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 Ogata^3
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 Ishii^3
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 Shibanoki^2
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 Tamukoh^2
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 Okazaki^1
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 Ito^2
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 Wagatsuma^1,2
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 Yasukawa^2
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 Usuda^2
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 Ishii^2
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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