Multiple fuzzy state-value functions for human evaluation through interactive trajectory planning of a partner robot

The purpose of this study is to develop partner robots that can obtain and accumulate human-friendly behaviors. To achieve this purpose, the entire architecture of the robot is designed, based on a concept of structured learning which emphasizes the importance of interactive learning of several modules through interaction with its environment. This paper deals with a trajectory planning method for generating hand-to-hand behaviors of a partner robot by using multiple fuzzy state-value functions, a self-organizing map, and an interactive genetic algorithm. A trajectory for the behavior is generated by an interactive genetic algorithm using human evaluation. In order to reduce human load, human evaluation is estimated by using the fuzzy state-value function. Furthermore, to cope with various situations, a self-organizing map is used for clustering a given task dependent on a human hand position. And then, a fuzzy state-value function is assigned to each output unit of the self-organizing map. The robot can easily obtain and accumulate human-friendly trajectories using a fuzzy state-value function and a knowledge database corresponding to the unit selected in the self-organizing map. Finally, multiple fuzzy state-value functions can estimate a human evaluation model for the hand-to-hand behaviors. Several experimental results show the effectiveness of the proposed method.     

氯丁橡胶辐射硫化工艺的研究

研究了氯丁橡胶的辐射硫化工艺,发现含有４份多官能团单体４Ｇ,４份氧化镁及３０份碳黑的氯丁橡胶试样接受３０￣５０ｋＧｙ电子束辐射后,发生了交联。产品物理性能均达到或超过了化学硫化可达到的数值,因而在某些场合氯丁橡胶辐射硫化法可以取代化学硫化法。     

Multimouth surfaces for synthetic actor animation

Most parts of the human body are cylindrical in shape. Generalized cylinders, with two cross-sectional openings, are a logical choice to represent these cylindrical shapes. However, a variety of human body regions can be visualized as surfaces with multiple openings or multimouth (MM) surfaces. Some examples of such surfaces are the pelvis, the chest, and the palms of the hands. We investigated the suitability of non-uniform rational B-spline (NURBS) formulation for creating multimouth surfaces. Two techniques, the surface wrapping model and the garland model, are presented.     

Solid-state microwave relay systems in Japan

In response to the rapidly increasing demand for communication facilities, microwave relay systems have played an important role in Japan's telecommunications network because of their economy and capability for broadband transmission. Their progress has been marked during the past 20 years and this development has been supported by advances in such diverse fields as radio propagation, antennas, microwave and electronic circuitry, electron devices, and, particularly, in solid-state techniques. This article reviews the history of microwave relay systems and describes the past and expected future contributions of the solid-state technology to these systems.     

A spherical aberration-corrected 200 kV TEM

A spherical aberration (Cs)-corrected 200 kV TEM was newly developed. The column of the microscope was extended by 25 cm and the inner yoke of the objective lens was modified to insert some parts of the corrector elements. The corrector has two hexapole elements that play a main role in Cs correction and they are placed at a position equivalent to the coma-free point of the objective lens by using two transfer doublet lenses. The Cs correction was successfully carried out by means of the third-order aberration that was generated in the two extended hexapoles. The Cs can be corrected to the desired value and also can be overcompensated in order to produce a negative Cs, as with the corrected Cs of -23 microm shown in this work. The optical system of the corrector does not produce second- and fourth-order aberrations, and can correct residual aberrations up to the third order. All of the corrector elements are computer-controlled and the third-order aberrations are quite stable after they are properly corrected. The resolution of 0.135 nm was experimentally confirmed by the Young's fringe method. Image simulations of a silicon [110] single crystal were made with various Cs and defocus values to demonstrate the effectiveness of arbitral control of Cs.     

An authorization-based trust model for multiagent systems

In this paper an authorization-based trust model (ABTM) is described which is designed for managing access to services in a semi-open distributed environment. This is called a multiagent-based smart office environment. In this model, "trust" is defined as a set of authorization attributes that are granted by the owner of a service to the user of the service. Central to this model is a trust manager that redelegates authorizations from the service owner to the requesting user, based on access control policies that are specified by role labels which are assigned to a set of agents. The ABTM scheme is different from a centralized scheme, in which authorizations are granted directly by an authority. It is also different from a fully distributed system,where authorizations are granted based solely on the discretion of the owner of the services. The design philosophy is the separation of trust management and trust application to allow efficient management of access control in large-scale and dynamic environment, such as those that exist in multiagent systems.     

Regional noise prediction and management system using remote sensing

Abstract

This paper deals with the prediction and management of regional and environmental noise using remote sensing techniques. Landsat-MSS and -TM data are used to estimate noise pollution by means of a group method of data handling. They estimate ground roughness from the proportion of the area occupied by buildings thus determining the shielding factor of noise propagation on the ground. The noise level predicted by the method presented in this paper showed a satisfactory agreement with that obtained from measurements from various other cases in urban areas.