Tabu search for attribute reduction in rough set theory

In this paper, we consider a memory-based heuristic of tabu search to solve the attribute reduction problem in rough set theory. The proposed method, called tabu search attribute reduction (TSAR), is a high-level TS with long-term memory. Therefore, TSAR invokes diversification and intensification search schemes besides the TS neighborhood search methodology. TSAR shows promising and competitive performance compared with some other CI tools in terms of solution qualities. Moreover, TSAR shows a superior performance in saving the computational costs.     

Cooperative localization by using knowledge of self-organized regularity

In this article, a new localization approach for a team of robots that use the emergent properties of their formation is proposed. Synchronized behavior sometimes generates spin-off effects that include geometric patterns. The question then arises as to whether it is possible to use these patterns for something important for robots. In this article, Takayama’s control strategy, which is a target enclosure formation, is discussed. A simple and useful expansion of Monte Carlo localization by the emergent pattern is proposed. The proposed algorithms are confirmed through a series of computer simulations.     

Fault-tolerant decentralized H-infinity control for multi-channel systems using homotopy method

This paper considers a fault-tolerant decentralized H-infinity control problem for multi-channel linear time-invariant systems. The purpose is to design a decentralized H-infinity output feedback controller to.stabilize the given system and achieve a certain H-infinity performance requirement both in the normal situation and in the situation where any one of the local controllers fails. The designed problem is reduced to a feasibility problem of a set of bilinear matrix inequalities （BMIs）. An algorithm is proposed to solve the BMIs. First, the normal situation is considered where all the local controllers are functioning. The local controllers are obtained from a standard centralized H-infinity controller by using a homotopy method imposing a structural constraint progressively. Secondly, the above case is extended to the one where any one of the local controllers fails. We again use a homotopy method where the coefficient matrices of the failed controller are decreased progressively to zero. The efficiency of the proposed algorithm is demonstrated by an example.     

Hybrid Petri net based modeling for biological pathway simulation

Hybrid Petri net (HPN) is an extension of the Petri net formalism, which enables us to handle continuous information in addition to discrete information. Firstly, this paper demonstrates how biological pathways can be modeled by the integration of discrete and continuous elements, with an example of the λ phage genetic switch system including induction and retroregulation mechanisms. Although HPN allows intuitive modeling of biological pathways, some fundamental biological processes such as complex formation cannot be represented with HPN. Thus, this paper next provides the formal definition of hybrid functional Petri net with extension (HFPNe), which has high potential for modeling various kinds of biological processes. Cell Illustrator is a software tool developed on the basis of the definition of HFPNe. Hypothesis creation by Cell Illustrator is demonstrated with the example of the cyanobacterial circadian gene clock system. Finally, our ongoing tasks, which include the development of a computational platform for systems biology, are presented.     

Illumination normalization with time-dependent intrinsic images for video surveillance

Variation in illumination conditions caused by weather, time of day, etc., makes the task difficult when building video surveillance systems of real world scenes. Especially, cast shadows produce troublesome effects, typically for object tracking from a fixed viewpoint, since it yields appearance variations of objects depending on whether they are inside or outside the shadow. In this paper, we handle such appearance variations by removing shadows in the image sequence. This can be considered as a preprocessing stage which leads to robust video surveillance. To achieve this, we propose a framework based on the idea of intrinsic images. Unlike previous methods of deriving intrinsic images, we derive time-varying reflectance images and corresponding illumination images from a sequence of images instead of assuming a single reflectance image. Using obtained illumination images, we normalize the input image sequence in terms of incident lighting distribution to eliminate shadowing effects. We also propose an illumination normalization scheme which can potentially run in real time, utilizing the illumination eigenspace, which captures the illumination variation due to weather, time of day, etc., and a shadow interpolation method based on shadow hulls. This paper describes the theory of the framework with simulation results and shows its effectiveness with object tracking results on real scene data sets.     

Phase relationship on Mo-S system at high temperatures

Changing the partial pressure of sulfur Ps₂ at temperatures of 750° and 950°C, phase equilibria on the Mo-S system by solid-gas reaction were investigated. Hexagonal 2H-MoS₂ and monoclinic Mo₂S₃ phases were identified from the x-ray powder diffraction pattern. The 2H-MoS₂ had a slight homogeneity range, i.e. MoS_1.978 to MoS_2.0 at 950°C, MoS_1.983 to MoS_2.0 at 750°C. No remarkable variation of lattice parameters for the MoS₂ was observed. The composition of the Mo₂S₃ phase was not stoichiometric MoS_1.5 but MoS_1.457 at 950°C. At 750°C the composition of the Mo₂S₃ phase could not be determined since it was quite difficult to establish the equilibrium state between the gas and the condensed phases. This finding agreed well with the result of Morimoto and Kullerud.     

RUNA: a multimodal command language for home robot users

This article describes a multimodal command language for home robot users, and a robot system which interprets users’ messages in the language through microphones, visual and tactile sensors, and control buttons. The command language comprises a set of grammar rules, a lexicon, and nonverbal events detected in hand gestures, readings of tactile sensors attached to the robots, and buttons on the controllers in the users’ hands. Prototype humanoid systems which immediately execute commands in the language are also presented, along with preliminary experiments of faceto-face interactions and teleoperations. Subjects unfamiliar with the language were able to command humanoids and complete their tasks with brief documents at hand, given a short demonstration beforehand. The command understanding system operating on PCs responded to multimodal commands without significant delay. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Success rates in a multimodal command language for home robot users

This article considers the success rates in a multimodal command language for home robot users. In the command language, the user specifies action types and action parameter values to direct robots in multiple modes such as speech, touch, and gesture. The success rates of commands in the language can be estimated by user evaluations in several ways. This article presents some user evaluation methods, as well as results from recent studies on command success rates. The results show that the language enables users without much training to command home robots at success rates as high as 88%–100%. It is also shown that multimodal commands combining speech and button-press actions included fewer words and were significantly more successful than single-modal spoken commands.     

Hard X-Ray Microscope With Submicrometer Spatial Resolution

A high-resolution hard x-ray microscope is described. This system is capable of detecting line features as small as 0.6 µm in width, and resolving line pairs 1.2-µm wide and 1.2-µm apart. Three types of two-dimensional image detectors are discussed and compared for use with hard x rays in high resolution. Principles of x-ray image magnification are discussed based on x-ray optics and diffraction physics. Examples of applications are shown in microradiography with fiber reinforced composite materials (SiC in Ti₃Al Nb) and in diffraction imaging (topography) with device patterns on a silicon single crystal. High-resolution tomography has now become a reality.