Mutual learning of multi-consciousness agents,including an ego for an autonomous vehicle

In this paper, we propose a multi-agent learning system for the control of an intelligent robot, based on a model of the human consciousnesses, including the ego. We pay attention to the intelligent learning processes of human beings. We try to give a robot a high learning ability by modeling the roles of the human consciousnesses, including the ego. In most ordinary methods, the instructions for learning are given from outside the system only. In the proposed method, the instructions are given not only from outside, but also from inside (from other agents in the system). Therefore, the robot can learn efficiently because it has more instructions than usual. The learning is also more flexible, since an agent learns by instructions from other agents while the learning agent and one of the instructing agents exchange roles according to changes in the environment. We experimentally verified that the proposed method is efficient by using an actual robot.     

Monte Carlo simulation of the sol-gel process for the hydrolysis and polycondensation of tin tetra-n-butoxide

The sol-gel process for the hydrolysis and polycondensation of tin tetra-n-butoxide in butanol was followed by viscosity measurements. The precipitation of tin-containing ultrafine particles was observed without any variation in the solution viscosity in the absence of diethylene glycols, while the viscosity increase was made without any precipitation by the addition of diethylene glycol. The induction period and the rate of the viscosity increase after the induction period was independent of the diethylene glycol content but depended upon the water content. The Monte Carlo simulation data were consistent with data for the viscosity experiment. The simulation was based on a kinetic model of the slow hydrolysis of tin tetra-n-butoxide, the reverse reaction of hydrolysis, and the polycondensation of the hydroxy derivatives.     

Detection of a brain aneurysm and a way to search for a brain aneurysm aimed at the development of a system to simulate an operation

In this article, a system is proposed for a simulated operation which would help a trainee surgeon to perform a medical operation to ensure that a cerebral aneurysm does not burst. The physician will have acquired empirical medical technologies from operations in traditional clinical teaching. However, there is a problem with safety and the burden to the patient. Therefore, recently a new training approach for a simulated medical operation using virtual reality has been explored. With the aim of developing a simulated system for a medical operation for a cerebral aneurysm, we considered the necessary functions such as detecting the brain aneurysm that is the target of the operation, and searching for a suitable blood vessel to make a plan for the operation.     

Construction of a robot control system which understands a voice and pointing actions

This research was aimed at making a robot that can go and get an object designated by the user. We produced a robot control system that uses pointing and voice control. This control system is composed of two systems. One system is the object instruction system that uses pointing, and the other is the object instruction system that uses voice. The approximate position of a designated object is recognized by the object instruction system that uses pointing, and information about the object and instructions about the operation are conveyed by the object instruction system that uses voice. This time, the object instruction system that uses pointing has been designed and verified as the first step. A calculation resource to calculate the approximate position of the designated object is obtained when the user points directly at the object. A robot can be moved around a designated object by using this system. The object instruction system that uses voice will be constructed in future work.     

Improvement of a neural network-based motion generator with bimanual coordination for upper limb prosthesis

We propose to redesign a neural network used as a motion generator with bimanual coordination for upper limb prosthesis in order to improve its learning capability. We assumed that the wearer of the prosthesis was a unilateral amputee. In our previous work, we proposed a prosthesis control system using a neural network that learned bimanual coordination in order to implement smooth motion with both hands. However, the previously proposed system has the problem that a neural network cannot generate the desired motion of the prosthesis in special cases. The reason is that the motion generator calculates the desired posture of the prosthesis from the current posture of the healthy arm only, regardless of the current posture of the prosthesis. We propose to use the current posture of both the healthy arm and the prosthesis as neural network inputs in order to solve this problem. In this article, we show that a single neural network whose input was the current posture of both arms could learn the relationships of the coordinated motions of holding boxes of different sizes, and the newly proposed system can calculate the desired motion of the prosthesis in special cases through computer simulations.     

Parametric polynomial spectral factorization using the sum of roots and its application to a control design problem

This paper presents an algebraic approach to polynomial spectral factorization, an important mathematical tool in signal processing and control. The approach exploits an intriguing relationship between the theory of Gröbner bases and polynomial spectral factorization which can be observed through the sum of roots, and allows us to perform polynomial spectral factorization in the presence of real parameters. It is discussed that parametric polynomial spectral factorization enables us to express quantities such as the optimal cost in terms of parameters and the sum of roots. Furthermore an optimization method over parameters is suggested that makes use of the results from parametric polynomial spectral factorization and also employs two quantifier elimination techniques. This proposed approach is demonstrated in a numerical example of a particular control problem.     

Analysis of control interval for foundation fieldbus-based control systems

Fieldbus-based control systems (FCS) have been increasingly used in process automation. Some processes and dynamic specifications need higher control frequencies to avoid instability. The aim of this paper is to analyze the temporal characteristics of communication and computation tasks and the configuration of the function blocks in a FCS and to allow the control interval to be shortened. An FCS for a water tank process is used as a case study. The experimental results show that the execution time of function blocks and the margin time are dominant over communication delays, and optimizing configuration by reducing the number of external links can contribute to increasing the control frequency.     

Site-specific electronic structure analysis by channeling EELS and first-principles calculations

Site-specific electronic structures were investigated by electron energy loss spectroscopy (EELS) under electron channeling conditions. The Al-K and Mn-L(2,3) electron energy loss near-edge structure (ELNES) of, respectively, NiAl2O4 and Mn3O4 were measured. Deconvolution of the raw spectra with the instrumental resolution function restored the blunt and hidden fine features, which allowed us to interpret the experimental spectral features by comparing with theoretical spectra obtained by first-principles calculations. The present method successfully revealed the electronic structures specific to the differently coordinated cationic sites.     

Hydrocarbons with a homoconjugated polyene system and their monoepoxy derivatives: Sex attractants of geometrid and noctuid moths distributed in Japan

Although several sex pheromones of the family Geometridae have been characterized, investigations on Japanese species are limited. In order to obtain more information, screening using known sex pheromones and their analogs was carried out. The (Z,Z,Z)-3,6,9-triunsaturated and (Z,Z)-6,9-diunsaturated hydrocarbons with straight C¹⁹-C²¹ chains were synthesized by the Grignard coupling reaction as a key step starting from linolenic and linoleic acids, respectively. Oxidation of the homoconjugated trienes withm-chloroperoxybenzoic acid yielded a 111 mixture of three monoepoxy derivatives that could be separated by silica gel chromatography. The chemical structure of each positional isomer was confirmed using two-dimensional NMR techniques and MS measurements, which enabled characteristic fragment ions from the isomers to be identified. Field tests using lures incorporating only one of the above six hydrocarbons or nine epoxides were carried out in a forest in Tokyo. Consequently, attraction of male moths of 14 geometrid species in addition to four species in another family, the Noctuidae, was observed. It was concluded that hydrocarbons with a homoconjugated polyene system and the monoepoxy derivatives are important components of sex pheromones produced by Japanese lepidopterous insects, particularly the geometrid moths.     

Route guidance by a car navigation system based on augmented reality

Car navigation systems play a prominent role in road traffic safety and traffic regulation. However, it is necessary to improve the route guidance of car navigation systems so that they accurately and quickly recognize small differences in location. Thus, to increase the ease of understanding and safety of car navigation systems, navigation systems based on augmented reality have been proposed for providing guidance at road intersections. We are currently developing a car navigation system based on augmented reality, called AR‐Navi. We investigated designs for the display of road intersection guidance that can be easily understood even when limited information is available and proposed a “best shot” display method that does not use moving images. In addition, we implemented a prototype system that includes these methods and conducted driving experiments on public roads to evaluate the ease of understanding and safety of AR‐Navi. Using the evaluation results, we confirmed that the ease of understanding and safety is similar in the case of AR‐Navi and CG‐Navi. We also clarified the characteristics of AR‐Navi. © 2012 Wiley Periodicals, Inc. Electr Eng Jpn, 180(2): 43–54, 2012; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22278