Hardware system of the Earth Simulator

The Earth Simulator (ES), developed under the Japanese government’s initiative “Earth Simulator project”, is a highly parallel vector supercomputer system. In this paper, an overview of ES, its architectural features, hardware technology and the result of performance evaluation are described.

In May 2002, the ES was acknowledged to be the most powerful computer in the world: 35.86 teraflop/s for the LINPACK HPC benchmark and 26.58 teraflop/s for an atmospheric general circulation code (AFES). Such a remarkable performance may be attributed to the following three architectural features; vector processor, shared-memory and high-bandwidth non-blocking interconnection crossbar network.

The ES consists of 640 processor nodes (PN) and an interconnection network (IN), which are housed in 320 PN cabinets and 65 IN cabinets. The ES is installed in a specially designed building, 65 m long, 50 m wide and 17 m high. In order to accomplish this advanced system, many kinds of hardware technologies have been developed, such as a high-density and high-frequency LSI, a high-frequency signal transmission, a high-density packaging, and a high-efficiency cooling and power supply system with low noise so as to reduce whole volume of the ES and total power consumption.

For highly parallel processing, a special synchronization means connecting all nodes, Global Barrier Counter (GBC), has been introduced.     

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.     

LC GRIN lens mode with wide viewing angle for rotatable 2D/3D tablet

To widen the vertical and horizontal angular ranges where the lens performs well, the off‐axis performance of a liquid crystal gradient index (LC GRIN) lens is analyzed by the combined simulation system of an LC director simulator and a ray‐tracing simulator. We found that the angular difference between an LC alignment direction and an electrode array direction of the LC GRIN lens is one of significant parameters, and detailed conditions of structure are established. The measurement result shows that the developed structure reduces the degradation ratio in a luminance profile from 61% to 3.2%. We have applied a user tracking system for the rotatable 3D display, equipped with a detection of a panel orientation and a face position. As a result, we have developed a rotatable 2D/3D tablet whose 3D viewing azimuth angle is over 30° in both landscape and portrait orientations.     

An adaptive observer for a spacecraft–manipulator system using a camera mounted on its spacecraft

This paper deals with a motion control system for a space robot with a manipulator. Many motion controllers require the positions of the robot body and the manipulator hand with respect to an inertial coordinate system. In order to measure them, a visual sensor using a camera is frequently used. However, there are two difficulties in measuring them by means of a camera. The first one is that a camera is mounted on the robot body, and hence it is difficult to directly measure the position of the robot body by means of it. The second one is that the sampling period of a vision system with a general-purpose camera is much longer than that of a general servo system. In this paper, we develop an adaptive state observer that overcomes the two difficulties. In order to investigate its performance, we design a motion control system that is constructed by combining the observer with a PD control input, and then conduct numerical simulations for the control system. Simulation results demonstrate the effectiveness of the proposed observer.     

User Modeling in Spoken Dialogue Systems to Generate Flexible Guidance

We address the issue of appropriate user modeling to generate cooperative responses to users in spoken dialogue systems. Unlike previous studies that have focused on a user’s knowledge, we propose more generalized modeling. We specifically set up three dimensions for user models: the skill level in use of the system, the knowledge level about the target domain, and the degree of urgency. Moreover, the models are automatically derived by decision tree learning using actual dialogue data collected by the system. We obtained reasonable accuracy in classification for all dimensions. Dialogue strategies based on user modeling were implemented on the Kyoto City Bus Information System that was developed at our laboratory. Experimental evaluations revealed that the cooperative responses adapted to each subject type served as good guides for novices without increasing the duration dialogue lasted for skilled users.     

Integrating local action elements for action analysis

In this paper, we propose a framework for human action analysis from video footage. A video action sequence in our perspective is a dynamic structure of sparse local spatial–temporal patches termed action elements, so the problems of action analysis in video are carried out here based on the set of local characteristics as well as global shape of a prescribed action. We first detect a set of action elements that are the most compact entities of an action, then we extend the idea of Implicit Shape Model to space time, in order to properly integrate the spatial and temporal properties of these action elements. In particular, we consider two different recipes to construct action elements: one is to use a Sparse Bayesian Feature Classifier to choose action elements from all detected Spatial Temporal Interest Points, and is termed discriminative action elements. The other one detects affine invariant local features from the holistic Motion History Images, and picks up action elements according to their compactness scores, and is called generative action elements. Action elements detected from either way are then used to construct a voting space based on their local feature representations as well as their global configuration constraints. Our approach is evaluated in the two main contexts of current human action analysis challenges, action retrieval and action classification. Comprehensive experimental results show that our proposed framework marginally outperforms all existing state-of-the-arts techniques on a range of different datasets.     

Growth and coalescence of two collinear indentation cracks in glass

Subcritical growth and coalescence of two collinear cracks of different lengths were investigated using small Knoop indentation cracks in glass. Indentation cracks subjected to bending in water showed anomalous crack growth in terms of the stress intensity factor, K_I. The crack growth velocity, dc/dt, was initially high, decreased and thereafter increased with increasing K_I. The effective stress intensity factor, K_I,eff, was calculated by adding a term describing the state of residual stress to explain this anomalous growth. Before crack coalescence, a large crack showed a crack velocity higher than expected from the coalescent crack. The coalescent crack velocity increased with K_I,eff and the slope of dc/dt−K_I,eff curves differed from that for a single crack, depending on the crack length.     

Application of SPRT to an image data sequence for a remote monitoring system

Recently, remote monitoring camera systems have been widely used for security. In such systems, one important function is that the system automatically detects any change in the scenes from the monitoring cameras. In wireless remote monitoring camera systems, the images of the scenes are generally transmitted as compressed data (e.g., JPEG file), because of the capacity of the wireless channel. This article shows the automated detection of the change point in time-series data of compressed JPEG file quantity (Kbytes) from the monitoring camera by applying the sequential probabilistic ratio test (SPRT) and the Chow test, which is well known as a standard method for detecting structural change in time-series data.     

A master-slave control system for a semi-autonomous underwater vehicle-manipulator system

Underwater vehicle-manipulator systems (UVMS) are expected to play an important role in ocean exploration. It is considered that UVMS will be operated by both automatic and manual control. We have proposed an automatic control method. In this article, we propose a master-slave system for a UVMS. The effectiveness of the proposed master-slave control system is demonstrated by using a floating underwater robot with a 2-link manipulator.