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.     

Development of fault cause estimation method for distribution line

We are planning to develop the new Advanced Distribution Automation System (ADAS) equipped with optical communication network and sectionalizer with sensor for more grid reliability and efficiency on maintenance operation. The new system is featured with the function of fault cause or damaged part estimation. The new sectionalizer captures the waveform of electrical line surge originated by fault and the system analyzes the waveform for this function. This paper mainly introduces the system configuration of ADAS and an early stage examination of fault cause estimation technology.     

A Review on InGaSb Growth under Microgravity and Terrestrial Conditions Towards Future Crystal Growth Project Using Chinese Recovery Satellite SJ-10

The paper reviewed the previous microgravity experiment using Chinese recovery satellite, the in-situ measurement of composition profile in the solution by X-ray penetration method and homogeneous growth of InGaSb by temperature freezing method under terrestrial condition for making clear the effect of gravity on the growth of InGaSb ternary alloy semiconductor crystals. The previous experimental results showed that the shape of solid/liquid interfaces and composition profile in the solution were significantly affected by gravity. Based on the previous microgravity experimental results, experimental conditions were investigated to grow homogeneous In _xGa _1?xSb with higher indium composition at Chinese recovery satellite SJ-10 in near future.     

The Somatropin Reference Standard (Control 951) of the National Institute of Health Sciences

Somatropin material was examined for preparation of the "Somatropin Reference Standard". The candidate material was evaluated by a domestic collaborative study in which eight laboratories participated. The protein content was determined to be 4.5 mg/Vial based on amino acid analysis. Because of the possibility of application as a chemical reference standard for assay by the HPLC method, a physico-chemical evaluation of the candidate material was also performed. By SE-HPLC, the content of polymer, dimer were determined to be 0.54%, 0.98%, respectively. By RP-HPLC, the early peak area ascribed to desamido and sulfoxide form was 1.07% of the total peak area. And for informational data, the potency of the candidate material, being estimated by three different biological methods, weight gain assay, tibia test and adiposeconversion assay is 14.8 IU/vial. Based on the above results, the candidate was authorized as the Somatropin Reference Standard of the National Institute of Health Sciences.     

A dynamically reconfigurable processor for H.264/AVC image prediction

H.264/AVC provides high video quality at substantially low bit rates. It is useful for saving and transferring video images by robot cameras. However, the computational complexity of H.264/AVC is very high. A high-speed general-purpose processor is necessary to process H.264/AVC. However, it is difficult to use such a processor for a portable device. Therefore, an application-specific processor is necessary. A dynamic reconfiguration can virtually expand the circuit area in a limited chip area. Therefore, this article proposes a dynamically reconfigurable processor for H.264/AVC image prediction. H.264/AVC contains intra- and inter-prediction processes. The intra- and inter-prediction processes are not used at the same time. The proposed processor was designed and synthesized, and dynamically reconfigures those circuits. As a result, look-up tables (LUTs) were reduced to 93%, flip-flops were reduced to 94%, and the maximum delay was about the same.     

Experience with radio isotope myelography from neurosurgical aspects (author's transl)

Experience with Radio Isotope Myelography is reported here. 169Yb-DTPA as a tracer was intrathecally injected at lumbar region in twenty three patients with various spinal cord lesions. The first scanning is perfomed after comfirming by gamma-camera that the tracer reaches to the lesion, the second and the third scannings are done according to the ascending rate of the tracer. (I) Normal scintimyelogram (A) In normal case, the shape of the Radio Isotope Myelogram well corresponds the shape of anatomical subarachnoid space. (B) In normal adult cases, the tracer comes up to the cisterna magna in 20-25 minutes after the lumbar injection. Therefore, the scintimyelographic diagnosis should be made not only by the shape but also by the ascending rapidity of the tracer. (II) Abnormal scintimyelogram Abnormal scintimyelograms could be summarized as following three categories. (A) "Delay": It means delay of the ascending of the tracer. Besides, "Transient delay" found in a case of Arnord-Chiari's malformation was proposed. (B) "Partial block": It meas a defect at the level of the lesion. This "Partial block" were observed in cases of spinal cord angioma, cervical spondylosis and spinal cord tumor etc. (C) "Complete block": It means the stagnation of the tracer below the lesion. To sum up, Rario Isotope Myelography, especially in partial block, can more easily and more sensitively represent the maximum extent of the spinal cord lesion than other myelographic study or angiographic one. On the other hand, we can not qualitatively diagnose about the lesions by its indistinct border.     

气体辅助法陶瓷薄膜的制备

Ceramics （alumina） coating on sevaral materials has been successfully achieved at room temperature by gas - assisted deposition （ GAD） technique. In the GAD process the alumina powder was accelerated by jet flow with velocity of - 1000 m/s and impaeted to a substrate, thereby a fiat and dense film was deposited up to 10 μm on the substrate without arty additional heating. The crystal structttre of the alumina in an obtained GAD films seemed as amorphous like. The crystalline phase was recovered by post nnnenling at 1 300 ℃ , however, the matrix resulted in a hollow structure.     

Effect of gravity on InGaSb crystal growth

The effect of gravity on dissolution of GaSb in InSb melt and growth of InGaSb was experimentally investigated. Experiments were carried out in a GaSb(seed)/InSb/GaSb(feed) sandwich system under an imposed temperature gradient. In the experiments, the GaSb feed crystal dissolved into the InSb melt to supply the required GaSb component for the growth of In_0.1Ga_0.9Sb crystal. Two parameters were considered: (1) the inclination angle (θ) of the sample for gravity as 0° and 53°, and (2) the sample diameter (D) as 9 mm and 5mm. When θ was 0°, the interface was almost flat, indicating that convection was axisymmetric and stable. Whereas the interface was distorted towards gravitational direction when θ was 53°, indicating that solutal convection was dominant. The decrease of growth temperature and sample diameter reduced the distortion of interface and the dissolution amount of GaSb feed. The homogeneous crystals were grown at the initial growth stage by supplying the GaSb component during growth.