Cooperation of categorical and behavioral learning in a practical solution to the abstraction problem

Real robots should be able to adapt autonomously to various environments in order to go on executing their tasks without breaking down. They achieve this by learning how to abstract only useful information from a huge amount of information in the environment while executing their tasks. This paper proposes a new architecture which performs categorical learning and behavioral learning in parallel with task execution. We call the architectureSituation Transition Network System (STNS). In categorical learning, it makes a flexible state representation and modifies it according to the results of behaviors. Behavioral learning is reinforcement learning on the state representation. Simulation results have shown that this architecture is able to learn efficiently and adapt to unexpected changes of the environment autonomously. Atsushi Ueno, Ph.D.: He is a research associate in the Artificial Intelligence Laboratory at the Graduate School of Information Science at the Nara Institute of Science and Technology (NAIST). He received the B.E., the M.E., and the Ph.D. degrees in aeronautics and astronautics from the University of Tokyo in 1991, 1993, and 1997 respectively. His research interest is robot learning and autonomous systems. He is a member of Japan Association for Artificial Intelligence (JSAI). Hideaki Takeda, Ph.D.: He is an associate professor in the Artificial Intelligence Laboratory at the Graduate School of Information Science at the Nara Institute of Science and Technology (NAIST). He received his Ph.D. in precision machinery engineering from the University of Tokyo in 1991. He has conducted research on a theory of intelligent computer-aided design systems, in particular experimental study and logical formalization of engineering design. He is also interested in multiagent architectures and ontologies for knowledge base systems.     

Efficient blind dereverberation and echo cancellation based on independent component analysis for actual acoustic signals

This letter presents a new algorithm for blind dereverberation and echo cancellation based on independent component analysis (ICA) for actual acoustic signals. We focus on frequency domain ICA (FD-ICA) because its computational cost and speed of learning convergence are sufficiently reasonable for practical applications such as hands-free speech recognition. In applying conventional FD-ICA as a preprocessing of automatic speech recognition in noisy environments, one of the most critical problems is how to cope with reverberations. To extract a clean signal from the reverberant observation, we model the separation process in the short-time Fourier transform domain and apply the multiple input/output inverse-filtering theorem (MINT) to the FD-ICA separation model. A naive implementation of this method is computationally expensive, because its time complexity is the second order of reverberation time. Therefore, the main issue in dereverberation is to reduce the high computational cost of ICA. In this letter, we reduce the computational complexity to the linear order of the reverberation time by using two techniques: (1) a separation model based on the independence of delayed observed signals with MINT and (2) spatial sphering for preprocessing. Experiments show that the computational cost grows in proportion to the linear order of the reverberation time and that our method improves the word correctness of automatic speech recognition by 10 to 20 points in a RT??= 670 ms reverberant environment.     

Effects of heated seats in vehicles on thermal comfort during the initial warm-up period

Eight subjects participated in a subjective experiment of eight conditions to investigate the effects of heated seats in vehicles on skin temperature, thermal sensation and thermal comfort during the initial warm-up period. The experimental conditions were designed as a combination of air temperature in the test room (5, 10, 15, or 20 °C) and heated seat (on/off). The heated seat was effective for improving thermal comfort during the initial warm-up period when air temperature was lower than 15 °C. Use of heated seats prevented decreases in or increased toe skin temperature. Heated seats also increased foot thermal sensation at 15 and 20 °C. Optimal thermal sensation in contact with the seat was higher when air temperature was lower. Optimal skin temperature in contact with the seat back was higher than that with the seat cushion. Moreover, these optimal skin temperatures were higher when air temperature was lower.     

Integrable multimode interference distributed Bragg reflector laser all-optical flip-flops

A novel fully integrable all-optical flip-flop has been created using distributed Bragg reflector multimode interference bistable laser diodes. The single metal-organic vapor phase epitaxy regrowth offset quantum well structure active/passive integrated flip-flop lases in single mode at 1554 nm and is compatible with standard fabrication methods of InP photonic integrated circuits (PICs). All-optical reset switching through cross-gain saturation was demonstrated over a 52-nm range, at 1522-1574 nm. An optical set has been achieved with -3 dBm and optical reset with less than -5-dBm external light injection. The flip-flop will be useful for integration in PICs of future photonic systems for self-routing and optical memories or buffers.     

A 63-mW H.264/MPEG-4 audio/visual codec LSI with module-wise dynamic Voltage/frequency scaling

A single-chip H.264 and MPEG-4 audio-visual LSI for mobile applications including terrestrial digital broadcasting system (ISDB-T / DVB-H) with a module-wise, dynamic voltage/frequency scaling architecture is presented for the first time. This LSI can keep operating even during the voltage/frequency transition, so there is no performance overhead. It is realized through a dynamic deskewing system and an on-chip voltage regulator with slew rate control. By the combination with traditional low power techniques such as embedded DRAM and clock gating, it consumes only 63 mW in decoding QVGA H.264 video at 15 frames/sec and MPEG-4 AAC LC audio simultaneously.     

高性能粉末冶金材料与其制造工艺的开发

随着常规粉末冶金产业发展，像锻轧粉末冶金铝合金、超塑性高温合金、机械合金化氧化物弥散强化（ODS）合金之类的先进粉末冶金工艺，引起了人们的注意。受先进粉末冶金工艺启发，开发了适应日本汽车与家电产业的新材料与生产工艺，开发了适合于钢铁结构的粉末冶金Al-Si-X合金。为了改进经济性与近终形（NNS）成形性，开发了无包套粉末挤压工艺与精压式粉末锻造工艺。基于这些工艺，还开发了比单一结构材料具有较多功能的新材料，诸如轻量散热器（heat sink）与高性能发动机气缸内衬。     

Using selective precipitant for uranyl ions — Fundamental studies for evaluating the precipitant performance

We have developed a simple reprocessing process for spent FBR fuels using N-cyclohexyl-2-pyrrolidone (NCP) which has selective precipitation ability for UO₂²⁺ ions. It was confirmed that NCP has sufficient precipitation ability for UO₂²⁺ ions, decontamination capability (separation of UO₂²⁺ from simulated fission products), and resistance to γ-ray radiation in nitric acid solutions. These findings indicate that NCP is applicable to our reprocessing process. We have also evaluated performances of other precipitants such as N-n-propyl-2-pyrrolidone (NProP), N-n-butyl-2-pyrrolidone (NBP), and N-n-butyl-2-pyridone (NBPyr). It was found that higher decontamination factors (DFs) are obtained by using NProP and NBP. This can be interpreted that the hydrophobicity of NProP and NBP is lower than that of NCP. Furthermore, we have obtained an experimental result that the resistance of NBPyr to γ-ray radiation is superior to that of NCP.     

Development of smart composite structures with small-diameter fiber Bragg grating sensors for damage detection: Quantitative evaluation of delamination length in CFRP laminates using Lamb wave sensing

The authors and Hitachi Cable, Ltd. have recently developed small-diameter optical fiber and its fiber Bragg grating (FBG) sensor for embedment inside a lamina of composite laminates without strength reduction. The outside diameters of the cladding and polyimide coating are 40 and 52 μm, respectively. First, a brief summary is presented for applications of small-diameter FBG sensors to damage monitoring in composite structures. Then, we propose a new damage detection system for quantitative evaluation of delamination length in CFRP laminates using Lamb wave sensing. In this system, a piezo-ceramic actuator generates Lamb waves in a CFRP laminate. After the waves propagate in the laminate, transmitted waves are received by an FBG sensor attached on or embedded in the laminate using a newly developed high-speed optical wavelength interrogation system. This system was applied to detect interlaminar delamination in CFRP cross-ply laminates. When the Lamb waves passed through the delamination, the amplitude decreased and a new wave mode appeared. These phenomena could be well simulated using a finite element analysis. From the changes in the amplitude ratio and the arrival time of the new mode depending on the delamination length, it was found that this system could evaluate the delamination length quantitatively. Furthermore, small-diameter FBG sensors were embedded in a double-lap type coupon specimen, and the debonding progress could be evaluated using the wavelet transform.