Reusing Primitive and Acquired Motion Knowledge for Gait Generation of a Six-legged Robot Using Genetic Programming

There has been growing interest in motion planning problems for mobile robots. In this field, the main research is to generate a motion for a specific robot and task without previously acquired motions. However it is too wasteful not to use hard-earned acquired motions for other tasks. Here, we focus on a mechanism of reusing acquired motion knowledge and study a motion planning system able to generate and reuse motion knowledge. In this paper, we adopt a tree-based representation for expressing knowledge of motion, and propose a hierarchical knowledge for realizing a reuse mechanism. We construct a motion planning system using hierarchical knowledge as motion knowledge and using genetic programming as a learning method. We apply a proposed method for the gait generation task of a six-legged locomotion robot and show its availability with computer simulation.     

Stochastic unit commitment problem

The electric power industry is undergoing restructuring and deregulation. We need to incorporate the uncertainty of electric power demand or power generators into the unit commitment problem. The unit commitment problem is to determine the schedule of power generating units and the generating level of each unit. The objective is to minimize the operational cost which is given by the sum of the fuel cost and the start‐up cost. In this paper we propose a new algorithm for the stochastic unit commitment problem which is based on column generation approach. The algorithm continues adding schedules from the dual solution of the restricted linear master program until the algorithm cannot generate new schedules. The schedule generation problem is solved by the calculation of dynamic programming on the scenario tree.     

Glasslike Transitions in Thin Polymer-Melt Films Due to Thickness Constraint

The shear properties of thin films of star and linear polyisoprene (PIP) melts under high pressure were investigated as a function of sliding velocity (shear rate) using the surface forces apparatus. The results were contrasted with their bulk rheological properties; effects of thickness constraint on the shear behavior were discussed. The melts of PIP in bulk exhibit Newtonian-like constant viscosity at least at low shear rates (frequencies), which suggests that individual molecules flow with lateral sliding motion. However, thin films of PIP melts show tribological features involving apparent shear-thinning behavior, indicative of the correlated motions in confined geometries. The shear-property change from bulk rheological behavior to thin-film tribological behavior along with the thickness decrease reflects the physical states and their transitions in the systems; the thickness constraint induces glasslike transitions. Effects of molecular weights and molecular architecture (star-branched or linear) on the shear properties are also discussed.     

Effect of chitosan-gluconic acid conjugate/poly(vinyl alcohol) cryogels as wound dressing on partial-thickness wounds in diabetic rats

We previously developed chitosan cryogels from chitosan-gluconic acid conjugate without using toxic additives for wound care. In this study, we improved physiological characteristics of the previous cryogels by incorporating poly(vinyl alcohol) that also form cryogels. Mechanical strength of the cryogels was more than two times higher than that of the previous cryogels. Furthermore, the incorporation of poly(vinyl alcohol) enhanced water retention and resistance to degradation of the gels by lysozyme. The cryogels retained the favorable biological properties of the previous cryogels that they accelerate infiltration of inflammatory cells into wound sites. Time period for repairing 50 % of initial area of partial-thickness skin wound treated with the cryogels (4.0 ± 1.1 days) was shorter than those with gauze (6.5 ± 0.3 days) or a commercial hydrogel dressing (5.7 ± 0.3 days). Finally, we confirmed that incorporation of basic fibroblast growth factor into the cryogels was effective to further accelerate wound healing (2.7 ± 1.0 days). These results demonstrate that the cryogels in this study are promising for wound care.     

Te concentration dependent photoemission and inverse-photoemission study of FeSe1?xTex

We have characterized the electronic structure of FeSe_1−xTe_x for various x values using soft x-ray photoemission spectroscopy (SXPES), high-resolution photoemission spectroscopy (HRPES) and inverse photoemission spectroscopy (IPES). The SXPES valence band spectral shape shows that the 2 eV feature in FeSe, which was ascribed to the lower Hubbard band in previous theoretical studies, becomes less prominent with increasing x. HRPES exhibits systematic x dependence of the structure near the Fermi level (E_F): its splitting near E_F and filling of the pseudogap in FeSe. IPES shows two features, near E_F and approximately 6 eV above E_F; the former may be related to the Fe 3d states hybridized with chalcogenide p states, while the latter may consist of plane-wave-like and Se d components. In the incident electron energy dependence of IPES, the density of states near E_F for FeSe and FeTe has the Fano lineshape characteristic of resonant behavior. These compounds exhibit different resonance profiles, which may reflect the differences in their electronic structures. By combining the PES and IPES data the on-site Coulomb energy was estimated at 3.5 eV for FeSe.     

Catalytic effect of bis (cyclopentadienyl) nickel II on the improvement of the hydrogenation-dehydrogenation of Mg-MgH2 system

Bis(cyclopentadienyl) nickel II is one of the best precursors of nickel catalyst which remarkably improved the hydrogen absorption-desorption of Mg–MgH₂ system. The X-ray photoelectron spectroscopy (XPS) and Furrier Transformed Infrared Spectroscopy (FTIR) analyses revealed that bis (cyclopentadienyl) nickel II decomposed into metallic nickel during ball milling with MgH₂. The nickel thus formed has homogeneously doped over the Mg - MgH₂ surface. The Ni-doped Mg-MgH₂ have shown the excellent catalytic effect on hydrogen absorption-desorption. The catalyzed MgH₂ could desorb hydrogen below 225 °C (T_onset) under Ar flow, and absorb hydrogen at 50 °C under 1.5 MPa H₂ pressure. The hydrogen absorption-desorption temperatures are remarkably decreased as compared to the uncatalyzed Mg-MgH₂ system under the identical experimental conditions.     

Experimental validation with field circuit by changing start voltage of salient pole synchronous motor

This paper reports on the experimental validation characteristics of a salient pole synchronous motor with the starting field circuit in contact. The starting characteristics were experimentally evaluated at voltages of 100%, 75%, and 50% using a 1.5 kVA salient pole synchronous motor. The signal for pulling into step was applied to the field circuit by using the control module for all test conditions. The results confirmed the proper pulling into step at 100% of voltage, and the results of the tests at 50% and 75% of voltage revealed that the pulling into step under these conditions becomes stable at the suitable slip condition.     

Robust comprehension of natural language instructions by a domestic service robot

We present a method through which domestic service robots can comprehend natural language instructions. For each action type, a variety of natural language expressions can be used, for example, the instruction, ‘Go to the kitchen’ can also be expressed as ‘Move to the kitchen.’ We are of the view that natural language instructions are intuitive and, therefore, constitute one of the most user-friendly robot instruction methods. In this paper, we propose a method that enables robots to comprehend instructions spoken by a human user in his/her natural language. The proposed method combines action-type classification, which is based on a support vector machine, and slot extraction, which is based on conditional random fields, both of which are required in order for a robot to execute an action. Further, by considering the co-occurrence relationship between the action type and the slots along with the speech recognition score, the proposed method can avoid degradation of the robot’s comprehension accuracy in noisy environments, where inaccurate speech recognition can be problematic. We conducted experiments using a Japanese instruction data-set collected using a questionnaire-based survey. Experimental results show that the robot’s comprehension accuracy is higher in a noisy environment using our method than when using a baseline method with only a 1-best speech recognition result.     

Terrain classification and identification of tree stems using ground‐based LiDAR

To operate autonomously in forested terrain, unmanned ground vehicles must be able to identify the load‐bearing surface of the terrain (i.e., the ground) and obstacles in the environment. To travel long distances, they must be able to track their position even when the forest canopy obstructs GPS signals, e.g., by tracking progress relative to tree stems. This paper presents a novel, robust approach for modeling the ground plane and tree stems in forests from a single viewpoint using a lightweight LiDAR scanner. Ground plane identification is implemented using a two‐stage approach. The first stage, a local height‐based filter, discards most nonground points. The second stage, based on a support vector machine classifier, identifies which of the remaining points belong to the ground. Main tree stems are modeled as cylinders or cones to estimate the diameter 130 cm above the ground plane. To fit these models, candidate main stem data are selected by finding points approximately 130 cm above the ground. These points are clustered into separate point clouds for each stem. Cylinders and cones are fit to each point cloud, and heuristic filters identify which fits correspond to tree stems. Experimental results from five forested environments demonstrate the effectiveness of this approach. For ground plane estimation, the overall classification accuracy was 86.28% with a mean error for the ground height of approximately 4.7 cm. For stem estimation, up to 50% of the main stems were accurately modeled using cones, with a root mean square diameter error of 13.2 cm.© 2012 Wiley Periodicals, Inc.     

Abstract picture generation and zooming user interface for intuitive music browsing

Today many people store music media files in personal computers or portable audio players, thanks to recent evolution of multimedia technologies. The more music media files these devices store, the messier it is to search for tunes that users want to listen to. We propose MusCat, a music browser to interactively search for the tunes according to features, not according to metadata (e.g. title, artist name). The technique firstly calculates features of tunes, and then hierarchically clusters the tunes according to the features. It then automatically generates abstract pictures, so that users can recognize characteristics of tunes more instantly and intuitionally. It finally visualizes the tunes by using abstract pictures. MusCat enables intuitive music selection with the zooming user interface.