Multiple fuzzy state-value functions for human evaluation through interactive trajectory planning of a partner robot

The purpose of this study is to develop partner robots that can obtain and accumulate human-friendly behaviors. To achieve this purpose, the entire architecture of the robot is designed, based on a concept of structured learning which emphasizes the importance of interactive learning of several modules through interaction with its environment. This paper deals with a trajectory planning method for generating hand-to-hand behaviors of a partner robot by using multiple fuzzy state-value functions, a self-organizing map, and an interactive genetic algorithm. A trajectory for the behavior is generated by an interactive genetic algorithm using human evaluation. In order to reduce human load, human evaluation is estimated by using the fuzzy state-value function. Furthermore, to cope with various situations, a self-organizing map is used for clustering a given task dependent on a human hand position. And then, a fuzzy state-value function is assigned to each output unit of the self-organizing map. The robot can easily obtain and accumulate human-friendly trajectories using a fuzzy state-value function and a knowledge database corresponding to the unit selected in the self-organizing map. Finally, multiple fuzzy state-value functions can estimate a human evaluation model for the hand-to-hand behaviors. Several experimental results show the effectiveness of the proposed method.     

STORY GENERATION BASED ON DYNAMICS OF THE MIND

A story generation system based on dynamics of the mind is presented. Semantic theories until now avoided discussing a linkage of language with encyclopedic human knowledge. This paper attacks the problem of how to make clear the complicated, wide-ranging dynamics of the mind and how to connect it to language.
First, the background of this study is shown, in which our model of the mind, with both five levels along the concept formation process and eight domains according to the contents of mental activities, is surveyed.
Based on this model, then, the dynamics of mind are discussed, along an Aesop fable. A unit of data processing in the mind is called a "module," and the mental dynamics are considered as a chain activation of those modules, represented by a dynamic network. Next, a method for story generation is discussed. Propositional information of a sentence is embedded in a slot of activated, frame-structured modules, and the discourse structure of a generated story basically depends on the dynamic network. Both the chain activation and the generation processes are verified by experiments.
Lastly, residual problems of our research, a comparison with related research, and its applications are discussed.
This case study would be expected to give a basis to integrated systems for problem solving, natural language and image understandings, their generations, and intelligent robots.     

Forced vibration tests and simulation analyses of a nuclear reactor building

Forced vibration tests were carried out at the Hamaoka (BWR) Unit 4 R/B (reactor building) in Japan in April and May of 1992. Fundamental dynamic characteristics of the R/B were obtained, including its interaction with the adjacent T/B (turbine building) and the soil–structure interaction. Results for the preceding R/Bs are compared, and probable causes for fluctuations in the resonance curve around the 1st peak are discussed. Furthermore, simulation analyses of the fundamental dynamic characteristics of the soil–structure system were conducted, using a basic lumped-mass soil–structure model (lattice model), and strong correlation with the measured data was obtained. Other detailed simulation models were employed to investigate the effects of simultaneously induced vertical response and response of the adjacent turbine building on the lateral response of the reactor building.     

Electron diffraction study of flake graphite extracted from molten pig iron

Single graphite flakes segregated from molten carbon or silicon-rich iron at 1200° to 1500°C were subjected to electron diffraction experiments. The results indicated that the well developed thick flakes are composed of one single crystal, while the thin almost colorless flakes consist of two or three single crystals oriented with the basal plane parallel to the flake surface and rotated at an angle of 15°, 18°, 22°, 25° or 28° about the C-axis. The stacking of the atomic layers in each single crystal indicates that they are α and β-type, or a more disordered structure, at each instant. Double diffraction evidence and additional electron microdiffraction observations showed that the thin single flake has an aggregate structure with two close-packed single crystals.     

Memory encoding by theta phase precession in the hippocampal network

Recent experimental evidence on spike-timing-dependent plasticity and on phase precession (i.e., the theta rhythm dependent firing of rat hippocampal cells) associates the contribution of phase precession to episodic memory. This article aims at clarifying the role of phase precession in memory storage. Computer simulations show that the memory storage in the behavioral timescale varies in timescale of the temporal sequence from half a second to several seconds. In contrast, the memory storage caused by traditional rate coding is restricted to the temporal sequence within 40 ms. During phase precession, memory storage of a single trial experience is possible, even in the presence of noise. It is therefore concluded that encoding by phase precession is appropriate for memory storage of the temporal sequence in the behavioral timescale.     

Neutronic potential of water cooled reactor with actinide closed fuel cycle

Neutronic potential of water-cooled reactor on the efficient use of Uranium by multiple recycling of all actinides have been examined after a brief-review of alternative coolants to sodium which are applicable for fast neutron reactors. The water-cooled reactor which was designed to have tight lattice and lower Hydrogen/Heavy-Metal number density ratio (H/HM<0.5) showed enough neutronic potential to make the fuel cycle closed for actinides and could be feasible to be operated not as a breeder but as a self-fuel sustainer. The recycle system requires no external fissile supply and generates no actinide as waste except for the inevitable recovery loss, therefore the Uranium resource could be efficiently used and sustained for a long period similar to the case of sodium cooled system.     

Field evaluation of UHF radio propagation for an ITS safety system in an urban environment

Roadside-to-vehicle and vehicle-to-vehicle communication systems have been proposed as part of ITS development to help achieve vehicle safety and realize more secure road traffic environments. In this article we first introduce several typical applications and their radio range requirements for vehicle safety communication systems to clarify the technical point of view. Then we show some field experiment results in an urban area in Tokyo to investigate and verify the radio propagation characteristics and the quality of communications by using a wireless radio prototype system. Finally, we conclude that the current prototype system has potential to fulfill the radio range requirements of vehicle safety communications, but there are still lots of issues that need to be addressed.     

Parallel processing of network calculations in order to speed up transient stability analysis

Power systems have become very large, and in addition the forthcoming open electricity market will make power system operation more complex. Therefore, power system operation must become more efficient and flexible. Very fast power system simulation is a means of achieving more sophisticated power system on‐line monitoring and control, and parallel computing is a key technology for very fast power system simulation. This paper proposes an efficient and fast parallel network calculation algorithm that will contribute to the development of fast power system simulation programs. Numerical examples show that the proposed method using six processors is about 4.0 times as fast as the usual serial algorithm when applied to a large‐scale radial power system and about 3.2 times as fast when applied to a large‐scale loop power system. © 2001 Scripta Technica, Electr Eng Jpn, 135(3): 26–36, 2001     

Effect of friction,strain hardening,and strain rate hardening on the metal flow in rod extrusion

The metal flow in a rod extrusion is theoretically discussed in relation to a frictional condition, strain hardening and strain rate hardening. An existing rigid plastic FEM-program was modified in order to take a rate sensitivity of a material into consideration through a constitutive equation of the form. An interfatial friction was incorporated by a constant Coulomb-frictional coefficient. When the frictional coefficient is smaller than 0.1, a large effect of the friction does not appear. The larger the n-value is, the stronger the distortion of the grid in a billet becomes even under small frictional resistance. The effect of the m-value is similar qualitatively to that of the n-value. When the rate sensitive material is extruded at very low punch speed under large frictional resistance, the material is strained very irregularly all over the billet at an early stage.     

Cholelithiasis in hamsters: Effects of cholic acid and calcium on gallstone formation

Dietary cholic acid (0.1%) and/or calcium (2.6% as calcium carbonate) were added to a semipurified diet containing cholesterol and ethynyl estradiol to determine whether the incidence of pigment and/or cholesterol gallstones would be changed. Male golden Syrian hamsters were fed the experimental diets for 96 days (Group 1, control; Group 3, cholic acid plus calcium) or only an average of 60 days (Group 2, 0.1% cholic acid). Animals in Group 2 became ill (weight loss, low food intake, diarrhea) possibly due to cholic acid (or deoxycholic acid) toxicity. Cholesterol gallstones and crystals were absent in all experimental groups. The incidence of pigment gallstones was: control, Group 1, 12/16; 0.1% cholic acid, Group 2, 3/13; and 0.1% cholic acid plus calcium, Group 3, 11/22. Cholic acid with or without calcium produced an elevation of both liver and plasma cholesterol: Group 2, 80.1 mg/g and 501 mg/dl; Group 3, 103.7 mg/g and 475 mg/dl vs Group 1, 65 mg/g and 209 mg/dl, respectively. The lithogenic indices of the bile were lower in Groups 2 and 3 compared to Group 1, controls, 0.45 and 0.58 vs 1.16, respectively. The extent of the portal tract pathology could not be correlated with the presence or absence of pigment gallstones or with the levels of lithocholic acid in the hamster bile. In summary, when semipurified diets were supplemented with ethynyl estradiol and cholic acid, with and without calcium supplementation, no cholesterol gallstones formed and the incidence of pigment gallstones was not altered.