Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Human Interface Society  

The complexity of robot programming is an obstructive factor for the introduction of industrial robots to production sites. Human operators have to teach individual motion segments one-by-one to the robots to t their behavior in the work environment, which is one of the most tedious and time-consuming tasks in robot programming. This study elicites user interface requirements to streamline the motion-point teaching by the hierarchical task analysis of off-line robot programming, and proposes UI functions that can meet these requirements. The proposed UI functions consist of the four-view display feature that generates orthographic views suitable for teaching motion points according to the operator’s selection of the reference plane and the pointing-based robot operation feature. As a result of the verification experiment conducted using a Peg-in-Hole assembly task, the four-view display feature demonstrated its effectiveness in making the motion-point teaching much more efficient.

DOI： 10.11184/his.22.2_89

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Vibgyor ePress  

The safety of complex Socio-Technical Systems highly depends on the non-linear interaction of variabilities between task performances in human, machines and working environments and proper management of those is essential to ensure the safety. However, the practical means to ensure the safety of those systems have not been established yet, and this is mainly due to the gap existing between the theory and the reality as well as to the lack of means for visualizing the potential risks. In this paper, we propose an extended method of FRAM: Functional Resonance Analysis Method and construct a simulator that enables to visualize the potential risks. Then, an example of interactive analysis using the simulator is presented, which enables us to visualize the degrees of resilience of an existing work procedure in operation in facing with potential variabilities. In the end, how to utilize the proposed method for the establishment of the resilient systems from the point of view of the design of operation procedures is presented.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers  

In recent automated production lines, it is important for industrial robots to recover from unexpected errors autonomously without intervention by human operators. In this paper, a hierarchical planning system that realizes autonomous error recovery of robots is proposed and demonstrated, and its effectiveness in cooperative work is verified. In order to realize a variety of flexible error recovery functions, a partial order planning scheme as well as a re-planning capability utilizing semantic information on the production environment are proposed.

DOI： 10.9746/sicetr.53.80

CiNii Books

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society for Fuzzy Theory and Intelligent Informatics  

The present paper investigates eye-gaze data of professional train drivers with different years of experience using Markov Cluster Algorithm (MCL) in order to extract characteristic eye-gaze patterns fostering a better understanding of their visual perceptual skills. MCL distilled a basic eye-gaze pattern in their visual behavior indicating that all the drivers would repetitively move their gaze ahead soon after looking at another area of interest, but they were found different in the "strength" of the pattern depending on their level of expertise. It was also clarified that inexperienced drivers made frequent deviations from the basic eye-gaze pattern in particular segments of the route where they had to deal with multiple tasks in parallel imposing higher cognitive loads of them.

DOI： 10.3156/jsoft.28.598

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers  

In this study, a novel method of safety analysis for safety management in train maneuvering is proposed based upon a systemic accident model, in which a train maneuvering activity by a train driver is regarded as a system of interrelated functions to be attained. Our method is based upon an original idea of Functional Resonance Analysis Method (FRAM) that was proposed by Hollnagel (2004), and our proposal attempts to identify how an unsafe event did happen as a result of interactions of deviated functions. For this purpose, at first a representation scheme for structuring interrelationships among train drivers' task components is provided. These interrelationships are derived from sources of drivers' instruction manuals, rules, regulations, etc. and are represented as interrelated networks of functions. Then, for a particular unsafe event that was actually happened in the past, our scheme is applied to represent the underlying maneuvering task and it is shown how the normal task procedures turned out to be an unsafe event through the propagations of primitive and local deviations towards the other part of the task. In this way, our method can replay a scenario of how the unsafe event did happen, and in addition to that, is able to detect latent hazards that did not actually happen but might happen when some conditions underlying at the event were to change from the original case.

DOI： 10.9746/sicetr.52.68

CiNii Books

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Other Link： https://jlc.jst.go.jp/DN/JLC/20020705983?from=CiNii

Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers  

Train driver's attentive behavior can be considered to reflect differences in his/her level of expertise. In this paper, the authors investigate train drivers' eye-gaze movements to identify characteristic attentive patterns that can distinguish different levels of driver expertise. Eye-gaze data were collected from measurement experiments in which six active train drivers participated. Classified into experienced and younger drivers groups, the data sets are analyzed using "sequence alignment", which helps us to extract partial temporal sequences of areas of interest that are common in each group of drivers. Resultant sequences are compared with each other to find features that could distinguish the groups in their visual behavior.

DOI： 10.9746/jcmsi.8.114

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Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.9746/sicetr.51.171

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DOI： 10.1299/jamdsm.2014jamdsm0032

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CiNii Books

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Authorship：Lead author,　Corresponding author   Language：Japanese  

CiNii Books

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.9746/sicetr.47.656

CiNii Books

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

DOI： 10.20965/jaciii.2011.p1019

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：IGI Publishing  

DOI： 10.4018/jkss.2010100104

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers  

DOI： 10.9746/jcmsi.3.299

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers  

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers  

Automated systems are often structured into modes for providing enhanced capabilities to perform complex tasks, but they also increase the need for and difficulty of maintaining mode awareness, which may induce mode errors and eventually lead to automation surprises. Salient feedback on the mode status is necessary for the user to maintain mode awareness, and it should be carefully designed not to interfere in the user's primary task to be achieved in collaboration with the systems. For the purpose of developing a practical theory for effective and robust supports for maintaining mode awareness, this study focuses on <i>action-effect relations</i> as an intuitive human-machine communication channel. An action-effect relation is defined as an association of a user action with some observable effects on the system behavior, and it is expected to provide additional valuable information on the internal state of the system with no focal visual attention required. From this perspective, one hypothesis is made that different modes with a same or similar configuration of action-effect relations should be easily mixed up with one another. This paper tests this hypothesis through a driving simulator experiment where subject drivers were examined on their awareness of the operating mode status of ACC (Adaptive Cruise Control) during driving with the mode-rich automated system. Another experiment examines the contribution of differentiated configuration of action-effect relations to enhancing mode awareness.

DOI： 10.9746/sicetr.45.546

CiNii Books

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)  

CiNii Books

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/s00500-002-0201-y

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers  

DOI： 10.9746/sicetr1965.38.1097

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Systems, Control and Information Engineers  

This paper presents a method for detecting invariant task structures that are commonly shared by the human operator and the autonomous robot in a VR-based (i.e., virtual reality based) mobile robot teleoperation system. We call such a property of having common structures as <I>task-morphology</I>, and we discuss how this property functions well to establish the naturalistic task sharing between the two who have different perception-acting capabilities. For this purpose, we analyze their continuous task performance and segment them into some qualitatively different phases using Adaptive Resonance Theory (ART).

DOI： 10.5687/iscie.13.12_537

CiNii Books

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Association for Computing Machinery  

DOI： 10.1145/350752.350761

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Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Human Interface Society  

Music Exercise Therapy, which uses music to exercise the body and mind without strain,
has been attracting attention to improve older people's health. Since exercise effectively prevents the need for nursing care only if it is continued, it is necessary to devise a way to make exercise an enjoyable experience. In this study, we propose a music-generating exercise system that uses synchronization of physical movements with musical performances. The proposed system detects the execution of synchronized exercise movements by multiple users and generates music phrase by phrase to encourage them to perform a series of exercises. We developed a prototype of this system and conducted experiments to verify its effectiveness.

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Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japan Society for Fuzzy Theory and Intelligent Informatics  

Sit-to-stand motion is one of the most crucial activities in daily life because its difficulty can significantly impact the quality of life. Since this action involves various physical characteristics such as muscle strength of the trunk and lower limbs, joint mobility, and sense of balance, its measurement data may contain a great deal of information to evaluate the qualitative deterioration of the locomotor system that may increase the risk of falls and other problems. In this study, we analyze sit-to-stand motion data using the Gaussian Process Dynamics Model (GPDM) to identify and quantify which aspects of the body movements show differences in physical characteristics. GPDM can summarize motion data into low-dimensional latent variables and allows us to examine the effects of physical attributes on movement conditions.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japan Society for Fuzzy Theory and Intelligent Informatics  

The deterioration of mobility caused by qualitative deterioration of the locomotor system with aging is called a locomotive syndrome, and the risk of falling increases with the severity of the syndrome. This study aims to develop a motion classification method based on the Gaussian Process Dynamical Model (GPDM) to evaluate gait function and fall risk by measuring daily walking motions. The proposed method probabilistically evaluates the likelihood that a new movement arises from the learned dynamics in GPDM, using a generative model that relates latent variables to body postures and dynamical models that represent the behavior of latent variables.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

In polysomnography, sleep technologists visually analyze a time series of respiratory motions, i.e., a respiratory curve, to detect abnormal respiratory events such as apneas and hypopneas. We investigate time-series processing to automate this analysis process. The present study examines the performance of abnormal sleep epoch detection models that utilize information on the occurrence frequencies of respiratory motion patterns. Respiratory motion patterns are obtained by dividing the respiratory curve at change points and then clustering the resulting partial curves. We compare three clustering methods—k-means(Euclidean), k-means(DTW), and k-Shape—by an experimental study evaluating the performance of sleep epoch classification models created using logistic regression. The experimental results suggest that the epoch classification model using the k-Shape performs the best in detecting abnormal epochs, indicating the extraction of effective respiratory motion patterns.

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Authorship：Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

In this paper, we hypothesize that, if lying accompanies some psychological disturbance, the pupil diameter at that time would be larger than otherwise. We conducted an empirical study measuring the pupil response of respondents in an experimental task that simulated the Concealed Information Test. As a result of the experiment, although statistical significance was not recognized, it was suggested that the amount of pupil dilation in response to critical stimulus questions, where there is a need to intentionally answer falsely, was larger than that for non-critical stimulus questions.

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Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

In polysomnography, a sleep technologist visually analyzes a time series of respiratory movements, i.e., the respiratory curve, measured with a RIP belt or other equipment to record abnormal respiratory events such as apneas and hypopneas. The present study aims to develop a method for detecting peculiar patterns in the respiratory curve to automate this analysis process. Our approach here is to divide the respiratory curve into partial time series using Singular Spectrum Transformation, then classify them based on the similarity of the time series patterns to identify essential features that characterize abnormal respiratory motions. This paper presents our investigation into applying the respiratory motion patterns obtained by a time series clustering method to detect abnormal respirations.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

Locomotive syndrome is the decline in mobility function due to aging-related deterioration of the locomotor system, which increases the risk of falling. This study aims to analyze and quantify behavioral components associated with falling risk by measuring daily walking motions. We propose a walking motion analysis method based on the Gaussian Process Dynamics Model (GPDM) to detect changes in body usage. This method compresses gait motion data into a low-dimensional latent variable model using GPDM and visualizes the differences in body movements caused by behavioral conditions through the model's output.

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Authorship：Lead author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

In polysomnography, sleep lab technicians visually analyze respiratory motion time series, i.e., respiratory curves, measured with a RIP belt or other equipment to record abnormal respiratory events such as apneas and hypopneas. This study aims to develop a method to detect peculiar patterns in respiratory curves to automate this analysis process. The approach of the proposed method is to divide a respiratory curve into partial time series using Singular Spectrum Transformation, then classify them based on the similarity of the time-series patterns and identify the parts that represent abnormal respiratory motions. In this paper, we compare four time-series clustering methods of k-means(Euclidean), k-means(DTW), k-means(Soft-DTW), and k-Shape for the classification process of respiratory curve segments. The experimental results suggest that classifying respiratory curve segments requires time-series distance measures thatallow for differences in period and phase but not in scale.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Iron and Steel Institute of Japan  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japan Society for Fuzzy Theory and Intelligent Informatics  

Recently, the Cabinet Office is advocating a concept of "Super City" that realize new lifestyles and businesses for fundamentally changing the state of society by AI. The authors have established a research unit of "Health Smart Network" at Research Institute for Socionetwork Strategies (RISS), Kansai University as a research base to meet these social demands. Specically, the purpose of this research unit is to make health promotion services smarted with "eHealth + AI", create new social communication, and contribute to extending healthy life expectancy and sustaining healthy life. In this presentation, we will outline the concept of the research unit of "Health Smart Network" and introduce various research topics on the theme of smart health promotion for the progress of future research.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japan Society for Fuzzy Theory and Intelligent Informatics  

As motor function improves or declines, the way to control the body changes even for the same class of actions. To investigate what parts of the body movements characterize such changes, it is practical to summarize a high-dimensional time series of body movements into a low-dimensional time series by using the information on the coordinated behavior across different body parts. Significant differences in the summarized motion series should likely originate from characteristic differences in body control. In this study, we apply a conditional Gaussian Process Dynamic model to walking motions and propose a method to analyze the characteristics of body motions based on the dynamics of latent variables derived from a high-dimensional body movement time series.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Human Interface Society  

In order to gain insight into the cognitive processes that characterize the proficiency level of English as a Second Language (L2), this study experimented with measuring the eye-gaze point of L2 learners at different proficiency levels while reading English text. We applied the Singular Spectral Transformation, a change-point detection algorithm, and clustering method to the eye-gaze point time series to extract the characteristic patterns of eye-gaze movements. The analysis results suggest that the occurrence rate of particular eye-gaze patterns depends on the learners’ proficiency level.

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japan Society for Fuzzy Theory and Intelligent Informatics  

Recently, due to the widespread effects of Covid-19 infection, social communication, such as person-to-person, person-to-society, or social connection, is being diluted. As one solution to the problems, it is expected to create new social communication utilizing advanced technologies such as ICT and AI. On the other hand, the Cabinet Office is advocating a concept of "Super City" that realize new lifestyles and businesses for fundamentally changing the state of society by AI. The authors have established a research unit of "Health Smart Network" at Research Institute for Socionetwork Strategies (RISS), Kansai University as a research base to meet these social demands. Speci cally, the purpose of this research unit is to make health promotion services smarted with "eHealth + AI", create new social communication, and contribute to extending healthy life expectancy and sustaining healthy life. In this presentation, we will outline the concept of the research unit of "Health Smart Network" and introduce various researchs on the theme of smart health promotion for the progress of future research.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japan Society for Fuzzy Theory and Intelligent Informatics  

This paper proposes a data analysis method for detecting abnormal breathing events during sleep from respiratory curves. The proposed method segments a respiration time series using Singular Spectral Transformations and classifies resulting partial respiratory curves based on their features consisting of autoregressive coefficients and respiratory amplitude ratios. Applying it to a polysomnography dataset confirmed that the proposed method could extract temporal patterns characteristic of respiratory abnormalities such as apnea and hypopnea.

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Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Society of Instrument and Control Engineers  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Society of Instrument and Control Engineers  

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Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Society of Instrument and Control Engineers  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Society of Instrument and Control Engineers  

Structural Equation Modeling (SEM) is a statistical analysis technique for fitting networks of constructs to data. The strength of extracting latent factors and estimating causal relations among them makes it accessible to analyze the structure of social problems, such as those around the economy, healthcare, and ecology. The present paper introduces SEM to the machine learning field for reducing the number of data dimensions. Too large dimensionality of the input data increases the computational load to build machine learning models. The proposed method utilizes SEM to sift variables and sort out relations between factors. The results show that the proposed method is able to identify the least number of data dimensions for machine learning-based prediction models to achieve the same or even higher accuracy as the prediction models trained with the full dimensions do.

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Authorship：Lead author,　Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Iron and Steel Institute of Japan  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Elsevier B.V.  

DOI： 10.1016/j.ifacol.2020.12.2734

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DOI： 10.1016/j.ifacol.2019.12.083

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DOI： 10.14864/fss.34.0_217

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DOI： 10.14864/fss.34.0_265

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DOI： 10.14864/fss.34.0_429

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DOI： 10.14864/fss.33.0_553

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DOI： 10.14864/fss.33.0_181

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DOI： 10.14864/fss.33.0_349

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：American Society of Mechanical Engineers (ASME)  

DOI： 10.1115/IMECE2017-72240

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DOI： 10.1016/j.ifacol.2016.10.617

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DOI： 10.1016/j.ifaco1.2016.10.455

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DOI： 10.1109/SCIS&ISIS.2016.116

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DOI： 10.1007/978-3-319-40349-6_3

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DOI： 10.1109/SMC.2016.7844433

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DOI： 10.1016/j.ifacol.2016.10.633

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DOI： 10.1016/j.ifacol.2016.10.619

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Language：Japanese   Publisher：Japan Society for Fuzzy Theory and Intelligent Informatics  

The present paper investigates train drivers' eye-gaze movements to find characteristic attentive patterns that can distinguish different levels of driver expertise. Eye-gaze data were collected from early-morning and nighttime observation studies in which six active train drivers participated. The acquired eye-gaze data were processed with Markov Cluster Algorithm which generates composites of Area-of-Interest (AoI) clusters, whose structure characterizes individual drivers' attentive behavior. Resultant structures are compared with one another to specify characteristic transition patterns that have a small number of hubs with different strengths within AoI networks according to the driver's level of expertise and the driving situation.

DOI： 10.14864/fss.31.0_574

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DOI： 10.1109/SCIS-ISIS.2014.7044709

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DOI： 10.1007/978-3-319-07731-4_16

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Language：Japanese   Publisher：Japan Society for Fuzzy Theory and Intelligent Informatics  

Train driver's attentive behavior can be considered to reflect differences in his/her level of expertise. In this paper, we investigate train drivers' eye-gaze movements to identify characteristic attentive patterns that can distinguish different levels of driver expertise. Eye-gaze data were collected from observation studies in which six active train drivers, three younger and three experienced, participated. The acquired eye-gaze data were processed with Sequence Alignment, resulting in partial time sequences of gazed objects that are common in each group of drivers. We compare those sequences with each other to find characteristic patterns differentiating the driver groups in their attentive behavior.

DOI： 10.14864/fss.30.0_674

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IFAC Secretariat  

DOI： 10.3182/20140824-6-za-1003.01492

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DOI： 10.3182/20130811-5-US-2037.00075

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Because visual attention is so important for train drivers to operate trains safely, analysis of their attentive action may lead to knowledge to improve their vigilance and information retrieval skills. In this paper, by means of Interpretive Structural Modeling, we try to extract characteristic eye movement patterns to distinguish train drivers with different levels of expertise. The result shows that the method can extract characteristic patterns in attentive action from train driver's eye-gaze time series.

DOI： 10.14864/fss.29.0_125

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DOI： 10.3182/20130811-5-US-2037.00022

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Segmentation of human's behavior plays an important role in behavior analysis. As a method based on Singular Spectrum Transformation (SST) can extract change-points in human's behavior caused not only by muscle forces but also by external forces, it has been proven that SST is an effective tool for behavior analysis. However, attitude representation appropriate for change point extraction has not been considered. In this paper, a method to extend SST which can be applied to detect change points of multi-dimensional time series is described. Because coefficients of AR models of the time series was compared with in extended SST, it is proven that attitude representation using unit quaternion is appropriate due to its linear kinematic equation. On the other hand, extended SST using Euler angles can not extract motion change points properly due to its nonlinear kinematic equation. Moreover, it is also proven that SST of individual elements of unit quaternion fails to extract motion change points and that extended SST of unit quaternion is an essential tool to extract motion change points appropriately.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Singular Value Decomposition (SVD) plays an important role in analyzing human behavior. Human behavior can be represented using attitudes of human body parts. Unit quaternion is widely used to represent attitudes because of lacking singularity. In the previous study, unit quaternion was used to represent attitudes of human body parts. However, a constraint exists in the representation using unit quaternion, and it has significant effect on the feature extracted by SVD. The purpose of this paper is to establish a proper representation of attitudes of human body parts for behavior analysis using SVD. Behavior analysis results using unit quaternion were compared with the results using exponential map, and the contribution ratio of the first mode in using unit quaternion is too large to analyze human behaviors properly. Finally, we concluded the exponential map is suitable attitude representation.

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DOI： 10.1109/SCIS-ISIS.2012.6505334

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DOI： 10.1109/GCCE.2012.6379590

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Human behavior is affected by some dynamic parameters, which represent the interaction between the body and the environment. In the previous research, a method to extract adaptive components in the behavior has been proposed. This method provides precise reconstruction of behavior using the adaptive components. However, it is not proven that these reconstructed behaviors affect people to perceive the dynamic parameters properly. In this paper, a method to estimate the cognitive scale of the dynamic parameter and a method to extract the characteristic components necessary for perception are proposed. The proposed methods have been applied to loading motion. Those results have suggested that the extracted characteristic components, that is the cognitive index, are not identical with the adaptive components.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

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DOI： 10.1109/SII.2011.6147459

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DOI： 10.1177/1071181311551257

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Language：Japanese  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Iron and Steel Institute of Japan  

DOI： 10.2355/tetsutohagane.97.352

Scopus

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Other Link： http://repository.kulib.kyoto-u.ac.jp/dspace/handle/2433/171951

Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/SII.2011.6147457

Scopus

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Language：English  

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Language：English  

DOI： 10.3182/20100831-4-FR-2021.00078

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Language：English  

DOI： 10.3182/20100831-4-FR-2021.00077

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Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

For the purpose of developing a practical support tool for human workers engaged in industrial robot teaching, the activity of teaching operation positions to a robot is analyzed by use of a mechanical explanation model to capture the force-displacement relationship inherent in the work system. The analysis clarifies a basic, normative operation strategy making use of a characteristic frame of reference in the position search space. Based on this finding, a prototype GUI is developed that can provide effective information supports for different granularities of the activity in position teaching. In terms of the distributed information resources model, each element of the GUI is qualitatively investigated to confirm that the proposed GUI represents the activity-related information in a way that affords the robot operators' strategic operations.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed a method to extract similarities and differences of human behavior using singular value decomposition. It was proved that the proposed method is able to extract some characteristic motion patterns from periodic behavior. This paper reports similarities and differences of non-periodic human behavior, such as loading motion, which are extracted by the proposed method. Instead of using Euler angles, unit quaternion is adopted for attitude representation to avoid singularity. However, it is difficult to analyze the characteristic motion patterns represented by unit quaternion. The method to analyze the extracted characteristic motion is reported in this paper. Discussions on these results are also reported.

CiNii Books

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Language：Japanese  

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Language：Japanese  

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Language：Japanese  

DOI： 10.11509/sci.SCI10.0.268.0

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/ICIT.2010.5472530

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.5220/0002763306670670

Web of Science

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Adaptation to the environmental changes, such as wind, has very important role to improve the reliability of an autonomous unmanned helicopter. Adaptive yaw (heading) control for an autonomous helicopter is discussed in this paper. The control structure is based on a hierarchal scheme utilizing an inner yaw feedback control loop plus an outer feedback loop, which estimates the direction of the airspeed using roll angle and roll angular rate. Stable coupling in yaw and roll motion is induced by the proposed controller to improve the stability of the helicopter's flight. Turning utilizing the proposed adaptive control system is discussed in particular. Results of flight experiments showed bifurcation of the helicopter's maneuvering in turning occurs depending on the airspeed. The results indicate that the autonomous unmanned helicopter can select a turning maneuver that is suitable for the environment and thus stabilizes its flight.

CiNii Books

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Language：Japanese  

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Language：Japanese  

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Language：Japanese  

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Language：Japanese  

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Language：Japanese  

DOI： 10.11509/sci.SCI10.0.185.0

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Language：Japanese  

DOI： 10.11509/sci.SCI10.0.331.0

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Language：Japanese  

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Language：Japanese   Publisher：一般社団法人日本ロボット工業会  

CiNii Books

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Language：English  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Conventional methods of online robot teaching have difficulity for the teaching operator to detect accurate positional errors between the hand and a workpiece. For the purpose of developing practical supports for online robot teaching, this study investigates information requirements of the operator's work and then discusses their effective visualization of data from a camera and a force sensor attached to the robot's wrist. Hierarchical Task Analysis is applied to the operator's task in defining positions and postures of the hand against actual workpieces, to extract specific pieces of information or relationship that should be incorporated into the visual assistance. Considering these information requirements, we propose a GUI to visualize the force information in order to find accurate motion points effectively. The proposed GUI can help the operators to figure out motion points more precisely, and can reduce the amount of time for robot teaching.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

To develop flying rescue robots using autonomous unmanned helicopters, it is necessary to improve performance and reliability of flight control systems. Adaptation against the environmental changes, such as wind, has very important role. In this paper, adaptive heading (yaw) control for an autonomous helicopter is proposed. Roll angle and roll rate are used to determine desired yaw angle. Therefore, roll dynamics and yaw dynamics are coupled and stable dutch roll is induced to change the yaw angle corresponding to wind direction or the direction of the helicopter's motion. Results of flight experiments show the effectiveness of the proposed method.

CiNii Books

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Language：Japanese  

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Language：Japanese  

DOI： 10.11511/jacc.52.0.39.0

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Language：Japanese  

DOI： 10.11511/jacc.52.0.58.0

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1007/978-3-642-02559-4_65

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1007/978-3-642-02574-7_49

Web of Science

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Language：Japanese  

DOI： 10.11511/jacc.52.0.297.0

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Language：English   Publishing type：Part of collection (book)   Publisher：Springer London  

DOI： 10.1007/978-1-84882-474-4_7

Scopus

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Language：Japanese  

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Language：Japanese  

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Language：Japanese  

DOI： 10.14864/fss.24.0.48.0

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Measurement of the heading which is free from magnetic declination by use of several GPS antennas is widely applied, but it is not suitable for small unmanned aerial vehicles because of its limit of the payload and body length. In this paper, we propose a method to estimate the magnetic declination using an IMU and one GPS antenna. The method consists of 1) estimation of the acceleration of the motion from GPS measurements and 2) estimation of the magnetic declination angle using the estimated accelerations and IMU measurements. We show that the estimation of the magnetic declination angle results in reduced QUEST, that is an eigenvalue problem of 2 x 2 real matrix. Experimental results of flight control of an unmanned helicopter demonstrate the effectiveness of the proposed method.

CiNii Books

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Language：English  

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/SICE.2008.4654686

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DOI： 10.11509/sci.SCI08.0.156.0

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers  

DOI： 10.11499/sicejl1962.46.945

CiNii Books

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Other Link： https://jlc.jst.go.jp/DN/JALC/00304666735?from=CiNii

Language：English  

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Language：Japanese  

CiNii Books

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Language：Japanese  

CiNii Books

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1007/978-3-540-73354-6_96

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/ICSMC.2007.4413787

Web of Science

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Transdisciplinary Federation of Science and Technology  

A new method to analyze transformation processes of work procedures for on-site workersengaged in organizational activities, based on the concept of the four levels of contradictions, is proposed.Various contradictions, i.e., misfits between components of the activity system, might arise outof and propagate throughout their activities, then induce some sorts of changes in the procedures forthe better or for the worse. The proposed method, focusing on the negative aspects of such proceduretransformation, represents every phase of a changing activity in terms of a diagrammatic triangle ofEngestr¨om's activity theory, thereby visualizing the process of its changing with latent contradictionscan contribute to the in-depth analysis of organizational accidents. Within organizations, a humanplays variable roles as an agent that is an actor, an observer, a cognizer, and an interpreter, whichproduces a complex organizational behavior. In order to model this, we introduce the subject of C.S. Peirce's semiosis, which is any form of activity, conduct, or process that involves signs, includingthe production of meanings. The criticality accident occurred at the nuclear fuel conversion facilityof JCO (1999) is employed for an illustrative case to explain this method's capabilities.

DOI： 10.11487/trafst.1.2_106

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Language：Japanese  

DOI： 10.14864/fss.22.0.135.0

CiNii Books

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/SICE.2006.315635

Web of Science

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Language：English  

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/SICE.2006.315163

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：English  

DOI： 10.3182/20060522-3-FR-2904.00028

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/SICE.2006.315649

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/IECON.2006.347641

Web of Science

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Publisher：The Institute of Systems, Control and Information Engineers  

DOI： 10.11509/sci.SCI06.0.18.0

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper presents a research work to develop a power assist orthosis for supporting care-givers' hard physical tasks such as moving bedridden patients and changing their postures for nursing purposes. A prototype robotic orthosis, which was intended for assisting flexion and extension of the elbow joint during lift-weight motions, has been developed as a testbed for those discussions. Realizing natural and unforced physical assists requires directability of the orthosis for user intention as one of the most important dimensions for their collaboration. Concerning this issue, basic experiment and analysis were performed to explore plausible configurations of load sensors in the developed orthosis, which determine the communication channels from a user to the orthosis.

CiNii Books

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Language：Japanese  

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Elsevier Science

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

J-GLOBAL

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Language：Japanese   Publisher：Japan Society for Fuzzy Theory and Intelligent Informatics  

This paper examines the operational skills for the search activity via a remote-controlled robot to find out some hidden objects under debris, which simulates a robotic surrogate system for human rescuers. Our skill analysis revealed that the accurate and effective navigation of the robot requires the adequate view control of the camera. This operational strategy enables the parallel execution of the robotic ambulatory movement and the accurate environment recognition, ensuring the necessary cognitive resources available or externalized for human epistemic actions. Based upon the analyses, we discuss the necessary considerations to mitigate the cognitive restrictions imposed by the mechanical systems utilized and what encourages the naturalistic skill performance by the human operators, in terms of their ecological perspectives.

DOI： 10.3156/jsoft.17.441

CiNii Books

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Language：English  

DOI： 10.1109/IROS.2004.1389540

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Language：Japanese  

CiNii Books

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ROBOT.2004.1307155

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Other Link： https://dblp.uni-trier.de/db/conf/icra/icra2004-1.html#ZhengTSOTHA04

Pergamon

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

J-GLOBAL

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Language：Japanese  

CiNii Books

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Language：Japanese  

CiNii Books

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：Japanese  

CiNii Books

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Language：Japanese  

CiNii Books

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：English  

DOI： 10.1007/3-540-45336-9_7

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Language：Japanese  

CiNii Books

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/FUZZ.2001.1008871

Web of Science

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Language：English  

IEEE

J-GLOBAL

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Language：Japanese  

CiNii Books

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Language：Japanese  

CiNii Books

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

J-GLOBAL

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Language：English  

DOI： 10.1109/ICSMC.1999.814186

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Language：English  

DOI： 10.1109/ENABL.1999.805202

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Other Link： http://dblp.uni-trier.de/db/conf/wetice/wetice1999.html#conf/wetice/SawaragiH99

Language：Japanese  

CiNii Books

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SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS (SICE)

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Language：Japanese  

CiNii Books

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Event date： 2017.11

Venue：Tampa, Florida, USA  

Sleep apnea and other sleeping disorders impair health and quality of life. Polysomnography is the primary method for diagnosis, but involves cost and utilization of medical resources, which limit access for potential patients. The clinical environment and sensors of polysomnography hinder typical sleep patterns in many individuals, thus degrading the analysis. Sensors suitable for at-home monitoring of sleep have recently become available. At-home monitoring of sleep may improve diagnosis due to increased familiarity for sleeping and ability for multiple sleep sessions, as well as lowering the cost. However, more robust algorithms would be needed to partially compensate for the less controlled conditions and sensor systems. A mat with a grid of force sensors has become available. This study was developing a state machine algorithm to analyze the activity at multiple force sensors of a mat while the subject was lying in supine position on the mat and undertaking natural, rhythmic respiration. The algorithm monitored the subset of active sensors to detect potential respiratory cycles. The similarity of the timing of the detected cycles between different sensors was used to determine the overall pattern of respiratory activity for the subject. Reliable detection of timing for respiratory cycles would be useful for detection of sleep apnea events.

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Event date： 2017.8

Venue：東京都  

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Language：English   Presentation type：Oral presentation (general)  

Country：United Kingdom  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Yokohama  

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Venue：千葉市  

順向抑制の働きを抑制し，新技能の習得を支援する新旧対照法は，技能をある程度有する人に有効である．しかし，新旧対照法による技能学習は初心者には適用されていない．新旧対照法が初心者に対しても有効かを検証するために，テンキータイピング技能の習得実験を実施した．練習法として反復練習法を用いたグループと比較して新旧対照法を用いたグループのほうが成績の向上が顕著であり，順向抑制の働きを抑制していた．新旧対照法は初心者の技能学習に対しても効果があることが確認された．

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Venue：Chiba, Japan  

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Venue：Chiba, Japan  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Hanoi, Vietnam  

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Venue：Tallinn, Estonia  

Autonomous driving has the potential to be the next critical technology that changes the lifestyle of a human. It has, however, not been verified whether the autonomous technology at different lower levels decreases or increases the mental workload of drivers. This paper verifies the relationship between a driver’s mental workload and level 0, 1 and 2 of autonomous driving using NASA-TLX and adjusted response time in a secondary task simulation study. Experiment results show that level 1 causes the lowest mental workload of the driver, followed by level 2 and level 0. We discuss this nonlinear relationship between the levels of autonomous driving support and the mental workloads incurred to the human driver.

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Venue：Toyama, Japan  

Combining generative adversarial imitation learning with reinforcement learning can encourage learning agents to obtain an appropriate behavior policy even in a sparse reward environment. However, if the given demonstration is imperfect, the imitation learning component may hinder the agent from acquiring the optimal policy. In this paper, we propose a learning method for overcoming this problem by shifting the learning mode from imitation learning to reinforcement learning with self-imitation gradually. The key idea behind the method is to replace the demonstration memory with the agent's past high-performance state-action trajectories after it rises to the demonstrated performance level. The proposed method was tested with a cart-pole swing-up task experiment, showing that it can enable the agent to learn a better policy than that of the demonstrations.

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Language：English   Presentation type：Oral presentation (general)  

Venue：Nagoya  

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Venue：Kyoto, Japan  

This study applied the network alignment method named IsoRank, which calculates the similarity between graph structures by optimization, to usability evaluation of user interfaces that allow users to use different operation screens depending on the progress of work. The proposed method estimates the usability of interface designs from two points of view. One is the compatibility of information resources distribution that examines whether individual screens provide just enough amount of knowledge and information necessary for the user task, and the other is the compatibility of transition structure that examines whether screen transitions are consistent with the flows of work to be performed by the user. The proposed method was tested by the experimental data that had been obtained from the user testing of operation terminals whose design was changed in their information resources distribution and screen transition structure, demonstrating that it can give a usability score close to the participant users’ feeling of use when the weight for the two compatibility aspects are adjusted appropriately.

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Venue：Kyoto, Japan  

The complexity of robot programming is an obstructive factor for the introduction of industrial robots to production sites. The human operator has to teach individual motion segments one-by-one to the robots to fit their behavior in the work environment, which is one of the most tedious and time-consuming tasks in robot programming. This study elicited user interface requirements to streamline the motion-point teaching by the hierarchical task analysis of off-line robot programming, and proposed UI functions that can meet these requirements. The proposed UI functions consist of the four-view display feature that generates orthographic views suitable for teaching motion points according to the operator's selection of the reference plane and the pointing-based robot operation feature. As a result of the verification experiment conducted using a Peg-in-Hole assembly task, the four-view display feature demonstrated its effectiveness in making the motion-point teaching more efficient.

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Venue：Toyonaka, Osaka, Japan  

In Specific Health Guidance, professional instructors provide periodic counseling and guidance to those who must change their lifestyle habits as being expected to have or having metabolic syndrome according to the results of checkups. For obtaining useful knowledge of practical guidance from written reports, this study introduces a labeled latent Dirichlet allocation method to develop a topic model of the Specific Health Guidance domain. Individual records of conducted health guidance have labels attached to indicate what kind of advice the instructor gave to his/her clients. By considering these labels, the proposed model estimates the content and distribution of guidance topics, including unlabeled ones. The estimated topic distribution that represents each guidance record in a numeric vector can provide another means to find correlations between guidance aspects and outcome measures.

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Venue：Toyonaka, Osaka, Japan  

For effectively and efficiently screening potential sleep-disordered patients, it is desired to establish simplified and easy-to-use techniques to measure the sleep state in a sufficient accuracy without elaborate facilities. Pressure sensor mats are a promising candidate but methods to estimate the vital signs of subjects from their sensing data are to be devised. For non-invasive sleep disorders screening, Generalized Morphological Component Analysis (GMCA), which is a kind of blind source separation methods, is applied to estimate the respiratory effort curve and its spatial distribution from time series of sleeping body pressure distribution. This study explores respiratory motion features that are effective for detecting and discriminating respiratory events such as apnea and hypopnea by examining the results of applying GMCA to the measurement data of the pressure sensor mat collected in polysomnography tests.

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Venue：Toyonaka, Osaka, Japan  

Moving object attractiveness map is a computational model that evaluates the possibility that a moving object in the field of view is gazed by the observer, which generates a view image in which each moving object is represented by shading according to the calculated gaze probability. Saliency map is, on the other hand, a computational model of visual attention that applies scientific knowledge of information processing in low-order visual cortexes to image processing, which generates an image that represents the saliency distribution based on low-level image features such as brightness and hue. This paper presents a method that combines outputs of the moving object attractiveness map and the saliency map to estimate the extent to which each area of the view image is likely to attract the visual attention of a human driver. The proposed model demonstrates that it can simulate a driver in different task engagement modes, such as watching out for surrounding moving objects or looking for a particular environmental object, by changing the weight of each of the two maps for linear combination.

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Venue：Osaka, Japan  

In this study, we developed an automatic sleep staging model that predicts the sleep stage of each sleep epoch from a time series of cardio-respiratory signals. The model has a Neural-CRF structure that incorporates conditional random fields (CRF) into convolutional recurrent neural networks (C-RNN). Given the sleep-stage score vector the C-RNN module output for each epoch, the CRF module generates a probable temporal sequence of sleep stages by considering the learned stage transition structure. The developed model was tested with the SHHS2 polysomnography dataset, successfully demonstrating a good performance of sleep staging (κ = 0.594±0.122, ACC = 0.749±0.079).

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Venue：Osaka, Japan  

Remote control of the unmanned helicopter becomes much easy due to the the stabilizer, but instead, the attitude motions of the unmanend helicopter becomes slow. Therefore, performance of attitude control of unmanned helicopter is not enough. In order to improve it, two methods including flap angle control by dynamic inversion method were analyzed in this paper. The stabilizer flap angle is ignored in the first method. The time scale separation between the rotor blade and stabilizer blade flapping was assumed in the second method. It was found that the second method was suitable for design the attitude controller for the unmmaned helicopter.

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Venue：Toyama, Japan  

Because Fuzzy C-Means (FCM) uses a sum-of-squared-errors objective function, it tends to equalize cluster populations, causing drifts of centers of smaller clusters to larger adjacent clusters. As a priori knowledge for clustering, the proportions of individual cluster sizes could well be available depending on application domains, on the other hand. The present paper proposes a method that can assimilate this information into the cluster structure by refining membership functions obtained by FCM. The proposed method, limited to one-dimensional fuzzy sets, modifies the position and shape of each cluster by the two-stage adjustment of its membership curve points towards the given proportions of cluster sizes. A numerical experiment was conducted to confirm the effectiveness of the proposed method, demonstrating that assimilating a priori knowledge of cluster sizes can contribute much to the accurate extraction of the original data structure.

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Venue：富山市  

経路選択に関する選好構造を特定できると，ユーザの好みを細やかに反映した推奨経路を提示可能な使い勝手のよいカーナビが実現する．本研究では，カーナビが選択肢として提示する複数個の経路をどのように構成すれば，それらに対する選択結果からユーザの選好構造を正確かつ効率的に推定できるかについて，シミュレーション実験により調査した．シミュレーションでは，一定の選好構造をもつユーザがカーナビから提示される推奨経路リストの中から最も好みに近いものを選択するのに対して，カーナビ側は選択結果に基づいてベイズ推定によりユーザの選好構造についてのモデルを逐次更新する．推奨経路リストには，目的関数の重みを固定して探索した推奨経路（距離優先や一般道優先に相当）と，選好構造の推定に基づいて重みが変化する目的関数を用いて探索した「ユーザ適応経路」が含まれる．推奨経路リストにおけるユーザ適応経路の数を操作して実験した結果，少ないやり取りの回数で精度よくユーザの選好構造を推定するためにはその数をより多くとることが有効であるが，二つのユーザ適応経路が提供されるだけでも十分な効果が得られることが確認された．

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Venue：富山市  

注視行動を形づくる因子に視覚的オブジェクトの目の引きやすさがあり，この度合いは誘目性とよばれる．平嶋らは，衝突可能性の認知に基づく注意制御の機能をモデリングし顕著性マップと統合することで，移動条件下にある人の注意を引きやすい移動体を視野画像において特定する「移動体誘目性マップ」を提案した．しかし，彼らのモデル構築と検証実験は観察者が前方に直進する場合に限定されていた．本研究では，横に曲がりながら移動する場合の観察者の注視についても実験し，観察視点の運動方向が移動体誘目性に及ぼす影響を調査した．調査結果からは，観測視点の運動に関する特徴量を用いることで，移動体注視率推定モデルの性能が向上することが確認されたまた，直線軌道にせよ曲線軌道にせよ，観察者は進行方向周辺に存在する移動体により注意を配る傾向があることがモデルの特徴量重要度から示唆された．

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Venue：Sendai, Miyagi, Japan  

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Venue：Tsukuba, Ibaraki, Japan  

Sonification is a type of auditory display techniques to perceptualize information using non-speech audio. This paper investigates the effective use of sonification in multi-task conditions, thereby to mitigate cognitive resource requirements for processing visualized task information. Experimental studies were conducted to see the effects of introducing different forms of sonification to various combinations of tracking and search tasks, comparing their efficiency with each other as well as with a visual display. The result of the studies shows the compatibility of the pitch-based sonification with the search task,suggesting that the encoding process demand to execute search tasks can be reduced much by this type of sonification.

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Venue：Tsukuba, Ibaraki, Japan  

In the present paper, we investigate the masking resistance of modulated sounds to clarify principles for designing data sonification that is tolerant to environmental noises. Modulating a tone can make the acoustic spectrum spread within the bandwidth of a human auditory filter, enforcing the masking resistance of the tone because of the auditory energy added by the modulation. Two sets of experiments were conducted to examine this effect of the sound modulation using a one-dimensional maximum search task under low signal-noise ratio conditions. As a result, Frequency Modulation (FM) synthesis was found more effective than pure tone and Amplitude Modulation synthesis. The study also confirmed that it is better to choose the modulation index for FM so that the bandwidth of the signaling tone is equal to or larger than the critical bandwidth.

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Venue：Nagoya, Aichi, Japan  

For effectively and efficiently screening potential sleep-disordered patients, it is desired to establish simplified and easy-to-use techniques to measure the sleep state in a sufficient accuracy without elaborate facilities. Pressure sensor mats are a promising candidate but methods to estimate the vital signs of subjects from their sensing data are to be devised. The present paper focuses on the estimation of the heart rate from the high-dimensional time series of sleeping body pressure and proposes to apply a blind source separation technique named Generalized Morphological Component Analysis (GMCA) to the problem. We tested GMCA by data sets with two different sleeping positions of prone and supine, demonstrating that the latter is much harder to separate the heartbeat signal from the body pressure distribution time series. A detailed discussion is made on how to improve the estimation accuracy for the supine position.

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Venue：Nagoya, Aichi, Japan  

Sentiment analysis is a technique that analyzes and extracts the evaluation information for products and services from text data. In the present paper, we propose variations of unsupervised sentiment analysis models that can estimate semantic orientations of comments (whether they are either positive or negative) together with their topics by processing text data without any ratings. The proposed models extend a standard topic model by introducing dictionaries of emotional words so that it can analyze in what point of view people are evaluating subjects positively or negatively.

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Venue：Nagoya, Aichi, Japan  

The present paper proposes a computational model of the human drivers' vision named "moving object attractiveness map", aiming at image processing technique to analyze unsafe traffic conditions that may provoke their inappropriate allocation of visual attention. Saliency map is a computational model of image processing to simulate human visual attention after scientific findings of bottom-up information processing at the low-level visual cortex, which extracts distributions of salience features from a given image and combines them to estimate which areas in the image can attract the observer's visual attention more. The proposed model adds a top-down attention filter to the saliency map that predicts the likelihood of visual objects to attract the observer's attention for possible collisions.

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Venue：Cardiff, Wales, UK  

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Venue：Kyoto, Japan  

Supply chains work with involving various factors, making it difficult to expect their dynamic behaviors. To make it clear, it is important to consider the systems from a systemic perspective; interactions of each components of those systems play important roles in their functioning rather than focusing on each of their characteristics. In this paper, we will present an extend model of FRAM: Functional Resonance Analysis Method, which is a practical way to analyze systems from the systemic perspective, based on an idea of cell automaton. Then, a case study with the proposed method to analyze behaviors of a steel production line will be carried out. In this analysis, we simulate how variabilities existing locally in the system propagate to the rest and influence a global behavior of it. In the end, we will discuss how such simulation will be utilized to design complex Socio-Technical Systems such as supply chains, airliners, and nuclear power plants.

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Venue：Sendai, Miyagi, Japan  

For the purpose to discuss design requirements for a new industrial robot programming environment, the present paper investigates two different, existing robot programming systems in terms of two cognitive perspectives: how effectively they support the human operator's decision-making by supplying externalized information resources for each phase in the robot programming, and how effectively they support the operator's transitions from one programming activity to another. The analyses can indicate what information resources are to be externalized for reducing the operator's knowledge and cognitve demand as well as what activity transitions are to be simplified for fostering the progression of designing robot programs.

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Venue：浜松市  

情動とは生体に入力された感覚刺激への評価に基づいて生ずる短期的で比較的強い反応と定義され，情動と身体反応の間には密接な関係がある．本研究では，不快情動喚起が身体技能にもたらす影響について調べることを目的としている．本稿では，身体技能として運筆技能を取り上げ，不快情動喚起刺激を負荷したときの書画結果への影響を調べた結果を示す．特に，視覚に基づく動作制御を要する課題と体性感覚のみに基づく動作制御による課題を対象として，その影響の違いを調べた．その結果として，不快情動喚起刺激は技能に影響を及ぼすことが分かった．また，技能への影響は動作に用いる感覚に依存することが示唆され，体性感覚により制御する動作では影響が現れないが，視覚に基づいて制御する動作では影響が現れることが示唆された．

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Venue：浜松市  

自動走行システムからドライバへの安全な運転権限の委譲には，ドライバの正しい状況認識の形成が不可欠である．本研究では，運転を引き継ぐドライバが正しい状況認識を形成するまでにどれほどの時間を必要とするのかを検討するために，SAGAT を応用してドライバの状況認識形成過程を調べる実験を実施した．実験では，自動走行中の運転席からの視界をシミュレーションした動画像を提示し，それを任意のタイミングで隠した後，質問票を使ってその時点で獲得されている観察者の状況認識の正確性を調査した．調査の結果，周囲の車両が加減速を行い自車との位置関係を時々刻々変化させる「動的」な交通状況では，3 秒ほどの短時間で正確な状況認識を確立することは困難で，引き継ぎ後の運転判断をドライバが誤る可能性が高いことが確認された．

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Venue：浜松市  

現在, 医療機関で実施されている精密な睡眠の検査方法としてPSG 検査（Polysomnography）があるが，被検者への負担が大きいことが指摘されており，より簡便な睡眠の計測方法が求められている．本研究では，800点の圧力測定点を持つマット式センサを用いて，睡眠評価のための基本的な生体情報である呼吸数と心拍数を推定する手法を提案する．手法として，体圧の時系列に対しフーリエ変換を施し，ピーク周波数を調べることで呼吸と心拍の周波数を求める．実験を行った結果，呼吸数はよく推定できるが，心拍数については信号が微弱であるため解析に工夫が必要であることが明らかになった．

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Venue：浜松市  

本研究では，加算合成を用いて2 次元データを可聴化するパラメータマッピングの好ましい設計について，1次元の位置決めタスクを用いて実験調査を行った．位置と速度の組で表される動的システムの状態を2音の加算合成によって可聴化する場合に，目標位置からの偏差を一つの音の大きさに対応づけるのに対して，目標速度からの偏差をもう一つの音のどのパラメータに対応づけるのが適当かを比較検討した．比較は音の大きさに対応づけるマッピングと音の高さに対応づけるマッピングの間で行われ，実験の結果，後者の優位が確認された．

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Venue：浜松市  

テキストデータから特定の製品やサービスなどに対する評判を自動的に抽出する技術は評判分析と呼ばれる．また，文が示す内容が肯定的か否定的かは感情極性と呼ばれ，単語や文書に潜在する感情極性の推定はテキストマイニングの一分野として研究されている．評判分析手法の一つに，文書の低次元化や要約を実現するトピックモデルと単語レベルの感情極性辞書を組み合わせた手法が存在する．この手法では，文書情報を抽出する際に単語の出現順序を省略しているため，否定表現の係り受けによる感情極性の反転を捉えるのは難しい．本稿では，トピックモデルを用いた評判分析において問題となる否定表現の処理法として二つの手法を提案し，それらの効果を検証した．一つは否定表現による感情極性反転の検出法であり，もう一つは逆接の接続助詞における文の分割である．商品レビューのデータセットを用いた検証実験の結果，レビューテキストに基づいて商品の評判を分類するモデルの分類精度が二つの手法によって改善することが確認された．

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Venue：Yonezawa, Yamagata, Japan  

Human drivers get most of the information about their world through vision. Therefore if we are able to specify regions to likely attract their attention, it will lead to advanced driver assistance systems, such as by detecting situations where their visual attention may get highly distracted. Saliency map is a computational model that can extract visually conspicuous points or regions based on low-level image features. In this study, we examined how well saliency maps generated from in-vehicle camera images correspond with regions of interest human observers have paid their visual attention to. As a result, we found that incorporating opticalow features in saliency maps can improve the model's performance while it still has some disagreement with actual visual behavior.

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Venue：Yonezawa, Yamagata, Japan  

Sleep stage pattern provides important clues in evaluating sleep quality. This study is performed to develop a classifier that estimates sleep stage from heart rate variability. The classifier is based on Long Short-Term Memory (LSTM) which is a kind of Recurrent Neural Network, and classifies sleep stages into wake, Non-REM sleep, and REM sleep from 13 features derived from heart rate variability. As a result of the performance evaluation of the classifier, it was confirmed that the recursive connections of LSTM successfully grasps the context-dependency of sleep stages, and especially improves the classification accuracy of REM sleep.

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Venue：Yonezawa, Yamagata, Japan  

Sleeping mat that can measure vital signs of a person sleeping on it is one of promising alternatives to PSG (Polysomnography) for simplified sleep assessment. In this paper, we investigate computational methods to predict the respiratory and heart rates of sleeping subjects from measurements by the pressure sensor array embedded in a sleeping mat. Two computational methods were compared by experiment. Whilst both methods utilize frequency domain analysis to extract those components of body movements that are induced by breathing and heartbeat, they are different in the way to choose sensor nodes to take into account for computation. As a result, it was found that the respiratory rate can be predicted in a higher accuracy by using the sensor node with the largest pressure value for each instant of time and that the heart rate prediction accuracy is not affected by the way to choose nodes.

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Venue：Otsu, Japan  

Information scent represents the semantic relevance of labeled options to destinations of navigation tasks and has a potential as a computational basis to simulate human users’ navigation decisions to search for items in a menu hierarchy. In the present paper, we propose a method to inspect the usability of menu hierarchies by using the information scent model. The method applies a software agent that makes scent-based decisions for simulating menu item selection by unlearned users. Every function that can be launched from the menus are thoroughly explored by the agent to identify ill-designed part of the menu hierarchy that makes it difficult for users to accomplish particular tasks.

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Venue：Kyoto, Japan  

In recent years, small-scale rotorcrafts are widely used for various purpose. In particular, inspections of infrastructures such as bridges or tunnels by aerial vehicles are highly demanded. During inspection activities, aerial vehicles must approach their walls. In such situation, walls affect on the airflow around the rotor and also aerodynamic characteristics of the rotor. We conducted experiments to measure thrust, rotational speed, and required power of the rotor near a vertical side wall or a ceiling wall. It was found that the thrust and the rotational speed of the rotor do not change when it approaches to the vertical side wall. On the contrary, we found that thrust and rotational speed of the rotor increases and the required power decreases as the rotor approaches the ceiling wall. The results suggests that the vertical side wall effect is considerably small but the ceiling wall effect is large. The ceiling wall effect may be utilized to extend the flight time for inspection without equipping large batteries.

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Venue：Kyoto, Japan  

Development of technologies (e.g. automation) makes the mechanical systems complex, building Socio-Technical Systems. For the safety of those systems, feasibility of procedures against a specific context plays an important role. E. Hollnagel proposed FRAM: Functional Resonance Analysis Method for this issue. In this paper, we show a practical methodology of FRAM which we proposed before: Fuzzy reasoning is applied to FRAM in this methodology, and we built a simulator of FRAM by implementing it. Also, we investigate how the methodology contributes to the safety of Socio-Technical systems.

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Venue：Kyoto, Japan  

The automation of route navigation led to the implementation of in-car navigation systems, widely used nowadays. However, their interactions with the drivers still cause some confusion, thus damaging road safety. In this paper, we first propose a categorization of the interaction issues found in the literature into two categories: “context awareness issues” and “expression issues”. We then focus on “context awareness issues” and propose that they are mainly due to a difference of perception means between the automated systems and the human drivers. Finally, we suggest that joint attention between these two agents can improve the shared amount of context information and give research directions to test this hypothesis.

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Language：English   Presentation type：Oral presentation (general)  

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Application no：特願2006-070772  Date applied：2006.3

Announcement no：特開2007-248199  Date announced：2007.9

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Application no：特願2004-268845  Date applied：2004.9

Announcement no：特開2006-85389  Date announced：2006.3

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Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

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Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

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Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

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Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

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Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

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Award type：Award from international society, conference, symposium, etc.  Country：Japan

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Award type：Award from Japanese society, conference, symposium, etc. 

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Country：Japan

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