An image recognition system aimed at search activities using cyber search and rescue dogs

Disaster response presents major challenges for robotics and computer vision alike. The Cyber‐Enhanced Canine Suit is a suit equipped with a camera, Global Navigation Satellite System (GNSS), and various other sensors, to be worn by search and rescue (SAR) dogs for the purpose of enhancing SAR dog operations. This paper presents an image recognition system for use in disaster scenarios and its integration with the Cyber‐Enhanced Canine Suit platform. The system’s intended use is to spot personal items of missing individuals or other visual clues in video streams from various disaster response platforms. The system facilitates quick learning of targets from limited data and makes providing that data quick and easy. It also provides backtrack recognition functionality, to rapidly find novel targets in the seen footage. We evaluated the recognition system on footage gathered in the field, obtaining promising results. Integrated with the Cyber‐Enhanced Canine Suit, the system can automatically plot detections of search targets onto a map display, to provide operators with a quick overview of what was seen where.     

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     

Animated interface agent applying atms-based multimodal input interpretation

Two requirements should be met in order to develop a practical multimodal interface system , i . e ., ( 1 ) integration of delayed arrival of data and ( 2 ) elimination of ambiguity in recognition results of each modality . This paper presents an efficient and generic methodology for interpretation of multimodal input to satisfy these requirements . The proposed methodology can integrate delayed - arrival data satisfactorily and efficiently interpret multimodal input that contains ambiguity . In the input interpretation the multimodal interpretation process is regarded as hypothetical reasoning , and the control mechanismof interpretation is formalized by applying the assumption - based truth maintenance system ( ATMS ). The proposed method is applied to an interface agent system that accepts multimodal input consisting of voice and direct indication gesture on a touch display . The systemcommunicates to the user through a human - like interface agent's three - dimensional motion image with facial expressions , gestures , and a synthesized voice .     

Height of the spout of a gas plume discharging from a metal melt

In the present investigation, the height of the spout of a gas plume discharging from the surface of a metal melt has been measured in a laboratory model involving mercury and in real steel ladles. The spout geometry strongly fluctuates with time. This has to be taken into account in the measuring method and data evaluation. Long-term averages of the spout profile and momentary maximum height values have been determined, and it has been found that their nondimensional values are of similar size in the model and in the steel ladle. An engineering formula is presented for the estimation of maximum spout height in argon stirring.     

Mass spectrometric analysis of integral membrane proteins at the subnanomolar level: application to recombinant photopigments.

Integral membrane proteins produced by eukaryotic expression systems are a subject of much current interest in biomedical investigation. Due to the low efficiency of their expression and the limited quantity of the expressed to the total amount of the membrane proteins, they have evaded mass spectrometric analysis. The methodology previously developed for mass spectrometric analysis of integral membrane proteins required proteins that were obtained relatively pure from their native membranes. The previously developed methodology has been modified and applied to the analysis of subnanomolar samples of rhodopsin. Bovine rhodopsin purified by affinity chromatography, from native membranes and from a eukaryotic expression system, was successfully analyzed, obtaining complete sequence coverage for the detection and localization of posttranslational modifications. The methodology presented here will enable mass spectrometric analysis of subnanomolar levels of photopigments or other integral membrane proteins either from their native membranes or as products of expression systems.     

A 0.18-μm 256-Mb DDR-SDRAM with low-cost post-mold tuning methodfor DLL replica

A 200-MHz double-data-rate synchronous-DRAM (DDR-SDRAM) was developed. The chip contains a delay-locked loop (DLL) which performs over a wide range of operating conditions. Post-mold-tuning allows precise replica programming. A 200-MHz intra-chip data bus is suitable for DDR operation     

A study of manipulator with passive revolute joint

In this article, equations of motion of a manipulator, whose mechanism has a passive revolute joint, are derived in consideration of the characteristics of driving source. Considering the fi nal condition of displacement and velocity of the passive joint, trajectories of velocity for energy saving are calculated by iterative dynamic programming. And the dynamic characteristics of manipulator control based on the trajectory for energy saving are analyzed theoretically and investigated experimentally. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Development of localization system using ultrasonic sensor for an underwater robot to survey narrow environment

This paper describes a localization system for a swimming robot to survey underwater narrow environments. In that environment, external sensors cannot be set up to localize the robot position, as there are many structures and the robot moves three-dimensionally. Therefore, the position needs to be calculated only by internal sensors. In this work, a new localization method based on map-matching is proposed, referring to cross-sectional shape data cut from a three-dimensional computer-aided design (CAD) data as an environmental map and structural shapes measured by a range sensor. As a range sensor, an ultrasonic sensor which is two-dimensional scanning-type was developed. The reflected signals of the ultrasonic sensor have some noise. Only structural shape data are extracted from the reflected signals. The image correlation is used as the matching method. Experiments to evaluate the performance of the proposed system were implemented at a mock-up environment. As a result, it was confirmed that the position was detected with an accuracy of 100 mm. The error is mainly caused by measurement error of the ultrasonic sensor that is used to calculate structural shapes. We concluded to improve the measurement accuracy of the ultrasonic sensor to reduce localization error.     

Effects of High Irradiance and Low Water Temperature on Photoinhibition and Repair of Photosystems in Marimo (Aegagropila linnaei) in Lake Akan,Japan

The green alga Aegagropila linnaei often forms spherical aggregates called “marimo” in Lake Akan in Japan. In winter, marimo are exposed to low water temperatures at 1–4 °C but protected from strong sunlight by ice coverage, which may disappear due to global warming. In this study, photoinhibition in marimo was examined at 2 °C using chlorophyll fluorescence and 830 nm absorption. Filamentous cells of A. linnaei dissected from marimo were exposed to strong light at 2 °C. Photosystem II (PSII) was markedly photoinhibited, while photosystem I was unaffected. When the cells with PSII damaged by the 4 h treatment were subsequently illuminated with moderate repair light at 2 °C, the maximal efficiency of PSII was recovered to the level before photoinhibition. However, after the longer photoinhibitory treatments, PSII efficiency did not recover by the repair light. When the cells were exposed to simulated diurnal light for 12 h per day, which was more ecological, the cells died within a few days. Our results showed new findings of the PSII repair at 2 °C and serious damage at the cellular level from prolonged high-light treatments. Further, we provided a clue to what may happen to marimo in Lake Akan in the near future.