Journal of Robotics, Networking and Artificial Life
Volume 9, Issue 1, June 2022
Research Article
1.Consideration of Unchiku Generation with Moving Illustration Using Kabuki
Dance Knowledge
Jumpei Ono1, Miku Kawai2, Takashi Ogata3
1Faculty of Software and Information Technology, Aomori University, 2-10-1,
Seishincho, Edogawa, 134-0087, Japan
2Faculty of Liberal Arts, The Open University of Japan, 2-11, Wakaba, Mihama,
Chiba, 261-8586, Japan
3Faculty of Software and Information Science, Iwate Prefectural University,
152-52, Sugo, Takizawa
, 020-0693, Japan
pp. 1–12
ABSTRACT
An explanation generation system based on narratology and an unchiku generation
ystem has been developed previously. Moreover, we developed an animation
system that simulates the stage performance structure of a kabuki work,
Kyōganoko Musume Dōjōji. Based on this background, this study presents
the basic method of unchiku generation using a moving illustration system.
In the prototype, we use the legend of Dōjōji and edit the general explanation
and unchiku texts of Kyōganoko Musume Dōjōji. Further, the system supplements
the unchiku using the corresponding animations. We refer to these animations
as moving illustrations. These unchiku and animations are not intended
to explain the story, but to provide deep knowledge of the explanations
inserted in the story.
Keywords:narrative explanation, kabuki. Kyōganoko Musume Dōjōji, moving illustration,
narrative generation, unchiku
ARTICLE INFO
Article History
Received 26 November 2020
Accepted 26 October 2021
JRNAL9101
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Research Article
2.Toward Smart Tomato Greenhouse:The 6th Tomato-Harvesting-Robot Competition
and Regulation Changes Aiming at Practical Application
Takayuki Matsuo1, Yasunori Takemura2, Takashi Sonoda2, Yuya Nishida3, Shinsuke Yasukawa3, Kazuo Ishii3
1National Institute Technology, Kitakyushu College, 2-20-1, Shii, Kokuraminami-ku,
kitakyushu-shi, Fukuoka, Japan
2Department of Engineering, Nishinippon Institute of Technology, 2-11, Aratsu,
Kanda-town,Miyako-gun, Fukuoka 800-0396, Japan
3Department of Life Science and System Engineering, Graduate School of Kyushu
Institute of Technology, 2-4, Hibikino, Wakamatsu, Kitakyushu-city, Fukuoka
808-0196, Japan
pp. 13–19
ABSTRACT
Agriculture is one of the most important primary industries, however the
agricultural workforce in Japan has been decreasing due to the aging, shortage
of successors and their heavy work. Smart agriculture and farms, which
aim to automate farm work, have been attracting attention for the future
sustainable society. We have been organizing the Tomato-Harvesting-Robot
Competitions since 2014 to introduce robotic technology and AI into agriculture
and promote agricultural technology. The competition consists of a Junior
League for young students and a Senior League for general competitors.
In this paper, we report the results of the 6th Tomato-Harvesting-Robot
Competition and the regulation changes toward practical applications..
Keywords:Smart agriculture, Agricultural robot, Tomato-Harvesting-Robot competition
ARTICLE INFO
Article History
Received 16 November 2020
Accepted 17 June 2022
JRNAL9102
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Research Article
３System Design of Daylily Picking Robot
Jichao Zhao, Fengzhi Dai, Tianyi Zhang
College of Electronic Information and Automation, Tianjin University of
Science and Technology, Tianjin, China
pp. 20–24
ABSTRACT
Agricultural picking is a key part of agricultural production activities.
In recent years, people are committed to improving picking efficiency and
freeing labor, and agricultural picking robots have emerged and are widely
used. Daylily, as a crop for daily consumption, can significantly reduce
serum cholesterol and has extremely high nutritional value. However, Daylily
picking time and picking standards are relatively strict, long-term picking
daylily will also damage the health of the work. The daylily picking robot
designed in this paper can effectively solve the current picking problems,
such as: improving picking efficiency, standardizing picking, and reducing
physical hazards to laborers
Keywords:Picking Robot, Daylily, Agricultural, Robot Design
ARTICLE INFO
Article History
Received 20 November 2020
Accepted 10 August 2021
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JRNAL9103
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Research Article
4.A Method of Navigating a Visually Impaired Person Using MY VISION
Joo Kooi Tan, Kohei Kitagawa
Department of Mechanical and Control Engineering, Kyushu Institute of Technology,
Sensui-cho Tobata-ku, Kitakyushu, 804-8550, Japan
pp. 25–30
ABSTRACT
This paper describes a method of navigating a visually impaired person
who walks on a sidewalk and goes through a pedestrian crossing by the use
of an ego-camera system named MY VISION. The proposed method finds a walkable
region on the sidewalk. Thus, at a pedestrian crossing, it finds a traffic
light and judges an appropriate timing to cross the road by analyzing the
color and flashing status of the signal. The walkable region is found employing
Graph- Based Segmentation (GBS), and once a pedestrian crossing is reached
through the use of a GPS signal, a traffic light is detected by use of
the HOG feature and Random Forest. The effectiveness of the proposed method
was verified by experiments. This implies usefulness of a MY VISION system
Keywords:MY VISION, Visually impaired, GBS, GPS, HOG, Random Fores,
ARTICLE INFO
Article History
Received 24 November 2020
Accepted 02 November 2021
JRNAL9104
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Research Article
5.Effects of Tactile Stimulation Near the Auricle on Body Sway
Masaya Tadokoro1, Taro Shibanoki2
1Graduate School of Science and Engineering, Ibaraki University, 1-4-1 Nakanarusawa-cho,
Hitachi, Ibaraki 316-8527, Japan
2Graduate School of Natural Science and Technology, Okayama University,
3-1-1 Tsushima-naka, Kita-ku, Okayama, 700-8530, Japan
pp. 31–36
ABSTRACT
This paper describes the relationship between tactile stimulation and human
body sway. We previously proposed a tactile stimulation-based body sway
stabilization system and revealed that simultaneous stimulation behind
both auricles significantly improved human balance function, and unilateral
stimulation may induce the deviation of the center of pressure (COP). In
this paper, some stimulation patterns were applied to participants and
COP distribution before/after stimulation was extracted. The results showed
that COP values after stimulation could be inclined to the same of the
stimulation site. It indicates that tactile stimuli can control human balance
function
Keywords:balance function, , ody sway, tactile stimulation, center of pressure
ARTICLE INFO
Article History
Received 25 November 2020
Accepted 29 January 2022
J-STAGE9105
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Research Article
6.A Control and Data Transfer Platform for FPGA Applications
Sansei Hori1, Hakaru Tamukoh2
1Graduate School of Life Science and Systems Engineering, Kyushu Institute
of Technology,2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka, 808-0196, Japan
2Graduate School of Life Science and Systems Engineering, Kyushu Institute
of Technology, Research Center for Neuromorphic AI Hardware, Kyushu Institute
of Techn Kitakyushu, Fukuoka, 808-0196, Japan
pp. 37–42
ABSTRACT
Deep learning technology has made remarkable progress in recent years and
has been adopted for a variety of applications such as smartphones and
cloud servers. These systems employ dedicated processors to reduce power
consumption and process massive amounts of data. In this paper, we propose
a field-programmable gate array (FPGA) infrastructure for easy verification
of user logic. The infrastructure makes it easy to communicate and control
a host PC and user logic. We implemented two example logics, which were
simple image processing and a restricted Boltzmann machine, into the infrastructure
to confirm these features
Keywords: FPGA, Hardware Accelerator, Xillybus, RBM
ARTICLE INFO
Article History
Received 25 November 2020
Accepted 08 November 2021
JRNAL9106
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Research Article
7.Detection of Blob and Feature Envy Smells in a Class Diagram using Class's
Features
Bayu Priyambadha1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro Aburada1, Naonobu Okazaki1
1University 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. 43–48
ABSTRACT
Measuring the quality of software design artifacts is difficult due to
the limitation of information in the design
phase. The class diagram is one of the design artifacts produced during
the design phase. The syntactic and semantic information in the class is
essential to consider in the measurement process. Smell detection uses
class-related information to detect the smell as an indicator of a lack
of quality. Several classifiers use all information related to the class
to prove how informative it for the smell detection process. The smell
types that are a concern in this research are Blob and Feature Envy. The
experiment using three classifiers (j48, Multi-Layer Perceptron, and Naïve
Bayes) confirms that Blob smell detection utilizes the information successfully.
On the other hand, Feature Envy still needs more elaboration. The average
true positive rate by the classifiers is about 80.67%.
Keywords:Smell Detection, Class Diagram Smell. Design Quality, Software Design
ARTICLE INFO
Article History
Received 25 November 2020
Accepted 11 November 2021
JRNAL9107
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Research Article
8.Discovering Future Directional Expectations of Robot Technologies
Takao Ito1, Tsutomu Ito2
1Graduate School of Advanced Science and Engineering, Hiroshima University,1-4-1,
Kagamiyama, Higagshi Hiroshima, 739-7527, Japan
2Department of Business and Administration, Ube National College of Technology,
2-14-1 Tokiwadai, Ube, Yamaguchi, 755-0096, Japan
pp. 49–53
ABSTRACT
Robot technologies have been changed dramatically with rapid development
of the Internet technology. Having reviewed the relevant literature on
advanced robot technologies, it is readily evident that most of typical
robot technologies are used in single-cause-oriented products, such as
robot vacuum cleaners and Asimo, a humanoid robot invented by Honda, which
have played an important role in modern society. For further development,
networking robot systems comprised of advanced Internet and artificial
intelligence technologies are required to deal with future uncertainties.
Different technologies should be combined and linked together for multiple-goal-oriented
approaches associated with networking robot systems. For evaluating the
validity of the proposed new system, a novel approach referred to as the
fragility index is introduced in this research
Keywords: networking robot systems, swarm robotics, multiple-goal-oriented
approaches, fragility
ARTICLE INFO
Article History
Received 24 November 2021
Accepted 22 April 2022
JRNAL9108
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Research Article
9.A Study of Factors Affecting Acceptance of Counseling Service System: Service
Users’ Perspective
Hsiu-Hao Liu
The 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
pp. 54–58
ABSTRACT
As the most important case management system in school counseling works,
the counseling service system must meet the needs and expectations of the
school teacher-counselors (the main users). Semi-structured interviews
were used to interview school teacher-counselors who have experience in
using the system in Tainan. The data are recorded and semantically analyzed
after the interview, and the critical factors that affect the system acceptance
of the school teacher-counselors are summarized. The conclusion was to
discuss the implications of this research and to suggest several future
research issues.
Keywords: Usage Intention, Qualitative Research, Counseling Service System,
Teacher-Counselor
ARTICLE INFO
Article History
Received 30 October 2020
Accepted 11 April 2022
JRNAL9109
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Research Article
10.Flexible Bar Geometric Designs for Personalized Knee Orthoses Inspired
by Compliant Mechanisms
Pancho Dachkinov1, Shintaro Kasa1, Kohei Tanaka1, Hiroaki Wagatsuma1,2
1Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-Ku, Kitakyushu,
808-0196, Japan
2RIKEN CBS, Japan
pp. 59–65
ABSTRACT
Recently, 3D printed compliant mechanisms have been expected not only in
engineering purposes, but also in supportive devices of human motions especially
for human joint problems. On the other hand, the establishment of a systematic
design principle is the issue to provide an actual solution for the target
body problem, i.e. the personalization. In the present study, we proposed
a systematic method to design flexible bars to reduce the burden of the
human joint. The proposed concept was verified in computational analyses
and the 3D printer productions were demonstrated in an actual implementation
as prototypes. In computational analyses, larger deformations of the bars
were analyzed to absorb the stress occurring a flexing action in joint’s
motion. Theoretical analysis and experiments were demonstrated its flexibility
and support functions during the flexion and extension of the knee motion.
It indicates that high importance of the geometrical analysis of the orthosis
design in the sense of compliant mechanisms
Keywords:3D Printing, Flexible Barst, Compliant Mechanisms, Knee Supportive Orthoses,
Customized Design
ARTICLE INFO
Article History
Received 25 November 2021
Accepted 12 March 2022
JRNAL9110
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Research Article
11.Development of Small-size Jellyfish Removal ROV and its Evaluation of Removal
Motion Performance in Tank
Jonghyun Ahn1, Hiroyuki Yokota2, Shinsuke Yasukawa2
1Dept. of Intelligent Mechanical Engineering, Hiroshima Institute of Technology,
2-1-1 Miyake, Saeki, Hiroshima,731-5193, Japan
2Dept. of Human Intelligence Systems, Kyushu Institute of Technology, 2-4
Hibikino, Wakamatsu, Kitakyushu, Fukuoka, 808-0196, Japan
pp. 66–71
ABSTRACT
In recent years, increase in the number of jellyfish causes damage in the
fishery and tourism industries. Currently, most of the jellyfish removal
work is carried out by workers. However, this conventional removal work
is required a lot of time and manpower. In this paper, we proposed a method
for removal work of jellyfish using an underwater robot. Also, we introduced
developed ROV type underwater robot, which is called JENOS (Jellyfish Extermination
Nifty-robot for Ocean Sustentation), and its removal motion performance.
The ROV was developed in consideration of the attitude control during the
removal operation. Because, the attitude, such as surge and pitch, of ROV
became unstable when performing jellyfish removal work. To solve this problem,
we equipped 8 thrusters to improve attitude stability during the jellyfish
removal work. As results, surge acceleration was reduced about 30.0%, and
pitch angle velocity was reduced about 25.8%, and the jellyfish sample
was chopped within 25 seconds.
Keywords:robot design,ocean engineering i,ROV,jellyfish removal work
ARTICLE INFO
Article History
Received 25 November 2021
Accepted 17 March 2022
JRNAL9111
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Research Article
12.Bipartite Consensus of Linear Discrete-time Multi-agent Systems with Encoding-Decoding
Jintao Hu, Yingmin Jia, Yaxin Li
The Seventh Research Division and the Center for Information and Control,
School of Automation Science and Electrical Engineering, Beihang University
(BUAA), 37 Xueyuan Road, Haidian District, Beijing, 100191, China
pp. 72–76
ABSTRACT
In this paper, the consensus problem of general linear discrete-time multi-agent
systems with the cooperative-antagonistic interactions and limited communication
bandwidth is investigated, and a bipartite consensus con-trol protocol
is proposed for each agent, which is given in terms of the state of its
dynamic encoder and decod-ers with uniform quantizer. It’s demonstrated
that the bipartite consensus can be realized, if the signed undi-rected
graph is connected and structurally balanced/unbalanced. Furthermore, the
explicit form of the conver-gence rate is given. Numerous simulations are
presented to illustrate the feasibility of the control scheme used on this
system
Keywords:Multi-agent systems, signed undirected graph, bipartite consensus, structural
balance/unbalance, encoding and decoding
ARTICLE INFO
Article History
Received 24 November 2020
Accepted 29 March 2022
JRNAL9112
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Research Article
13,Formation control of rectangular agents using complex Laplacian
Yaxin Li, Yingmin Jia, Jintao Hu
The Seventh Research Division and the Center for Information and Control,
School of Automation Science and Electrical Engineering, Beihang University
(BUAA), 37 Xueyuan Road, Haidian District, Beijing, 100191, China
pp. 77–80
ABSTRACT
A distributed control algorithm based on artificial potential function,
coordinate transformation and complex Laplacian for formation control of
second-order rectangular agents is presented in this paper. The system
can achieve the desired formation, avoid collision and maintain connectivity
between agents. The stability analysis of this algorithm is given. Finally,
the effectiveness of the algorithm is illustrated by the simulation results
Keywords:rectangular agents, formation control, communication maintenance e, collision
avoidance
ARTICLE INFO
Article History
Received 24 November 2021
Accepted 29 March 2022
JRNAL9113
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Research Article
14.A Technique for Learning Software Modeling Using Extended Place/Transition
Net and Its Prototype Tool
Tomohiko Takagi1, Akio Usuda2
1Department of Engineering and Design, Faculty of Engineering and Design,
Kagawa University, 2217-20 Hayashi-cho, Takamatsu-shi, Kagawa 761-0396,
Japan
2Division of Reliability-based Information Systems Engineering, Graduate
School of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu-shi,
Kagawa 761-0396, Japan
pp. 81–86
ABSTRACT
Extended Place/transition Net (EPN) is expected to be one of formal software
modeling techniques to realize model-driven development. This paper shows
a personal on-demand learning technique that helps engineers to acquire
skills for using EPN, and then illustrates a prototype tool for it. In
the technique, each engineer as a learner tries to construct his/her EPN
model so as to satisfy given software requirements. The key ideas of the
technique are (i) to construct a learner's EPN model by using given components
only, (ii) to convert a learner's EPN model into a VDM++ specification,
and (iii) to visualize the behavior of software by using animated graphics.
Preliminary discussion and experiments with trial users of the prototype
tool have been conducted to evaluate the effectiveness of the technique
Keywords: software modeling, place/transition net, VDM, personal on-demand learning
ARTICLE INFO
Article History
Received 25 November 2020
Accepted 20 January 2022
JRNAL9114
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Research Article
15.Efficiency Problem of Spherical Robot in Transfer Kinetic Energy
Kenji Kimura1, Kazuo Ishii2
1Department of Control Engineering, Matsue College of Technology, 14-4,
Nishi-ikumacho, Matsue,Shimane, 690-8518, Japan
2Graduate School of Life Science and engineering, Kyusyu Institute of Technology,
2-4 Hibikino, Wakamatsu-ku, Kitakyushu 808-0196, Fukuoka, Japan
pp. 87–92
ABSTRACT
Previous spherical mobile robots were driven by two rollers with a fixed
rotational axis, which restricts the angular velocity vector of the sphere
to two dimensions. Three-dimensional freedom is expected to improve the
rotational diversity of the sphere. This study proposes a spherical mobile
robot with a variable roller-rotational axis that allows the movement of
three degrees of freedom. Furthermore, the kinetic energy of transporting
the sphere by the rollers is minimized by an optimization procedure and
it is shown that the kinetic energy of sphere transport is efficient
Keywords: Angular velocity vector of the sphere, Angle of sphere rotational
axis, Total kinetic energy:
ARTICLE INFO
Article History
Received 10 November 2020
Accepted 20 Junel 2022
JRNAL9115
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