Journal of Advances in Artificial Life Robotics
Volume 3, Issue 1 June 2022
Research Article
1.State Transitions in Hieratical Triple System and Its Detection
Masaya M. Saito1, Kiyotaka Tanikawa2
1Department of Information Security, University of Nagasaki, Siebold, 1-1-1
Manabino, Nagayo-cho, Nishi-Sonogi-gun, Nagasaki 851-2195, Japan
2National Astronomical Observatory of Japan, 2-21-1 Osawa, Mitaka, Tokyo
181-8588, Japan
Pages 1–7
ABSTRACT
The motions of three bodies like Sun-Asteroid-Jupiter system or triple
star system are formalized as hierarchical three body problem. When the
third body orbits around the rest in a highly inclined elliptic orbit,
the system undergoes the oscillation, called the Kozai oscillation, where
the eccentricity may increase with decrease of the inclination of the orbital
plane. This type of orbits often ends in disruption of the system, that
is, the outermost body is thrown away. Inspections of such orbits show
that they undergo many state transitions, each of which visually seems
to form an invariant curve of the Kozai oscillation. However, the transition
process has not been well understood. For this reason, we try to map these
trajectories into a secular perturbation model with data assimilation technique.
Via such mapping, we will demonstrate to extract the state transitions
(between libration and circulation as well as between different levels
of the circulation
Keywords:Hierarchical triple system, Kozai mechanism, Data assimilation
J-STAGE3101
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Research Article
2.Weight estimation for noodle products in food layout of a home replacement
meal
Tomofumi Tsuji1, Sakmongkon Chumkamon1, Chanapol Piyavichayanon2, Ayumu Tominaga3, Ryusuke Fujisawa1, Abbe Mowshowitz4, Eiji Hayashi1
1Department of Mechanical Information Science and Technology, Kyushu Institute
of Technology, 680-4, Kawazu, Iizuka-City, Fukuoka, 820-8502, Japan
2Department of Creative Informatics, Kyushu Institute of Technology, 680-4
Kawazu, Iizuka, Fukuoka 820-8502, Japan
3Department of Creative Engineering Robotics and Mechatronics Course, National
Institute of Technology Kitakyushu Colllege, 5-20-1 Shii, Kokuraminamiku,
Kitakyushu, Fukuoka, 802-0985, Japan
4Department of Computer Science, The City College of New York, 160 Convent
Avenue, New York, NY 10031, USA
Pages 8–13
ABSTRACT
There is a growing demand for automation by robots in the home replacement
meal industry due to labor shortages in food factories and from the perspective
of the SDGs[1]. In this research, we are developing autonomous work robots
that can perform home replacement meal tasks and developing the technology
for industrial food automation using Artificial Intelligence (AI) to improve
productivity, security, and safety. In this paper, we perform weight estimation
of the served object to identify the amount of spaghetti grasped by the
robot. We created our dataset of spaghetti used for weight estimation.
Spaghetti of varying weight is in different types of containers, placed
at random positions in the robot workspace. The proposed model is shown
to estimate the weight of spaghetti with an error of at most 10%.
Keywords:FA Robots, image processing, noodle products, Weight Estimation, Deep Learning,
General Dataset:
J-STAGE3102
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Research Article
3.A Design of Multi-Agent System Simulation Platform for UGV and Research
on its Formation Control Protocol
Jichao Zhao1, Fengzhi Dai1,2
1College of Electronic Information and Automation, Tianjin University of
Science and Technology, 300222，China
2Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China
Pages 14–18
ABSTRACT
Inspired by ants and fishes in nature, the multi-agent system plays a huge
role in production and manufacturing in modern society. This paper takes
UGV as the object and designs a multi-UGV test platform. The platform composes
of UGVs, ultra-wideband, and Bluetooth Mesh. At the same time, the UGV
can achieve different control objectives by changing the code of main controller.
The formation control protocol of UGVs is designed and its stability is
analyzed. The effectiveness of the protocol is verified
by numerical simulation. Finally, the designed control protocol is applied
to the designed hardware simulation platform to verify the effectiveness
of the simulation platform.
Keywords:multi-agent system, UGV, simulation platform, consensus, formation control
J-STAGE3103
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Research Article
4.A Review of Research on Autonomous Obstacle Avoidance Algorithms for Intelligent
Vehicle
Peng Lu, Haokang Wen,
Tianjin University of Science and Technology, China
Pages 19–23
ABSTRACT
This paper systematically summarizes the current research status and development
of obstacle avoidance algorithms. The characteristics of the unmanned vehicle
obstacle avoidance algorithms are classified into traditional and intelligent
algorithms. Based on the above classification, the representative research
results in recent years are introduced, focusing on the advantages and
disadvantages of various types of obstacle avoidance algorithms. The future
development trend of the unmanned vehicle obstacle avoidance algorithm
is also prospected in order to provide some ideas for the subsequent research.
Keywords:avoiding obstacles, unmanned vehicle, control strategy, algorithm
J-STAGE3104
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Research Article
5.Super-Spreading is Possible by the Day the First Patients are Discovered
in the Community
Saori Iwanaga
Japan Coast Guard Academy (JCGA), 5-1 Wakaba, Kure, 737-8512, Japan
Pages 24–31
ABSTRACT
I proposed a discrete mathematical SEPIR model for seasonal influenza.
In this study, by examining affection by pre-infectious students in real
data, I found that the first patients were discovered four days after the
consecutive holidays, namely the incubation period passing at our academy.
I show that students are likely to super-spread seasonal influenza by the
day the first patients are discovered. Then, it is effective to strengthen
for seasonal influenza measures within the community especially four days
after the consecutive holidays.
Keywords:Epidemic model, Flu, super-spread, infectivity rate
J-STAGE3105
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Research Article
6.The key success factors of introducing ERP system: Application of
AHP
Li-Min Chuang1, Yu-Po Lee2
1The Department of International Business, Chang Jung Christian University,
No. 1, Changda Rd., Gueiren District, Tainan City, 711301, Taiwan
2The Ph.D. Program in Business and Operations Management, College of Management,
Chang Jung Christian University, No. 1, Changda Rd., Gueiren District,
Tainan City, 711301, Taiwan
Pages 32–35
ABSTRACT
This study examines the key success factors of ERP introduction in Taiwan’s
manufacturing industry as a reference for enterprises to reduce the high
and unforeseeable financial and time costs of ERP introduction. In the
second phase, a questionnaire study was conducted using the Analytic Hierarchy
Process to extract the relative weights of the distance between primary
and secondary dimensions, and 5 primary dimensions were derived, including
Management/Organization”, “Introduction Process”, “Technical Support”,
“Documentation”, and “Personnel”, as well as 15 secondary dimensions.
Keywords:Manufacturing industry, Enterprise Resource Planning (ERP), Likert scale,
Analytic Hierarchy Process (AHP)
J-STAGE3106
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Research Article
7.Development of a USV Testbed and Its Basic Trajectory Tracking Control
Keisuke Watanabe, Masatoshi Shimpo
Department of Marine Science and Ocean Engineering, Tokai University, 3-20-1
Orido Shimzu-ku, Shizuoka, 424-8610, Japan
Pages 36–40
ABSTRACT
In recent years, autonomous platforms have been developed to reduce the
cost of various activities in the field of marine engineering, such as
ocean observation platforms, autopilot vessels for maintenance of offshore
wind farms, and the installation of submarine drilling rigs. Catamaran-type
USVs are one of the useful platforms in these activities. The authors have
been developing an experimental testbed of USV platform to conduct basic
studies on control algorithms through sea experiments. The USV must be
capable of following a given trajectory and accomplishing its mission in
the face of wind, currents, and other unknown disturbances while avoiding
other vessels and obstacles at sea. This paper presents our testbed design
and LQR based control algorithm to implement the basic ability of trajectory
tracking, which is intended to be used to collect data for designing AI
based control algorithm in the near future.
Keywords: Offshore wind farm maintenance, USV, Sea experiment, Subsea mining platform
installation
J-STAGE3107
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Research Article
8.A Concrete Crack Inspection Embedded in the Drone-Based System by Using
Sub-Pixel Width Estimation and Morphological Component Analysis
Ankur Dixit1, Wataru Oshiumi1, Hiroaki Wagatsuma1,2
1Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-Ku, Kitakyushu,
808-0196, Japan
2RIKEN CBS, Japan
Pages 41–47
ABSTRACT
Human experts have assured social infrastructure inspections, and recently
an automated inspection is expected as an integrated system of the flight
vehicle with software algorithms of the image processing. For the submillimeter-width
concrete-crack detection, we have introduced Morphological Component Analysis
(MCA) to be able to find those positions. Conventional image processing
methods work well for thick-width crack detections, while the thin-width
crack detection is highly difficult. We successfully demonstrated a concrete
crack detection from images through proximity cameras in a specialized
multi-copter and MCA-based crack position estimations and the linear regression-based
sub-pixel width estimation were integrated together. It will open a new
door to engineering in the actual field work, which can be widely applicable
for social infrastructure inspections in general.
Keywords: Morphological component analysis (MCA), Multicopter, Concrete
crack detection, Sub-pixel estimation
J-STAGE3108
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Research Article
9.Development of Pedal Powered Water Purifier System
Ammar A. M. Al-Talib, Ting Kee Yuan, Sarah ‘Atifah Saruchi
Department of Mechanical and Mechatronics, Faculty of Engineering, Technology
and Built Environment, UCSI University, 56000 Kuala Lumpur, Malaysia
Pages 48–55
ABSTRACT
One of the major concerns in rural area is the struggle to get clean drinking
water. This is because they are not supplied with clean water and thus
must source for water from rivers, rainwater, and wells which are often
contaminated and unsafe for drinking. The objective of this study is to
design and fabricate a functional prototype of a pedal powered water purifier,
and to ensure that purified water is safe for consumption based on chemical
water analysis. A structural analysis via Finite Element Analysis (FEA)
simulation is performed on the prototype. Then, the quality of the purified
water is compared to the Drinking Water Guidelines (DWG) provided by the
World Health Organization (WHO). The system utilizes the distillation method
to produce clean drinking water. The charging efficiency of the generator
has reached 48.74% at 60rpm cadence. The outcome from FEA results showed
that the structure of the supporting frame can withstand up to three times
the normal load. In addition, based on the chemical analysis of purified
water, it has been proven that it meets the standards set by WHO and is
safe for consumption.
Keywords:water purifier, distillation, drinking water, Finite Element Analysis
J-STAGE3109
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10.Compression Spring Fatigue Tester Design and Development
Peng Lu, Peng Jia
Tianjin University of Science and Technology, China
Page 56–60
ABS TRACT
Fatigue damage is the main form of spring failure, the spring fatigue test
is a mandatory test item before the spring is put into use. Especially
for springs in key parts such as automobile suspension springs, train damping
springs and engine valves, they can only be put into use after passing
strict tests. Since there are many different types of spring structures
with different stresses, the fatigue detection and evaluation methods are
also different. This paper designs the compression spring fatigue tester
from several aspects, including composition structure, working principle,
and technical points. This spring tester can test the maximum number of
cycles of a spring for a given failure condition by applying a cyclic variable
load to the spring
Keywords:Spring fatigue test tester structural design
J-STAGE3110
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