Automated 360° profilometry of a three-dimensional diffuse object and its reconstruction by use of the shading model

The 360° profilometry of a three-dimensional (3-D) diffuse object by use of the light intersection and its image reconstruction by surface shading are presented. The lack of data in one direction, which was due to occlusion, was compensated by the projection of two lines of light from different directions. Some experiments to profile objects and their reconstruction by computer are shown. The entire surface model was constructed, and a real shading image was obtained by means of computer graphics.     

Effect of temperature on humido-sensitive conducting polymer actuators

Temperature dependence of water vapor sorption and electro-active polymer actuating behavior of free-standing films made of poly(3,4-ethylenedioxythiophene) doped with poly(4-styrenesulfonate) (PEDOT/PSS) was investigated by means of sorption isotherm and electromechanical analyses. The non-porous PEDOT/PSS film, having a specific surface area of 0.13 m² g^?1, sorbed water vapor of 1080 cm³(STP) g^?1, corresponding to 87 wt%, at relative water vapor pressure of 0.95. A temperature rise from 25 °C to 40 °C lowered sorption degree, indicative of an exothermic process, where isosteric heat of sorption decreased with increasing water vapor sorption and the value reached 43.9 kJ mol^?1, being consistent with the heat of water condensation (44 kJ mol^?1). Upon application of 10 V, the film underwent contraction of 2.46% at 5 °C caused by desorption of water vapor due to Joule heating, which slightly decreased to 2.10% at 45 °C. The speed of contraction was one order of magnitude faster than that of expansion and less dependent on the temperature since water vapor sorbed in the film were forced to desorb by Joule heating. In contrast, the higher the temperature the faster the film expansion because diffusion coefficient increased as the temperature became higher.     

Interactive Cover Design Considering Physical Constraints

We developed an interactive system to design a customized cover for a given three‐dimensional (3D) object such as a camera, teapot, or car. The system first computes the convex hull of the input geometry. The user segments it into several cloth patches by drawing on the 3D surface. This paper provides two technical contributions. First, it introduces a specialized flattening algorithm for cover patches. It makes each two‐dimensional edge in the flattened pattern equal to or longer than the original 3D edge; a smaller patch would fail to cover the object, and a larger patch would result in extra wrinkles. Second, it introduces a mechanism to verify that the user‐specified opening would be large enough for the object to be removed. Starting with the initial configuration, the system virtually “pulls” the object out of the cover while avoiding excessive stretching of cloth patches. We used the system to design real covers and confirmed that it functions as intended.     

Prediction of Human Behavior in Human--Robot Interaction Using Psychological Scales for Anxiety and Negative Attitudes Toward Robots

When people interact with communication robots in daily life, their attitudes and emotions toward the robots affect their behavior. From the perspective of robotics design, we need to investigate the influences of these attitudes and emotions on human-robot interaction. This paper reports our empirical study on the relationships between people's attitudes and emotions, and their behavior toward a robot. In particular, we focused on negative attitudes, anxiety, and communication avoidance behavior, which have important implications for robotics design. For this purpose, we used two psychological scales that we had developed: negative attitudes toward robots scale (NARS) and robot anxiety scale (RAS). In the experiment, subjects and a humanoid robot are engaged in simple interactions including scenes of meeting, greeting, self-disclosure, and physical contact. Experimental results indicated that there is a relationship between negative attitudes and emotions, and communication avoidance behavior. A gender effect was also suggested.     

A Face Identification System Based on the Mahalanobis–Taguchi System

In this paper, we propose a face identification system based on the Mahalanobis–Taguchi System (MTS). The MTS is one of the pattern recognition methods frequently used in quality engineering, and can perform robust pattern recognition by using training data, including noise. It is likely that this advantage will allow the effective implementation of a robust face identification system against lighting and face position fluctuations. Moreover, the MTS can optimize the number of attributes required for identification by using the orthogonal array and the signal/noise (SN) ratio. The face identification system has to deal with many users and the amount of data in a facial image is large. Therefore, the time required for identification can be decreased and the amount of data in the facial image database can be reduced by performing the optimization. We confirmed the effectiveness of the proposed system through practical experiments. The experimental results revealed that the MTS was an effective method for robust face identification, and could effectively reduce the number of attributes required for identification.     

Proof of termination within a weak logic of programs

Summary A weak logic of programs is a formal system in which statements that mean the program halts cannot be expressed. In order to prove termination, we would usually have to use a stronger logical system. In this paper we show how we can prove termination of both iterative and recursive programs within a weak logic by augmenting the programs with counters and adding bound assertions on the counters as loop invariants and entry conditions. Thus, most of the existing verifiers which are based on a weak logic of programs can be used to prove termination of programs without any modification. We give examples of proofs of termination and of upper bounds on computation time that were obtained using a Pascal program verifier. The use of the method to locate causes of non-termination is also illustrated.This research was supported inpart by the Advanced Research Agency of the Office of the Secretary of Defence under contract DAHC 15-73-C-0435     

Highly accurate SNR measurement using the covariance of two SEM images with the identical view

Quality of an SEM image is strongly influenced by the extent of noise. As a well-known method in the field of SEM, the covariance is applied to measure the signal-to-noise ratio (SNR). This method has potential ability for highly accurate measurement of the SNR, which is hardly known until now. If the precautions discussed in this article are adopted, that method can demonstrate its real ability. These precautions are strongly related to "proper acquisition of two images with the identical view," "alignment of an aperture diaphragm," "reduction of charging phenomena," "elimination of particular noises," and "accurate focusing," As necessary, characteristics in SEM signal and noise are investigated from a few standpoints. When using the maximum performance of this measurement, SNR of many SEM images obtained in a variety of the SEM operating conditions and specimens can be measured accurately.