Rank 2 proximal Cantor systems are residually scrambled

Downarowicz and Maass [7 T. Downarowicz and A. Maass, Finite-rank Bratteli–Vershik diagrams are expansive, Ergod. Th. Dynam. Sys. 28 (2008), pp. 739–747.[Web of Science ®] , [Google Scholar]] proposed topological ranks for all homeomorphic Cantor minimal dynamical systems using properly ordered Bratteli diagrams. In this study, we adopt this definition to the case of the essentially minimal zero-dimensional systems. We consider the cases in which topological ranks are 2 and unique minimal sets are fixed points. Akin and Kolyada [2 E. Akin and S. Kolyada, Li–Yorke sensitivity, Nonlinearity 16(4) (2003), pp. 1421–1433.[Crossref], [Web of Science ®] , [Google Scholar]], had shown that if the unique minimal set of an essentially minimal system is a fixed point, then the system must be proximal. The finite topological rank implies expansiveness; furthermore, in the case of proximal Cantor systems with topological rank 2, the expansiveness is always from the lowest degree. Rank 2 proximal Cantor systems are residually scrambled. We present a necessary and sufficient condition for the unique ergodicity of these systems. In addition, we show that the number of ergodic measures of the systems that are topologically mixing can be 1 and 2. Moreover, we present examples that are topologically weakly mixing, not topologically mixing, and uniquely ergodic. Finally, we show that the number of ergodic measures of the systems that are not weakly mixing can be 1 and 2.     

语料资源缺乏的连续语音识别方法的研究

由于少数民族语言有其本身的特点, 不能简单地套用现有的连续语音识别的方法. 本文以蒙古语为例, 研讨了声学和语言模型的建立, 并在日本国际电气通信基础技术研究所的连续语音识别器上实现了蒙古语的语音识别系统. 本文侧重于语言模型的建立, 基于蒙古语黏着性语言特点, 提出用相似词聚类方法建立多类N-gram模型. 实验结果显示, 应用我们提出的语言模型, 识别精度比用传统的词的N-gram识别法提高了5.5%.     

A biped static balance control and torque pattern learning under unknown periodic external forces

This paper addresses a biped balancing task in which an unknown external force is exerted, using the so-called ‘ankle strategy’ model. When an external force is periodic, a human adaptively maintains the balance, next learns how much force should be produced at the ankle joint from its repeatability, and finally memorized it as a motion pattern. To acquire motion patterns with balancing, we propose a control and learning method: as the control method, we adopt ground reaction force feedback to cope with an uncertain external force, while, as the learning method, we introduce a motion pattern generator that memorizes the torque pattern of the ankle joint by use of Fourier series expansion. In this learning process, the period estimation of the external force is crucial; this estimation is achieved based on local autocorrelation of joint trajectories. Computer simulations and robot experiments show effective control and learning results with respect to unknown periodic external forces.     

Incremental learning of gestures for human–robot interaction

For a robot to cohabit with people, it should be able to learn people’s nonverbal social behavior from experience. In this paper, we propose a novel machine learning method for recognizing gestures used in interaction and communication. Our method enables robots to learn gestures incrementally during human–robot interaction in an unsupervised manner. It allows the user to leave the number and types of gestures undefined prior to the learning. The proposed method (HB-SOINN) is based on a self-organizing incremental neural network and the hidden Markov model. We have added an interactive learning mechanism to HB-SOINN to prevent a single cluster from running into a failure as a result of polysemy of being assigned more than one meaning. For example, a sentence: “Keep on going left slowly” has three meanings such as, “Keep on (1)”, “going left (2)”, “slowly (3)”. We experimentally tested the clustering performance of the proposed method against data obtained from measuring gestures using a motion capture device. The results show that the classification performance of HB-SOINN exceeds that of conventional clustering approaches. In addition, we have found that the interactive learning function improves the learning performance of HB-SOINN.     

Accessibility of audio and tactile interfaces for young blind people performing everyday tasks

Increasingly, computers are becoming tools of communication, information exploring and studying for young people, regardless of their abilities. Scientists have been building knowledge on how blind people can substitute hearing or touch for sight or how the combination of senses, i.e., multimodalities, can provide the user with an effective way of exploiting the power of computers. Evaluation of such multimodal user interfaces in the right context, i.e., appropriate users, tasks, tools and environment, is essential to give designers accurate feedback on blind users’ needs. This paper presents a study on how young blind people use computers for everyday tasks with the aids of assistive technologies, aiming to understand what hindrances they encounter when interacting with a computer using individual senses, and what supports them. A common assistive technology is a screen reader, producing output to a speech synthesizer or a Braille display. Those two modes are often used together, but the research studied how visually impaired students interact with computers using either form, i.e., a speech synthesizer or a Braille display. A usability test has been performed to assess blind grade-school students’ ability to carry out common tasks with the help of a computer, including solving mathematical problems, navigating the web, communicating with e-mail and using word processing. During the usability tests, students were allowed to use either auditory mode or tactile mode. Although blind users most commonly use a speech synthesizer (audio), the results indicate that this was not always the most suitable modality. While the effectiveness of the Braille display (tactile user interface) to accomplish certain tasks was similar to that of the audio user interface, the users’ satisfaction rate was higher. The contribution of this work lies in answering two research questions by analysing two modes of interaction (tactile and speech), while carrying out tasks of varying genre, i.e., web searching, collaboration through e-mail, word processing and mathematics. A second contribution of this work is the classification of observations into four categories: usability and accessibility, software fault, cognitive mechanism and learning method. Observations, practical recommendations and open research problems are then presented and discussed. This provides a framework for similar studies in the future. A third contribution of this work is the elaboration of practical recommendations for user interface designers and a research agenda for scientists.     

Ergonomic design and evaluation of the handle for an endoscopic dissector

The purpose of this study was to design an endoscopic dissector handle and objectively assess its usability. The handles were designed with increased contact area between the fingers and thumb and the eye rings, and the eye rings were modified to have a more perpendicular insertion angle to the finger midline. Four different handle models were compared, including a conventional product. Subjects performed dissection, exclusion, grasping, precision manipulation and precision handling tasks. Electromyography and subjective evaluations were measured. Compared to conventional handles, the designated handle reduced the muscle load in the extensor and flexor muscles of the forearm and increased subjective stability. The activity of the first dorsal interosseous muscle was sometimes influenced by the shape of the other parts. The ergonomically designed endoscopic dissector handle used in this study achieved high usability. Medical instrument designs based on ergonomic concepts should be assessed with objective indices.

Practitioner Summary: The endoscopic dissector handles were designed with increased contact area and more suitable insertion angle between the fingers and thumb and the eye rings. Compared to conventional handles, the designated handle reduced the muscle load in the extensor and flexor muscles of the forearm and increased subjective stability.     

Design and analysis of a pneumatic high-impact force drive mechanism for in-pipe inspection robots

A pneumatic actuator is suitable and safe for in-pipe inspection robots in inflammable circumstances because of its ability to withstand explosions. However, ordinary pneumatic actuators limit driving speed because of their slow response. In this paper, we propose a novel pneumatic drive mechanism that can produce a high-impact force to move the in-pipe robot forward with sufficient speed by a catastrophic phenomenon using rapid release between a magnet and springs. We also introduce an anisotropic friction mechanism that uses a self-locking phenomenon to transmit the impact force to the pipe walls efficiently. A pin retraction mechanism that releases the self-locking condition is applied to retrieve the robot from the pipes. Optimizations of the proposed design were conducted based on a motion simulation model and verified in experiments. The experimental results obtained for maximum driving speeds in a straight pipe with different material types were approximately 90 and 50 mm/s for horizontal and vertical pipes, respectively. Stable strokes were also observed at different driving frequencies from 0.5 to 2.0 Hz.     

A study on a quantum-inspired evolutionary algorithm based on pair swap

A quantum-inspired evolutionary algorithm (QEA) is proposed as a stochastic algorithm to perform combinatorial optimization problems. The QEA is evolutionary computation that uses quantum bits and superposition states in quantum computation. Although the QEA is a coarse-grained parallel algorithm, it involves many parameters that must be adjusted manually. This paper proposes a new method, named pair swap, which exchanges each best solution information between two individuals instead of migration in the QEA. Experimental results show that our proposed method is a simpler algorithm and can find a high quality solution in the 0-1 knapsack problem. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

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