Reading a robot's mind: a model of utterance understanding based on the theory of mind mechanism

The purpose of this paper is to construct a methodology for smooth communication between humans and robots. Here, focus is on a mindreading mechanism, which is indispensable in human-human communication. We propose a model of utterance understanding based on this mechanism. Concretely speaking, we apply the model of a mindreading system to a model of human-robot communication. Moreover, we implement a robot interface system that applies our proposed model. The characteristic of our interface system is its ability to construct a relationship between a human and a robot by a method of having an agent, which interacts with the person, migrate from the mobile PC of the person to the robot. Psychological experiments were carried out to explore the validity of the following hypothesis: By reading a robot's mind based on such a relationship, a person can estimate the robot's intention with ease and, moreover, the person can even understand the robot's unclear utterances made by synthesized speech sounds. The results of the experiments statistically supported our hypothesis.     

MODEL-BASED DEVELOPMENT OF REAL-TIME SOFTWARE SYSTEM FOR ELECTRONIC UNIT PUMP SYSTEM

A real-time operating system (RTOS), also named OS, is designed based on the hardware platform of MC68376, and is implemented in the electronic control system for unit pump in diesel engine. A parallel and time-based task division method is introduced and the multi-task software architecture is built in the software system for electronic unit pump (EUP) system. The V-model software development process is used to control algorithm of each task. The simulation results of the hardware-in-the-loop simulation system (HILSS) and the engine experimental results show that the OS is an efficient real-time kernel, and can meet the real-time demands of EUP system; The built multi-task software system is real-time, determinate and reliable. V-model development is a good development process of control algorithms for EUP system, the control precision of control system can be ensured, and the development cycle and cost are also decreased.     

Numerical simulation of molten metal flow under vacuum condition in high pressure and low pressure die casting process

Abstract

The vacuum analysis algorithm was developed to simulate the total system of high pressure die casting process including vacuum vent, cavity and plunger area. The various vacuum degrees (760, 650, 500, 250 and 60 mmHg) were artificially applied in cavity. The filling behaviours of molten metal under the applied vacuum conditions were simulated and compared with those of experiment. The filling amount in cavity was increased with the increase of applied vacuum pressure during partial shot experiments. The simulated filling behaviours of molten metal were relatively well agreed with those of experiment. Through the results of fluid flow simulation, the relationship of filling length and filling velocity with the variation of vacuum pressure was analysed respectively. And it applied to a real die casting product and the internal gas quantity of product was significantly reduced by modification of vacuum gate system.     

Simplified GIS based methodology to quantify risk factors for alternative route evaluation for transport of radioactive materials

Abstract

The risk associated with the transport of radioactive materials can be impacted by many factors of the transport system, as well as by the area through which the materials may travel. Informed decision making requires a quantitative evaluation of pertinent information or conditions. Geographic information systems are often used to display spatial information. The authors have developed a simplified methodology that can be used to quantify the conditions that impact risk over a segment of a transport route. The methodology aggregates the impact of a condition based on the magnitude of the impacting condition and its location with respect to the transport corridor. This paper is a proof-of-concept demonstration for the methodology for the factors of the population in the vicinity of the roadway and the highway design criteria with respect to access ramps and medians. The methodology is particularly suited to a comparison of alternative routes for decision making, where an easily implemented methodology is needed to narrow down multiple alternatives to those few requiring a more detailed analysis.     

Development of a remote fault diagnosis system applicable to autonomous mobile robots

In this paper, the novel idea of using an autonomous mobile robot as a virtual local network is proposed as a system for the remote diagnosis of faults of a mobile robot. There are two primary points in this research. First, an objective of the research is to achieve a system with good expandability, i.e. one in which the diagnosis can be achieved whether there are many or few mobile robots to be diagnosed. To accomplish this goal by simply changing some system settings, a simple network management protocol (SNMP) structure is utilized. Within the developed diagnosis system, a mobile robot is taken as one of the management objects of the network management system (NMS). The SNMP, which is widely used in the NMS, is applied and adapted to the developed system as the communication protocol for exchanging diagnosis information. Moreover, by taking advantage of the active moving and sensing ability of autonomous mobile robots, an effective method of fault inference called a 'run-test' is discussed. By using this method, the accuracy of the diagnoses is improved. In the best-case scenario, the certainty of an accurate diagnosis increased from 20% (without using the 'run-test') to 93%. On the other hand, in some cases, the accuracy of the diagnosis results barely improved. On average, among the cases discussed in this paper, the accuracy of the diagnosis results improved about 2.1 times by the proposed method.     

Numerical modelling for rotational moulding with non-isothermal heating

Abstract

In the rotational moulding process, the internal air temperature has been widely recognised as a tool to predict an optimum cycle time. This paper presents a new numerical approach to predict the internal air temperature in a two-dimensional (2-D) static model without requiring the consideration of the tumbling motion of polymer powder. The initial non-isothermal heating of the static model is actually formed by two changeable plastic beds (stagnant and mixing beds), which represent the actual stagnant and mixing pools inside a rotating mould respectively. In the numerical approach, the lumped-parameter system and coincident node technique are proposed to incorporate with the Galerkin Finite Element Method in order to account for the complex thermal interaction of the internal air. It helps to overcome the difficulty of multidimensional static models in predicting an accurate internal air temperature during the heating stage of rotationally powdery plastic. Importantly, the predicted temperature profiles of the internal air, oven times for different part thicknesses and process conditions accord with the available experimental results.     

Adaptive dynamic walking of a quadruped robot using a neural system model

We are trying to induce a quadruped robot to walk dynamically on irregular terrain by using a neural system model. In this paper, we integrate several reflexes, such as a stretch reflex, a vestibulospinal reflex and extensor/flexor reflexes, into a central pattern generator (CPG). We try to realize adaptive walking up and down a slope of 12°, walking over an obstacle 3 cm in height, and walking on terrain undulation consisting of bumps 3 cm in height with fixed parameters of CPGs and reflexes. The success in walking on such irregular terrain in spite of stumbling and landing on obstacles shows that the control method using a neural system model proposed in this study has the ability for autonomous adaptation to unknown irregular terrain. In order to clarify the role of a CPG, we investigate the relation between parameters of a CPG and the mechanical system by simulations and experiments. CPGs can generate stable walking suitable for the mechanical system by receiving inhibitory input as sensory feedback and generate adaptive walking on irregular terrain by receiving excitatory input as sensory feedback. MPEG footage of these experiments can be seen at: http://www.kimura.is.uec.ac.jp.     

施肥对烟草生长和根际土壤微生物数量的影响

对烟草品种G80进行了氮素形态配比和施肥方式的试验。结果表明,随硝态氮比例的增加,旺长期烟草根系干重随之减少,而在采收期根系干重受不同氮素配比影响的规律不明显;窄幅条施处理的烟株叶面积最大,根系干重也最多,撒施处理的叶面积和根系干重最小。氮素形态配比对微生物数量的影响较小,而施肥方式对其影响较大。     

Synthesized articulated behavior using space-temporal on-line principal component analysis

This paper presents a new framework to synthesize humanoid behavior by learning and imitating the behavior of an articulated body using motion capture. The video-based motion capturing method has been developed mainly for analysis of human movement, but is very rarely used to teach or imitate the behavior of an articulated body to a virtual agent in an on-line manner. Using our proposed applications, new behaviors of one agent can be simultaneously analyzed and used to train or imitate another with a novel visual learning methodology. In the on-line learning phase, we propose a new way of synthesizing humanoid behavior based on on-line learning of principal component analysis (PCA) bases of the behavior. Although there are many existing studies which utilize PCA for object/behavior representation, this paper introduces two criteria to determine if the dimension of the subspace is to be expanded or not and applies a Fisher criterion to synthesize new behaviors. The proposed methodology is well-matched to both behavioral training and synthesis, since it is automatically carried out as an on-line long-term learning of humanoid behaviors without the overhead of an expanding learning space. The final outcome of these methodologies is to synthesize multiple humanoid behaviors for the generation of arbitrary behaviors. The experimental results using a humanoid figure and a virtual robot demonstrate the feasibility and merits of this method.     

SIEMENS 840D系统在曲轴内铣机床控制上的应用

介绍SIEMENS 840D系统的硬件配置、软件编程思路及在曲轴内铣机床控制上的主要应用。