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.     

Significant reduction of medical costs by differentiation therapy with all-trans retinoic acid during remission induction of newly diagnosed patients with acute promyelocytic leukemia. The Japan Adult Leukemia Study Group

OBJECTIVE: For resuscitation of hemorrhagic hypovolemia, we compared the effectiveness of (1) isotonic lactated Ringer's solution (LRS), (2) 2400 mOsm of 7.5% NaCl:6% dextran 70 (HSD), and (3) 2400 mOsm of 7.9% sodium acetate:1.9% NaCl:6% dextran 70 (HAD). DESIGN: In six randomized, blinded experiments for each solution, conscious instrumented adult sheep were hemorrhaged by removing approximately 1.8 L (42 +/- 3 mL/kg) of blood, while maintaining the mean arterial pressure (MAP) at 50 mm Hg for 2 hours. METHODS: Test solutions were infused as needed to restore the cardiac index to baseline. RESULTS: Volume requirements with HAD (236 +/- 29 mL) and HSD (244 +/- 39 mL) were significantly less (p < 0.05) than LRS (3463 +/- 234 mL). Mean arterial pressure was normalized with HSD and LRS, but not with HAD, which resulted in MAPs of 20 to 25 mm Hg less than baseline resulting from a reduced peripheral resistance. Oxygen delivery, however, was significantly higher with HAD during the resuscitation period. Acid-base balance (pH) and oxygen consumption were normalized within 5 minutes of infusion only with HAD. CONCLUSIONS: Small-volume infusion with HAD resulting in "high-flow-low-pressure" resuscitation may offer unique hemodynamic and metabolic advantages for the initial treatment of hemorrhage from trauma.     

Effects of core machining configuration on the debonding toughness of foam core sandwich panels

Core machining is often applied to improve the formativeness of foam core and the manufacturing effectiveness of sandwich panels. This paper investigates the effects of core machining configuration on the interfacial debonding toughness of foam core sandwich panels fabricated by vacuum-assisted resin transfer molding process. Several machining configurations are conducted to foam core, and skin–core debonding toughness of fabricated sandwich panels is evaluated using double-cantilever-beam tests. The sandwich panels with core cuts exhibited higher apparent fracture toughness than the panels without core cut, specifically in the case of perforated core. The relationship between core machining configuration and measured fracture toughness is discussed based on the experimental observations and the numerical analyses of energy release rates.     

A Hu moment invariant as a shape circularity measure

In this paper we propose a new circularity measure which defines the degree to which a shape differs from a perfect circle. The new measure is easy to compute and, being area based, is robust—e.g., with respect to noise or narrow intrusions. Also, it satisfies the following desirable properties:

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it ranges over (0,1] and gives the measured circularity equal to 1 if and only if the measured shape is a circle;

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it is invariant with respect to translations, rotations and scaling.

Compared with the most standard circularity measure, which considers the relation between the shape area and the shape perimeter, the new measure performs better in the case of shapes with boundary defects (which lead to a large increase in perimeter) and in the case of compound shapes. In contrast to the standard circularity measure, the new measure depends on the mutual position of the components inside a compound shape.Also, the new measure performs consistently in the case of shapes with very small (i.e., close to zero) measured circularity. It turns out that such a property enables the new measure to measure the linearity of shapes.In addition, we propose a generalisation of the new measure so that shape circularity can be computed while controlling the impact of the relative position of points inside the shape. An additional advantage of the generalised measure is that it can be used for detecting small irregularities in nearly circular shapes damaged by noise or during an extraction process in a particular image processing task.     

Mobile crowdsensing with mobile agents

We introduce mobile agents for mobile crowdsensing. Crowdsensing campaigns are designed through different roles that are implemented as mobile agents. The role-based tasks of mobile agents include collecting data, analyzing data and sharing data in the campaign. Mobile agents execute and control the campaign autonomously as a multi-agent system and migrate in the opportunistic network of participants’ devices. Mobile agents take into account the available resources in the devices and match participants’ privacy requirements to the campaign requirements. Sharing of task results in real-time facilitates cooperation towards the campaign goal while maintaining a selected global measure, such as energy efficiency. We discuss current challenges in crowdsensing and propose mobile agent based solutions for campaign execution and monitoring, addressing data collection and participant-related issues. We present a software framework for mobile agents-based crowdsensing that is seamlessly integrated into the Web. A set of simulations are conducted to compare mobile agent-based campaigns with existing crowdsensing approaches. We implemented and evaluated a small-scale real-world mobile agent based campaign for pedestrian flock detection. The simulation and evaluation results show that mobile agent based campaigns produce comparable results with less energy consumption when the number of agents is relatively small and enables in-network data processing with sharing of data and task results with insignificant overhead.     

Bottom-up pyramid cellular acceptors with three-dimensional layers

In 1997, C.R. Dyer and A. Rosenfeld introduced an acceptor on a two-dimensional pattern (or tape), called the pyramid cellular acceptor, and demonstrated that many useful recognition tasks are executed by pyramid cellular acceptors in time proportional to the logarithm of the diameter of the input. They also introduced a bottom-up pyramid cellular acceptor which is a restricted version of the pyramid cellular acceptor, and proposed some interesting open problems of the bottom-up pyramid cellular acceptors. On the other hand, we think that the study of threedimensional automata has been meaningful as the computational model of three-dimensional information processing such as computer vision, robotics, and so forth. In this paper, we investigate about bottom-up pyramid cellular acceptors with three-dimensional layers, and show their some accepting powers. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Detection algorithm for color dynamic images by multiple surveillance cameras under low luminance conditions based on fuzzy corresponding map

An objects detection algorithm for color dynamic images from two cameras is proposed for a surveillance system under low illumination. It provides automatic calculation of a fuzzy corresponding map and color similarity for lower luminance conditions, which detects little chromatic regions in CCD camera images under lower illumination and presents regions with a possibility of occlusion situation. Experimental detection results for two dynamic images from real surveillance cameras in a downtown area in Japan under low luminance conditions show that the proposed algorithm has 15% improved accuracy compared with the independent detection algorithm in the same false alarm rate, which occlusion regions are correctly presented. Moreover, implementability for severe surveillance situation is discussed. The proposed algorithm is being considered for use in a low cost surveillance system at a relatively poor security downtown (shopping mall) area in Japan.