Journal of Robotics, Networking and Artificial Life

Volume 9, Issue 2, September 2022

Research Article
1.Mouse Cursor Control System using Gaze and Eye Opening and Closing
Masayoshi Tabuse¹, Mana Fukumoto², Yasunari Yoshitomi¹, Taro Asada^1
1Graduate School of Life and Environmental Science, Kyoto Prefectural University, 1-5 Shimogamohangi-cho, Sakyo-ku, Kyoto 606-8522, Japan
²Department of Informatics and Environment Science, Kyoto Prefectural University, 1-5 Shimogamohangi-cho, Sakyo-ku, Kyoto 606-8522, Japan
pp. 93–98
ABSTRACT
It is necessary to support of computer operation for a physically disabled person. One of the possible physical movements of the physically disabled person is Eye movement. Eye gaze and detection of eye opening and closing of a person makes it possible to operate a computer. In our system, a web camera, Gaze pointer, Dlib C++ library and OpenCV library are used to recognize eye gaze and detect eye opening and closing. Changing the eye gaze, we can move a mouse cursor. Recognizing closed eye, we can carry out an operation of mouse click. In this paper, we evaluated the effect on operability due to the eye gaze and detection of eye opening and closing.
Keywords: Mouse cursor control system, Eye gaze, Eye opening and closing

ARTICLE INFO
Article History
Received 26 November 2020
Accepted 26 October 2021

JRNAL9201

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Research Article
2.Implementing the Story Units of Japanese Folktales by Using a Verb Conceptual Dictionary
Takashi Ogata¹, Jumpei Ono^2
1Faculty of Software and Information Science, Iwate Prefectural University, Sugo 152-52, Takizawa, Iwate, Japan
²Faculty of Software and Information Technology, Aomori University, Seishincho 2-10-1, Edogawaku, Tokyo, Japan
pp. 99–114
ABSTRACT
This paper deals with the theme of the development of story units based on Japanese folktales. Each story unit functions in an Integrated Narrative Generation System (INGS), which is the core of our systematic narrative generation study. In this research framework, story units can be positioned as a story technique that generates and expands a story structure in the narrative generation process. This paper focuses on the combination of story units implemented by Common Lisp using a verb conceptual dictionary, which is important for a noun conceptual dictionary in conceptual dictionaries functioning in the INGS. The mechanism enables organically combined processing with other narrative techniques and the use of semantic functions using conceptual dictionaries functioning in the INGS.
KeywordsNarrative generation systems, Story unit, Types of folktales, Verb conceptual dictionary

ART I C LE IN FO
Article History
Received 25 November 2020
Accepted 22 April 2022

JRNAL9202

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Research Article
3.A Proposal of a Software Defect Predication System “FaRSeT-#” for Exploratory Testing
Yoshihiro Kita¹, Kazuki Ueda², Kiyotaka Sakurai^2
1Faculty of Information Systems, University of Nagasaki, 1-1-1 Manabino, Nagayo, Nishisonogi , Nagasaki 851-2195, Japan
²Nihon knowledge Co.,Ltd. 3-19-5 Kotobuki, Taito, Tokyo 111-0042, Japan
pp. 115–120
ABSTRACT
The goal of software testing is to detect all latent defects. However, it is difficult to know how many latent defects remain and where they are hidden. In this research, we propose a system that analyzes the characteristics and tendencies of already detected defects and predicts where the latent defects are likely to be. Specifically, the system inputs the data of detected defects into a Self-Organizing Map (SOM) and predicts the locations that contain many defects from this map. To confirm the validity of this proposal, we input past defect data into the SOM, analyze the trend of defects, and evaluate the predictability of the latent defects..
Keywords: Software testing, Exploratory testing, Defect predication, Self-organizing map (SOM)

ARTICLE INFO
Article History
Received 02 November 2021
Accepted 05 May 2022

JRNAL9203

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Research Article
4.Development of “iWakka Game” for evaluation of hand dexterity in children with developmental coordination disorder
Masakazu Nomura¹, Moe Nishiya², Yoshifumi Morita¹, Hideo Yamagiwa^3
1Department of Electrical and Mechanical Engineering, Graduate School of Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi 466-8555, Japan
²Electrical and Mechanical Engineering Program, Department of Engineering, Graduate School of Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi 466-8555, Japan
³Tokyo Metropolitan Tobu Medical Center, 3-3-25 Shinsuna, Koto-ku, Tokyo, 136-0075, Japan
pp. 121–127
ABSTRACT
Our previous study developed a testing and training device, “iWakka,” for the adjustability for grasping force. Moreover, we developed “iWakka Game” for autistic patients. In this study, we investigated the applicability of the iWakka Game in children with developmental coordination disorder (DCD). We developed a small grasping body and improved its evaluation method. It was experimented on four children with DCD. Consequently, they completed the evaluation task, which enabled the extraction of hand dexterity characteristics
Keywords: Rehabilitation, Hand dexterity, Evaluation, Children with developmental coordination disorder

ARTICLE INFO
Article History
Received 25 November 2021
Accepted 24 March 2022

JRNAL9204

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Research Article
5.A MBD-based Knee Link Model to Analyze Singular Postures to Find Necessary Restrictions Toward Personalized Knee Support Exoskeleton
Shintaro Kasai¹, Pancho Dachkinov¹, Kohei Tanaka1, Hiroaki Wagatsuma^1,2
1Kyushu Institute of Technology, 4 Hibikino, Wakamatsu-ku, Kitakyushu, 808-0196, Japan
²RIKEN CBS, Japan
pp. 128–135
ABSTRACT
Assistive devices have been studied in the senses of the universal design and a possible simplification for mass production, and such a concept can be extended to the personalization by using advanced 3D printing technologies, which allows to provide suitable exoskeleton-type devices to fit for the subject’s body to achieve symptom relief. A systematic analytical mechanics is highly important for the investigation of proposed integrative systems and multibody dynamics and its computer simulation enhance the capability to find potential problems in design, for example risky postures for the subject. We introduced multibody dynamics to analyze a knee support exoskeleton by using a linkage system newly designed as a simplification of the device. In the computer experiment, a singular posture was successfully found as the limitation of the device to move safely for subjects having joint dysfunctions
Keywords: Knee support, Exoskeleton-type assistive device, Multibody dynamics (MBD), Joint dysfunction

ARTICLE INFO
Article History
Received 25 November 2021
Accepted 24 March 2022

JRNAL9205

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Research Article
6.Proposal of Gamma Which Is a Messaging Platform for Spatial Data
Takahiro Ueda¹, Tetsuro Katayama¹, Yoshihiro Kita², Hisaaki Yamaba¹, Kentaro Aburada¹, Naonobu Okazaki^1
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. 136–142
ABSTRACT
This paper proposes Gamma, which is a messaging platform for spatial data. Gamma uses distributed MQTT system for spatial data sharing, and this paper aims to improve the usefulness of distributed MQTT system. In the experiment, it has been found that Gamma can process more messages than a single MQTT broker. It is confirmed that Gamma achieves scalability by increasing the number of Gateways and distributed MQTT brokers. Furthermore, it is confirmed that the efficiency of the distributed MQTT system can be improved by setting the responsibility area of Gateways.
Keywords: MQTT, Spatial data, Load management, Information management

ARTICLE INFO
Article History
Received 25 November 2021
Accepted 03 July 2022

JRNAL9206

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Research Article
7.Digital Transformation of Feeding Control Knowledge in Marine Aquaculture using Current Sensors
Dominic B. Solpico, Yuya Nishida, Kazuo Ishii
Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu, Fukuoka 808-0135, Japan
pp. 143–153
ABSTRACT
Improving the efficiency of fish feeding contributes to achieving sustainable expansion of the aquaculture industry. However, expert knowledge on feeding remains reliant on experience. This paper presents a new approach of applying digital transformation (DX) on such knowledge by measuring underwater currents induced by fishes as indicator of their hunger. A prototype sensor suite consisting of current sensors, cameras, and an inertial measurement unit (IMU) was constructed to measure the currents around the fish cage, measure the motion of the suite, and record fish activity, particularly during feeding. An initial experiment was performed in two fish cages during feeding activity. Current measurements were collected and analyzed together with the recorded videos to relate the changes in current to the feeding activities. Results suggest that the currents increase around when feeding was started continuously and decline to zero around when it was stopped. However, more data needs to be collected and analyzed for a better understanding of the relationship between the changes in current and fish activities so it can be used to optimize the feeding decisions of fish farmers
Keywords: DX, Aquaculture, Feeding, Underwater currents, Current sensors

ARTICLE INFO
Article History
Received 08 December 2020
Accepted 04 July 2022

JRNAL9207

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Research Article
8.An Approach of Exchanging Work Shifts Using Reinforcement Learning on a Constructive Nurse Scheduling System
Masato Nagayoshi¹, Hisashi Tamaki^2
1Niigata College of Nursing, 240 shinnan-cho, Joetsu, Niigata 943-0147, Japan
²Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-8501, Japan
pp. 154–158
ABSTRACT
In this paper, we propose a work revision method using reinforcement learning on a constructive nurse scheduling system. The constructive nurse scheduling system makes the shift schedule creation procedures and rules easy to understand, because the system does not use the evaluation value for the entire shift schedule. We have confirmed the possibility of improving the quality of the shift schedule by the proposed method through a computational example
Keywords:Murse scheduling, Reinforcement learning, Q-learning, Constructive search, Work revision method

ARTICLE INFO
Article History
Received 21 November 2021
Accepted 10 June 2022

JRNAL9208

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Research Article
9.Investigation of Real-time Emotional Data Collection of Human Gaits using Smart Glasses
Nitchan Jianwattanapaisarn, Kaoru Sumi
School of Systems Information Science, Future University Hakodate, 116-2 Kamedanakano-cho, Hakodate, Hokkaido 041-8655, Japan
pp. 159–170
ABSTRACT
Emotion recognition is useful in many applications. Most methods available nowadays depend on facial features which are difficult to obtain from standard security cameras. Unlike traditional biometrics, gaits can be obtained noninvasively from afar. A novel method to perform gait data collection with real-time emotion induction was proposed. OptiTrack was used to capture 49 participants walking circularly while watching emotion-induced videos on Microsoft HoloLens 2. This is the first study that use real-time emotion induction technique in non-straight walking path..
Keywords: Emotion recognition, Emotion induction, Motion capturing, Gait analysis, Smart glasses

ARTICLE INFO
Article History
Received 12 May 2022
Accepted 30 June 2022
JRNAL9209

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Research Article
10.INT8 Activation Ternary or Binary Weights Networks: Unifying Between INT8 and Lower-bit Width Quantization
Ninnart Fuengfusin¹, Hakaru Tamukoh^2
1Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu, Fukuoka, 808-0196, Japan
²Research Center for Neuromorphic AI Hardware, Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu, Fukuoka, 808-0196, Japan
pp. 171–176
ABSTRACT
This paper proposes ternary or binary weights with 8-bit integer activation convolutional neural networks. Our proposed model serves as the middle ground between 8-bit integer and lower than 8-bit precision quantized models. Our empirical experiments established that the conventional 1-bit or 2-bit only-weight quantization methods (i.e., BinaryConnect and ternary weights network) can be used jointly with the 8-bit integer activation quantization. We evaluate our model with the VGG16-like model to operate with the CIFAR10 and CIFAR100 datasets. Our models show competitive results to the general 32-bit floating point model.
Keywords: Quantization, Image recognition, Model compression

ARTICLE INFO
Article History
Received 15 December 2021
Accepted 01 July 2022

JRNAL9210

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Research Article
11.Online SLAM for Forestry Robot
Sylvain Geiser¹, Sakmongkon Chumkamon², Ayumu Tominaga³, Takumi Tomokawa², Eiji Hayashi^2
1Department of Interdisciplinary Informatics, Graduate School of Computer Science and Systems Engineering, Kyushu Institute of Technology, 680-4, Kawazu, Iizuka-City, Fukuoka, 820-8502, Japan
²Department of Mechanical Information Science and Technology, Kyushu Institute of Technology, 680-4, Kawazu, Iizuka-City, Fukuoka, 820-8502, Japan
³National Institute of Technology, Kitakyushu College, 5-20-1 Shii, Kokuraminamiku, Kitakyushu, Fukuoka, 802-0985 Japan
pp. 177–182
ABSTRACT
Less and less Japanese are working in the forestry sector. Due to this lack of workforce, dangerous tasks could be delegated to robots. In order to perform this mission, the latter need embedded localization and mapping systems. This paper discusses the implementation of a particle filter based SLAM solver on a dedicated mobile robot called SOMA, developed at Hayashi Laboratory. The proposed approach has been evaluated in a realistic forest simulation and the first results suggest that it could be used in real time
Keywords: Field robot, Online SLAM, Forestry, Particle filter

ARTICLE INFO
Article History
Received 24 November 2021
Accepted 31 May 2022

JRNAL9211

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Research Article
12.An EtherCAT Based Delta Robot Synchronous Control Application
Chung-Wen Hung¹, Yu-Hsuan Tseng¹, Guan-Yu Jiang¹, Chau-Chung Song^2
1Department of Electrical Engineering, National Yunlin University of Science & Technology, 123 University Road, Section 3, Douliou, Yunlin 64002, Taiwan
²Department of Aeronautical Engineering, National Formosa University, No.64, Wenhua Rd., Huwei Township, Yunlin County 632, Taiwan
pp. 183–186
ABSTRACT
The delta robot synchronous control based on the Ethernet Control Automation Technology (EtherCAT) protocol for painting application is proposed in this paper. Personal Computer (PC) is used as master and the delta robot motor drivers are used as slaves in this work. The Master sends command to slave base on the motion control profile CAN in Automation 402(CiA402). Subsequently, the program in C# perform the user’s interface and EtherCAT communication. And the system is not only for easy use, but also for quickly high-precision. A complex painting application is proposed to show this system workable.
Keywords: Delta robot, Kinematics, Path planning, EtherCAT

ARTICLE INFO
Article History
Received 26 November 2021
Accepted 12 July 2022

JRNAL9212

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Research Article
13.The Intelligent Building Assessment Framework and Weight: Application of Fuzzy AHP
Li-Min Chuang¹, Yu-Po Lee²,Chien-Chih Kuo^3
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
³Chien Chang Construction Co., Ltd., No. 88, Wencheng Rd., North Dist., Tainan City, 702029, Taiwan
pp. 187–191
ABSTRACT
The main objective of this study is to probe how Taiwanese building investment and development companies rate the analytical framework and weights of artificial intelligence buildings. Document Analysis, the Delphi method, and the Fuzzy Analytic Hierarchy Process (FAHP) are applied to conduct a FAHP questionnaire survey among 20 building investment and development companies in Tainan. Based on the calculation of composite weights, the findings are: (1) The most crucial evaluation indicator for security and hazard prevention is the “access control system”. (2) The most crucial evaluation indicator for energy-saving management is “energy-saving technology”. (3) The most crucial evaluation indicator for health and comfort is the “interior comfort system”. (4) The most crucial evaluation indicator for intelligent innovation is the “intelligent innovation concept”.
Keywords:Intelligent building, Fuzzy analytic hierarchy process, Expert decision evaluation

ARTICLE INFO
Article History
Received 25 November 2021
Accepted 15 July 2022

JRNAL9213

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Research Article
14.Feature Extraction of Mold Defects on Fine Arts Painting using Derivative Oriented Thresholding
Hilman Nordin¹, Bushroa Abdul Razak^1,2, Norrima Mokhtar³, Mohd Fadzil Jamaludin^2
1Department of Mechanical Engineering, Faculty of Engineering, Universiti Malaya, 50603, Kuala Lumpur Malaysia
²Centre of Advanced Manufacturing and Material Processing (AMMP Centre), Faculty of Engineering, Universiti Malaya, 50603, Kuala Lumpur Malaysia
³Department of Electrical Engineering, Faculty of Engineering, Universiti Malaya, 50603, Kuala Lumpur Malaysia
pp. 192–201
ABSTRACT
Paintings can be damaged by natural causes or accidents. One of the crucial natural damages was frequently caused by mold defects. The mold discovery is an important step in the restoration of damaged paintings. The procedure is usually tedious and depends heavily on the qualitative visual judgement of an expert restorer. The aim of this work is to assist the restoration process via an automatic mold defect detection technique based on derivative and image analysis. This new method, designated as Derivative Level Thresholding (DLT), combines binarization and detection algorithms to detect mold rapidly and accurately from scanned high-resolution images of a painting. This work also benchmarks the performance of the proposed method to existing binarization techniques of Otsu’s Thresholding Method, Minimum Error Thresholding (MET) and Contrast Adjusted Thresholding Method. Experimental results from the analysis of 20 samples from high-resolution scans of 2 mold-stained painting have shown that the DLT method is the most robust with the highest sensitivity rate of 84.73% and 68.40% accuracy.
Keywords:Image processing, Defect detection, Derivative oriented thresholding, Fne art

ARTICLE INFO
Article History
Received 04 December 2021
Accepted 19 July 2022

JRNAL9214

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Research Article
15.Web-based IoT and Robot SCADA using MQTT protocol
Jr-Hung Guo, Tzu-Yuan Lin, Kuo-Hsien Hsia
Department of Electrical Engineering, National Yunlin University of Science & Technology, 123 University Road, Section 3,Douliou, Yunlin 64002 , Taiwan, R.O.C
pp. 202–208
ABSTRACT
Internet of Thing (IoT) and robot technology is a very popular research topic. Especially in the application of Industry 4.0, it is the most basic and important part. However, related security and application system development often have many problems. For example, the integration of various communication interfaces and data formats, and the rapid establishment of application systems. Therefore, this paper uses MQTT protocol and AES encryption technology to develop a Web-based SCADA system. This Web-based SCADA uses drag-and-drop operation, and users can quickly build a WYSIWYG (What You See Is What You Get) application system. Moreover, with the characteristics of MQTT message transmission, users can choose to transmit the device's message as it is or to process the data before transmitting when creating the SCADA system. And these messages will be encrypted by AES, making the whole system safer and more efficient. Finally, by collecting different communication protocols and integrating multiple communication interfaces, this SCADA can be connected to many PLCs and other equipment, so that the industry can build application systems quickly and at low cost..
Keywords: Internet of things (IoT), Robot, MQ telemetry transport (MQTT), AES, Supervisory control and data acquisition (SCADA)

ARTICLE INFO
Article History
Received 27 October 2021
Accepted 02 August 2022

JRNAL9215

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