Robot-vision architecture for real-time 6-DOF object localization

This paper presents a new robot-vision system architecture for real-time moving object localization. The 6-DOF (3 translation and 3 rotation) motion of the objects is detected and tracked accurately in clutter using a model-based approach without information of the objects’ initial positions. An object identification task and an object tracking task are combined under this architecture. The computational time-lag between the two tasks is absorbed by a large amount of frame memory. The tasks are implemented as independent software modules using stereo-vision-based methods which can deal with objects of various shapes with edges, including planar to smooth-curved objects, in cluttered environments. This architecture also leads to failure-recoverable object tracking, because the tracking processes can be automatically recovered, even if the moving objects are lost while tracking. Experimental results obtained with prototype systems demonstrate the effectiveness of the proposed architecture.     

2D artificial life system using network-type assembly-like language: influence of change in environment with costs of instructions

To unlock the full potential of evolution in digital media, a Tierra-like system using network-type assembly-like language has been constructed. In the system, like Avida, digital creatures, self-replicating programs, live in a discrete 2D torus space and an interaction between creatures is restricted locally. Bearing a genetic network in mind, network structure is introduced. In the previous works, it is shown that the possibility that the network-type model has more potential of evolution than a linear-type model like Avida in a simple environment. In this paper, to study the potential of evolution more precisely, we model the effects of environment other than creatures. As one of the simplest models of such environment, the cost of execution, i.e. executing time, is introduced. The difficult environment to live in costs high to execute instructions, the easy environment does low. In computer experiments, we have investigated the influence of change in environment by analyzing the process of evolution and diversity of the system. Experimental results show that the network-type system keeps more stable diversity than the linear-type system does, even when the environment changes drastically. This indicates the possibility that the network-type system has more potential of evolution than the linear-type system has. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Digital RAC with a disturbance observer for underwater vehicle-manipulator systems

Most control methods of underwater vehiclemanipulator systems (UVMS) are based on the computed torque method that is used for underwater robotic vehicles. We have proposed a resolved acceleration control (RAC) method for UVMS. In this article, we propose a disturbance compensation control method for both vehicle and manipulator based on the RAC method. Experimental results using an underwater robot with a vertical planar 2-link manipulator show that the proposed control method has good control performance.     

《最终幻想Ⅺ》的更新系统设计

对于如何提供补丁下载，单机PC游戏开发人员已经是轻车熟路了，这些补丁包里通常包含玩家需要手动更新的数据和二进制文件．但基本上．他们很少会为了补丁下载而创建一个“更新系统”。     

Numerical simulation of parallel-plate particle separator for estimation of charge distribution of PM2.5

A numerical simulation of an instrument that is used to measure the charging state of PM2.5 is conducted in order to clarify its measurement uncertainty and to improve its performance. The instrument, a parallel-plate particle separator (PPPS), is designed to classify aerosol particles according to their charging states and measure their quantities. The trajectories of submicron particles in the PPPS are numerically analyzed using the Lagrangian particle tracking method, taking into account the Brownian force and the electrostatic force. First, it is confirmed that the deterioration in the classification accuracy observed in the experiment is due to Brownian diffusion. The optimal condition that improves the accuracy is investigated through a parametric study by varying the balance of flow rates at the inlets, the geometry of the inlet and exit sections, and the applied voltage. It is found that decreasing the flow rate of the central inlet for aerosol or narrowing the central inlet improves the accuracy. The dependence of the accuracy on the flow rate is found to be in accordance with the experimental results. For charged particles, an optimum voltage that maximizes the classification accuracy is found. On the basis of the simulation results, we propose a method to determine the charge distribution of aerosol from the number of particles counted at each exit of the PPPS. In the test assuming aerosol in the air, the charge distribution determined from the number count at the exits is found to perfectly agree with the charge distribution specified at the inlet.

Copyright © 2019 American Association for Aerosol Research     

Fabrication of amorphous bulk and multi-phase ceramics by melting method in the HfO2-Al2O3-Gd2O3-Eu2O3system

Ceramics have generally been fabricated from powders by shape forming & sintering methods except for glasses and glass ceramics. Glasses and glass ceramics can be fabricated by melting methods. The melting method has not only higher productivity but also higher shape forming ability than powder processes via forming & sintering methods. Thus we have reinvestigated melting methods in binary and ternary oxides systems to fabricate amorphous bulk ceramics and bulk nano composites. We have successfully fabricated amorphous phases by simple melt solidification methods in ternary eutectic melts in the HfO₂-Al₂O₃-Gd₂O₃system. The present study demonstrates the formation of the amorphous phases in quaternary systems HfO₂-Al₂O₃-Gd₂O₃-Eu₂O₃. Furthermore, we have also succeeded to fabricate nano-structured bulk ceramics, which consisted of constituent oxide grains with 20–100 nm in size, by post annealing of the amorphous phase.