Development of a stable localized visual inspection system for underwater structures

To avert potential crisis from Japan’s aging infrastructure and declining birth rate, the Japanese Government is planning to introduce robotic technology for the inspection of social infrastructure (such as pipes, dams, and bridges). Recording underwater positions is a difficult task for human divers who undertake conventional dam inspections. This study presents the Anchor Diver 5.2 system for efficient and effectual dam inspection. Anchor Diver 5.2 is based on an extended-tether-maneuvered remotely operated vehicle (ROV) equipped with cameras. The ROV is lowered into water by a hoist system from a boat and implements a visual survey of the concrete underwater structure. To improve the visibility of the ROV in murky and cloudy water, a novel concept named Water Loupe is proposed. In addition, a simple boat-fixing method is proposed to provide a stable base on the water surface, and the underwater position of the ROV, which cannot be accessed by global positioning systems, is recorded using a feasible localization method. Finally, the developed system was evaluated in field experiments conducted in the Amagase Dam, Japan, and its merits and problems are discussed.     

Development of an epileptic seizure prediction algorithm using R–R intervals with self-attentive autoencoder

Epilepsy is a neurological disorder that may affect the autonomic nervous system (ANS) from 15 to 20 min before seizure onset, and disturbances of ANS affect R–R intervals (RRI) on an electrocardiogram (ECG). This study aims to develop a machine learning algorithm for predicting focal epileptic seizures by monitoring R–R interval (RRI) data in real time. The developed algorithm adopts a self-attentive autoencoder (SA-AE), which is a neural network for time-series data. The results of applying the developed seizure prediction algorithm to clinical data demonstrated that it functioned well in most patients; however, false positives (FPs) occurred in specific participants. In a future work, we will investigate the causes of FPs and optimize the developing seizure prediction algorithm to further improve performance using newly added clinical data.

     

How to Prove Impossibility Under Global Fairness: On Space Complexity of Self-Stabilizing Leader Election on a Population Protocol Model

A population protocol is one of distributed computing models for passively-mobile systems, where a number of agents change their states by pairwise interactions between two agents. In this paper, we investigate the solvability of the self-stabilizing leader election in population protocols without any kind of oracles. We identify the necessary and sufficient conditions to solve the self-stabilizing leader election in population protocols from the aspects of local memory complexity and fairness assumptions. This paper shows that under the assumption of global fairness, no protocol using only n−1 states can solve the self-stabilizing leader election in complete interaction graphs, where n is the number of agents in the system. To prove this impossibility, we introduce a novel proof technique, called closed-set argument. In addition, we propose a self-stabilizing leader election protocol using n states that works even under the unfairness assumption. This protocol requires the exact knowledge about the number of agents in the system. We also show that such knowledge is necessary to construct any self-stabilizing leader election protocol.     

Model-less visual servoing using modified simplex optimization

This article describes a robot positioning task with respect to a static target by visual servoing. The vision system is uncalibrated, and the kinematic model of the robot may be totally unknown. The displacements of the robot at joint level are generated in real time in order to minimize the objective function. The objective function includes the quadratic error between the current and the desired target images. A simplex method is used to minimize the objective function, and a Newton-like method is also used near convergence. We successfully validated this method with simulations under the graphic library OpenGL. This work was presented in part at the 10th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2005     

Single‐layered retardation films with negative wavelength dispersion birefringence made from liquid‐crystalline monomers

Organic light‐emitting diode displays have a cathode composed of a layer of highly reflective metal. Reflection of external light from this layer can be suppressed with a broadband quarter‐wave plate. Although various types of quarter‐wave plate retardation films have been prepared by copolymerizing, mixing, or laminating multiple polymers, ideal wavelength dispersion has not been achieved with thin retardation films because of their relatively low birefringence and the complexity of the procedure required manufacturing them. In this study, we developed (i) new liquid‐crystalline monomers with negative wavelength dispersion birefringence that we used to obtain thin, single‐layered retardation films suitable for coating and (ii) retardation films with different molecular alignments. We found that the monomers showed high solubility and high regularity of molecular alignment, with less damage to the substrate and alignment films. We also investigated the wavelength dispersion and thermal stability of the films. We succeeded in developing retardation films that had a homeotropic alignment or a hybrid alignment with negative wavelength dispersion. These alignments can be used to obtain antireflection films with an improved viewing angle for organic light‐emitting diode displays or next‐generation thin displays.     

Non-contact physical activity estimation method based on electrostatic induction technique

We here present a method for measuring human physical activity, which is based on detecting the electrostatic induction current generated by the walking motion under non-contact and non-attached conditions. A theoretical model for the electrostatic induction current generated because of a change in the electric potential of the human body is also proposed. By comparing the obtained electrostatic induction current with the theoretical model, it becomes obvious that this model effectively explains the behavior of the waveform of the electrostatic induction current. The normal walking motions of daily living are recorded using a portable sensor measurement located in an ordinary house. The obtained results show that detailed information regarding physical activity such as a walking cycle can be estimated using our proposed technique. This suggests that the proposed technique, which is based on the detection of the walking signal, can be successfully applied to the estimation of human physical activity.     

A novel photoreactive amphiphile of nitrophenylazide for immobilization of bioactive proteins

Monolayers of an amphiphilic nitrophenylazide (ANPA) derivative were prepared and their ability to immobilize a protein molecule by a photochemical binding reaction was demonstrated as a novel means to constitute a biofunctional membrane. Molecular orientations and photoreactions in the ANPA monolayers were investigated by Fourier transform IR spectroscopy. Rapid photolysis of ANPA was observed which reflects decomposition of the azide group to a reactive nitrene radical intermediate. As an enzyme, glucose oxidase (GOD) was immobilized on a monomolecular film of ANPA, coated on a substrate, by means of enzyme adsorption at the solid-solution interface and subsequent photolysis of ANPA. Radioisotope labelling experiments revealed that the enzyme was immobilized at a high surface concentration which corresponds to a closely packed monolayer of GOD. The specific activity of the immobilized enzyme was estimated to be high compared with those of other systems involving the adsorption of this enzyme. The usefulness of the present technique for fabricating biofunctional monolayer assemblies is discussed.     

A product modeling system for top-down design of machine assembly with kinematic motion

The objective of this research is to develop a product modeling system to support mechanism design from the beginning of the design. The system must cope with two aspects of the design process which are top-down design and preliminary design. The current capabilities of existing CAD and CAE systems are not sufficient to support these two aspects. In this research a modeling method with an abstract model and an incompletely defined model is proposed. The mechanism is presented by constraints and depault values because constraints are suitable for representing the abstract model for a mechanism and default values are useful to supplement an incompletely defined model. We also introduce module-based modeling with mechanism modules corresponding directly to the functionalities of the mechanism and show that it is suitable for top-down design. Incomplete constraints are solved with default values so that the shape and location of the incompletely defined model can be modified and the motion of the model can be simulated. Finally, we illustrate the mechanism modeling system with some examples.     

IKONOS image fusion process using steepest descent method with bi-linear interpolation

There are many image fusion processes to produce a high-resolution multispectral (MS) image from low-resolution MS and high-resolution panchromatic (PAN) images. But the most significant problems are colour distortion and fusion quality. Previously, we reported a fusion process that produced a1 m resolution IKONOS fused image with minimal spectral distortion. However, block distortion appeared at the edge of the curved sections of the fused image, which was reduced by performing the wavelet transformation as a post-process. Here, we propose an image fusion process using the steepest descent method with bi-linear interpolation, which can remove block distortion without using wavelet transformation. Bi-linear interpolation provides the proper initial values of the fused image, and then the steepest descent method produces the optimum results of the fusion process. These results achieve improvement on the spectral as well as spatial quality of a1 m resolution fused image when compared with other existing methods and remove block distortion completely.