Journal of Advances in Artificial Life Robotics Volume 4 Issue3
Research Article
1.Realizing Variable Stiffness through Structures Designed for Quick Motion
Katsuaki Suzuki1, Yuya Nishida2, Kazuo Ishii2
1Kumamoto Industrial Research Institute, 3-11-38 Higashi machi, Higashi-ku,
Kumamoto 862-0901, Kumamoto, Japan
2Life Science and Systems Engineering, Kyushu Institute of Technology, 2-4
Hibikino, Wakamatsu-ku, Kitakyushu 808-0196, Fukuoka, Japan
pp. 122–127
ABSTRACT
To expand a robot’s range of activities, we aim to realize three functions:
normal motion, quick motion, and variable stiffness. In this study, we
developed a method for realizing variable stiffness using a joint mechanism
that can achieve normal and quick motions. Our analysis results confirmed
that stiffness could be changed by adjusting the initial displacement of
the spring incorporated in the joint mechanism. Furthermore, we manufactured
a machine containing the proposed mechanism and evaluated the proposed
method by comparing our theoretical and experimental results considering
errors. Our findings showed similar trends between the measured and theoretical
values with an error caused by friction between machine components.
ARTICLE INFO
Article History
Received 25 November 2022
Accepted 15 November 2023
Keywords
Variable stiffness
Link mechanism
4301
Research Article
2.Automated Food Quality Checking System
Ashraf Ali Jamal Deen1, Thivagar Chettiar Sarawanan1, Heshalini Rajagopal2, Madam Devika Sethu1,Norrima Binti Mokhtar3, Neesha Jothi2
1Department of Electrical and Electronic Engineering, Manipal International
University, Malaysia
2Institute of Computer Science and Digital Innovation, UCSI University,
56000 Kuala Lumpur, Malaysia
3Department of Electrical Engineering, Faculty of Engineering, University
of Malaya, 50603 Kuala Lumpur, Malaysia
pp. 128–132
ABSTRACT
Ensuring food safety, hygiene, and health is crucial in tackling the issue
of food wastage. Preserving the high quality of food necessitates vigilant
checking and safeguarding against deterioration caused by environmental
factors such as temperature, humidity, and light. This research aims to
develop a comparable tool for checking food quality, specifically focusing
on environmental aspects like temperature, humidity, alcohol content, and
light exposure for perishable items like fruits and vegetables. The system
is constructed using an Arduino UNO microcontroller, which interfaces with
various sensors like DHT-22 to track temperature and humidity, MQ3 to detect
alcohol levels, and LDR to measure light exposure. The collected sensor
data is transmitted to an IoT platform through an ESP8266 Wi-Fi Module.
This IoT system serves to log and monitor the sensor data, enabling remote
and real-time oversight of food storage conditions from any location and
at any time.
ARTICLE INFO
Article History
Received 06 August 2022
Accepted 25 August 2023
Keywords
Food quality
Quality checking
Internet of things (IoT)
Sensor
4302
Research Article
3.Rescue Robot Challenge to Develop Problem-Solving Skills in Junior High
School Students
Kazuo Kawada, Keita Murai, Yuta Susawa, Hiroyuki Y. Suzuki
Graduate School of Humanities and Social Sciences, Hiroshima University,
7398524 Hiroshima, Japan
pp. 133–137
ABSTRACT
The ”Junior High School Rescue Robot Challenge'' is an activity held every
year by Hiroshima University in cooperation with construction machinery
manufacturers. The challenge has been ongoing for 18 years with the given
theme of rescue. However, starting in 2022, the program's policy has essentially
changed, with emphasis placed on both problem-finding and problem-solving
abilities. A prototype rescue robot was created by modifying a radio-controlled
excavator model, and students were responsible for everything from proposing
problems to be solved in the disaster area to finding solutions.
ARTICLE INFO
Article History
Received December 7, 2022
Accepted 27 March 2024
Keywords
Rescue robot
Junior high school
Technology education
Robot evaluation
Modified excavator
4303
Research Article
4.Detecting small sample objects with improved YOLOv5
Yuxuan Gao1, Jiwu Wang1, Zixin Li2
1School of Mechanical and Electronic Engineering, Beijing Jiaotong University,
Beijing, Haidian District, China
2Aero Engine Corporation of China, Beijing, Changping District, China
pp. 138–141
ABSTRACT
Object detection is widely used in various production and life, such as
mask detection and recognition during epidemics, masked face recognition,
etc., but object detection algorithms based on deep learning have always
been an important research topic in the object detection field. It is an
implementation method. Due to the large number of lead seals and fuses,
their positions are not fixed, the sample data set is small, the target
background is complex and easily occluded, and there are strong reflection
interferences, which pose problems with conventional image processing methods.
Effectively solving object recognition problems is difficult. In this study,
by expanding the dataset, using various data enrichment methods, and training
with improved algorithms, the detection accuracy, detection speed, and
adaptability were effectively improved.
ARTICLE INFO
Article History
Received December 18, 2022
Accepted 28 March 2024
Keywords
YOLOv5
Deep learning
Object detection
Few-shot learning
4304
Research Article
5.Identifying Industrial Control Systems Anomalies Operation Based on Finite-State
Machines
I-Hsien Liu1, Pei-Wen Chou1, Nai-Yu Chen1, Jung-Shian Li2
1Department of Electrical Engineering / M.S. Degree Program on Cyber-Security
Intelligence, National Cheng Kung University, No.1, University Rd., East
Dist., Tainan City 701401, Taiwan
2Department of Electrical Engineering / Institute of Computer and Communication
Engineering, National Cheng Kung University, No.1, University Rd., East
Dist., Tainan City 701401, Taiwan
pp. 142–145
ABSTRACT
During 2021, a facility responsible for treating water in Florida, USA,
experienced a cyberattack orchestrated by external malicious entities.
These attackers sought to tamper with the levels of certain chemicals in
an attempt to compromise the integrity and safety of the water supply.
Recognizing the complexity of detecting abnormal operations in Industrial
Control Systems (ICS), this research sought to leverage the benefits of
finite-state machine technology to address this challenge. To evaluate
the scheme, this research performed a series of assessments utilizing the
cybersecurity testbed for dam control systems developed by TWISC@NCKU in
Taiwan. Research results show that improved detection of irregular operational
behaviors, empowering maintenance staff to swiftly pinpoint anomalies.
ARTICLE INFO
Article History
Received 30 November 2023
Accepted 15 May 2024
Keywords
FSM
ICS security
Dam control systems
Anomaly detection
4305
Research Article
6.Robotics Education for Elementary and Junior High School Students Using
Beauto Balancer
Youta Takano1, Kenji Kimura2
1Belair-systems, Inc, 20-8 Hina-minami-machi, Okazaki-shi, Aichi, 444-0915,
Japan
2Department of Control Engineering, National Institute of Technology, Matsue
College, 14-4 Nishi-ikuma-cho, Matsue-shi, Shimane,690-8518, Japan
pp. 146–152
ABSTRACT
In recent years, it has become necessary to use programming in controlling
robots. However, there are few educational materials for elementary and
junior high school students to understand and be interested in the concepts
of programming and control engineering. In the previous study, we planned
an educational program using "Beauto Balancer2", an educational
robot developed by Vstone Corporation, to explain the mechanism of inverted
control and to allow students to actually touch the robot, so that they
can experience various technologies including control engineering and become
interested in mathematical subjects in general, which are the basis of
these technologies. The educational program was planned so that students
could experience various technologies including control engineering through
hands-on experience with robots and develop an interest in mathematical
subjects in general. In addition, a craft class was conducted and evaluated
using the results of questionnaires. In this study, mock classes were conducted
using the existing software for educational robots created in the previous
study, and comparisons and verifications were made by focusing on three
persons with similar characteristics.
ARTICLE INFO
Article History
Received 30 November 2023
Accepted 17 June 2024
Keywords
Robot education
Control engineering
Visual programming
Additional experiments
4306
Research Article
7.Generation of Labyrinth Images Using Gradients Between Circles in Window
Toru Hiraoka, Kyosuke Matsumoto
Graduate School of Regional Design and Creation, University of Nagasaki,
Japan
pp. 153–157
ABSTRACT
Non-photorealistic rendering methods to automatically generate labyrinth
images from photographic images have been proposed. Labyrinth images are
non-photorealistic images that maze-like intricate lines are laid out at
approximately equal intervals on photographic images. Since the shape of
the lines forming labyrinth images differs depending on the conventional
method, it gives a different impression. We propose a method to generate
labyrinth images composed of lines with a shape different from the conventional
methods. The proposed method is performed by iterative computation with
gradients between circles in a window. To verify the effectiveness of the
proposed method, experiments were conducted to visually confirm labyrinth
images generated from various photographic images.
ARTICLE INFO
Article History
Received 20 May 2024
Accepted 29 May 2024
Keywords
Non-photorealistic rendering
Labyrinth image
Photographic image
Automatic generation
4307
Research Article
8.GENERATION of Lines-Composed Images that Change Brightness and Width
of Lines
Toru Hiraoka, Jia-Lin Zhang
Graduate School of Regional Design and Creation, University of Nagasaki,
Japan
pp. 158–162
ABSTRACT
We propose a non-photorealistic rendering method to automatically generate
lines-composed images from photographic images. The brightness and width
of the lines in lines-composed images change according to the change in
the light and dark of photographic images. Our method is executed by repeating
a process of updating images using the area near the target pixel that
is the most different from the area centered on the target pixel. To verify
the effectiveness of our method, we conducted experiments with changing
the values of parameters in our method. The experimental results show that
our method can generate impressive non-photorealistic images.
ARTICLE INFO
Article History
Received 20 May 2024
Accepted 29 May 2024
Keywords
Non-photorealistic rendering
Line
Brightness
Width
Different area
Automatic generation
4308
Research Article
9.Identifying Industrial Control Systems Anomalies Operation Based on Finite-State
Machines
I-Hsien Liu1, Pei-Wen Chou1, Nai-Yu Chen1, Jung-Shian Li2
1Department of Electrical Engineering / M.S. Degree Program on Cyber-Security
Intelligence, National Cheng Kung University, No.1, University Rd., East
Dist., Tainan City 701401, Taiwan
2Department of Electrical Engineering / Institute of Computer and Communication
Engineering, National Cheng Kung University, No.1, University Rd., East
Dist., Tainan City 701401, Taiwan
pp. 163–166
ARTICLE INFO
Article History
Received 30 November 2023
Accepted 07 May 2024
Keywords
FSM
ICS security
Dam control systems
Anomaly detection
4309
Research Article
10.Extending BWDM to Support Various Types and Recursive Definitions in
VDM++ Test Case Generation
Shota Takakura1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro Aburada1, Naonobu Okazaki1
1Department of Computer Science and Systems Engineering, Faculty of Engineering,
University of Miyazaki, 1-1 Gakuen-kibanadai nishi, Miyazaki, 889-2192
Japan
2Department of Information Security, Faculty of Information Systems, Siebold
Campus, University of Nagasaki, 1-1-1 Manabino, Nagayo-cho, Nishi-Sonogi-gun,
Nagasaki, 851-2195 Japan
pp. 167–171
ABSTRACT
Generating test cases from VDM++ formal specifications, which help to eliminate
ambiguities, is both time-consuming and labor-intensive. To solve this
problem, our laboratory has developed BWDM, a tool for automatic test case
generation from VDM++ specifications. However, the original BWDM only supports
integer types and cannot handle test cases for operations and functions
with recursive structures. To enhance BWDM's usefulness, this paper introduces
extensions to address these limitations. The results confirm that the extended
BWDM can reduce test case generation time compared to manual methods.
ARTICLE INFO
Article History
Received 24 November 2023
Accepted 28 June 2024
Keywords
Software testing
Formal methods
VDM++
Automatic generation
Test cases
4310