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41.
Takahiro Kobori Tomoaki Nakamura Mikio Nakano Takayuki Nagai Naoto Iwahashi Kotaro Funakoshi 《Advanced Robotics》2016,30(24):1530-1543
We present a method through which domestic service robots can comprehend natural language instructions. For each action type, a variety of natural language expressions can be used, for example, the instruction, ‘Go to the kitchen’ can also be expressed as ‘Move to the kitchen.’ We are of the view that natural language instructions are intuitive and, therefore, constitute one of the most user-friendly robot instruction methods. In this paper, we propose a method that enables robots to comprehend instructions spoken by a human user in his/her natural language. The proposed method combines action-type classification, which is based on a support vector machine, and slot extraction, which is based on conditional random fields, both of which are required in order for a robot to execute an action. Further, by considering the co-occurrence relationship between the action type and the slots along with the speech recognition score, the proposed method can avoid degradation of the robot’s comprehension accuracy in noisy environments, where inaccurate speech recognition can be problematic. We conducted experiments using a Japanese instruction data-set collected using a questionnaire-based survey. Experimental results show that the robot’s comprehension accuracy is higher in a noisy environment using our method than when using a baseline method with only a 1-best speech recognition result. 相似文献
42.
Motoyuki Karita Koji Asaka Hitoshi Nakahara Yahachi Saito 《Journal of Materials Science》2013,48(2):936-940
Electrical conductance of multi-walled carbon nanotubes (MWCNTs) with closed and open tips contacting with a gold (Au) electrode was studied by in situ transmission electron microscopy. When a current density through the contact region reached a threshold value of 2.6 × 108 A/cm2, the MWCNT tip was embedded into the Au surface by local melting of Au, and the total resistance was reduced with the increase of the contact area. Conductance per unit area at the contact between the MWCNT and Au electrode for the open-ended MWCNT is four times larger than that for the close-ended one, which is due to the direct connection of inner walls of the open-ended MWCNT with the Au surface. 相似文献
43.
Shiro Yano Yusuke Ikemoto Hitoshi Aonuma Hajime Asama 《Robotics and Autonomous Systems》2012,60(5):722-728
It is thought that the adjustment of intraspecific aggression is an essential factor in the development of a social structure. To understand the natural laws for organizing the social structure, we focus on the fighting behavior of crickets, Gryllus bimaculatus, and investigate the neuronal mechanisms to adjust aggressiveness associated with a neuromodulatory biological amine: serotonin (5-HT).In this paper, we present a working theory of a neurophysiological mechanism based on the past biological studies on the 5-HT hypothesis, and a mathematical model of the mechanism. We analyzed this model and concluded that this neurophysiological mechanism makes the forgetting process slower. Next, we fitted our theoretical forgetting curve to an experimental curve and estimated the parameters of our model. These estimated values were in agreement with common belief in biological science. 相似文献
44.
Jitendra Kumar Pandey Hitoshi Takagi Antonio Norio Nakagaito Daulat Ram Saini Sung-Hoon Ahn 《Composites Part B》2012,43(7):2822-2826
Biopolymer based composites have been employed in numerous applications with increasing interest not only due to renewable, eco-friendly nature, but also because of the flexibility in processing conditions and competitive cost of their end products. The conductive materials from biopolymers have been found applicable in robots, medical imaging, sensitive membranes, actuators, visual displays, electronic wiring and shielding, and components in batteries. Cellulose is one of the most abundant biopolymers in the nature, which has received special attention for development of conducting materials due to biocompatibility for protein and drug immobilization and ability to form the composites with synthetic polymers. The present review is aimed to provide concisely the current status in this field of conducting composites from cellulose, with brief discussions of associated problems and future applications. 相似文献
45.
Tsugufumi Matsuyama Yukie Izumoto Hitoshi Imaseki Tsuyoshi Hamano Yasuhiro Sakai 《Journal of Nuclear Science and Technology》2017,54(9):940-943
Uranium concentrations in drainage water are typically determined by α-spectrometry. However, due to the low specific radioactivity of uranium, the evaporation of large volumes of drainage water, followed by several hours of measurements, is required. Thus, the development of a rapid and simple detection method for uranium in drainage water would enhance the operation efficiency of radiation control workers. We herein propose a novel methodology based on total reflection X-ray fluorescence (TXRF) for the measurement of uranium in contaminated water. TXRF is a particularly desirable method for the rapid and simple evaluation of uranium in contaminated water, as chemical pretreatment of the sample solution is not necessary, measurement times are typically several seconds, and the required sample volume is low. We herein employed sample solutions containing several different concentrations of uranyl acetate with yttrium as an internal standard. The solutions were placed onto sample holders, and were dried prior to TXRF measurements. The relative intensity, otherwise defined as the net intensity ratio of the Lα peak of uranium to the Kα peak of yttrium, was directly proportional to the uranium concentration. Using this method, a TXRF detection limit for uranium in contaminated water of 0.30 µg/g was achieved. 相似文献
46.
Hui Zhang Yahia A. Alhamed Abdulrahim Al-Zahrani Mohammad Daous Hitoshi Inokawa Yoshitsugu Kojima Lachezar A. Petrov 《International Journal of Hydrogen Energy》2014
Multi-walled carbon nanotubes, three types of activated carbons, single wall carbon nanotube and reduced graphene oxides were used to synthesize nano-sized Co catalysts for H2 preparation via NH3 decomposition. Catalyst samples were characterized by number of techniques such as N2 physisorption, X-ray diffraction (XRD), X-ray photoelectron spectroscopes (XPS), Transmission electron microscopy (TEM), CO chemisorption, temperature-programmed reduction (H2-TPR) and temperature-programmed desorption (N2-TPD). The catalytic activities of the studied catalysts for H2 production via NH3 decomposition were measured in a fixed-bed micro-reactor. Co catalyst supported on multi-wall carbon nanotubes has shown the highest catalytic activity. The Co particles size was significantly affected by the variation of the post-treatment temperature. The Co particles size in the range of 4.7–64.8 nm can be effectively controlled by varying post-treatment temperature between 230 and 700 °C. The maximum TOF of NH3 decomposition was registered on cobalt catalyst post-treated at 600 °C. 相似文献
47.
48.
Mitsuru Nakazawa Ikuhisa Mitsugami Hitoshi Habe Hirotake Yamazoe Yasushi Yagi 《IEEJ Transactions on Electrical and Electronic Engineering》2015,10(Z1):S108-S115
When using multiple Kinects, there must be enough distances among neighboring Kinects to avoid spoiled range data caused by the interference of their infrared speckle patterns. In the arrangement, their overlapped regions are too small to apply existing calibration methods using correspondences between their observations straightforwardly. Therefore, we propose a method to calibrate Kinects without large overlapped regions. In our method, first, we add extra RGB cameras in an environment to compensate overlapped regions. Thanks to them, we can estimate their camera parameters by obtaining correspondences between color images. Next, for accurate calibration, which considers range data as well as color images of Kinects, we optimize the estimated parameters by minimizing both the errors of correspondences between color images and those of range data of planar regions, which exist in a general environment such as walls and floors. Although our method consists of conventional techniques, its combination is optimized to achieve the calibration. © 2015 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc. 相似文献
49.
Hitoshi Komoto 《CIRP Annals》2019,68(1):157-160
Given hierarchical system specifications, embodiment and integration processes of subsystems are crucial in designing complex engineered systems. To complement the current mathematical design theories that do not sufficiently support these processes, this study applies general design theory to formulate these processes based on the mathematical structure of design knowledge studied in the literature using category theory. Specifically, the composition of embodiment operations and the relations among subsystems in integration operations on the category of sets and topological spaces are elucidated. Furthermore, the formulation is applied to analysis of a system design process of a production line in model-based systems engineering. 相似文献
50.
Hirotoshi Miyazaki Kazutoshi Terada Toshiaki Sato Hitoshi Maruyama Takuji Okaya 《应用聚合物科学杂志》1996,60(12):2149-2157
In dispersion polymerization of styrene in ethanol, effects of a reactive steric stabilizer, poly(vinyl acetate/vinyl alcohol) copolymer with a thiol end group (P(VAc/VA)-SH), were investigated. In the absence of the thiol end group, the dispersion coagulated at the middle stage of the polymerization, while in the presence of the thiol end group, the polymerization proceeded successfully to result in close to monodisperse particles. The reactive thiol group acts as a site of formation of the block copolymer, that is, polystyrene-b-P(VAc/VA), which is utilized as an effective dispersant. From the measurement on molecular weights during the course of polymerization, two polymerization loci were realized. Addition of butyl methacrylate to styrene affected markedly not only rate of polymerization but also particle size. © 1996 John Wiley & Sons, Inc. 相似文献