social behavior. The approach suggests that MCA offers a promising framework for EEG analysis in complex, dynamic environments, combining effective feature extraction with robust artifact removal.

DOI： 10.5954/icarob.2025.gs6-1

Developing a Sound-Based Method to Synchronize Multiple Videos Recorded by Multiple Sound Sources 査読有り

Jargal Davaanyam, Kato Rena, Taniguchi Tomoki, Shibata Kosei, Koga Takahiro, Al Aama Obada, Tamukoh Hakaru, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 815 - 820 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The surround environmental monitoring from a vehicle on the road is important for the driving behavior analysis as well as the monitoring of driver's operations. A light weight mobile camera is useful for the record of multiple directions from the vehicle simultaneously. However, the timing synchronization is an important issue need to be solved. In this purpose, we proposed the sound-based method to synchronize different videos recorded with environmental sounds. In this task, the extraction of common sound features and amplifying of the features are necessary to superimpose those sound profiles to find consisting time points. In the validation the effectiveness, we used recoded videos from the bus driven by an expert driver.

DOI： 10.5954/icarob.2025.gs1-4

Analyzing Eye-Tracking Data to Detect Joint Attention in Hexgame Experiments 査読有り国際誌

Yang Yide, Kato Rena, Shibata Kosei, Chame Hendry Ferreira, Bougrain Laurent, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 941 - 945 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This study aims to explore the mechanisms of joint attention in a strategic game experiment by analyzing Tobii eyetracking data. In this experiment, two participants play Hexgame, during which the gaze direction is tracked and projected onto the game's board plane through perspective geometry, in order to track attention sharing correlates at particular stages of the game from behavioral data. The primary focus of this study is the analysis of eye-tracking data to identify attention coordination between players during the progression of the game. Future work will expand this framework to assess win probabilities and predict subsequent moves, providing deeper insights into strategic decisionmaking.

DOI： 10.5954/icarob.2025.gs6-5

An Adaptive Control Method for a Knee-Joint Prosthetic Leg Toward Dynamic Stability and Gait Optimization 査読有り国際誌

Ge Yiqian, Purevdorj Choisuren, Kasai Shintaro, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 867 - 872 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper presents a hybrid control strategy that combines Model Predictive Control (MPC) and Linear Quadratic Regulator (LQR) to achieve robust and stable tracking of human knee joint motion. The state-space model of the system is discretized to facilitate real-time implementation. MPC is employed to track the knee joint trajectory during dynamic motion, while the LQR controller is activated at critical points, particularly when the joint angle approaches zero, to stabilize the system and ensure safety.

DOI： 10.5954/icarob.2025.gs4-2

A Data Format Integration of Open-Street-Map and Lanelet2 Toward the Ontology Framework for Safety Automated driving systems 査読有り国際誌

Al Aama Obada, Koga Takahiro, Taniguchi Tomoki, Jargal Davaanyam, Oishi Junya, Nemoto Shigeru, Mizushina Wataru, Hirao Kazuki, Tamukoh Hakaru, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 808 - 814 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This study proposes a framework that integrates OpenStreetMap (OSM) data with ontology-based systems to enhance automated driving. OSM provides static geographical data, while the Lanelet2 mapping framework incorporates lanelevel road information and topological relationships. This combination enables advanced testing of vehicle behavior in realistic environments. Ontology-based integration offers semantic representations of road elements and traffic rules, supporting the modeling of complex driving scenarios. By structuring spatial and semantic data, this approach ensures accurate simulation and testing, facilitating applications such as traffic analysis, route optimization, and automated driving decision-making. The framework enhances scalability, precision, and safety in autonomous vehicle development, enabling more effective testing and validation. This integration supports comprehensive, context-aware simulations that improve vehicle response to real-world driving conditions.

DOI： 10.5954/icarob.2025.gs1-3

Objective Evaluation of Out-of-Competition Volume of Action in Wheelchair Basketball Classification 査読有り国際誌

Shimoyama Y., Kasai S., Wagatsuma H., Ibusuki T., Tsukada T., Tachibana K.

Sports 13 ( 2 ) 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

In wheelchair basketball, classes are based on competition observations. Since 2021, out-of-competition testing has been implemented; however, research remains limited. This study aimed to determine whether the quantified volume of action (VOA) can be an indicator for classification and examined the influence of a competitive wheelchair on VOA evaluation. This cross-sectional study included 47 wheelchair basketball players (21 able-bodied, 26 with physical impairments: class 1, n = 8; class 2, n = 5; class 3, n = 4; class 4, n = 9). Tests were performed in a wheelchair (wheelchair condition) and on a trainer bed (bed condition). Participants held a ball and rotated their trunks in various planes. Movements were recorded using four cameras, and position coordinates were extracted using the three-dimensional DLT method. Classes and sitting conditions were compared across five groups: classes 1, 2, 3, 4, and able-bodied. Comparisons between classes revealed significant differences in all planes, including wheelchair and bed conditions (p < 0.05). The VOA expanded in the wheelchair condition compared to the bed condition across multiple classes and planes (p < 0.05). Measuring the VOA outside the competition while sitting on a bed may effectively classify players by eliminating equipment influence.

DOI： 10.3390/sports13020048

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Signal Decomposition and Noise Reduction in Single-Channel EEG: A Morphological Component Analysis (MCA) Approach 査読有り国際誌

Shibata K., Yang Y., Kato R., Chame H.F., Bougrain L., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 917 - 921 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219559722&origin=inward

Developing a Sound-Based Method to Synchronize Multiple Videos Recorded by Multiple Sound Sources 査読有り国際誌

Jargal D., Kato R., Taniguchi T., Shibata K., Koga T., Al Aama O., Tamukoh H., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 809 - 814 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The surround environmental monitoring from a vehicle on the road is important for the driving behavior analysis as well as the monitoring of driver’s operations. A light weight mobile camera is useful for the record of multiple directions from the vehicle simultaneously. However, the timing synchronization is an important issue need to be solved. In this purpose, we proposed the sound-based method to synchronize different videos recorded with environmental sounds. In this task, the extraction of common sound features and amplifying of the features are necessary to superimpose those sound profiles to find consisting time points. In the validation the effectiveness, we used recoded videos from the bus driven by an expert driver.

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Analyzing Eye-Tracking Data to Detect Joint Attention in Hexgame Experiments 査読有り国際誌

Yang Y., Kato R., Shibata K., Chame H.F., Bougrain L., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 935 - 939 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This study aims to explore the mechanisms of joint attention in a strategic game experiment by analyzing Tobii eyetracking data. In this experiment, two participants play Hexgame, during which the gaze direction is tracked and projected onto the game’s board plane through perspective geometry, in order to track attention sharing correlates at particular stages of the game from behavioral data. The primary focus of this study is the analysis of eye-tracking data to identify attention coordination between players during the progression of the game. Future work will expand this framework to assess win probabilities and predict subsequent moves, providing deeper insights into strategic decisionmaking.

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An Adaptive Control Method for a Knee-Joint Prosthetic Leg Toward Dynamic Stability and Gait Optimization 査読有り国際誌

Ge Y., Purevdorj C., Kasai S., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 861 - 866 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219552587&origin=inward

A Mathematical Framework for Logit Model in Transportation Mode Choice Analysis 査読有り国際誌

Altaweel A., Mine K., Lee B.Y., Yoon J.S., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 891 - 895 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219558464&origin=inward

A Gait Analysis with Multibody Dynamics Toward Energy-Efficient Active Knee Prostheses 査読有り国際誌

Purevdorj C., Ge Y., Kasai S., Batbaatar D., Erdenesuren N., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 867 - 871 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219537777&origin=inward

A Data Format Integration of Open-Street-Map and Lanelet2 Toward the Ontology Framework for Safety Automated driving systems 査読有り国際誌

Al Aama O., Koga T., Taniguchi T., Jargal D., Oishi J., Nemoto S., Mizushina W., Hirao K., Wagatsuma H., Tamukoh H.

Proceedings of International Conference on Artificial Life and Robotics 802 - 808 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This study proposes a framework that integrates Open Street Map (OSM) data with ontology-based systems to enhance automated driving. OSM provides static geographical data, while the Lanelet2 mapping framework incorporates lane level road information and topological relationships. This combination enables advanced testing of vehicle behaviour in realistic environments. Ontology-based integration offers semantic representations of road elements and traffic rules, supporting the modeling of complex driving scenarios. By structuring spatial and semantic data, this approach ensures accurate simulation and testing, facilitating applications such as traffic analysis, route optimization, and automated driving decision-making. The framework enhances scalability, precision, and safety in autonomous vehicle development, enabling more effective testing and validation. This integration supports comprehensive, context-aware simulations that improve vehicle response to real-world driving conditions.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219516635&origin=inward

A Computational Approach for Global Trade Analysis in Korea Contributing to the Forecasting of Future Efficacy in Global and Domestic Korean Transportations 査読有り国際誌

Lee B.Y., Altaweel A., Mine K., Yoon J.S., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 896 - 900 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219532388&origin=inward

A SYSTEMATIC RECORDING SYSTEM TO ANALYZE ERD/ERS IN EEG TO FOCUS INDIVIDUAL TIMING DIFFERENCES IN A THREE-GRASPING-TYPE TASK 査読有り国際誌

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

ICIC Express Letters, Part B: Applications ( ICIC International 学会 ) 15 ( 10 ) 1009 - 1016 2024年10月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Motor rehabilitation is a physiotherapy technique for restoring motor functions in Activities of Daily Living (ADL) of patients with brain damages. Despite initial rapid recovery, progress tends to decline after six months, making rehabilitation chal-lenging. In this sense, possible feedback on the evolution of the brain activities since the reconstruction’s start contributes to maintaining the patient’s motivation to improve effectiveness. While frequent visualization by fMRI is ideal but costly, and hence the growing interest in cost-effective EEG-based visualization. In this study, we developed an Event-Related Desynchronization/Synchronization (ERD/ERS) analysis system. This system leverages motion capture and pressure sensors to select the onset timing in three grasping-type tasks. The system effectively reports the comparison among timings of the initiation of brain activities and movement-onset and reaching to the target object, for capturing appropriate activities for target motor functions. Through an EEG experiment involving three participants, we were able to verify the validity of the sound-based onset stimulus in the task. The system also highlighted the variability of motion timings across different participants and trials. This study underscores the potential of EEG-based systems in enhancing motor rehabilitation efforts.

DOI： 10.24507/icicelb.15.10.1009

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A QUALITY ANALYSIS OF THE BILSTM ENCODER DECODER MODEL WITH MODIFIED J-DIVERGENCE FOR SENTENCES WITH DIFFERENT COMPLEXITIES 査読有り国際誌

Shrivastava M., Wagatsuma H.

ICIC Express Letters ( ICIC International 学会 ) 18 ( 7 ) 721 - 729 2024年07月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

The rapid increase in the field of artificial intelligence has made machines capable of making intelligent decisions. Machines can now recognize patterns and support human intelligent activities, and one of the main sources for machines to learn is natural languages. Natural languages are complex and sentences can have different structures, difficult for a machine to understand. A formal way to represent language is ontology, and ontology organizes information as a triple and set of rules. The task of extracting triples from various sources such as text documents, or web pages is termed as ontology population task that can be formulated either as a classification or a translation task. In both these tasks data from an unknown probability distribution is fed to a neural network that generates another probability distribution parametrized by network weight, and the objective here is to minimize the distance between two probability distributions by minimizing some loss function. In this research, we proposed a modified version of Jeffreys divergence as a learning method for machines to improve the ontology population task. We also analyze the performance of the neural network model based on different structures of sentences used for training and propose data selection method for improving model performance.

DOI： 10.24507/icicel.18.07.721

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PERSONALIZED FEEDBACK IN FORMATIVE ASSESSMENT SUPPORT SYSTEM “KEY WORDS MEETING” FOR ENCOURAGING MOTIVATION OF LEARNERS AND MONITORING THEIR PERFORMANCE IN INDIVIDUAL CLASSROOMS 査読有り国際誌

Lee S., Kurishima K., Jahng D., Wagatsuma H.

ICIC Express Letters ( ICIC International 学会 ) 18 ( 7 ) 731 - 738 2024年07月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Recently, digital learning technologies have made rapid strides for offering various opportunities in a diverse society. In the teaching and learning environment in school, appropriate personalized feedback is expected and highly important for effective communication and building trust relationship between instructors and learners to avoid unnecessary disputes among them. For the sake of building such a personalized learning environment, the formative assessment support system “Key Words Meeting” was proposed and has been used in classrooms of junior high schools, universities, graduate schools and general courses for learning experiences. The Web-based KWM finely works for needs as a formative assessment in schools, while functions for the visualization of individual records with respect to inquiries from the instructor have limitations in the sense of the Web-based implementation scheme. In the present study, we newly designed the Python-based back-end system to analyze the logging data in KWM for a fine-grained personalized support. In our proposed system, not only numerical scores to indicate the understanding level of each learner but also actions of the learner were clearly analyzed to be able to detect a mismatch with learning goals given by the instructor, which may contribute to the estimation of the person’s attitude, motivation, and a lack of understanding of the content to require a rapid and concrete feedback from the instructor.

DOI： 10.24507/icicel.18.07.731

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AN ANCF-BASED THEORETICAL FRAMEWORK TO DEAL WITH LARGE DEFORMATION OF ELASTIC ELEMENT EMBEDDED IN HUMAN KNEE JOINT ORTHOSES 査読有り国際誌

Kasai S., Wagatsuma H.

ICIC Express Letters ( ICIC International 学会 ) 18 ( 6 ) 607 - 614 2024年06月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

In the human body, joint motion is crucial for any movement, and joint disorders deficit normal exercises of the body parts. Orthotic devices with 3D printing technologies have extended their possibilities to assist disabled people, while the principle for designing devices to fit individual needs is unclear. In this sense, mathematical modeling is highly important for analyzing interactions between the human joint and devices as a whole system. Currently, joint orthoses with flexible materials are expected to apply the human body kinetics for taking care of the body part of interest. For a fine validation analysis, we introduced the flexible multibody dynamic analysis with absolute nodal coordinate formulation (ANCF). It enables to demonstrate large deformations of target flexible materials. In our computer experiment, a flexible bar in the simple model was numerically analyzed in the theoretical framework with ANCF, which is expected to apply for knee joint support devices. Our linkage model demonstrated a large deformation occurring in the knee joint flexion-extension motion. The dynamic model is important for further advancements in human joint orthoses accompanied with flexible materials, which provide benefits not only in shapes fit for individual bodies, but also in the enhancement of the original body dynamics.

DOI： 10.24507/icicel.18.06.607

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Motor Imagery Classification Using Effective Channel Selection of Multichannel EEG 査読有り

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

Brain Sciences 14 ( 5 ) 2024年05月

記述言語：英語掲載種別：研究論文（学術雑誌）

Electroencephalography (EEG) is effectively employed to describe cognitive patterns corresponding to different tasks of motor functions for brain–computer interface (BCI) implementation. Explicit information processing is necessary to reduce the computational complexity of practical BCI systems. This paper presents an entropy-based approach to select effective EEG channels for motor imagery (MI) classification in brain–computer interface (BCI) systems. The method identifies channels with higher entropy scores, which is an indication of greater information content. It discards redundant or noisy channels leading to reduced computational complexity and improved classification accuracy. High entropy means a more disordered pattern, whereas low entropy means a less disordered pattern with less information. The entropy of each channel for individual trials is calculated. The weight of each channel is represented by the mean entropy of the channel over all the trials. A set of channels with higher mean entropy are selected as effective channels for MI classification. A limited number of sub-band signals are created by decomposing the selected channels. To extract the spatial features, the common spatial pattern (CSP) is applied to each sub-band space of EEG signals. The CSP-based features are used to classify the right-hand and right-foot MI tasks using a support vector machine (SVM). The effectiveness of the proposed approach is validated using two publicly available EEG datasets, known as BCI competition III–IV(A) and BCI competition IV–I. The experimental results demonstrate that the proposed approach surpasses cutting-edge techniques.

DOI： 10.3390/brainsci14050462

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A Computational Approach for Global Trade Analysis Sensitive to Free Trade Agreement Circumstances: A Case Study Focusing on the Great Mekong Subregion 査読有り国際誌

Altaweel Ahmad, Lee Bo-Young, Fujiwara Masayuki, Yoon Jang-Sok, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 1042 - 1046 2024年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In the Global Trade Analysis Project (GTAP), GDP and economic statistical indices can be analyzed for forecasting future trends in multiple countries by using the GTAP database and GEMPACK utilities, which realize the numerical calculation based on the concept of Computable General Equilibrium (CGE) models. Even with such well-prepared tools with the official database, appropriate forecasting is still difficult due to the sensitivity of the Free Trade Agreement (FTA) circumstances. FTA scenarios with a uniform tariff reduction can be assumed in general, while an abrupt and unreasonable change may occur in the simulation depending on the network structure of trading countries and the upper and lower bounds of tariffs in the time course. In the present study, we focused on the Great Mekong subregion (GMS) and explored possible methods to calculate substantially.

DOI： 10.5954/icarob.2024.gs6-2

Trigger circuit design and system integration for simultaneous measurement of human EEG, motion, and gaze 査読有り国際誌

Fujiwara Masayuki, Phan Duc, Bougrain Laurent, Hénaff Patrick, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 1047 - 1050 2024年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Simultaneous measurement of EEG, motion, and gaze in humans has the potential to lead to the discovery of new scientific insights. In order to achieve these simultaneous measurements, it is necessary to manage triggers and time information between measurement devices, as well as to correct time offsets. However, the management of accurate triggers and time information requires the design of a dedicated circuit board and the integration of TransistorTransistor Logic signal voltage information. In this study, we report on the building of a trigger circuit and an experimental system using it to solve these problems. We created a home-made trigger circuit board for voltage integration and combined it with a commercially available microcomputer to realize an integrated trigger circuit and measurement system.

DOI： 10.5954/icarob.2024.gs6-3

An Integration of Contact Force Models with Multibody Dynamics Analyses for Human Joint Mechanisms and Effects of Viscoelastic Ground Contact 査読有り国際誌

Kasai Shintaro, Batbaatar Dondogjamts, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 994 - 998 2024年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In human movement and rehabilitation analyses, human joint dynamics is a key to consider the incorporation of spring-damper components, flexible bodies and contact forces analytically. In the present study, an analytical method for human gaits were introduced to integrate those essential elements, and viscoelastic properties of musculoskeletal system were modeled with the absolute nodal coordination formula (ANCF) method representing flexible body motions. A contact force model simulates interactions between different body segments and the environment. The proposed system is applied to a slider crank mechanism, demonstrating its capabilities in human joint motion analysis using integrated dynamic model within the framework of multibody dynamics (MBD), which realizes dynamic/inverse dynamics for human biomechanics.

DOI： 10.5954/icarob.2024.gs4-3

Trigger circuit design and system integration for simultaneous measurement of human EEG, motion, and gaze 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 1047 - 1050 2024年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Simultaneous measurement of EEG, motion, and gaze in humans has the potential to lead to the discovery of new scientific insights. In order to achieve these simultaneous measurements, it is necessary to manage triggers and time information between measurement devices, as well as to correct time offsets. However, the management of accurate triggers and time information requires the design of a dedicated circuit board and the integration of Transistor- Transistor Logic signal voltage information. In this study, we report on the building of a trigger circuit and an experimental system using it to solve these problems. We created a home-made trigger circuit board for voltage integration and combined it with a commercially available microcomputer to realize an integrated trigger circuit and measurement system.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85190253086&origin=inward

An Integration of Contact Force Models with Multibody Dynamics Analyses for Human Joint Mechanisms and Effects of Viscoelastic Ground Contact 査読有り国際誌

Kasai S., Batbaatar D., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 994 - 998 2024年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In human movement and rehabilitation analyses, human joint dynamics is a key to consider the incorporation of spring-damper components, flexible bodies and contact forces analytically. In the present study, an analytical method for human gaits were introduced to integrate those essential elements, and viscoelastic properties of musculoskeletal system were modeled with the absolute nodal coordination formula (ANCF) method representing flexible body motions. A contact force model simulates interactions between different body segments and the environment. The proposed system is applied to a slider crank mechanism, demonstrating its capabilities in human joint motion analysis using integrated dynamic model within the framework of multi body dynamics (MBD), which realizes dynamic/inverse dynamics for human biomechanics.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85190288829&origin=inward

An image processing mechanism for aerial inspection robots to detect submillimeter-width concrete cracks in social infrastructures 査読有り国際誌

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

Advanced Robotics 38 ( 9-10 ) 698 - 714 2024年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Inspection robots for early detection of potential risks in severe environments require a high accuracy like human experts. A fine mechanism is crucial for extracting target components from noisy signals. We have proposed a detection system for submillimeter-width cracks in concrete surfaces of social infrastructures, such as bridges, by using morphological component analysis (MCA), for aerial image-inspection robots. Traditional schemes like PCA have relied on linear decomposition for the separation of target signal and noise components. Recent advancement in signal decomposition focuses on the enhancement of linearity in the separation by introducing a set of nonlinear basis functions to represent the raw signal even when multiple factors are mixed in a nonlinear manner. In this sense, MCA is a core technique to be able to isolate target components to represent submillimeter-width cracks from others. We proposed a proper pre- and post-processing operations to attach MCA, which demonstrated a high accuracy yet coarse and fine image components have to be integrated redundantly. In the present study, we successfully found a simpler mechanism to set the single basis function to extract the target by introducing a new thresholding mechanism. It suggests a high potential of MCA for inspection robots for various purposes.

DOI： 10.1080/01691864.2024.2324317

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85187164662&origin=inward

A Computational Approach for Global Trade Analysis Sensitive to Free Trade Agreement Circumstances: A Case Study Focusing on the Great Mekong Subregion 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 1042 - 1046 2024年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85190249483&origin=inward

Conditional checkpoint selection strategy based on sentence structures for text to triple translation using BiLSTM encoder–decoder model 査読有り国際誌

Shrivastava M., Shibata K., Wagatsuma H.

International Journal of Data Science and Analytics 2024年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Understanding natural languages is one of the primary goals of artificial intelligence. Natural languages contain multiple clauses and long-term dependencies making them difficult for machines to understand, also sentences can have different types of dependency structures such as simple, compound, or complex which makes interpretation further difficult. One alternative way is to represent language using predicate logic which is easier for machines to understand. The task of manually converting language to predicate logic or ontologies can be cumbersome, but it can be automated using machine translation. For these ontologies to be effective the quality of translation should be good. In this research, we focus on analyzing the effect of sentence structure on machine translation quality, i.e., how the model performance is affected if the dataset is structurally skewed meaning it has sentences of similar structure more as compared to other structures. We further investigate the model learning behavior by performing statistical analysis on features learned by these models and understand the effects of sentence structure on these learned features. The statistical analysis helps us understand the distribution followed by the features and based on the insights gained we proposed a conditional checkpoint selection strategy centered on sentence structure along with utilizing Modified J-Divergence as a loss function for optimizing model performance for different sentence structures thus achieving better translation quality.

DOI： 10.1007/s41060-024-00672-0

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85208075811&origin=inward

A MBD-Based Dynamic Analysis Framework with a Viscoelastic Contact Model and Flexible Elements Toward Human Power Assistive Devices 査読有り国際誌

Kasai Shintaro, Batbaatar Dondogjamts, Wagatsuma Hiroaki

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 4 ) 318 - 322 2024年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

It is important for the analysis of human movement and rehabilitation to incorporate spring-damper components, flexible materials, and contact force into the joint model considering human dynamics. In this study, the absolute nodal coordination formula (ANCF) method is introduced to the analytical model for the viscoelastic properties of the musculoskeletal system which is essential for analyzing human walking motion, and the flexible characteristics of the human body is reproduced. The consideration of a contact force model makes it possible to simulate contact actions between elements of the human body and the interaction with the environment. The proposed integrated framework is applied to multibody dynamics (MBD) based slider-crank mechanisms to demonstrate the dynamics/inverse dynamics analysis of human joint biomechanics.

DOI： 10.57417/jrnal.10.4_318

Classification of Motor Imagery Using Trial Extension in Spatial Domain with Rhythmic Components of EEG 査読有り国際誌

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

Mathematics 11 ( 17 ) 2023年09月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Electrical activities of the human brain can be recorded with electroencephalography (EEG). To characterize motor imagery (MI) tasks for brain–computer interface (BCI) implementation is an easy and cost-effective tool. The MI task is represented by a short-time trial of multichannel EEG. In this paper, the signal of each channel of raw EEG is decomposed into a finite set of narrowband signals using a Fourier-transformation-based bandpass filter. Rhythmic components of EEG are represented by each of the narrowband signals that characterize the brain activities related to MI tasks. The subband signals are arranged to extend the dimension of the EEG trial in the spatial domain. The spatial features are extracted from the set of extended trials using a common spatial pattern (CSP). An optimum number of features are employed to classify the motor imagery tasks using an artificial neural network. An integrated approach with full-band and narrowband signals is implemented to derive discriminative features for MI classification. In addition, the subject-dependent parameter optimization scheme enhances the performance of the proposed method. The performance evaluation of the proposed method is obtained using two publicly available benchmark datasets (Dataset I and Dataset II). The experimental results in terms of classification accuracy (93.88% with Dataset I and 91.55% with Dataset II) show that it performs better than the recently developed algorithms. The enhanced MI classification accuracy is very much applicable in BCI implementation.

DOI： 10.3390/math11173801

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An Accuracy Evaluation of Multibody Dynamics for the Knee Support Exoskeleton Model with Respect to Implicit Methods for Numerical Integration 査読有り国際誌

Kasai S., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 989 - 993 2023年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Numerical integration takes an important role to analyze models described by ordinary differential equations and it largely contributes to an assurance of the accuracy in displacement analyses of multibody dynamics if the model consists of several bodies especially with dynamic components such as springs and dampers. Exoskeletal assistive devices require flexible materials for absorbing reaction forces from human joints, which implies an inevitable necessity of an accurate evaluation of elastic effects in the model. In the present study, we introduced implicit methods for numerical integration to analyze the model under the formulation of multibody dynamics and computer experiments demonstrated results from explicit and implicit methods for the numerical integration as a comparison analysis. It can improve a degree of accuracy in inverse dynamics even in the theory of flexible Multibody Dynamics (fMBD).

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A Structure Pattern Extraction by Using Morphological Component Analysis in the Aerial Image Edge Detection 査読有り国際誌

Oshiumi W., Dixit A., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 883 - 887 2023年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Automated extraction of areas of interest from aerial images is a central issue for map makers. The road skeleton is one of the most frequent targets, and then the prefiltering of road structures is highly important; however, the isolation of man-made structures from a natural landscape is technically tricky because image parts to represent natural geographical features are not uniform patterns. In the present study, we focused on the function of the Morphological Component Analysis (MCA) method to extract structural patterns when dictionaries were appropriately given and demonstrated the effectiveness of edge detection if the prefiltering was done by using MCA. MCA decomposes the image into two patterns in our computer experiment with Curvelet transform and Local Discrete Cosine Transform (LDCT) dictionaries. This approach will explore extensive possibilities of structural data extraction from complex images as an automated method.

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A Linear-Time Algorithm to Form a Core Convex Shape from an Arbitrary Non-Convex for Automated Fulfillment in Robotic Manipulation Tasks 査読有り国際誌

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

International Journal of Engineering Advanced Research (IJEAR) 4 ( 3 ) 1 - 11 2022年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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 査読有り国際誌

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

International Journal of Engineering Advanced Research (IJEAR) 4 ( 3 ) 12 - 24 2022年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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 査読有り国際誌

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

International Journal of Engineering Advanced Research (IJEAR) 4 ( 3 ) 25 - 34 2022年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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 査読有り国際誌

Dachkinov Pancho, Bhattacharjee Anirudha, Bhattacharya Bishakh, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 193 - 200 2022年01月

A Systematic Geometric Design Method of Flexible Bars Available for Personalized Knee Orthoses with Spring-Damper Functions 査読有り国際誌

Dachkinov Pancho, Kasai Shintaro, Tanaka Kohei, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 724 - 730 2022年01月

A Systematic Analysis of the Knee Support Exoskeleton Based on Multibody Dynamics Toward Personalization with 3D printed Spring-Damper Components 査読有り国際誌

Kasai Shintaro, Dachkinov Pancho, Tanaka Kohei, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 712 - 716 2022年01月

A Drone-Based Concrete Crack Inspection System by Using Morphological Component Analysis and Sub-Pixel Width Estimation 査読有り国際誌

Dixit Ankur, Oshiumi Wataru, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 717 - 723 2022年01月

A Three-Dimensional Design of the Multi-material Joint System to Realize a Structural Spring-Damper Compliant Mechanism with Versatility in Engineering Fields 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 193 - 200 2022年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Design of a 3D printed cross-spring compliant joint is an emerging topic for its multipurpose applications in various fields due to its realization from a combination of flexible materials with different mechanical properties. It performs the motion by deformation in the elastic region and is suitable for precision engineering applications and instruments. The proposed concept is a modification of a traditional cross-spring pivot, which effectively provides frictionless and wear free in-plane motion. The joint’s behavior is analyzed based on a non-linear FEA simulation and the properties were investigated with various loading conditions. Compliant joints are envisaged to bring paradigm shift in the design of high-precision actuators and robotic manipulators.

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A Systematic Geometric Design Method of Flexible Bars Available for Personalized Knee Orthoses with Spring-Damper Functions 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 724 - 730 2022年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

3D printed compliant mechanisms were recently highlighted not only in the traditional way, but also in the reverse engineering of human joint supportive devices. However, a systematic design principle is unclear for solving of the issue how it can be modifiable to fit to target body requirements in the sense of the personalization. We proposed a geometrical approach providing the target design by using a morphological replacement at the concentration of stress. This concept can be verified in orthoses to improve the knee joint function by 3D printed flexible prototypes. It allows larger deformations of the bars to control joint’s motion. Theoretical analysis and experiments demonstrate the flexibility and support during the flexion and extension of the knee. It implies the impact of the geometry in orthosis design.

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A Systematic Analysis of the Knee Support Exoskeleton Based on Multibody Dynamics Toward Personalization with 3D printed Spring-Damper Components 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 712 - 716 2022年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Exoskeleton-type assistive devices have been studied a long time focusing on the universal design and a simplification for mass production, and recently the concept is extended to the personalization according to the advancement of 3D printing, which allows to embed spring-damper systems in the form of compliant mechanisms. Therefore, a sophisticated kinematic and kinetic analysis is highly important for the realization of integrative systems and theories of multibody dynamics enhance the capability to find best parameters that are suitable for target body requirements. We analyzed a knee support exoskeleton in the form of the linkage system as the rigid-body dynamics and estimated necessary spring-damper components in the system to reduce burden on joint motions, especially persons with joint dysfunctions.

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A Drone-Based Concrete Crack Inspection System by Using Morphological Component Analysis and Sub-Pixel Width Estimation 査読有り国際誌

Dixit A., Oshiumi W., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 717 - 722 2022年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Social infrastructure inspections were relying on human experts, and then a recent topic is a possible implementation to realize an automated inspection based on machines and sophisticated software algorithms. We have studied an advancement of Morphological Component Analysis (MCA) to apply the concrete-crack position estimation especially for submillimeter-width cracks, which are highly difficult for traditional methods to detect finely. We demonstrated a concrete crack detection from images obtained from proximity cameras attached a specialized multicopter, by using the MCA-based crack position estimation and the linear regression-based sub-pixel width estimation. It will contribute to the actual field work not only for the concrete crack detection but also various social infrastructure inspections.

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Design of Educational Scenarios with BigFoot Walking Robot: A Cyber-physical System Perspective to Pedagogical Rehabilitation 査読有り国際誌

Nikolov V., Dimitrova M., Chavdarov I., Krastev A., Wagatsuma H.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 13258 LNCS 259 - 269 2022年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The currently designed novel educational scenarios with the walking robot BigFoot from a cyberphysical system perspective to pedagogical rehabilitation is described in the paper. The sensor system of the robot is presented, which is being developed further in order to adequately apply it to two newly formulated educational scenarios. The results of a pilot study are discussed.

DOI： 10.1007/978-3-031-06242-1_26

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A Named Entity Recognition Model for Manufacturing Process Based on the BERT Language Model Scheme 査読有り国際誌

Shrivastava M., Seri K., Wagatsuma H.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 13817 LNAI 576 - 587 2022年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Industry 4.0 has put robotics on the forefront of manufacturing process, assistive healthcare etc. Robots are now involved in many aspect of life and therefore it is very important to keep them working all the time. Maintaining and repairing these robots requires highly skilled manpower, to overcome the scarcity of skilled resources we aimed to develop a knowledge base system/intelligent machine that are aware of manufacturing process/machine and thus can help to overcome failure causes or help in repairing. First step in this direction is to transform vast knowledge present in Natural language to a form that is understandable to machine. One way to achieve this goal is by representing language using a logic formula that machines can interpret, like the Resource Description Framework (RDF). The essential component for such representation is to identify entities and the relationship between them. This research focuses on developing an artificial intelligent (AI) model for identifying manufacturing entities from raw text using the Bidirectional Encoder Representation from Transformer (BERT) language model. We fine-tuned different pre-trained models of BERT to achieve improved performance in identifying named entities.

DOI： 10.1007/978-3-031-24667-8_50

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Determining the Elastic Properties of Flexible 3D Printed Beams with Variable Infill Densities and Patterns 査読有り国際誌

我妻広明

International Journal of Engineering Advanced Research (IJEAR) 4(3) 12 - 24 2022年01月

A Linear-Time Algorithm to Form a Core Convex Shape from an Arbitrary Non-Convex for Automated Fulfillment in Robotic Manipulation Tasks 査読有り国際誌

我妻広明

International Journal of Engineering Advanced Research (IJEAR) 4(3) 1 - 11 2022年01月

A Comparative Study of Vector and Raster Spatial Data for Image Segmentation Focusing on the Position Estimation Accuracy of Vertices to Form Polygonal Shapes 査読有り国際誌

我妻広明

International Journal of Engineering Advanced Research (IJEAR) 4(3) 25 - 34 2022年01月

運動機能リハビリを模した三種把持動作の脳波識別を可能にする個人差の検討

三嶋暁，柴田宏誠，マリアサンチェス，我妻広明

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 121 ( 272 ) 7 - 12 2021年11月

Corrigendum: A Review of Possible EEG Markers of Abstraction, Attentiveness and Memorisation in Cyber-Physical Systems for Special Education, (Front. Robot. AI, (2021), 8, (715962), 10.3389/frobt.2021.715962) 査読有り

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

Frontiers in Robotics and AI 8 2021年11月

記述言語：その他外国語掲載種別：記事・総説・解説・論説等（その他）

In the original article, Moore (2012) was cited but the reference was missing. This reference has now been included in the References list. The authors apologize for this error and state that this does not change the scientific conclusions of the article in any way. The original article has been updated.

DOI： 10.3389/frobt.2021.795160

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A viscoelastic contact analysis of the ground reaction force differentiation in walking and running gaits realized in the simplified horse leg model focusing on the hoof–ground interaction 査読有り国際誌

Batbaatar D., Wagatsuma H.

Journal of Robotics, Networking and Artificial Life 8 ( 2 ) 78 - 84 2021年09月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

In the present study, the systematic method for the forward dynamics associated with the ground contact model was introduced to be able to consider the viscoelastic effect when contacting with the ground. In particular, we focused on the hoof-ground interaction in the simplified horse leg model because walking and running gaits are known to be different in trajectories; however, the force analysis still remains as unsolved issues. The computational experiments in Matlab, elastic and inelastic impact with the ground was resolved by using the dissipative contact force model proposed by Lankarani and Nikravesh and the ground reaction force was clearly examined in four different conditions from the combination of walking/running and elastic/inelastic contact. As result, two peaks during the stance phase in the walking condition were realized as well as the human gait and a single peak was newly observed in running with a time gap in elastic and inelastic condition. The proposed method contributes to the establishment of the detail time course analysis of the ground reaction force for animal and human gaits in a consistent manner.

DOI： 10.2991/jrnal.k.210713.002

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A Review of Possible EEG Markers of Abstraction, Attentiveness, and Memorisation in Cyber-Physical Systems for Special Education 査読有り国際誌

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

Frontiers in Robotics and AI 8 ( 2021 ) 252 - 252 2021年08月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Cyber-physical systems (CPSs) for special education rely on effective mental and brain processing during the lesson, performed with the assistance of humanoid robots. The improved diagnostic ability of the CPS is a prerogative of the system for efficient technological support of the pedagogical process. The article focuses on the available knowledge of possible EEG markers of abstraction, attentiveness, and memorisation (in some cases combined with eye tracking) related to predicting effective mental and brain processing during the lesson. The role of processing abstraction is emphasised as the learning mechanism, which is given priority over the other mechanisms by the cognitive system. The main markers in focus are P1, N170, Novelty P3, RewP, N400, and P600. The description of the effects is accompanied by the analysis of some implications for the design of novel educational scenarios in inclusive classes.

DOI： 10.3389/frobt.2021.715962

その他リンク： https://www.frontiersin.org/articles/10.3389/frobt.2021.715962/full

Brain signals classification based on fuzzy lattice reasoning 査読有り国際誌

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

Mathematics 9 ( 9 ) 1063 2021年05月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Cyber-Physical System (CPS) applications including human-robot interaction call for automated reasoning for rational decision-making. In the latter context, typically, audio-visual signals are employed. This work considers brain signals for emotion recognition towards an effective human-robot interaction. An ElectroEncephaloGraphy (EEG) signal here is represented by an Intervals’ Number (IN). An IN-based, optimizable parametric k Nearest Neighbor (kNN) classifier scheme for decision-making by fuzzy lattice reasoning (FLR) is proposed, where the conventional distance between two points is replaced by a fuzzy order function (σ) for reasoning-by-analogy. A main advantage of the employment of INs is that no ad hoc feature extraction is required since an IN may represent all-order data statistics, the latter are the features considered implicitly. Four different fuzzy order functions are employed in this work. Experimental results demonstrate comparably the good performance of the proposed techniques.

DOI： 10.3390/math9091063

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85106659780&origin=inward

A ground reaction force analysis in walking and running gaits in horse leg model on viscoelastic hoof-ground contact 査読有り国際誌

Batbaatar Dondogjamts, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 26 505 - 512 2021年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In this paper, we focused on the hoof-ground interaction in the simplified horse leg model because walking and running gaits are known to be different in trajectories; however, the force analysis still remains as unsolved issues. The computational experiments in Matlab, elastic and inelastic impact with the ground was resolved by using the dissipative contact force model and the ground reaction force was clearly examined in four different conditions from the combination of walking/running and elastic/inelastic contact.

DOI： 10.5954/icarob.2021.gs8-6

A Semantic Web-Based Representation of Human-logical Inference for Solving Bongard Problems 査読有り国際誌

Maniamma, J., Wagatsuma, H.

Journal of Universal Computer Science 26 ( 10 ) 1343 - 1363 2021年01月

An Implementation of Linear Temporal Logic for Driving Safety Suitable for the Concept of Local Dynamic Map 査読有り

Kumar A., Wagatsuma H.

2021 IEEE/SICE International Symposium on System Integration, SII 2021 708 - 709 2021年01月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Safely driving on the road is a highly complicated information process for autonomous driving systems, which requires knowledge in the form of the hierarchical structure to bind them together. According to the past works on Cooperative Intelligent Transport Systems (C-ITS), the concept of Local Dynamic Map (LDM) is one of the critical technologies. It can coordinate environmental information with different time scales to update by mapping onto a consistent geometric structure in a hierarchy. A possible representation of the LDM concept can be associated with a relational database or semantic web technology such as Resource Description Framework (RDF) and Web Ontology Language (OWL). However, moving objects on the road can take infinitely many states. In this study, we propose an integration with Linear Temporal Logic (LTL) to represent events with potential risks to express them on LDM. In the computer experiment, risky situations were examined by using LDM update rules with LTL at turning and roundabout.

DOI： 10.1109/IEEECONF49454.2021.9382772

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

Batbaatar D., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 2021 505 - 511 2021年01月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108796818&origin=inward

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

Batbaatar D., Wagatsuma H.

2020 3rd International Conference on Control and Robots, ICCR 2020 57 - 64 2020年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The anatomical structure of animal leg repeatedly represented by open and closed kinematic chains. The open-chain has flexibility in producing functional gait trajectories, while it loses structural strength. On the other hand, closed linkages has well organized structural arrangement that could mobilize or stabilize large anatomical areas, and the range of movement has a limitation due to constraints in the system. In the present study, we focused on the partial extension of the closed linkage mechanism to be able to reproduce particular animal gait trajectories by adding a new link to control the leg's swinging. In the multibody dynamics, the proposed mechanism was analyzed to work as a simple oscillatory control associated with the movement of the constrained part of the leg mechanism. The reachable workspace was derived from the motion range of joints and extension/retraction of the leg mechanism. The extended analysis showed that animal gait trajectories were generated flexibly according to control parameters with driver constraints. It suggests that the specific locomotor behavior differentiate in trajectory due to the amplitude oscillation of swinging motion in the estimated leg workspace.

DOI： 10.1109/ICCR51572.2020.9344186

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85101624716&origin=inward

Real-time Social Distancing for Tackling COVID-19 in Workplaces Using Wearable Inertial Sensor 査読有り国際誌

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

International Journal of Bioscience, Biochemistry and Bioinformatics 2020年12月

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

Batbaatar D., Wagatsuma, H.

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

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

Kato Y., Wagatsuma H.

ICIC Express Letters 14 ( 9 ) 891 - 899 2020年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

DOI： 10.24507/icicel.14.09.891

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85091014325&origin=inward

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

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

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

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

DOI： 10.24507/ijicic.16.04.1313

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85087103998&origin=inward

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

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

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

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

DOI： 10.24507/icicel.14.07.693

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85085703781&origin=inward

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

Zahariev R., Valchkova N., Wagatsuma H.

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

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

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

DOI： 10.1145/3407982.3408023

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85090556089&origin=inward

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

川野啓太，加藤良祐，今長　久，我妻広明

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 119 ( 382 ) 45 - 50 2020年01月

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

塚本健太，Pancho Dachkinov，Dondogjamts Batbaatar，我妻広明

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 119 ( 382 ) 57 - 62 2020年01月

自律分散型経路探索モデルのロボットアーム応用の検討

白澤夏樹，Dondogjamts Batbaatar，上田肇一，我妻広明

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 119 ( 382 ) 51 - 56 2020年01月

組込みソフトウェア開発とオントロジー査読有り

渡辺政彦, 市瀬龍太郎, 我妻広明, 田向権, 穴田啓樹

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

「自動運転のための知的処理」特集にあたって査読有り

我妻広明, 田向権, 大屋勝敬

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

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

Maniamma J., Wagatsuma H.

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

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

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

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

Batbaatar D., Wagatsuma H.

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

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

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

DOI： 10.1109/ROBIO49542.2019.8961819

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

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

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

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

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

Yoshitaka Kato and Hiroaki Wagatsuma

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

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

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

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

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

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

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

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

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

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

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

Wagatsuma H.

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

Dixit A., Wagatsuma H.

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

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

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

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

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

Singh B., Wagatsuma H.

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

自動運転安全性評価における走行シナリオの生成的分類構築法の提案

川野啓太, Kumar Arvind, 我妻広明

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

決定表に基づく自動運転用判断システムの構築と評価

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

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

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

Kumar Arvind, 川野啓太, 我妻広明

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

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

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

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

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

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

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

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

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

Proceedings of the 2018 IEEE International Conference on Systems, Man, and Cybernetics ( SMC2018) 2018年10月

A Semantic Web Technique as Logical Inference Puzzle-Solver for Bongard Problems 査読有り国際誌

Maniamma, J., Wagatsuma, H.

Proceedings of the International Semantic Web Conference (ISWC 2018) 2018年10月

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

Dixit, A., Wagatsuma, H.

Proceedings of the 2018 IEEE International Conference on Systems, Man, and Cybernetics ( SMC2018) 2018年10月

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招待有り査読有り

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 31 ( 5 ) 191 - 201 2018年08月

Epilepsy EEG Classification Using Morphological Component Analysis 査読有り国際誌

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

EURASIP Journal on Advances in Signal Processing 2018年08月

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年07月

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年07月

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年07月

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年07月

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年07月

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年07月

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年07月

An ontology-based knowledge representation towards solving Bongard problems 査読有り国際誌

Maniamma J., Wagatsuma H.

ICIC Express Letters 12 ( 7 ) 681 - 688 2018年07月

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

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

The 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2018) 2018年07月

Human Abduction for Solving Puzzles to Find Logically Explicable Rules in Bongard Problems: An Ontology-based Model 査読有り国際誌

Maniamma, J., Wagatsuma, H.

Proceedings of the Joint Workshop on Architectures and Evaluation for Generality, Autonomy and Progress in AI (AEGAP 2018) 2018年07月

Investigating the effectiveness of the sobel operator in the MCA-based automatic crack detection 査読有り国際誌

Dixit A., Wagatsuma H.

Proceedings of the 2018 International Conference on Optimization and Applications, ICOA 2018 1 - 6 2018年05月

Investigating the Effectiveness of the Sobel Operator in the MCA-based Automatic Crack Detection 査読有り国際誌

Dixit, A., Wagatsuma, H.

Proceedings of the 4th IEEE International Conference on Optimization and Applications (ICOA 2018) 2018年04月

A Combination of Anisotropic Diffusion and Sobel Operator to Enhance the Performance of the Morphological Component Analysis for Automatic Crack Detection 査読有り国際誌

Dixit, A., Wagatsuma, H.

Proceedings of the 20th International Conference on Image Processing, Analysis and Computer Vision (ICIPACV 2018) 2018年03月

Autonomous quadcopter altitude for measuring risky gases in hazard area 査読有り国際誌

Dallal Bashi O., Wan Hasan W., Azis N., Shafie S., Wagatsuma H.

Journal of Telecommunication, Electronic and Computer Engineering 10 ( 2-5 ) 31 - 34 2018年01月

A semantic web technique as logical inference puzzle-solver for Bongard problems 査読有り国際誌

Maniamma J., Wagatsuma H.

CEUR Workshop Proceedings 2180 2018年01月

自動運転に向けた地図情報精緻化におけるデータ駆動型AIの課題

元政現, 金丸和樹, 我妻広明

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 34 ( 0 ) 330 - 333 2018年01月

担当区分：最終著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

近年，多層ニューラルネットワークモデルGenerative Adversarial Network(GAN) がpix2pix 技術としてツール提供され広範な分野で利用可能になっている．本研究では，pix2pixを航空写真からデジタル地図情報における図化の自動変換に適用し，その有用性と特徴的な問題を議論する．大域的特徴抽出では，画像全体に描かれた連続情報（例えば，トンネルに一部隠れた幹線道路）などは真値と整合性が低い．局所情報の統合は，機能的・意味論的な情報コードの取り扱いが重要であることが示唆される.

DOI： 10.14864/fss.34.0_330

その他リンク： http://id.ndl.go.jp/bib/029268673

車載ミリ波レーダにおける物標ラベリングの不安定性を解消するPHDパーティクルフィルタの有効性検証

金丸和樹, 福島克, 元政現, 我妻広明

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 34 ( 0 ) 326 - 329 2018年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

衝突防止自動ブレーキなど，安全運転支援技術のためにカメラ画像識別技術が広範に用いられているが，画像識別は悪天候や夜間で精度が劣化するため，補完技術として全天候型自然光非依存のミリ波レーダーが有用であり，組込み技術により高速処理可能であることから車載センサとして採用されている．つまり，カメラ画像の誤・不認識状況下で，ミリ波レーダは，事故防止の最後の要と言える．一方，2016年に発生したテスラ社Model SのAutopilotモードは，Highwayを横切った大型トレーラーに衝突する悲惨な事故を起こし，肝心の要が機能しなかった可能性が指摘されている．ミリ波レーダの課題は，１）他の車載レーダからの干渉波，２）多重反射波（マルチパス波），３）歩道橋やガードレールなどからの反射波（クラッタ）による擬似物標認識である．先の事故は，大面積物体からの反射波を「車両ではない」として，障害物としての処理の例外としていた可能性がある．現実的には，車載技術は運転が円滑に行われるよう複数の例外則を組み込むことが多く，状況依存性や柔軟性が課題となっている．本研究では，1-3の問題に対して，移動物体が時系列として整合性を持つ仮定を導入し，複数対象追尾が理論的に保証されている確率仮説密度(Probability Hypothesis Density, PHD)パーティクルフィルタを適用することで，その妥当性と有効性について検討した．基礎実験の結果，PHDフィルタは組み込みシステムが同じ物標を異なるラベルで検知した場合でも，その時系列情報としての整合性から，一貫して同じ物標として捉えることができることがわかった．一方，道路の構造上発生する安定したマルチパス波は，時系列変化が安定しているため，PHDフィルタの単純適用では除去が困難であることが示唆され，前処理としての深層学習等のフィルタとのフュージョンセンサの検討も重要であることがわかった．

DOI： 10.14864/fss.34.0_326

その他リンク： http://id.ndl.go.jp/bib/029268665

自動運転技術安全評価の標準化に向けたメゾスコピックモデルの提案国際誌

我妻広明, 元政現, 金丸和樹

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 34 ( 0 ) 456 - 458 2018年01月

担当区分：最終著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

昨今，自動走行システムの期待性能水準と評価基準を明確化する各国の取り組みが推進され，ドイツ経済エネルギー省（BMWi）が主導するPegasus Research Projectが注目されている．ことに2017年11月の中間報告では，安全性評価フレームワーク構築として，自動走行車の機能要件定義・データ表現（Requirements Definition & Convert for Database），走行データの効率的処理（Data Processing），テストシナリオ編纂・蓄積（Scenario Compilation / Database），安全性評価（Assessment of Highly Automated Driving Function）の4項目が示された．国内でも自動車企業およびサプライヤーから構成される日本自動車工業会などが，国内道路状況の特殊性も鑑みたシナリオの網羅性について課題解決に取り組んでいる．そこでは，Open-Senario, Open-Driveによるデータ表現標準化，シミュレーション環境プロトコルの統一に加え，適切なメタデータ表現の議論が進む．これまでシナリオ・自車動作分類等は，熟練ノウハウとして各自動車企業が試行錯誤し蓄積してきたものであるが，その一般性，網羅性，標準化については，協調領域-競争領域技術間の境界領域として十分な整備が進んでいなかった現状がある．本研究では，専門技術者の熟慮の上，人が作成した分類情報が，網羅性を確保しているかどうかの検証方法として，詳細パラメータの組合せ爆発問題に直面することを回避するメゾスコピックモデルによる方法論を提案する．

DOI： 10.14864/fss.34.0_456

その他リンク： http://id.ndl.go.jp/bib/029269008

自動運転のための運転行動意思決定システム開発に向けた統合シミュレータの構築

三好竜平, 宮崎椋瑚, 橋本康平, 石田祐太郎, 渡辺政彦, 宇井健一, 市瀬龍太郎, 我妻広明, 田向権

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 34 ( 0 ) 450 - 455 2018年01月

担当区分：最終著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

自動運転は，人工知能（AI）によってコンピュータ上で実行される．事故が発生した場合，自動運転システムは事故の原因を分析するために意思決定の根拠を示すべきである．本報告では，意思決定の根拠を示す知識ベースAIの統合シミュレータを提案する．シミュレータを構築するには，Autoware，Gazebo，知識ベースAIを組み合わせる． Autowareは自動運転用のオープンソースソフトウェアであり，Gazeboは任意の道路環境をシミュレートすることができる．提案シミュレータを用いて，自動運転のための知識ベースAIの実用性を何度も検証することができる．実験結果は，提案されたシミュレータが意思決定の根拠の提示に成功していることを示している．

DOI： 10.14864/fss.34.0_450

その他リンク： http://id.ndl.go.jp/bib/029269004

Unmanned aerial vehicle quadcopter: A review 査読有り国際誌

Bashi O., Wan Hasan W., Azis N., Shafie S., Wagatsuma H.

Journal of Computational and Theoretical Nanoscience 14 ( 12 ) 5663 - 5675 2017年12月

Quadcopter sensing system for risky area 査読有り国際誌

Bashi O., Wan Hasan W., Azis N., Shafie S., Wagatsuma H.

Proceedings of the 2017 IEEE Regional Symposium on Micro and Nanoelectronics, RSM 2017 216 - 219 2017年10月

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' 査読有り国際誌

Wagatsuma, H., Jahng, D.

The 12th International Conference on Innovative Computing, Information and Control (ICICIC2017) 2017年08月

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 査読有り国際誌

Muthusamy, A., Kaur, G., Gupta, R., Agarwal, V., Nakayama, S., Ichiki, M., Maniamma, J.M Bhattacharya, B., Wagatsuma, H.

The 12th International Conference on Innovative Computing, Information and Control (ICICIC2017) 2017年08月

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査読有り

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年07月

Removal of Drift and Blink Artifacts in EEG based on Sparse Morphological Decomposition 査読有り国際誌

Singh, B., Ichiki, M., Wagatsuma, H.

The 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2017) 2017年07月

Kato, Y., Matsuda, A., Yoshida, Y., Wagatsuma, H.

The 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2017) 2017年07月

MCA-Based Denosing for In-Vehicle EEG Measurements to Estimate the Driver's Mental Workload Influenced by Distractions 査読有り国際誌

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

The 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2017) 2017年07月

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 査読有り国際誌

Maniamma, J., Hagio, M., Togo, M., Shimotake, A., Matsumoto, R., Ikeda, A., Wagatsuma, H.

The 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2017) 2017年07月

Energy-efficacy comparisons and multibody dynamics analyses of legged robots with different closed-loop mechanisms 査読有り国際誌

Komoda K., Wagatsuma H.

Multibody System Dynamics 40 ( 2 ) 123 - 153 2017年06月

運転中の脳負荷指標化に向けたノイズ除去法の検討

一木麻由，バルビール・シン，アイコウイツ，我妻広明

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 116 ( 521 ) 31 - 36 2017年03月

コンクリートひび割れ箇所検出に向けた打音機構の打撃力解析

吉田裕貴，奥村克博，古賀文隆，山田圭一，田中雅敏，和田秀樹，我妻広明

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 116 ( 521 ) 97 - 102 2017年03月

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

萩尾元晴，十河正弥，下竹昭寛，松本理器，池田昭夫，我妻広明

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 116 ( 521 ) 25 - 30 2017年03月

Driver emotion recognition framework based on electrodermal activity measurements during simulated driving conditions 査読有り国際誌

Ooi J., Ahmad S., Chong Y., Ali S., Ai G., Wagatsuma H.

IECBES 2016 - IEEE-EMBS Conference on Biomedical Engineering and Sciences 365 - 369 2017年02月

腰部負担軽減用非電動支援具開発に向けた炭素繊維強化プラスチック骨格を有する簡易装具についての基礎的研究

松田啓，吉田祐貴，我妻広明

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 116 ( 424 ) 1 - 6 2017年01月

A Removal of Eye Movement and Blink Artifacts from EEG Data Using Morphological Component Analysis 査読有り国際誌

Singh B., Wagatsuma H.

Computational and Mathematical Methods in Medicine 2017 2017年01月

An effective lifting scheme method for EEG decomposition in targeted frequency range 査読有り国際誌

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

ICIC Express Letters 11 ( 1 ) 65 - 70 2017年01月

カーロボ連携大学院での自動車・ロボットの知能化高度化に向けた専門人材育成招待有り査読有り

森江隆, 石井和男, 我妻広明, 田向権, 榎田修一, 齊藤剛史, 松永良一, 松波勲, 大貝晴俊

工学教育 65 ( 4 ) 4_51 - 4_56 2017年01月

The Detection of the Rise to Stand Movements Using Bereitschaftspotential from Scalp Electroencephalography (EEG) 査読有り国際誌

SINGH Balbir, WAGATSUMA Hiroaki, NATSUME Kiyohisa

SICE Journal of Control, Measurement, and System Integration 10 ( 3 ) 149 - 155 2017年01月

非線形バネの分岐現象を用いたコンクリート異常検出のための打音機構の提案

吉田裕貴, 奥村克博, 古賀文隆, 山田圭一, 田中雅敏, 和田秀樹, 我妻広明

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 1P1-C04 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1P1-C04/_pdf

自動運転に向けた地図情報精緻化における最適化問題

我妻広明, 福島克, 元政現, Ankur Dixit, Jisha Maniamma

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 33 ( 0 ) 591 - 592 2017年01月

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年01月

レーダー式センサにおける人物検出の精度向上のための学習機械の要件

福島克, 元政現, Jisha Maniamma, 我妻広明

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 33 ( 0 ) 679 - 680 2017年01月

オントロジーに基づく自動運転向け意思決定システムの推論速度評価査読有り

橋本康平, 石田裕太郎, 三好竜平, 市瀬龍太郎, 我妻広明, 田向権

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 33 ( 0 ) 681 - 684 2017年01月

Ontology-Based Search Server (ObSS) Extends Availability of Neuroinformatics Data by Listing Relevant Metadata if it is Unfamiliarly Indexed 査読有り国際誌

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

INCF日本ノード国際ワークショップ Advances in Neuroinformatics ( INCF Japan Node ) Ⅳ 42 2017年01月

Linking INCF Japan Node Platforms with Application Networks based on Garuda Platform 査読有り国際誌

ASAI Yoshiyuki, Samik GHOSH, TSORMAN Nikolaos, WAGATSUMA Hiroaki

INCF日本ノード国際ワークショップ Advances in Neuroinformatics ( INCF Japan Node ) Ⅳ 41 2017年01月

An Effective Lifting Scheme Method for EEG Decomposition in Targeted Frequency Range 査読有り国際誌

Singh Balbir, Ichiki Mayu, Ai Guangyi, Wagatsuma Hiroaki

革新的コンピューティング・情報・制御に関する速報 ( ICIC International 学会 ) 11 ( 01 ) 65 2017年01月

Development of an on-line simulation environment for computational neuroscience 査読有り国際誌

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日本ノード国際ワークショップ Advances in Neuroinformatics ( INCF Japan Node ) Ⅳ 53 2017年01月

The bereitschaftspotential for rise of stand-up towards robot-assist device preparation 査読有り国際誌

Singh B., Wagatsuma H., Natsume K.

2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 998 - 1003 2016年11月

An Ontology Based Map Converter for Intelligent Vehicles 査読有り国際誌

Zhao, L., Arakawa, N., Wagatsuma, H., Ichise, R.

CEUR Workshop Proceedings 2016年10月

A Sensor Fusion of the Millimeter-Wave Radar and Camera-Based Visual Processing for Detection of Lanes in the Automated Driving 査読有り国際誌

Fukushima, K., Singh, B., Wagatsuma, H.

SICE Annual Conference 2016 2016年09月

A Timing Coordinator Model for Automated Driving with Reasonable Inferences Derived from the Ontology-Based Hierarchical Representations of Constraints and Risks on the Road 査読有り国際誌

Wagatsuma, H., Ichise, R.

SICE Annual Conference 2016 2016年09月

A Hybrid Human Support Bionic Devices Consisted of Rigid Body Mechanics and Elastic Body Kinematics Analyzed by Multibody Dynamics 査読有り国際誌

Yoshida, Y., Matsuda, A., Wagatsuma, H.

SICE Annual Conference 2016 2016年09月

The Bereitschaftspotential for Rise of Stand-Up towards Robot-Assist Device Preparation 査読有り国際誌

Singh, B., Wagatsuma, H., Natsume, K.

Proceedings of the 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE 2016) 2016年09月

A Comparative Analysis of Indexing of Mental Workload 査読有り国際誌

Ichiki, M., Ai, G., Ooi, J. S., Wagatsuma, H.

Front. Neuroinform.: Neuroinformatics 2016 2016年07月

Direction and viewing area-sensitive influence of EOG artifacts revealed in the EEG topographic pattern 査読有り国際誌

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

Cognitive Neurodynamics 10 ( 4 ) 301 - 314 2016年03月

Viewing-area sensitive eog influences in EEG topographic map that contribute to ocular artifact removals in future combined analyses with eye-tracker system 査読有り国際誌

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

ICIC Express Letters, Part B: Applications 7 ( 3 ) 657 - 664 2016年03月

Viewing-Area Sensitive EOG Influences in EEG Topographic Map That Contribute to Ocular Artifact Removals in Future Combined Analyses with Eye-Tracker System 査読有り国際誌

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

ICIC Express Letters, Part B: Applications 7 ( 3 ) 657 - 664 in Press 2016年03月

An ontology based map converter for intelligent vehicles 査読有り国際誌

Zhao L., Arakawa N., Wagatsuma H., Ichise R.

CEUR Workshop Proceedings 1690 2016年01月

神経科学・リハビリテーション・ロボット工学のシナジー効果に関する研究会の7年の歩み査読有り

坂本一寛, 我妻広明, 橘香織

日本神経回路学会誌 ( 日本神経回路学会 ) 23 ( 4 ) 169 - 175 2016年01月

記述言語：日本語掲載種別：記事・総説・解説・論説等（学術雑誌）

著者らは，2010年に「神経科学・リハビリテーション・ロボット工学のシナジー効果に関する研究会」を，日本神経回路学会の時限研究会として始めて以来，現在に至るまで7回の研究会を開催し，延べ42人の方々にご講演いただいた．本稿では，その歩み，そこから浮かび上がった大きな問題群をご紹介する．

DOI： 10.3902/jnns.23.169

その他リンク： https://ci.nii.ac.jp/naid/130005308103

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－査読有り

橘香織, 我妻広明

日本障害者スポーツ学会誌２２ 36 - 41 2016年01月

自動車運転実現のための上位と下位のセマンティック情報と論理

福島克, Balbir Singh, 元政現, 我妻広明

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 32 ( 0 ) 151 - 156 2016年01月

Viewing-Area Sensitive EOG Influences in EEG Topographic Map That Contribute to Ocular Artifact Removals in Future Combined Analyses with Eye-Tracker System 査読有り国際誌

Ai Guangyi, Sato Naoyuki, Singh Balbir, Wagatsuma Hiroaki

革新的コンピューティング・情報・制御に関する速報－　B：応用 ( ICIC International 学会 ) 07 ( 03 ) 657 2016年01月

A determinant analysis to detect the singularity of the extended Theo Jansen mechanism in the phase-rotation-amplitude parameter space 査読有り国際誌

Komoda, K., Wagatsuma, H.

Journal of Computer Science & Systems Biology 9 ( 1 ) 010-022 - 010-022 2015年12月

人工知能による運転支援・自動運転技術の現状と課題招待有り査読有り

我妻広明

計測と制御 ( 公益社団法人計測自動制御学会 ) 54 ( 11 ) 808 - 815 2015年11月

A Comparison of Joint Energy for Sit-Stand Motion Generated by Human learned Trajectories and Artificial Trajectories 査読有り国際誌

Tripathi, G. N., Wagatsuma, H.

Proceedings of the 19th International Conference of Mechatronics Technology (ICMT-2015) 19 ( 75 ) 1 - 6 2015年11月

人工知能による運転支援・自動運転技術の現状と課題査読有り

我妻広明

計測と制御 54 ( 11 ) 808 - 815 2015年11月

PCA Based Algorithms to Find Synergies for Humanoid Robot Motion Behavior 査読有り国際誌

Tripathi, G.N., Wagatsuma, H.

International Journal of Humanoid Robotics 12 ( 3 ) 1550037-1--21 - 1550037-1--21 2015年09月

海馬が担う高次機能とシミュレーション手法の展望招待有り査読有り

我妻広明

人工知能学会誌 ( 社団法人人工知能学会 ) 30 ( 5 ) 652 - 664 2015年09月

海馬が担う高次機能とシミュレーション手法の展望(<特集>脳のシミュレーション) 査読有り

我妻広明, Hiroaki Wagatsuma

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 ( 5 ) 652 - 664 2015年09月

海馬が担う高次機能とシミュレーション手法の展望査読有り

我妻広明

人工知能 30 ( 5 ) 652 - 664 2015年09月

Development of an on-line simulation platform for neuroscience research 査読有り国際誌

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年08月

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 査読有り国際誌

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

Front. Neurosci. Conference Abstract: Neuroinformatics 2015 2015.91.00029 2015年08月

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 査読有り国際誌

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

Front. Neurosci. Conference Abstract: Neuroinformatics 2015 2015.91.00049 2015年08月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Australia Cairns 2015年08月20日 - 2015年08月22日

DOI： 10.3389/conf.fnins.2015.91.00049

その他リンク： http://www.frontiersin.org/10.3389/conf.fnins.2015.91.00049/event_abstract

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

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

Proceedings of the 24st Annual Conference of the Japanese Neural Networks Society (JNNS 2014) 50 - 51 2015年07月

An Electrooculography Analysis in the Time-Frequency Domain Using Morphological Component Analysis Toward the Development of Mobile BCI Systems 査読有り国際誌

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

Universal Access in Human-Computer Interaction 9176 528 - 537 2015年07月

A Method to Evaluate Intuitive Sense by Using a Robotic Tool: Towards Engineering for Assistive Technology and Accessibility 査読有り国際誌

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年07月

An Electrooculography Analysis in Time-Frequency Domain Using Morphological Component Analysis Toward Development of Mobile BCI Systems 査読有り国際誌

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

Universal Access in Human-Computer Interaction, Lecture Notes in Computer Science 9176 528 - 537 2015年07月

Redesign of Computer Games towards Serious Motion-Sensing Games for Children with Limited Physical Skills: A Developer Perspective 査読有り国際誌

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

Proceedings of ICT Innovations 2015 224 - 233 2015年06月

Redesign of Computer Games towards Serious Motion-Sensing Games for Children with Limited Physical Skills: A Developer 査読有り国際誌

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

ICT Innovations 2015 2015年06月

Adaptive and Intuitive Interactions with Socially-Competent Educational Robots 査読有り国際誌

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年06月

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 査読有り

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年05月

Cloud-Based Image Recognition for Robots, Robot Intelligence Technology and Applications 3 査読有り国際誌

Lorenčík, D., Ondo, J., Sinčák, P., Wagatsuma, H.

Advances in Intelligent Systems and Computing 345 785 - 796 2015年04月

Designing Humanoid Robots with Novel Roles and Social Abilities 査読有り国際誌

Dimitrova, M., Wagatsuma, H.

Lovotics 3 ( 112 ) 1000112-1 - 1000112-3 2015年02月

A Working Memory Mechanism and Strategy Transition Dynamics When Solving SUDOKU Puzzle 査読有り国際誌

Akaike, S., Wagatsuma, H

Conference Abstract: Neuroinformatics 2014 2014年12月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Holland Leiden 2014年08月25日 - 2014年08月27日

DOI： 10.3389/conf.fninf.2014.18.00006

その他リンク： http://www.frontiersin.org/10.3389/conf.fninf.2014.18.00006/event_abstract

A Structure of Recognition for Natural and Artificial Scenes: Effect of Horticultural Therapy Focusing on Figure-Ground Organization 査読有り国際誌

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

Advanced Intelligent Systems, Advances in Intelligent Systems and Computing 268 189 - 196 2014年12月

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 査読有り国際誌

Komoda, K., Wagatsuma, H

Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014) 76 - 81 2014年12月

Interoperability between multilevel modeling platform PhysioDesigner and databases in Physiome.jp and Dynamic Brain Platform through Garuda platform, 査読有り国際誌

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

Conference Abstract: Neuroinformatics 2014 2014年12月

A Neurorobotic Approach of Emotion: Implemented Neurodynamics Mediate a Coupling Between Top-Down Abductive Inference and Bottom-Up Sensations 査読有り国際誌

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

Conference Abstract: Neuroinformatics 2014 2014年12月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Holland Leiden 2014年08月25日 - 2014年08月27日

DOI： 10.3389/conf.fninf.2014.18.00036

その他リンク： http://www.frontiersin.org/10.3389/conf.fninf.2014.18.00036/event_abstract

Cloud-based Intelligence for Robots 招待有り査読有り国際誌

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

Robot Intelligence Technology and Applications, Advances in Intelligent Systems and Computing 345 ( 3 ) 785 - 796 2014年11月

Denoising of EOG artifact -contaminated EEG Signals Using an Undecimated Wavelet Decomposition - A Case Study of Accuracy Verification in the Simple Measurement Tool 査読有り国際誌

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

Proceedings of the 24st Annual Conference of the Japanese Neural Networks Society (JNNS 2014) 50 - 51 2014年11月

中心名詞をノードとした文法構造を反映した構文解析ツリーの可視化

相川大輔, 我妻広明

情報処理学会研究報告. ICS, [知能と複雑系] ( 一般社団法人情報処理学会 ) 2014 ( 4 ) 1 - 5 2014年07月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

本研究では,曖昧な文章や多義的な構造を含む文脈依存的文章理解のために,人が理解している文法や概念の包含関係を考慮したネットワーク構造について検討を行った.人が使う辞書を用い,文法構造を反映したネットワークを生成する過程で形成される際の文章特異的な分岐や循環構造など構造 (トポロジー) の可視化を試みた.

その他リンク： https://ci.nii.ac.jp/naid/110009804784

園芸療法から発想を得た自然画像と人工画像における視線解析とゲシュタルト認知の手掛かり (ニューロコンピューティング)

アイコウイツ, 小路健太, 我妻広明, 安川緑

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 113 ( 500 ) 329 - 334 2014年03月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

本研究は,人あるいは特定の個人が用いる道具の心地よさや,置かれている状況や環境の快適さを,生体計測ならびに工学的見地から定量的に測る指標を提案し,それらの設計の支援技術構築を目指している.園芸療法を端緒とした発想から,対象者の情動反応,動機づけ,注意喚起などの主観的特性を加味した客観的指標化を検討する.本報告では,段階的ゲシュタルト認知の仮説から用意した植物を用いた自然画像の視線追尾を行い,自発的注意が経時的に変化する様相について解析を行った.人工図形については既知の報告と整合性がある視線追尾の変量が減少する傾向が見られたが,自然画像の場合は単調減衰が起こりにくく,個人差が大きいことがわかった.今後,脳活動計測を合わせて主観的感覚との整合性を検証して行く.

その他リンク： https://ci.nii.ac.jp/naid/110009862381

車いすバスケにおけるシュートタイミング・投球軌道・床反力の関係に注目した身体動作解析 (ニューロコンピューティング)

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

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 113 ( 382 ) 95 - 100 2014年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

車いすバスケ競技選手の身体動作解析をシュート動作に注目して行った.競技熟練者4名および初級者を対象にフリースロー(FT),スリーポイント(3p)の二条件において,三次元動作解析および床反力計の同時計測を実施し,本報告では熟練者2名についての動作解析結果を報告する.時系列解析の結果,シュート動作は球の持上げ,引き寄せ,投球および手身体の伸びの基本動作が円滑に遷移することによりシュート動作が構成され,二種のシュート条件では,特に投球および伸び動作で床反力計の時間変化が異なり,力とタイミングを正確に制御していることがわかった.ことに,シュート動作中の力の溜めと開放に高い再現性を持つ特徴が認められる.

その他リンク： https://ci.nii.ac.jp/naid/110009825568

Garuda Platformを介したDynamic Brain Platformとモデリング開発・シミュレーション環境をつなぐ連携システム開発 (ニューロコンピューティング)

浅井義之, 桑江健, 北野宏明, 我妻宏明, 山口陽子

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 113 ( 382 ) 111 - 116 2014年01月

記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

INCF日本ノートが開発するニューロインフォマティクスの研究開発基盤PlatformのDynamic Brain Platform(DBPF)のデータベース内には論文情報や生理システムの数理モデルなどが含まれている.それらをより有効に利用するために,Garuda Platformに対応するDBPFクライアントアプリケーションを開発した.これを介してDBPFデータベースとそのデータを利用できるアプリケーション,例えば多階層生理機能モデル開発環境であるPhysiDesignerやシミュレータFlint,との間のシームレスな連携が可能となった.Garuda Platformとは複数のアプリケーション間でデータファイルの送受信をサポートするために開発されているプラットフォームである.ここで開発した連携システムはGaruda Platformに対応する他のアプリケーションとの連携に拡張可能である.

その他リンク： https://ci.nii.ac.jp/naid/110009825571

トイレ立上がりにおける筋力支援を目的とした弾性体のたわみと応力の計測 (ニューロコンピューティング)

香月佑也, 我妻広明

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 113 ( 382 ) 89 - 94 2014年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

我々は,弾性特性を持つ素材を活用し,筋力支援技術への転用を検討してきた.近年は電動化による筋力支援技術の開発がめざましいが,メンテナンスや価格の問題が普及の妨げになっている.軽度の下肢障がいや脳の一部損傷による下肢麻痺児者のリハビリテーションの段階等を考える際には,全面的な介助ではなく,補助として機能する筋力支援を安価なデバイスとして提供することは,重要な選択肢となる.本報告では,立上がり時の身体動作解析に合わせた条件下での,炭素繊維複合材の弾性特性の静力学解析の基礎検証を行った.

その他リンク： https://ci.nii.ac.jp/naid/110009825567

生体の筋骨格系を模した連結機構による階段昇降機能をもつ移動体の提案 : 階段と車輪の組み合わせによる移動の適応範囲の拡張 (ニューロコンピューティング)

浦田竜行, 我妻広明

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 113 ( 382 ) 55 - 60 2014年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

人は,これまで荷物や人を低所から高所へ運ぶための様々な装置を考えてきた.人力を支援するものは階段で,舗装すれば車輪を持つ移動体(車両)を用いることができる.車両は移動の自由度が高いが,車輪が接地する地面との摩擦力は重力方向と勾配角度の関係から得られるため,勾配角が高ければ摩擦力を失い,登坂能力には限界がある.我々は車両の連結移動体によって階段を登る方法について検討してきた.本研究では,車輪の固定部分に柔軟性を持たせることで,従来の連結機構よりも適応範囲の拡張法を提案し,柔軟体を用いた連結移動体において,生物の筋肉を模した車輪間隔を制御する機構を提案し,その基本機構と制御の要件について検証した.

その他リンク： https://ci.nii.ac.jp/naid/110009825561

自動駐車問題における切り返しタイミングの重要性の分析 : 直線経路追従制御を用いた軸回転法の改善 (ニューロコンピューティング)

石川琢朗, 我妻広明

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 113 ( 382 ) 43 - 48 2014年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

我々は,自動駐車問題に対して,直線経路追従制御の目標軸を回転させる,軸回転法による切り返し方法を提案し,衝突判定を組み合わせて駐車動作の自動化の有効性を検証してきた.本提案手法では,目標軸の中心点が駐車の成否に大きな影響を与えていることから,本報告では,車両の最小回転半径から幾何学的に得た軌道解に対し,近似的な解が得られる目標軸の設定と回転タイミングを,LQ最適制御の観点から検討し,前輪軌道,後輪中心点軌道を比較解析した.数値実験の結果,駐車軌道の幾何学的解析から得られた理想軌道は,車輪操舵角の制限があっても目標軸の回転タイミングを制御することで得られることがわかった.

その他リンク： https://ci.nii.ac.jp/naid/110009825559

Improvement of Simulation Platform for Providing Reliable and Easy Use Model Simulation Environment 査読有り国際誌

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

Front. Neurosci. Neuroinformatics 2014年01月

The Neurodynamics of Intelligence to Choose the Right Solution from Many Possible Options in a Hypothetical Reasoning 査読有り国際誌

Wagatsuma, H

Advances in Cognitive Neurodynamics (III) 363 - 368 2013年12月

How Difficult is it for Robots to Maintain Home Safety? - A Brain-Inspired Robotics Point of View 査読有り国際誌

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

Lecture Notes in Computer Science 8226 528 - 536 2013年12月

A Method to Deal With Prospective Risks at Home in Robotic Observations by Using a Brain-Inspired Model 査読有り国際誌

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

Lecture Notes in Computer Science 8228 33 - 40 2013年12月

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年08月

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年08月

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年08月

Phase Response Curves Explain How Multiplicative Feedback on Neural Phase Elements Differs from Adaptive Physical Feedback in Robotic Motion Controls 査読有り国際誌

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

The International Joint Conference on Neural Networks (IJCNN 2013) 2013年08月

知性について問い直す(<特別企画>シンギュラリティの時代:人を超えゆく知性とともに)

チャーチルエリザベス, 我妻広明, Elizabeth F. Churchill, Hiroaki Wagatsuma

人工知能学会誌 = Journal of Japanese Society for Artificial Intelligence ( 人工知能学会 ) 28 ( 3 ) 439 - 443 2013年05月

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年01月

A phenomenological model of emotional intelligence - emotion prevents a dispute 査読有り国際誌

Wagatsuma, H., Saito, M

Proceedings of the 22st Annual Conference of the Japanese Neural Networks Society (JNNS 2012) 3 - 23 2012年12月

An application of attractor dynamics to autocruise control systems by using a mobile robot and real-time simulator 査読有り国際誌

Ono, K., Wagatsuma, H

Proceedings of RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing (NCSP'12) 513 - 514 2012年12月

Attractor dynamics approach to vehicle behavior control: a transformation between different state-space of nonlinear dynamics 査読有り国際誌

Wagatsuma, H., Ono, K.

Proceedings of RISP International Workshop on Nonlinear Circuit and Signal Processing (NCSP'12) 511 - 512 2012年12月

Robotic rehabilitation tool supporting up and down motions in the　bathroom-analyses of the catapult-assisted taking-off mechanism 査読有り国際誌

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年12月

Neurocognitive rehabilitation approach for cerebral palsy syndrome by using the rhythm-based tapping tool to extend fields of perception and motion 査読有り国際誌

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年12月

A kinetic model of failure occurrences in a chain reaction and an analysis using Bernstein polynomials and the Brownian motion with some relativity 査読有り国際誌

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年12月

Theoretical basis of Theo Jansen linkage for analysis of dynamics by using kinematic constraint formulations, 査読有り国際誌

Komoda, K., Wagatsuma, H

Proceedings of the 22st Annual Conference of the Japanese Neural Networks Society (JNNS 2012) 3 - 16 2012年12月

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 査読有り国際誌

Wagatsuma, H., Aikawa, M

Proceedings of the 22st Annual Conference of the Japanese Neural Networks Society (JNNS 2012) 3 - 18 2012年12月

テオ・ヤンセン機構におけるヤコビ行列を用いた変位解析に関する研究 (ニューロコンピューティング)

古茂田和馬, 我妻広明

電子情報通信学会技術研究報告 : 信学技報 ( 一般社団法人電子情報通信学会 ) 112 ( 227 ) 115 - 120 2012年10月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

我々は生物の歩容とその生成の原理を理解するために脚の骨格機構に注目し,滑らかな歩行軌道を生成するテオ・ヤンセン機構について研究してきた.また同機構が持つ動きの柔軟性に注目して,その拡張理論を提案した.本論ではテオ・ヤンセン機構の持つ静力学を運動学拘束式とヤコビ行列の導出によって求め,変位解析を行う.

その他リンク： 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”の開発査読有り

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年10月

実時間ロボティクスに向けた物体認識エッジ検出とその計算負荷軽減についての検討

朝長陽介, 我妻広明

電子情報通信学会技術研究報告. NC, ニューロコンピューティング ( 一般社団法人電子情報通信学会 ) 112 ( 227 ) 121 - 126 2012年09月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

我々はロボットが目的を探しながら歩行する際に,複数の物体認識をしながら目標物に向かって進行する実時間処理について取り組んできた.本論では,計算負荷を軽減するために1)物体認識を面ではなく物体の縁取り(エッジ検出)により処理ピクセルを低減する,2)時間的な経緯に合わせて,画素数や処理の簡易化など必要最低限の処理の組み合わせに限定する(適応的処理スキップ)を提案し,物体認識の計算負荷軽減について検討した.

その他リンク： https://ci.nii.ac.jp/naid/110009636974

テオ・ヤンセン機構におけるヤコビ行列を用いた変位解析に関する研究

古茂田和馬, 我妻広明

電子情報通信学会技術研究報告. NC, ニューロコンピューティング 112 ( 227 ) 105 - 120 2012年09月

ファン・デル・ポール振動子を用いた車両周回軌道生成における理論値－実機計測の比較

小野耕輔, 我妻広明

電子情報通信学会技術研究報告. NC, ニューロコンピューティング ( 一般社団法人電子情報通信学会 ) 112 ( 227 ) 27 - 32 2012年09月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

我々はファン・デル・ポール(VDP)振動子を用いた車両周回軌道生成とその実装に取り組んできた.本論では,VDP振動子の周回軌道から得られる位置の時間積分から,車両の運動方程式における各車輪の回転速度の時間積分値を得る理論的方法を,実時間動作する車両ロボットに実装し,その軌道誤差について検討する.従来は逐次的に外界情報との誤差修正を基本とするフィードバック制御が用いられてきたが,この方法によって望ましい軌道を長期予測的に与えることができる.

その他リンク： https://ci.nii.ac.jp/naid/110009636807

Guest editorial: Biologically inspired human-robot interactionsdeveloping more natural ways to communicate with our machines 招待有り査読有り国際誌

Harris F., Krichmar J., Siegelmann H., Wagatsuma H.

IEEE Transactions on Autonomous Mental Development ( IEEE Transactions on Autonomous Mental Development ) 4 ( 3 ) 190 - 191 2012年09月

Extending the World to Sense and Behave: A Supportive System Focusing on the Body Coordination for Neurocognitive Rehabilitation 査読有り国際誌

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年07月

A proposal of the extended mechanism for Theo Jansen linkage to modify the walking elliptic orbit and a study of cyclic base function 査読有り国際誌

Komoda, K., Wagatsuma, H.

Dynamic Walking Conference 2012 2012年05月

海馬の理論研究：ニューロンから行動まで査読有り

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年01月

授業の形成的評価を支援するWebシステム"Key Words Meeting"の開発査読有り

栗島一博, 我妻広明, 金子宗司, 内田信二, Jahng Doosub

教育システム情報学会誌 ( 教育システム情報学会 ) 29 ( 4 ) 180 - 189 2012年01月

記述言語：日本語掲載種別：研究論文（学術雑誌）

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

その他リンク： https://ci.nii.ac.jp/naid/130006728697

A supportive system focusing on the body coordination for neurocognitive rehabilitation 査読有り国際誌

Fukudome, M., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 216 - 217 2011年12月

SUDOKU puzzle: the neurodynamics of intelligence to choose the right solution from many possible options in a hypothetical reasoning 査読有り国際誌

Wagatsuma, H.

Proceedings of International Joint Conference on Neural Networks (IJCNN 2011) 99 - 99 2011年12月

Problems of Temporal Granularity in Robot control: Levels of Adaptation and a Necessity of Self-Confidence 査読有り国際誌

Wagatsuma, H., Tomonaga

Proceedings of International Joint Conference on Neural Networks (IJCNN 2011) 2670 - 2675 2011年12月

A stress-generated backlash power in S-shaped plates for the development of robotic plastic muscles 査読有り国際誌

Sone, M., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 188 - 189 2011年12月

Analyses of information flow in the cycle of action and perception in an object-pursuit task of the humanoid robot 査読有り国際誌

Tomonaga, Y., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 190 - 191 2011年12月

A study of availability and extensibility of Theo Jansen mechanism toward climbing over bumps 査読有り国際誌

Komoda, K., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 192 - 193 2011年12月

Modeling of spontaneous orbit generation by using the VDP oscillator toward adaptive cruise control systems 査読有り国際誌

Ono, K., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 204 - 205 2011年12月

Problems of temporal granularity in robot control: Levels of adaptation and a necessity of self-confidence 査読有り国際誌

Wagatsuma H., Tomonaga Y.

Proceedings of the International Joint Conference on Neural Networks 2670 - 2675 2011年10月

段差乗り越えのためのテオ・ヤンセン機構の改良

古茂田和馬, 我妻広明

電子情報通信学会技術研究報告. NC, ニューロコンピューティング ( 一般社団法人電子情報通信学会 ) 111 ( 241 ) 77 - 82 2011年10月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

古来より車輪は,重量物を運搬するのに利用されてきた.また不整地等ではクローラが活躍してきた.一方,生物は,筋肉の収縮の繰り返しを基本動力とした脚による移動が多い.この生物にみられる遊脚と立脚を繰り返す歩容の楕円様軌道を再現する8節のリンク機構を生み出したテオ・ヤンセンが昨今注目を集めている.本研究においては,新たに追加的な機構を加えるのではなく,テオ・ヤンセン機構本来のリンク特性を自然に拡張することによる,新たな乗り越えの枠組みを提案する.これにより,移動体が内包する回転力を整地・不整地の状況に合わせて変化させて歩行する多脚機構を開発することができ,今後クローラや車輪に代わる不整地移動機構として有力な候補となることが期待できる.

その他リンク： https://ci.nii.ac.jp/naid/110008900432

ファン・デル・ポール振動子を用いた車両周回軌道生成の提案

小野耕輔, 我妻広明

電子情報通信学会技術研究報告. NC, ニューロコンピューティング ( 一般社団法人電子情報通信学会 ) 111 ( 241 ) 41 - 46 2011年10月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

近年,自家用車向けに障害物回避や車間維持の自動装置組み込みの検討が進んでいる.工学的実現の容易さから,各種センサを搭載した外部情報取得型が多く研究されているが,人が実際に運転する場合は全ての運転動作が外界情報の逐次取得から得られるとは考えにくく,熟練運転者であれば起こりうる先の状況を予測し事故を防いでいる.レースドライバーはサーキットの周回コースが全て身体に刻み込まれていると言われ,コース全体のイメージを持ちつつ目の前の状況に対応する情報処理過程に注目することで,車両安全運転の支援装置開発を目指す.本研究では,位相差を保持し振動引込みを可能にする非線形振動子を周回軌道生成の内部モデルとして採用し,車両モデルの力学系に干渉する方法の提案を行う.数理モデル解析とともにロボット車両走行実験を行い,振動子系から車両方程式の力学系に作用し周回軌道が生成できることがわかった.今後リズムベース回路の車両制御の展望が期待できる.

その他リンク： https://ci.nii.ac.jp/naid/110008900426

ロボット用人工筋肉開発に向けた瞬発性を持つS字機構の検討

曽根雅史, 我妻広明

電子情報通信学会技術研究報告. NC, ニューロコンピューティング ( 一般社団法人電子情報通信学会 ) 111 ( 241 ) 71 - 76 2011年10月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

近年,有機材料など生体に学ぶ素材開発研究が進んでいる.一方,ロボットの従来開発では,制御の容易な電気モータが用いられ,期待陛能に鑑みた小型化が容易でない.導電性高分子アクチュエータなどの課題は電気モータと同等の安定性能を得られないことであるが,現実の生体内ではアクチュエータ安定性ではなく,神経系の制御との整合性で機能実現を果たしている.本研究では,素材の非線形性を積極的に活用することで,機能発現し十分な制御を実現することを目指す.本報告では,プラスチックの柔軟性から瞬発性を得るS字の反発機構を設計し,特性を解析した.従来ソレノイドなどの高電圧を必要とした瞬発装置に対し,素材-構造-制御の一連の組み合わせで瞬発性を得られることが検証できたことで,今後のロボット身体への応用が期待できる.

その他リンク： https://ci.nii.ac.jp/naid/110008900431

人型ロボットの物体追跡課題におけるリアルタイム性

朝長陽介, 我妻広明

電子情報通信学会技術研究報告. NC, ニューロコンピューティング ( 一般社団法人電子情報通信学会 ) 111 ( 241 ) 143 - 148 2011年10月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

人-口ボット間相互作用の研究が進められているが,認知心理学的モデルの活用が多く,脳神経系の実態を考慮しているものは少ない.一方,ニューラルネットワーク研究において扱われてきた学習モデルはオフライン型と呼ばれる一括学習が多く,環境のリアルタイム変化や時間特性を考慮した追従は困難である.近年の個人用計算機高性能化やロボット技術の一般化で,脳神経系を複雑系としたままで数理記述し,その時間的特性や変動を考慮した動作決定の実装が可能になってきている.本研究では,広範な脳型モデルやアルゴリズムを実装できリアルタイム計測可能な小型ヒト型ロボットの実験系を構築し,画像認識から行動を変化させる物体追跡実験を行った.リアルタイムの外界情報取得による行動変化は,単に感覚器-効果器を単純接続すれば,しばしば行動の無限ループに陥る.本研究では,脳神経系の役割である認識・記憶・判断の能力をロボット動作の時間特性と整合させて設計することを目指し,内部モデルが持つ情報の精度や様式,変化の時定数を物体追跡課題において検討した.このような研究は,今後脳の可塑性や時間特性を考慮して,人-ロボット間相互作用を研究する上で重要な基盤になると考える.

その他リンク： https://ci.nii.ac.jp/naid/110008900443

体幹バランスに注目した認知運動療法の支援装置開発

福留麻理恵, 我妻広明

電子情報通信学会技術研究報告. NC, ニューロコンピューティング ( 一般社団法人電子情報通信学会 ) 111 ( 241 ) 59 - 64 2011年10月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

本研究では脳性麻痺児童のためのリハビリテーション支援装置の開発を目指す.脳の可塑性に注目した運動と知覚を関連付ける認知運動療法の考え方を取り入れ,同療法を臨床現場で効果的に活用できるよう訓練中の身体動作記録や課題の難易度調整を可能にする支援装置の試作を行った.特に,脳左右半球の身体制御の差に注目し体幹のバランスを重要視する.左右の動きを連動させる課題を設定することは,従来からの機能障害の部位特定と運動刺激に対し,更なるリハビリテーションの効果が期待できる.試作機では市販の加速度センサ付きBluetoothリモコンを用い身体動作記録の精度について解析した.簡易オール漕ぎ課題において,補助ガイドの有無で回転運動の差が得られることがわかった.

その他リンク： https://ci.nii.ac.jp/naid/110008900429

Modeling of clash avoidance in automobile race using real robot-simulation matching system 査読有り国際誌

Ono K., Wagatsuma H.

ICIC Express Letters 5 ( 10 ) 3907 - 3912 2011年10月

Modeling of Clash Avoidance in Automobile Race Using Real Robot - Simulation Matching System, 査読有り国際誌

Ono, K., Wagatsuma, H

ICIC Express Letters 5. ( 10 ) 3907 - 3912 2011年10月

A testable robotic platform for brain-based architecture implementation using analog-digital parallel wireless communication 査読有り国際誌

Tomonaga Y., Wagatsuma H.

ICIC Express Letters 5 ( 9 B ) 3477 - 3482 2011年09月

A Testable Robotic Platform for Brain-Based Architecture Implementation Using Analog-Digital Parallel Wireless Communication 査読有り国際誌

Tomonaga, Y., Wagatsuma, H

ICIC Express Letters 5 ( 9B ) 3477 - 3482 2011年09月

自律分散制御から知能創発の工学化への視点査読有り

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年01月

担当区分：責任著者記述言語：日本語掲載種別：記事・総説・解説・論説等（学術雑誌）

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 査読有り国際誌

Wagatsuma H.

Neuromorphic and Brain-Based Robots 274 - 302 2011年01月

Neuromorphic and brain-based robots 査読有り国際誌

Krichmar J., Wagatsuma H.

Frontiers in Artificial Intelligence and Applications 233 209 - 214 2011年01月

人-ロボット相互作用に向けた脳型システムのリアルタイム実験系の構築

我妻広明

電子情報通信学会技術研究報告. NC, ニューロコンピューティング ( 一般社団法人電子情報通信学会 ) 110 ( 246 ) 17 - 22 2010年10月

担当区分：筆頭著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

様々な工業技術が現存する中で脳型システムが今後期待される分野は,実社会や家庭など変化する環境で,人との相互作用が要求される場であろう.そこで,これまで得られてきた個々の脳機能に注目した理論・実験における研究成果を,脳-身体-環境の循環系で実験検証する枠組みが重要であると考える.本研究では,脳型情報処理を,特に時間性に注目してシステム化とロボット実装を進めることで,実環境や状況において要求される動作実行のタイミングや脳内回路の連携の柔軟性の解明に取り組む方法論を提案し,ロボット実験系構築の具体性,問題点,展望について言及する.

その他リンク： https://ci.nii.ac.jp/naid/110008106476

生命のダイナミクスから知能創成を考える:脳型ロボット開発の試み査読有り

我妻広明

システム制御情報学会　研究発表講演会講演論文集 ( 一般社団法人システム制御情報学会 ) 10 ( 0 ) 85 - 85 2010年01月

担当区分：筆頭著者記述言語：日本語掲載種別：記事・総説・解説・論説等（学術雑誌）

近年、脳科学の知見に基づく理論モデルの工学的応用が注目されており、ロボット工学への貢献が期待されている。現実的に人と共存するロボットの開発は、刻々変化する環境においても認知判断できる高次脳機能を兼ね備えることが要求される。一方、生体機構を回路化して組み合わせる方法論で、精密性と安定な制御可能性を中心課題としてきた従来の工学的規範を超える枠組みが提示できるかは大きな疑問として残っている。また、生物の持つ「自律性」が工学的に再構成できるのかについても期待感の一方、疑問視されている。本研究では「生命体から学ぶ」という機械論から、「生命のダイナミクスから機械に生命を吹き込む科学」へ展開する可能性を、脳型ロボット研究・開発の向かうべき方向性として検討したい。

DOI： 10.11509/sci.SCI10.0.85.0

その他リンク： https://ci.nii.ac.jp/naid/130006985670

実世界における脳の数理モデルの貢献 : 情報工学・ロボット工学との融合を考える査読有り

我妻広明

日本神経回路学会誌 = The Brain & neural networks ( 日本神経回路学会 ) 16 ( 4 ) 184 - 189 2009年12月

担当区分：筆頭著者記述言語：日本語掲載種別：記事・総説・解説・論説等（学術雑誌）

この二十年に進展した科学技術を概観し，脳理論研究において掲げられてきた「脳を知り，脳を創る」課題の再考を試みる．特に，急速に発展しつつあるITやロボット工学との融合を通して脳科学の基盤技術創出を提案する．脳を細分化し研究対象にするだけでなく，脳機能の相補性，統合性を踏まえた認知／行動から神経可塑性に至る時間単位の複合性に正面から向かうことが求められている．ゆえに，脳を再構成して実空間実時間で実験解析を可能とする構成論的アプローチは自然な潮流であり，今後の工学的応用への具体的方策としても期待できる．その流れを確かなものにするため，既存の研究資産の共有と再利用を促進し，脳と身体をトータルデザインできる技術基盤の確立が急務である．脳科学の現代的な課題は，万能な自律知能システムを漠然と考えることではなく，日常に浸透する基盤技術，いわばユビキタス技術を創出し続けることである．そうして脳科学がより緊密に様々な技術分野に対して貢献していくことが我々の使命と考える．また脳の自律性や社会的適応性が身近な技術へ応用される過程で，人間の「自我」，「個性」，「自由意志」へと向かって脳の理解が進むことを夢としたい．

DOI： 10.3902/jnns.16.184

その他リンク： https://ci.nii.ac.jp/naid/10027011079

実世界における脳の数理モデルの貢献—情報工学・ロボット工学との融合を考える— 査読有り

我妻広明

日本神経回路学会誌 16 ( 4 ) 184 - 189 2009年12月

A Noise-Induced Stability in the Real-time Robotic System for Object Handling 査読有り国際誌

Wagatsuma, H.

Proceedings of the IEEE 8th International Conference on Development and Learning (ICDL 2009) 049 - 049 2009年12月

Synchronized rhythmic signals effectively influence on-going cortical activity for decision-making: a study of the biological plausible neural network model 査読有り国際誌

Wagatsuma, H., Yamaguchi, Y

Lecture Notes in Computer Science 5506 857 - 864 2009年12月

Cultivated Microorganisms Control a Real Robot: A Model of Dynamical Coupling between Internal Growth and Robot Movement 査読有り国際誌

Wagatsuma, H

Lecture Notes in Computer Science 5506 1082 - 1089 2009年12月

Hybrid Design Principles and Time Constants in the Construction of Brain-Based Robotics: A Real-time Simulator of Oscillatory Neural Networks Interacting with the Real Environment via Robotic Devices 査読有り国際誌

Wagatsuma, H

Lecture Notes in Computer Science 5506 119 - 126 2009年12月

A noise-induced stability in the real-time robotic system for object handling 査読有り国際誌

Wagatsuma H.

2009 IEEE 8th International Conference on Development and Learning, ICDL 2009 2009年11月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In various engineering fields, separation between signal and noise is one of the important issues for the robustness of systems that are working in the real environment, and the noise reduction has been discussed when designing a robust system. On the other hand, some researches reported that adding a noise contributes to having multiple internal states and enhancing a transition between the states in the case of non-linear and biological systems, such as the stochastic resonance. It leads to a hypothesis of neuro-mimetic models in which the noise enhances their performance. We have developed the robotic platform as a combination between the real-time simulator of neural dynamics and the robotic device operating in the real world. According to communicative interruptions and time lags, the real-time simulator has the limitation in ability to control the robot, especially in time domain. The robot frequently fails in making an action with respect to the previous sensor data if the calculation is done in the proper timing, providing a deadlock behavior. We here investigated the effect of the noise induction for escaping the deadlock and completion of the ball-handling task, and reported that a self-biased noise helps a enlargement of the range of delay in the system for exhibiting proper performances. By focusing on the temporal aspect of the noise effect in non-linear systems, our research approach may benefit to the implementation and development of biological models in the real system. © 2009 IEEE.

DOI： 10.1109/DEVLRN.2009.5175538

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=71049139284&origin=inward

Cognitive robotics: new insights into robot and human intelligence by reverse engineering brain functions, 査読有り国際誌

Browne, W., Kawamura, K., Krichmar, J., Harwin, W., Wagatsuma, H

IEEE Robotics and Automation Magazine 16 ( 3 ) 17 - 18 2009年10月

Synchronized rhythmic signals effectively influence ongoing cortical activity for decision-making: A study of the biological plausible neural network model 査読有り国際誌

Wagatsuma H., Yamaguchi Y.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 5506 LNCS ( PART 1 ) 859 - 866 2009年09月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The brain is capable of parallel processing of different types of information in different brain regions. However, for higher cognitive functions such as decision-making, such regionally distributed information must interact together in the proper timing. The prefrontal cortex, the region which carries out decision-making, needs to be modulated by external signals to represent the current behavioral context in the hippocampus (HP). The question remains as to how the firing activity of the cortical neural network can be modulated by external signals in corporation with the ongoing activity. We hypothesized that rhythmic signals that attempt to synchronize the cortical ongoing activity minimize the disturbance and effectively enhance the activities of selective neurons. We investigated the level of the modulation by using a mutually connected neural network that consists of a neuron model with excitatory and refractory periods. The results demonstrated that cortical ongoing activities are weakly modulated by random external signals, while synchronized rhythmic signals, given as the pseudo HP signals, selectively enhance cortical activities. This suggests that the cortical ongoing activity is effectively influenced by the synchronized signals, which carry information in the proper timing of excitation. The investigation of neural synchronization dynamics is important to understanding how the brain realizes parallel processing in different sub-regions and to update immediately the internal representation even if the previous internal processing is ongoing. © 2009 Springer Berlin Heidelberg.

DOI： 10.1007/978-3-642-02490-0_105

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=70349108364&origin=inward

Cultivated microorganisms control a real robot: A model of dynamical coupling between internal growth and robot movement 査読有り国際誌

Wagatsuma H.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 5506 LNCS ( PART 1 ) 1087 - 1094 2009年09月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In biological systems, internal microorganisms adaptively survive but often serve necessary functions to the host, such as energy production by mitochondria as symbiosis. On the other hand, malignant germs have a parasitic relationship with the host and provide no benefit. A significant property that distinguishes healthy symbioses and malignant parasites is reproduction speed, or pace. For example, the rapid reproduction of influenza viruses destructs the host system, resulting in death. This study explored the necessary temporal property to establish a healthy relationship with the host under conditions where internal organisms have individual life spans. We propose a simple model of microorganisms, which are distributed spatially as colonial organizations undergoing temporal evolution and hypothesize that a self-consistent rhythm generated in collective behavior that is functionally coupled with the temporal global property of the host system is critical. To investigate the real-time coordination capability, an experimental framework with a mobile robot moving in the real world was used. As the on-line system, the microorganism model controls this robot. In this model, microorganisms expanded spatially and had colonial and power law distributions through time evolution. The neighboring distances, which are crucial for reproduction speed and are globally modulated by the size of the whole living area, are plastically changed to exhibit a rhythmic modulation. In the real-environmental experiment, the robot's navigation was successfully demonstrated by producing a temporal adaptability of microorganisms with the living area reshaped according to the current sensory information of the mobile robot. This is a first step of the microorganism-based framework to investigate the real-time coordination mechanism between internal and external timescales. The result may further groundbreaking research of bio-morphological robots. © 2009 Springer Berlin Heidelberg.

DOI： 10.1007/978-3-642-02490-0_132

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=70349131154&origin=inward

Hybrid design principles and time constants in the construction of Brain-based robotics: A real-time simulator of oscillatory neural networks interacting with the real environment via robotic devices 査読有り国際誌

Wagatsuma H.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 5506 LNCS ( PART 1 ) 119 - 126 2009年09月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

One of most important concepts in robotics and artificial intelligence is the embodied approach, focusing on the importance of having a body that functionally connects to the external world. This setup suggests that the intelligence develops through sensorimotor skills and through situations that would actually be confronted in the environment. We support this concept and propose to further extend it to embodiment in the time domain. Nervous systems have variable processing times. The different time courses proceed in the nervous system in parallel, and individual circuits independently and cooperatively work under the constraints of temporal properties. We here propose an experimental platform of oscillatory neural networks having real-time communication with the environment through the robot's body. The synchronization mechanism of oscillations in neural activities have the advantage of synthetic controls known in motor coordination, but we extend this to circuits for cognitive functions like episodic memory formation and decision making of the robotic behavior by using the theta phase coding mechanism. A slow oscillation, like the theta rhythm, enables behavioral temporal sequences to be compressed in sequential firings during each oscillation cycle, and this helps to represent cognitive information in episodes composed of past-present-future structures. The temporal structure is crucial for recognition of the current context and adaptability in dynamic environments, and it smoothly controls sensorimotor local circuits with faster time scales. This work represents a tiny step towards constructing the brain by focusing on the temporal structure, yet this approach may elucidate the new nature of the brain-based intelligence. © 2009 Springer Berlin Heidelberg.

DOI： 10.1007/978-3-642-02490-0_15

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=70349115595&origin=inward

Context-dependent adaptive behavior generated in the theta phase coding network 査読有り国際誌

Wagatsuma, H., Yamaguchi, Y.

Lecture Notes in Computer Science 4985 117 - 184 2008年12月

Working memory dynamics in a flip-flop oscillation network model with milnor attractor 査読有り国際誌

Colliaux, D., Yamaguchi, Y., Molter, C., Wagatsuma, H

Lecture Notes in Computer Science 4984 151 - 159 2008年12月

A computational model of formation of grid field and theta phase precession in the entorhinal cells 査読有り国際誌

Yamaguchi, Y., Molter, C., Wu, Z., Agashe, H. A., Wagatsuma, H.

Lecture Notes in Computer Science 4984 160 - 169 2008年12月

Working memory dynamics in a flip-flop oscillations network model with milnor attractor 査読有り国際誌

Colliaux D., Yamaguchi Y., Molter C., Wagatsuma H.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 4984 LNCS ( PART 1 ) 160 - 169 2008年10月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

A phenomenological model is developed where complex dynamics are the correlate of spatiooral memories. If resting is not a classical fixed point attractor but a Milnor attractor, multiple oscillations appear in the dynamics of a coupled system. This model can be helpful for describing brain activity in terms of well classified dynamics and for implementing human-like real-time computation. © 2008 Springer-Verlag Berlin Heidelberg.

DOI： 10.1007/978-3-540-69158-7_18

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=54249160613&origin=inward

A computational model of formation of grid field and theta phase precession in the entorhinal cells 査読有り国際誌

Yamaguchi Y., Molter C., Zhihua W., Agashe H., Wagatsuma H.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 4984 LNCS ( PART 1 ) 151 - 159 2008年10月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper proposes a computational model of spatiooral property formation in the entorhinal neurons recently known as "grid cells". The model consists of module structures for local path integration, multiple sensory integration and for theta phase coding of grid fields. Theta phase precession naturally encodes the spatial information in theta phase. The proposed module structures have good agreement with head direction cells and grid cells in the entorhinal cortex. The functional role of theta phase coding in the entorhinal cortex for cognitive map formation in the hippocampus is discussed. © 2008 Springer-Verlag Berlin Heidelberg.

DOI： 10.1007/978-3-540-69158-7_17

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=54249094763&origin=inward

Context-dependent adaptive behavior generated in the theta phase coding network 査読有り国際誌

Wagatsuma H., Yamaguchi Y.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 4985 LNCS ( PART 2 ) 177 - 184 2008年10月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The real world changes in space over time. Our brains need real-time interaction with the external world and will update various internal representations even when events happen only one-time. Such one-time experiences are evaluated in relation to what happens for us in joy and sorrow. Recent brain studies suggest that the dynamic coordination of different representations in brain areas is governed by the synchronization of the brain oscillation, such as theta rhythms. In the rodent hippocampus, the temporal coding mechanism with the theta rhythm, theta phase coding, provides the ability to encode and retrieve behavioral sequences even in the one-time experience, by using successive firing phases in every theta cycle. We here extended the theory to the large-scale brain network and hypothesized that the phase coding not only represents the current behavioral context, but also properly associates it with the evaluation of what happened in the external environment. It is necessary for the animal to predict events in the near future and to update the current and next executive action. In a maze task on our robotic platform, the acquisition of spatial-temporal sequences and spatial-reward associations were demonstrated, even in few trials, and the association contributes to the current action selection. This result suggests that theta rhythms may contribute to coordinate different neural activities to enable contextual decision-making in the real environment. © 2008 Springer-Verlag Berlin Heidelberg.

DOI： 10.1007/978-3-540-69162-4_19

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=54049103306&origin=inward

Design of Web Agents Inspired by Brain Research 査読有り国際誌

Dimitrova, M., Wagatsuma, H., Yamaguchi, Y

Proceedings of 11th European Conference on Advances in Databases and Information Systems (ADBIS 2007), In Y. Ioannidis, B. Novikov and B. Rachev (Eds.) 17 - 26 2007年12月

Design of Web agents inspired by brain research 査読有り国際誌

Dimitrova M., Wagatsuma H., Yamaguchi Y.

CEUR Workshop Proceedings 325 17 - 26 2007年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The paper presents an approach to combine knowledge from memory and brain sciences with information retrieval research in the design of Web agents. An information retrieval agent for classification of Web pages based on genre features is used. In developing the agent to adapt to users' search preferences, a neuro-cognitive model of human episodic memory is employed. Our studies show that neuro-realistic models, capable of abstraction of meaningful fragments of knowledge, rather than snapshots of the retrieved Web pages, are closer to the human way of interacting with the Web and can be used for optimization of agent performance. © Technical University of Varna, 2007.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84884624976&origin=inward

Neural computation of the grid field and theta phase precession from head direction system in the entorhinal cortex, 査読有り国際誌

Yamaguchi, Y., Molter, C., Wagatsuma, H., Wu, Z.

37th Annual Meeting of Society for Neuroscience (SFN 2007) 2007年11月

Contextual decision-making in the hippocampal-amygdala-prefrontal network mediated by theta rhythms in a spatial memory task: a study of the neuro-robotics platform by using theta phase coding 査読有り国際誌

Wagatsuma, H., Yamaguchi, Y.

37th Annual Meeting of Society for Neuroscience (SFN 2007) 2007年11月

A unified view of theta-phase coding in the entorhinal-hippocampal system 査読有り国際誌

Yamaguchi, Y., Sato, N., Wagatsuma, H., Wu, Z., Molter, C., Aota, Y

Current Opinion in Neurobiology 17 ( 2 ) 1 - 8 2007年06月

Neural Dynamics of the Cognitive Map in the Hippocampus 査読有り国際誌

Wagatsuma, H., Yamaguchi, Y.

Cognitive Neurodynamics 1 ( 2 ) 1871 - 4080 2007年06月

Disambiguation in spatial navigation with theta phase coding 査読有り国際誌

Wagatsuma, H., Yamaguchi, Y

Neurocomputing 69 ( Issues 10-12 ) 1228 - 1232 2006年12月

Real-time encoding of cognitive maps in multiple environments enabled by a hippocampal network model with theta phase precession and two way synaptic plasticity competition 査読有り国際誌

Wagatsuma, H., Yamaguchi, Y.

36th Annual Meeting of Society for Neuroscience (SFN 2006) 2006年10月

Memory guided locomotion with spatial ambiguity: behavioral context representation by theta phase coding in the hippocampus 査読有り国際誌

Wagatsuma, H., Yamaguchi, Y.

35th Annual Meeting of Society for Neuroscience (SFN 2005) 2005年11月

Disambiguation in spatial navigation with theta phase coding 査読有り国際誌

Wagatsuma, H., Yamaguchi, Y.

The international Computational Neuroscience Meeting (CNS*2005) 2005年07月

海馬シータ位相コードによる場所の曖昧性を含む異なるエピソードの学習査読有り

我妻広明, 山口陽子

日本神経回路学会誌 12 ( 1 ) 17 - 31 2005年03月

Cognitive map formation through sequence encoding by theta phase precession. 査読有り国際誌

Wagatsuma, H., Yamaguchi, Y

Neural Computation 16 ( 12 ) 2665 - 2697 2004年12月

Hippocampal theta phase coding for instantaneous acquisition of experienced events 査読有り国際誌

Yamaguchi, Y., Aota, Y., Sato, N., Wagatsuma, H., Wu, Z

Proceedings of International Joint Conference on Neural Networks (IJCNN2004) 4 3053 - 3058 2004年12月

Synchronization of neural oscillations as a possible mechanism underlying episodic memory: A study of theta rhythm in the hippocampus 査読有り国際誌

Yamaguchi, Y., Aota, Y., Sato, N., Wagatsuma, H., Wu, Z

Journal of Integrative Neuroscience 3 ( 2 ) 143 - 157 2004年06月

A Hippocampal network with asymmetric connections for episodes in a T-maze alternation task 査読有り国際誌

Wagatsuma, H., Yamaguchi, Y.

The 32nd Annual Meeting of the Society for Neuroscience (SFN 2002) 2002年11月

Learning of the cognitive map in the hippocampal network. 査読有り国際誌

Wagatsuma, H., Yamaguchi, Y.

Proceedings of World Multiconference on Systemics, Cybernetics and Informatics (ISAS-SCI’2001), Vol. XVI (Cybernetics and Informatics: Concepts and Applications (Part I), In N. Callaos, Q. Guo, S. Pierre, and S. Muravyov (Eds.) 505 - 509 2001年12月

Self-organization of the cognitive map in a neural network model using theta phase precession 査読有り

Wagatsuma, H., Yamaguchi, Y.

The 30th Annual Meeting of the Society for Neuroscience, (SFN 2000) 2000年11月

A neural network model self-organizing a cognitive map using theta phase precession. In Man Cybernetics Society Staff IEEE Systems (Eds.) 査読有り国際誌

Wagatsuma, H., Yamaguchi, Y

IEEE Smc'99 Conference Proceedings 3 199 - 204 1999年12月

Neural network model self-organizing a cognitive map using theta phase precession 査読有り国際誌

Wagatsuma H., Yamaguchi Y.

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics 3 1999年12月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The cognitive map is thought to consists of place cells in the hippocampus. In this paper, we hypothesize that 'theta phase precession', a characteristic relation between the firing of the place cell and local field theta rhythm, contributes to the generation of the cognitive map as a network of place cells. We propose a network model of the hippocampus based on the hypothesis. In our model, EC receives sensory-inputs of local views. The dynamic pattern of theta phase precession is generated by mutual synchronization of neural oscillators in EC. In CA3, neural units receive inputs from EC and the cognitive map is self-organized in the recurrent neural network. In the computer experiments, inheritance of theta phase precession in CA3 results in a kind of phase wave propagating along a 2-D plane. The 2-D plane is define as the desired array of place cells in accordance with their place fields. The wave propagation deriving from theta phase precession globally controls the synaptic modification among place cells so that their network is self-organized as the cognitive map.