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

This paper reports on developing experimentally a multi-view stereo endoscope system that reconstructs once 3D data from each stereo image handled in the medical field, enhances the 3D data, and renders a set of multi-view images being available to an arbitrary multi-view glasses-free 3D display in contrast to a conventional stereo endoscope system being unavailable to multi-view displays. The developed system is similar to a CT reconstructing 3D data but is different in the respects that the former inputs one-shot stereo images with visible light to observe the surface of object in real-time while the latter inputs multidirectional projections with X-ray to observe the inside of object in non-real-time.

DOI： 10.1109/RPC.2017.8168058

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ROUTLEDGE JOURNALS, TAYLOR & FRANCIS LTD  

Although wandering is a common behavioral problem in patients with dementia, information about wandering in patients with severe dementia is scarce. This study analyzed data about the wandering behavior of a 77-year-old woman with severe frontotemporal dementia. Due to severe atrophy of the anterior cortex, she was totally unable to act spontaneously. Nevertheless, she walked with her husband every day. Her walking pattern varied on a daily basis but it appeared to be random. However, a mathematical analysis showed that her walking pattern was not random. Our case suggests that even patients with severe atrophy in the anterior cortex may be able to orient themselves within their neighborhood if their posterior cortex is preserved.

DOI： 10.1080/13554794.2015.1120313

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Japanese Society of Medical lmaging Technology  

In contrast to the usual architecture, a computer-aided stereoscopic endoscope in a sophisticated architecture reconstructs a sequence of 3D spatial data in realtime of approximately 30 fps from a HVGA-resolution stereo moving image; processes the sequence of 3D spatial data in space and time dimensions; and renders a multi-viewable 3D moving image so that we can display on any multi-viewable lenticular displays without glasses. Although the core of the computer-aided stereoscopic endoscope is a dynamic programming (DP) algorithm for high-precision stereo matching that the authors newly developed, an inherent problem is that the 3D spatial data reconstructed by using any DP algorithms include occasional errors in stereo matching for depth estimation that are caused by lack of moderate textures on original left and right images. (This problem corresponds to so-called illusory perception in terms on human body.) This paper reports success of generating some drastically enhanced multi-viewable 3D moving images of surgery by applying a time-space, that is, 4D median filter for efficiently reducing such inherent errors in depth estimation.

File： IFMIA2015_3_OS3_622.pdf

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：International Institute of Informatics and Systemics (IIIS)  

This article shows, on a Boolean multivalued logic, a model of logic analysis named "Gödel platform" that evaluates consistency among any knowledges given arbitrarily by a user, recommends improving some knowledges for maintaining consistency, and calculates arbitrary inferences. This article shows also several typical examples that simulate behavior of Gödel platform.

File： ZA316JN.pdf

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE  

This article discusses on a complementary (C) fuzzy logic system that is one of continuous multiary logic systems that satisfies a complementary law differently from usual fuzzy logic systems. This article includes formulation of the C fuzzy logic system, derivation of tautologies, and mentions an example that typically shows a difference in inference computation between the C fuzzy logic system and a usual fuzzy logic system.

DOI： 10.1109/3477.558821

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

This paper proposes a method of, given a multilevel image called a reference image in which an arbitrary shape S lies and another multilevel image called an input image in which one shape rotated and parallel translated from S lies, computing the angle of rotation and the quantity of parallel translation. This method applies a modified version of the Hough transform proposed by O'Gorman and Clowes (1976) to the reference and input images, and computes the angle of rotation uniquely. Moreover, this method needs no extracting feature points, and is applicable to low quality images.

DOI： 10.1109/ICIP.1996.560874

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

This paper presents an expert system for automatically recognizing handwritten characters of dollar amounts on personal checks. The dollar amounts composed of numerals and marks—, “X X,” etc., are freely handwritten in various formats that individuals favor, inside the amount field. Then frequently there is contact between not only horizontally adjacent characters but also vertically adjacent ones. Recognition of such unconstrained character strings handwritten by the public whose formats are undecided beforehand is a problem in optical character recognition. The system developed in this paper has the ability to segment the dollar amount image into individual characters automatically and to recognize them accurately. The recognition process of the dollar amount consists of the following steps: divide a digitized image into groups, called a “block,” of line elements connected with one another
give attributes to each block by using the knowledge on arrangement patterns of characters
and segment the block into individual characters according to the attributes and recognize them. It is suggested that this system will enable the saving of considerable operator labor in check processing. Copyright © 1993 Wiley Periodicals, Inc., A Wiley Company

DOI： 10.1002/scj.4690240708

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：John Wiley & Sons  

This article proposes a self-organizing model for pattern learning together with an application to an autonomous mobile robot system. The self-organizing model consists of a processing rule prescribed and a memory part being blank at the initial stage. To an input signal, the model searches for a similar signal in the memory, and recalls its related information. If the information accompanied with the input signal differs from the recalled information, the model adds the new information to the memory. It influences the subsequent operations. Thus, the model constructs successively a data-base in a self-organizing way. This model can universally learn and reproduce any pattern of input-output response desired. Two principal functions in autonomous movement, i.e., position identification and obstacle avoiding movement were realized based on the self-organizing model. Furthermore a camera type autonomous mobile robot system for indoor was made up. The size of the robot is about 0.7x0.7x0.7m, and the weight is about 30kg. The speed of movement is less than 3km/h. A small computer that has a 16bit microprocessor and a 1MB RAM controls the motion of the robot with an extended C language.

DOI： 10.1002/rob.4620050505

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEICE  

The paper proposes a method of variable-to-fixed length binary data encryption in the class of conventional cryptosystems. An encryption algorithm reduces an interval of the integers that mean candidates of cryptograph according to a key and messages. A decryption algorithm traces the trajectory of reduction of interval according to the key and cryptographs to reproduce the messages. These algorithms are executable with simple arithmetics on several registers. However, wiretappers without knowledge on the key cannot correctly reproduce messages since they cannot trace the trajectory of reduction. The exhaustive cryptanalysis identifies the correct decryption procedure only from cryptographs. The comparing cryptanalysis identifies the correct decryption procedure from some pairs of message and cryptograph. Asymptotic evaluations for the computational complexity of cryptanalysis show a satisfactory endurance against wiretapping.

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

Cover 2 pages, body 13 pages.

A new method of data encryption of which cryptogram looks like a sequence of pure image data is proposed, which we call the embedding-in-image data encryption. The data desired to transmit are mixed with some image data to produce a cryptogrram, which is transmitted through an existing system for digital image trasnsmission. A kind of arithmetic coding is utilized in order to construct an algorithm of encryption that achieves a well-manufactured cryptimage and a high transmission efficiency.

The original article is downloadable from the above. Another version based on a different principle is downloadable from the following URL of link information.

File： SCIS1986G3.pdf

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Language：Japanese   Publisher：(一社)日本コンピュータ外科学会  

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Language：Japanese   Publisher：(一社)日本コンピュータ外科学会  

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Language：Japanese   Publisher：(一社)日本コンピュータ外科学会  

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Language：Japanese   Publisher：(一社)日本コンピュータ外科学会  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本耳鼻咽喉科頭頸部外科学会  

頭頸部外科領域にロボット手術が保険適応となり, 耳鼻咽喉科医にとってもロボット手術は身近な存在となってきた. しかし泌尿器・消化器領域で発展してきた手術ロボットを, そのまま耳や鼻の手術に応用することはまだ難しい. 私達は経外耳道的内視鏡下耳科手術 (Trans-canal Endoscopic Ear Surgery: TEES) を支援するロボットの研究・開発を複数の大学の工学部と共同で行っている. 手術ロボットの研究を通して, 自分たちの手術の特徴や問題点を改めて見直す機会が得られている. 本稿では, これまでの耳科手術用ロボットや内視鏡保持ロボットについて概略を述べ, 現在研究中の TEES 支援ロボットのコンセプトと試作機について述べる. また, 将来ロボット自身が自律的に手術を行うことを目標とした, ロボットの自律レベル向上に向けた研究についても紹介する.

DOI： 10.3950/jibiinkotokeibu.126.3_181

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The 4th World Congress on Endoscopic Ear Surgery (EES 2022)  

File： EES2022O28-4_1204.pdf

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

File： EES2022panel331203.pdf

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：計測自動制御学会  

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：日本ロボット学会  

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Language：Japanese  

Recently, R&D of endoscopic surgical assistant robots that enable the operating surgeon to perform all endo-scopic and surgical instrument operations alone has been conducted, but till today, no robot that can autonomously perform most of the surgical tasks on behalf of surgeons. In this study, we focus on transcanal endoscopic ear surgery (TEES), in which the surgeon alone performs both endoscopic and surgical instrument manipulation. In the present study, we aimed to establish a methodology to improve the levels of autonomy of surgical robots through the development of an autonomous robot system for endoscopic manipulation in TEES. The objective of this report was to use deep learning for the segmenta- tion of surgical instruments in endoscopic images as information for determining the position of the endoscope in an autonomous operation. To perform deep learning, we first prepared TEES endoscope video frames and images from which only the surgical instruments are extracted as teacher data. Then, we trained these data using the deep learning model Dee- pLabV3+, and the results were evaluated. The performance of the deep learning model is evaluated using the precision. recall, and F1 scores.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

By introducing locally operated surgical assistant robots in a sterilized area, a surgeon can perform safe and accurate robotically assisted endoscopic ear surgery. A new locally operated endoscope manipulator with dual linear motion that can be used by the surgeon’s left hand during endoscopic ear surgery has been developed. The linear motion of the endoscope is driven by selectable two motors. An ultrasonic motor using a rack and pinion with a linear guide leads to precise and safe motion in the ear canal. A gearless DC motor using a belt pulley with the shared linear guide leads to high speed motion outside. The dimensions of the linear motion device are 155 mm * 282 mm * 77 mm.

DOI： 10.1299/jsmermd.2022.1a1-s02

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

By introducing locally operated surgical assistant robots in a sterilized area, a surgeon can perform safe and accurate robotically assisted transcanal endoscopic ear surgery. A new endoscopic teleoperation system with linear motion that can be used by the surgeon’s hand in the external auditory canal has been developed. The manipulator system consists of a master device using a ratchet gear and a follower device using a constant spring for safety. The manually control when the power is shut off to the follower motor leads to high speed drive outside. The motion scaling control can produce precise drive in the ear canal. Task required time and position error are shorter in reduced scale.

DOI： 10.1299/jsmermd.2022.1a1-s06

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

Vowel and consonant are the two basic phonemes in speech sound, which then would be used to define syllable. However, it appears that in most studies the focus seems to be set on words, or at least in syllables, but not on phonemes, despite vowel and consonant are the fundamental phonemes in phonetic. In this research, study focused on vowel in speech sound is conducted in hope to further understand the construct and characteristics of vowels, with help of technology that was not available in earlier time. A robust method is introduced for the detection and extraction of each cycle of waveform, periodic component, found in vowels and, sometimes, semivowels. Cross-correlation coefficient of continuous components is calculated to verify the similarities of continuous components, while a recognition test is conducted to verify the insignificant of difference in continuous components. Result of the tests both supports the statement of vowel having structure of repetitive waveform.

DOI： 10.1109/TENSYMP52854.2021.9550762

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Information Processing Society of Japan  

As for hardware implementation of modular exponentiation arithmetic, even if in the case of Montgomery modular multiplication or Booth's multiplication algorithm, carry propagation delay multiple-precision integer is the bottleneck of acceleration. To avoid carry propagation delay, it is effective for carry lookahead adder, carry save adder and so on, but these are very large scale circuits in large size multiple-precision arithmetic. Unless the design philosophy to determine the result within fixed-time for every input while values are enough random and average of carry propagation length on addition is short, based on the property that when a carry occurs at a certain digit the carry from the lower digit does not propagate beyond that digit, a method has been proposed which realizes fast arithmetic of multiple-precision integer with a small-scale circuit by processing carry propagation at random. To report the simulation result of implementing multiple-precision multiplier based on this method using a programmable logic device.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Information Processing Society of Japan  

Given a finite number of "knowledges" that consist of logical formulas and their desired truth values on a Boolean multivalued logic system, "learning" is the process of computing logical values of atoms that minimize the "gap" such as the average of the absolute difference between the truth value actually taken by each logical formula and the desired truth value, and "inference" is the process of computing truth values of arbitrary logical formulas after learning. Even if the knowledges themselves do not include inconsistency, the gap does not become smaller when knowledges are many in comparison with the dimension of Boolean multivalued logic. This article reports on, given many knowledges described with the logical formulas in predicate expression, a method of, after constructing a semantic network by connecting a node named an atom corresponding to subject and another node named an atom constructing predicate with an arrow tagged a truth value of the predicate expression and a logical formula constructing predicate, a trial example of clustering so that the gap inside each cluster may be locally minimized, that is, so that local consistency of knowledges may be ensured.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報処理学会  

気象庁公開の北緯 35 度 41.5 分，東経 139 度 45.0 分標高 25.5[m]（東京）における 2001 年 6 月 1 日から 2001 年 9 月 1 日までの日合計全天日射量（日照），日平均雲量（雲量），降水量の日合計（降水）の各時系列データについて自己回帰性を検証した．観測日 i は開始日を 1 とする序数，また x(i)(i = 1,…,93) は観測日 i における日照を表すとき，次数 n の自己回帰モデル : i = 1,…,93 に対し x(i) = a(1)x(i - 1) + … + a(n)x(i - n) + e(i)（便宜上x(-n) = … = x(-1) = 0 とおく）を考え，n ∈ 2,…,93 - 1 毎に推定誤差 E(n) が最小値をとるように係数 a(1),…,a(n) を選んだうえで，推定誤差がそれ以上小さくならない次数 n を求めたところ，n = 27 が得られ，同様に雲量に関し次数 25，降水に関しては次数 16 が得られた．

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報処理学会  

光ファイバーの曲がりに応じて漏れる原理に基づく曲げセンサーを利用することにより 5 本の各指のたわみの程度を計測するデータグローブの右手用を対象とし，親指以外の 4 本の光ファイバーすなわち曲げセンサーの出力から各指の第 2 関節の角度および第 3 関節の角度を推定することを試みた．具体的には，被験者 1 人が 7 種類の直径の円筒を握った際の各指の第 2 関節および第 3 関節の角度の 700 実測値（画像上のマーカーによる計測）に対するセンサーの 700 出力値の局所的線形近似における誤差分散を求めた．その結果を記録し線形補間を伴う表参照方式，および，各指において第 1 関節（指先側）の角度は第 2 関節の角度のほぼ 2/3 であるという知見に基づき，同データグローブを用いた仮想空間内右手モデルの親指以外の 4 指をなす 12 関節の制御性の感性評価を試みた．

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Institute of Electronics, Information and Communication Engineers (IEICE)  

File： 200317_leaning.pdf

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Information Processing Society of Japan  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：公益社団法人 日本生体医工学会  

近年のAI技術の進展により手術支援ロボットの自律化に向けた研究が着目されている．本研究では，特に，ステレオ内視鏡により得られるRGB画像およびデプス画像，ならびに，光学式3次元計測情報を適切に処理・融合することにより，手術支援ロボットの自律レベル向上に貢献できる様々な術中センシング技術の開発を，文部科学省科研費・新学術領域研究（多元計算解剖学）の一環で実施した。

DOI： 10.11239/jsmbe.annual57.s3_2

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：言語処理学会  

名古屋大学

本研究では時間情報解析の対象テキストとして，特に散文で書かれた文学作品を扱う．文学作品における時間表現は，“ある日”や“秋”など厳密に定義されない場合が多い．また文学作品は複数の場面から構成されるが，その時間的順序は新聞やニュース記事のように形式だっている場合は少なく，過去/現在/未来などを複雑に行き来する．しかし，我々人間は経験的に獲得した何らかの規則により，様々な時間表現を取捨選択し，作品の作者が意図した作品の時系列を適切に把握し理解することができる．本研究では，人間の読書の仕方からヒントを得た知見として，主に文の過去/非過去分類，接続語/指示語の活用という2つを用いて各文で述べられている話題の時間を判定し，文の時間として付与することを試みる．これを人手により付与された時間と比較し，知見の有用性について検討する．

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

In camera calibration which is a nonlinear least squares problem, to get a correct rotation matrix is important and difficult. This article proposes a method that gets a rotation matrix with a vanishing point. Advance computation of rotation matrix simplifies the nonlinear least squares. Furthermore, by computing each camera parameters independently as much as possible, the proposed method can reduce errors. After image correction with parameters which are given by the proposed method, stereo measurement toward objects which is 5[m] away from cameras achieves relative error within 2[%] at around a center of an image.

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japanese Society for Medical and Biological Engineering  

In this research, we aim to establish a method of real-time high accuracy endoscopic image overlay of the tip of surgical instruments for control of a forceps robot. In general, the relationship between the position of an object in the three-dimensional space and its projection onto the camera image can be represented by a single camera model. However, the closer an endoscope gets to surgical instruments, the larger the projection error becomes. The proposed system introduces virtual multi camera models according to the distance between an endoscope and surgical instruments for alleviating the projection error.

DOI： 10.11239/jsmbe.annual56.s173

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japanese Society for Medical and Biological Engineering  

The purpose of this study is to derive a virtual point corresponding to the laser spot point in the previous research and to control the forceps robot without using the real laser pointer by using the optical three-dimensional measuring device Polaris and a stereo endoscope. First of all, we virtually reproduced the state where markers were attached to the surgical instrument by attaching the Polaris markers to the forceps robot followed by performing a coordinate transformation. We then derived the virtual laser spot point by drawing a half straight line extending the tip of the surgical instrument to organ direction on the endoscopic left and right images obtained from the stereo endoscope, followed by searching for a point where the virtual disparity on the half straight line coincides with the actual disparity from the stereo endoscope from the tip of the instrument toward the organ surface.

DOI： 10.11239/jsmbe.annual56.s377

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japanese Society for Medical and Biological Engineering  

The purpose of this study is to develop a procedure for visual tracking of surgical instruments for control of an endoscopic robot. The proposed method is mainly based on the color features, which are including R, G and B of the RGB color space and S (Saturation) of the HSV color space and used for recognition of surgical instruments in endoscopic images. For verification, our method was applied to two endoscopic surgery videos with different color features.

DOI： 10.11239/jsmbe.annual56.s174

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japanese Society for Medical and Biological Engineering  

We focus on the fact that human body kinematic structure leads to the linearity between a binocular visual space and a joint space, and propose a novel criterion for evaluating the appropriateness of endoscopic images. Then, we aim to establish a new autonomous endoscope positioning method based on that criterion. In this study, we first assumed that the stereo endoscope robot was regarded as virtual binocular eyes of the surgeon and the surgical instruments were regarded as virtual arms connecting the surgeon's real arms. We then made a hypothesis that the surgeon or the camera assistant operated the endoscope such that the binocular visual space coordinates of the tip of the surgical instrument and the joint angles of the surgeon's arm had a linear relationship.

DOI： 10.11239/jsmbe.annual56.s376

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japanese Gastric Cancer Association  

SL1 (special lecure)

This lecture introduces 3D imaging, learning motion control, and machine logic as core technologies of medical cybernetics.

The first topic concerns a multi-view 3D imaging processor that computes a depth image once from each stereo image that is for example each frame of video output of some stereoscopic endoscope, enhances the depth image, and renders a set of multi-view images that is applicable to a multi-view glasses-free 3D display in contrast to popular stereoscope systems. This 3D imaging processor is analogous to a CT but is different in the respects that the former takes one-shot stereo images with visible light in real-time while the latter takes multidirectional projection images with X-ray in non-real-time.

The second topic concerns a learning control of stroke motion that is applicable to surgical robots, where "stroke" means an actuation segment from one end of the limit of motion to the other end such that both of velocity and acceleration are zero at each end. Feedback or feedforward that detects variations of objects with range sensors, force sensors, and other sensors enables delicate control of actuators. In such a physical mechanism that the coefficients of dynamic equation are unknown, once the motion outputs for various control inputs with sensor data are learned, some control inputs achieving any motion output are reproducible.

The third topic concerns a machine logic. In any typical scheme of forwarding inferences by concatenating logical implications, an affirmative proposition is derivable even from negative propositions, and medical use seems unsuitable. By concatenating logical equivalences on a multiple-valued Boolean logic, for example we can steadily list exclusive events constituting a Bayesian inference controlling false-negative and false-positive. As another example, inductive inferences and deductive inferences are unifiable on the multiple-valued Boolean logic, which facilitates design of medical decision support systems.

File： Program01.pdf

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Other Link： https://doi.org/10.1109/rpc.2017.8168058

Language：English   Publishing type：Research paper (conference, symposium, etc.)   Publisher：the project "Multidisciplinary Computational Anatomy and Its Application to Highly Intelligent Diagnosis and Therapy" funded by Grant-in-Aid for Scientific Research on Innovative Areas, MEXT, Japan  

This research presents the use of a stereoscopic endoscope that obtains depth information in real time for assistant-free robotic laparoscopic surgery. First, the image plane-based motion controller was implemented on a robot manipulator holding the stereo endoscope. Next, an algorithm for real-time visual tracking of surgical instruments was developed. The proposed stereo-matching engine was then applied to a stereo-image pair during laparoscopic surgery. Our next plans include real-time estimation of the goodness of the field of view, called the activity, during the surgery. The activity will be estimated using both the surgeon's joint angle information obtained from ergonomic sensors and the depth information of the instrument tip tracked in the endoscopic images. Based on multidisciplinary computational anatomy information and a biologically inspired mathematical model called the attractor selection model, we finally establish a new methodology for autonomous "stereoscopic" endoscope manipulation.

File： MCA2018A03KB102.pdf

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：生体医工学シンポジウム2017  

内視鏡を単眼型から双眼型へ進歩させることが医用における内視鏡の有用性を向上することは, 明らかである. 本発表を含む一連の研究では, 医療分野で扱われるステレオ画像からいったん3Dデータ (撮像した対象物表面各点の色情報と奥行情報の対) を再構成し, 再構成された3Dデータをエンハンスし, 任意の多視点裸眼3Dディスプレイに利用できる多視点画像をレンダリングすることにより, 従来のステレオ内視鏡システムにおいて入力時の視点と同一視点からしか観察できない制約に起因する, 医用では容認しえない錯視やVR酔いなどの問題を, 根本的に解決することを目指している. 解決の鍵は, 左画像上の各点に対応する右画像上のある点を高速かつ正確に探索する独自のステレオ照合エンジンである. 本発表では, 実際の手術におけるステレオ内視鏡の出力を記録したステレオ動画に対しこのエンジンを適用して3Dデータを再構成した事例を報告する.
信州大学, 2017年9月15-16日

File： JSMBE2017_2A01_59.pdf

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：生体医工学シンポジウム2017  

内視鏡手術は患者の腹部に小さな孔を開け, 手術器具と内視鏡を体内に挿入し, モニタに映し出された映像を見ながら外科的処置を行うため, 開腹手術に比べ患者にとって負担の小さい方法である. しかし, 内視鏡を操作する役割を担うカメラ助手が, 長時間の手術を行う場合, 疲労により安定した視野を執刀医に提供することが困難になるという問題がある. この問題を解決するため, 人間のカメラ助手の代わりに内視鏡を把持して自動位置決めする手術支援ロボットの開発が行われてきた. ロボットを自動位置決めするためには, 内視鏡画像中の手術器具の位置情報を抽出・追跡するビジュアルトラッキングと呼ばれる方法が利用される. 本研究では, これらの問題を解決するために, マーカを用いる必要のないビジュアルトラッキング方法の確立を目的とする.
信州大学, 2017年9月15-16日

File： Endo2017Endoscope.pdf

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Language：English   Publishing type：Research paper (conference, symposium, etc.)   Publisher：the project "Multidisciplinary Computational Anatomy and Its Application to Highly Intelligent Diagnosis and Therapy" funded by Grant-in-Aid for Scientific Research on Innovative Areas, MEXT, Japan  

This research presents the use of a stereoscopic endoscope that obtains depth information in real time for assistant-free robotic laparoscopic surgery. First, the image plane-based motion controller was implemented on a robot manipulator holding the stereo endoscope. Next, an algorithm for real-time visual tracking of surgical instruments was developed. The proposed stereo-matching engine was then applied to a stereo-image pair during laparoscopic surgery. Our next plans include real-time estimation of the goodness of the field of view, called the activity, during the surgery. The activity will be estimated using both the surgeon's joint angle information obtained from ergonomic sensors and the depth information of the instrument tip tracked in the endoscopic images. Based on multidisciplinary computational anatomy information and a biologically inspired mathematical model called the attractor selection model, we finally establish a new methodology for autonomous "stereoscopic" endoscope manipulation.

File： MCA2017A03KB102.pdf

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Association for Natural Language Processing (ANLP)  

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九州大学 伊都キャンパス

File： ISS-P-99.pdf

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Association for Natural Language Processing  

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Other Link： https://yab.yomiuri.co.jp/adv/chuo/dy/opinion/20140929.html

Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Information Processing Society of Japan  

CiNii Books

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Collaborative Conference on 3D & Materials Research 2013  

A stereo camera range finder for visual aid captures each frame of stereo image; estimates the depth image by applying a dynamic programming (DP) for real-time stereo matching; calculates a representative value such as the mean of depths in a rectangular window on the depth image; and converts the representative value into a frequency of oscillation on skin or ears.

For example, the minimum of depths in a wide window can detect the nearest obstacle, while the maximum of depths can detect some hole. The median of depths in a narrow window can measure the pinpoint distance to any obstacle.

The mean of depths in a slit-like window tends to smooth any distribution of depths along the long axis of slit, and this property facilitates detecting edges of linear structures in civilized life.
Performance of DP for stereo matching includes the accuracy of depth estimation and the processing time. The authors’ algorithm can process over 30 fps with Intel Core i7-2670QM (2.2GHz, 4GB), where a frame consists of 320x240-doubled stereo image. The rate of accurate matching achieves 94.4% in average for the typical images called Tsukuba, Venus, Cones, Teddy, Map, and Sawtooth in Middlebury Stereo Datasets.

File： CCMR2013DAY1BallRoom1_7.pdf

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Authorship：Lead author,　Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本私立大学連盟  

特集 医学教育の未来を考える

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Information Processing Society of Japan (IPSJ)  

CiNii Books

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This article, by describing atoms and logic formulae with complex functions, defines a new multivalued logic such that the set of logic formulae forms a Boolean algebra in contrast to popular multivalued logics such as fuzzy logics, which we call a Boolean complex logic. This article shows also some intuitively understandable examples demonstrating that the proposed logic can process deductive inferences syntactically by evaluating ranges of truth values.

DOI： 10.1109/ComComAp.2012.6154874

Scopus

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Hokkaido Chapters of the Institutes of Electrical and Information Engineers, Japan  

File： JCEEIE_Hokkaido2011_165.pdf

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Hokkaido Chapters of the Institutes of Electrical and Information Engineers, Japan  

File： JCEEIE_Hokkaido2011_193.pdf

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This article, by regarding the relative number of affirmative bits on an arbitrary finite sequence of bits as the truth value, defines a new multivalued logic system such that the set of logic formulae forms a Boolean algebra in contrast to other non-Boolean multivalued logic systems, which we call a Boolean multivalued logic system. This article also, for demonstrating compactly that the Boolean properties (in contrast to other multivalued logic systems) simplify multivalued inferences in flexible styles, shows several intuitively- understandable examples tracing biotic diversity such that, on the proposed logic system, we can easily handle semantic inferences verifying values of all bits of each logic formula, inductive inferences counting the relative numbers of affirmative bits for determination of truth values, and deductive inferences syntactically narrowing ranges of truth values. © 2011 IEEE.

DOI： 10.1109/ICSEng.2011.27

Scopus

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Information Processing Society of Japan  

In the field of three-dimensional space recognition, a method for extracting plane surfaces from stereo images with disparity uses vertical V-disparity. When we try to apply the above method to extracting a floor plane indoors, a bottleneck is that precise calculation of parallax is delicate. This article shows an improved method for extracting wall planes by using horizontal U-disparity and estimating the boundary between such wall planes and the floor plane extracted by using V-disparity. Experimental results for artificial three-dimensional data and actual indoor data demonstrate good efficiency of the proposed combinatorial method.

CiNii Books

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Institute of Electronics, Information and Communication Engineers  

CiNii Books

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute for Automation and Control Processes, Far Eastern Branch of Russian Academy of Sciences, Russian Foundation for Basic Research, IBM East Europe/Asia, IEEE  

This article, by regarding fixed-point binary numbers as truth values, defines a new multivalued logic system in Boolean class such that the set of logic formulas forms a Boolean algebra. This article also shows some typical examples demonstrating that, on the proposed logic system, after learning we can handle inferences readily because of Boolean effect.

File： RPC2010_57-62.pdf

Scopus

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Institute of Electronics, Information and Communication Engineers (IEICE)  

File： IEICE2009ESS_A-4-28.pdf

CiNii Books

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

In order to get to a destination in an unknown environment, one must make efficient observations of the environment while moving toward the destination. This report begins with a classification of the conditions under which an observer's view is blocked (occlusion). Once the agent has classified the visible occlusions in its environment, it determines the next point from which to carry out observations. A method is proposed here for planning the path to a given destination by planning a path to successive observation points. In doing so, the proposed path to the destination passes through a series of observation points. A simple algorithm is used to determine the location of the next observation point. The method allows planning calculations to be performed in real time and also provides sufficient flexibility for mapping of obstacles with curved surfaces. This search scheme also separates and alternates between the tasks of moving and taking observations, which facilitates the programming of real robots to use this algorithm. Simulations of operations using this algorithm in a variety of environments are described in this report.

File： Poster.pdf

DOI： 10.1109/ICCIS.2008.4670910

Web of Science

Scopus

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Institute of Electronics, Information and Communication Engineers (IEICE)  

CiNii Books

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Institute of Electronics, Information and Communication Engineers (IEICE)  

CiNii Books

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Institute of Electronics, Information and Communication Engineers  

File： IEICE2008ISS2D-12-60.pdf

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

In this paper, we incorporate the concept of differentiability into Voronoi diagrams. We consider the influence area diagrams consisting of areas with differentiable boundaries. The diagram is called a curved Voronoi diagram. Any level of differentiability can be used in the definition of the curved Voronoi diagram depending on its applications. One of the applications is path planning for car-like robots in an area with obstacles. Car-like robots can easily drive along a path consisting of clothoid curve segments, circular arcs, and line segments. Therefore, we discuss a method for constructing a clothoid curve, circle, and line (CCL) diagram.

DOI： 10.1109/ISVD.2007.12

Web of Science

Scopus

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (bulletin of university, research institution)   Publisher：岩手医科大学歯学会  

岩手医科大学歯学会第64回例会抄録
演題1．

DOI： 10.20663/iwateshigakukaishi.32.2_126_2

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Institute of Electronics, Information and Communication Engineers (IEICE)  

University of Tokyo

Extracting the amount of features from voice signal difines a physical feature of the voice and the features used as feature paramater for automatic recognition and speech synthesis. The basis of meny of method of extracting the features is frequency analysis now. There is Prony method as one of the frequency analysis. Prony method has the merits that resolution power in the analysis in high, and there is no side lobe. Then, in this research, the tool that was able to extracting the amount of features of one-dimensional time series signals by using Prony method was developed. And, it devised an analytical approach of phonemic transition using the amount of features, and transition from consonants (/k, p, t/) to vowel (/a, i, u, e, o/) was obseved.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：計測自動制御学会  

札幌コンベンションセンター

本研究は建物内における汎用移動モジュールの開発を目的とする. このモジュールは, 現代の建物のほとんど全部に応用可能な, 位相的マップであるグラフ (人間のような, 大体何メートル進んで角を右に曲がって3室目) が与えられたとき, 経路を探しつつ走行させるための汎用モジュールソフトウェアである. このモジュールは, BIOSに相当するハード依存記述部分を除けば走行系とは無関係に運用でき, したがって, 将来例えば二足歩行体にも容易に転用し得る.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：計測自動制御学会  

札幌コンベンションセンター

本研究の目的は, 移動ロボットに搭載するための視覚追跡システムの開発である. 視覚追跡システムの移動ロボットへの適用例としては, 周辺にいる人間の動きを視覚追跡し, 衝突を回避する機能や, 目標物体を視覚的に認識し, ロボットを制御して目標物体を追跡させるビジュアルサポートなどがある. 本論文では, 動きモデルの学習と動作の追跡を同時に行なうことで, カメラから得た画像中の移動物体を実時間で追跡するシステムを開発し, 良好な結果を得たので報告する.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Information Processing Society of Japan (IPSJ)  

Kogakuin University

This article proposes a method of evaluating sharply the similarity between words as one of classification problems given a sample of text, e.g., essay, story, novel, etc.The first process for evaluation is getting, on a decision list, an exact solution of the "pseudo classification" problem of words, and the latter process is calculating the similarity between words by using the ratio of the unclassified words.Given an on-web novel as a practical sample of text, the experimental result shows that the similarity between equivalent-meaning words such as some related terms or morphologically-varied expressions is comparatively high. Keywords: Word Similarity, Pseudo Word Classification, Decision List.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：FIT (電子情報通信学会・情報処理学会) 運営委員会  

I_018

CiNii Books

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Other Link： https://ipsj.ixsq.nii.ac.jp/ej/?action=repository_uri&item_id=156472&file_id=1&file_no=1

Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Institute of Image Information and Television Engineers  

Kogakuin University

We suggest a method for estimating the pitch of any single-tone signals, such as a voice and various instruments. Wavelet Transform can detect the reliable pitch in audio signals by the octave division. Experimental results show that our method is effective for estimating the pitch of real-world single-tone signals.

DOI： 10.11485/itewac.2005.0__1-3-1_

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：International Association of Paediatric Dentistry (IAPD)  

Sydney

Wearing removable appliances influences the pronunciation of a child patient. Also ankyloglossia in a child patient can be a reason of the speech defect. In order to improve the shape of intra oral appliances so that they wouldn't disturb the pronunciation and to train patient with ankyloglossia for the better pronunciation, objective evaluation system for the sound analysis is indispensable. The newly developed voice analyzing system that quickly computes the energy spectral density (ESD) can detect the higher frequency band more precisely than the ordinary system computing the power spectral density (PSD) which has been commonly used. The aim of this study was to evaluate the new system from the clinical viewpoint. The five vowels of 'i', 'e', 'a', 'o', 'u' were pronounced for two seconds by both adult and child volunteers. Analysis of the recorded voices was conducted in two ways using the new system and the ordinary system, and results were compared each other. Prior to the study, the purpose and method of this experiment were explained to all subjects and their guardians, and their permissions were obtained. By using the new system, several characteristic band patterns were detected in the higher frequency area, which couldn't be shown in the chart by the ordinary system. Each character of vowels was found more clearly by the new system than by the old one. The inter individual differences of voice could be distinguished by the new system. The possible clinical application of the new analyzing system will be discussed in this paper.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報科学技術フォーラム  

CiNii Books

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報科学技術フォーラム  

CiNii Books

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：日本小児歯科学会  

第43回日本小児歯科学会大会
仙台国際センター

岩手医科大学と中央大学が共同開発した音響分析法を用いることで, 従来の周波数分析法より音声の特徴を明瞭に観察できることが可能となった. 今回は, 開発した分析法 (ESD法) と従来の分析法 (FFT法) との比較検討を行ったので報告する.

DOI： 10.11411/jspd1963.43.2_183

CiNii Books

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Information Processing Society of Japan (IPSJ)  

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Information Processing Society of Japan (IPSJ)  

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Information Processing Society of Japan (IPSJ)  

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Information Processing Society of Japan (IPSJ)  

The purpose of this research is to develop efficient methods of high-precision stereo measurement. We already have such a method based on a traditional DP matching algorithm, and this article proposes two distance approximation algorithms improved in computation time from the original algorithm. One approximation algorithm realizes pruning in a way of reserving local optimization paths. Another approximation algorithm narrows the search area in DP matching in a way of noticing feature points. Experimental results show that these two algorithms can decrease computation time without decreasing precision of distance measurement.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japanese Society of Pediatric Dentistry  

A case of temporomandibular joint disorders in a young child with the oral habit of mandibular protrusion, was reported. A 4 year 2 month old girl visited us with the chief complaints of mandibular protrusion, clicking and pain. She had had the habit of mandibular protrusion since she was around 2 years old. She has had pain and clicking of the right TMJ before going to bed since the age of 3 years and 6 months. Thereafter the frequency of the protrusion continued to increase. She has no pain and clicking of the right TMJ, however. The interincisal opening distance was 45 millimeters. She had clicking and no pain at the right TMJ. The over-bite was 1.5 millimeters. The over-jet was 1.0 millimeters. She had no other habits except this mandibular protrusion. Roentogengraphic examination revealed no abnormality on her condylar heads. The jaw-opening and closing pathways of the incisor point movement was in disorder. Also the trace of the frontal movement was asymmetry. The patient and her parents were instructed not to allow protrusion of the mandible. The symptoms and the oral habit disappeared after 9 months.

DOI： 10.11411/jspd1963.42.3_458

CiNii Books

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan (RSJ)  

Multivalued logic is important as a fundamental technique in designing machine intelligence. Particularly Boolean multivalued logic such that the whole set of logic formulas forms a Boolean algebra inherits those theorems, laws, etc. which are obtained in traditional Boolean binary logic. In this article, only logic such that logic formulas take more-than-two truth values is called multivalued logic, and any logic such that weights or costs are added to logic formulas of Boolean binary logic is not classified into multivalued logic. This article defines Boolean multivalued logic by coding binary fractions being greater than or equal to 0 and less than 1 directly as truth values. To handle readily Bayesian theory rationalizing collection of knowledges via observation, this article also introduces an arithmetic operation called "conditioning" in addition to usual logic operations. This article shows with some instances the way of optimizing truth values of atoms when what truth values some logic formulas should take are given as knowledges, and the way of calculating the truth values of unknown logic formulas as inferences.

DOI： 10.7210/jrsj.22.215

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Other Link： https://jlc.jst.go.jp/DN/JALC/00237655110?from=CiNii

Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Symposium on Information Theory and Its Applications  

This paper proposes a matching method between pairing stereo images noticing weighted scanlines for good local support. This method calculates the correlation between adjoining plural scanlines on images. A high-precision experimental result was obtained.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Forum on Information Technology (FIT)  

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japanese Society for the Temporomandibular Joint (JSTJ)  

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：一般社団法人 日本小児歯科学会  

歯ぎしりの誘発因子について, これといった決定的な誘因は見つかっていない. 近年, 中枢性因子である精神的ストレスと歯ぎしりの関連性が注目されている. 一方で精神的ストレスが自律神経系に影響を与えることは周知である. そこで, 身体の中で唯一見ることができる自律神経器官である瞳孔を検査し, 瞳孔反応から自律神経系の機能変化を分析し, 歯ぎしりの発生原因を探索することを目的に検査システムの構築を行った. 今回は, 検査システムの有効性の有無と測定で得られるパラメータのうち有効なものの選択を目的に実験を行った.

DOI： 10.11411/jspd1963.41.2_483

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Other Link： http://search.jamas.or.jp/link/ui/2003237943

Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Institute of Image Electronics Engineers of Japan  

DOI： 10.11371/wiieej.02-07.0_97

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Institute of Electronics, Information and Communication Engineers  

This article proposes an algorithm that, given the distribution of color information of a target face, exracts face region from face image that includes complex backgrounds.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報処理学会  

現在, 実用化されている音声認識システムは単語認識が主流であるが, 汎用性向上のためには, 単音節認識が必要である. そのため本研究では, 既存のパワースペクトル密度 (Power Spectral Density: PSD) を利用した手法と今回検討するエネルギースペクトル密度 (Energy Spectral Density: ESD) を利用した手法による音声解析ツールを作成し, 日本語の単音節の解析をおこなった．

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Society of Information Theory and Its Applications (SITA)  

This research examines an applicability of optical flow to tracking of arm motion. In addition to existent approaches, this article proposes a new approach that guarantees good robustness by efficiently using distribution of optical flow values rather than ...

CiNii Books

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Society of Information Theory and Its Applications (SITA)  

This article reports on results of numeric experiments that examine compression rates and compuration times in applying Arimura's approach not requiring information of maximum match length in contrast to originl LZ77 data compression method requiring info ...

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報処理学会  

山口大学

手話認識において, 動きの認識は欠かすことのできない要素の一つである. また, その際に注目すべき動きは, 腕の動き, 指の動き, 表情の変化である. 本研究では腕の動きの認識に注目し, オプティカルフローを用いた正確な腕の動きの認識を目的とする. 本研究における腕の動きの追跡の大まかな手順は, 次の通りである. 動画像中の人物の腕を抽出し, 抽出した腕領域を小領域に分割する. 次に, 各々の小領域においてはオプティカルフローは一定であるとしてオプティカルフローを推定する. 推定したオプティカルフローから

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Authorship：Lead author,　Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan (RSJ)  

This article, as a fundamental theory for dealing with intelligence of robots, discusses a fuzzy logic satisfying Boolean properties. This article shows the following: General construction of Boolean logics, and significance of each property that should be satisfied so that a whole set of well-formed formulas may form a Boolean algebra; Outline how to process fuzzy inference through an intuitively-understandable example that implies why usual fuzzy logics are not suitable for “deep inference” and what effect Boolean properties have on inference processes; Definition of the extended fuzzy subsets modified from usual fuzzy subsets such that membership functions take binary sequences instead of truth values; Construction of a Boolean fuzzy logic based on extended fuzzy subsets that is one of fuzzy logics satisfying all of the Boolean properties; Process of updating inference when a new knowledge is supplemented; Techniques of calculating membership values in extended fuzzy subsets on condition that some truth values are given; Boolean properties concerning extended fuzzy subsets; How to advance fuzzy inference on the Boolean fuzzy logic.

DOI： 10.7210/jrsj.19.476

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Society of Information Theory and Its Applications (SITA)  

This article reviews Prony method of computing energy spectral densities, and reports an experimental result that suggests its applicability to effective recognition of consonants.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

阿蘇

The purpose of this research is to investigate applicability of the simple template matching approach with Euclidean distance on gray-scale images and its variations to automatic identification of face images. This article reports some experimental results that show the relation between the recognition rate and the two factors, resolution and gray-scale level.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

阿蘇

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

阿蘇

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

阿蘇

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electronics, Information and Communication Engineers (IEICE)  

This article shows a Boolean Multivalued logical model of varying confirmation by observation of events in human inference and, as an introductory example, applies the model to solve Hempel's paradox of the ravens.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

湯沢

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

湯沢

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

湯沢

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

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publisher：電子情報通信学会  

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Authorship：Lead author,　Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society for Industrial and Applied Mathematics  

This article compactly describes progress of researches on the Hough transform that is famous as one of straight-line detection methods in fields of image processing. Many versions revised from the original Hough transform have been developed, and the generalized Hough transform can detect not only straight lines but also figures of arbitrary shapes. An important problem in grayscale image processing is to calculate the ratio of magnification, the angle of rotation, and the quantity of parallel translation between a template image and its varied, noisy image. Known solutions for this problem can be classified to characteristic point extracting methods, normalized correlatiom methods, moment methods, frequency space methods, energy minimization methods, θ-p Hough transform methods, generalized Hough transform methods, and others. Generalized Hough transform methods are robust even if the quality of images is low; nevertheless, practical applications were difficult since their computational complexity is not small. Various methods based on the Hough transform are realizable and practical today since computers have been highly advanced.

DOI： 10.11540/bjsiam.9.3_207

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Institute of Electronics, Information and Communication Engineers (IEICE)  

Control of turbulence transport phenomenon such as the convection, dispersion, and heat transmission etc,. is the teachnically important theme. Recently, this article reports on applying the neural network to the control of the transport phenomenon of the turbulence. This application shows the possibility of control of the heat equation by the neural network.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報処理学会  

CiNii Books

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

岐阜

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

岐阜

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

岐阜

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Society of Information Theory and Its Applications (SITA)  

Mexico City

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electronics, Information and Communication Engineers (IEICE)  

This article shows that a multivalued logic defined as juxtaposition of Boolean binary logics can use all of inference chain, induction and deduction that are important in realization of intelligent inference systems.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Research Institute of Signal Processing  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan (RSJ)  

This paper discusses on a method of computing the scale of magnification, the angle of rotation, and the quantity of parallel translation that is based on a Hough transform and a Fourier transform. This method applies a Radon transform to images in all directions, differentiates the Radon transformed planes, divides the differentiated planes into positive and negative areas, computes the power spectra of period 2π by applying one-dimensional Fourier transforms to positive and negative differentiated planes, applies a Mellin transform, and gets the scale of magnification and the angle of rotation. Known methods by using 2D Fourier transforms are unable to compute uniquely the angle of rotation from power spectra since they are π-periodic. The proposed method can compute uniquely the angle of rotation from power spectra since they are 2π-periodic. Moreover, to reduce the computational cost, a Radon transform is replaced by a Hough transform by taking account of edges. Experiments were applied to actual images of industrial parts.

DOI： 10.7210/jrsj.16.232

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

松山

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

CiNii Books

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：John Wiley and Sons Inc.  

This article relates to a Boolean complementary fuzzy logic system which is a multivalued (continuous valued) logic system. This system differs from conventional fuzzy logic systems in that it satisfies complementary laws on a Boolean lattice. In this article, after defining a Boolean complementary fuzzy system, tautologies are introduced and differences between the Boolean complementary fuzzy logic system and conventional fuzzy logic systems in inference computation are illustrated. © 1997 Scripta Technica, Inc.

DOI： 10.1002/(SICI)1520-684X(199708)28:8<68::AID-SCJ8>3.0.CO;2-J

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Information Processing Society of Japan (IPSJ)  

The nearest-neighbor classifier is effective for the practical use of character recognition, since its ability of discrimination is high and a discrimination dictionary can be made easily. However, it is a problem to speed up the search in a dictionary for the nearest pattern. This paper presents a method of eliminating the number of distance computations for the nearest neighbor character classifier by using a K-M tree which is a binary tree proposed by Kalantari and McDonald. Since construction of a K-M tree is quickly executed, it can be expected that a high-performance classifier will be efficiently designed according to various character sets. In searching the nearest pattern over the K-M tree, the search area is narrowed by using a rule based on a triangle inequality. For further narrowing of the search area over the K-M tree, a parameter α is introduced into the rule. Experiments were made by using four kinds of hand-written character sets(two numeral sets, a capital alphabet set, and a katakana set).

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The International Society for Optics and Photonics  

Let a reference image and an input image that is magnified, rotated, and parallel-translated from the reference image be given. This paper discusses on a method of computing the scale of magnification, the angle of rotation, and the quantity of parallel translation with a Hough transform of O'Gorman-Clowes version and a Fourier-Mellin transform. Differently from known methods using Fourier or Hough transforms, the discussed method can compute uniquely the angle of rotation. Moreover. the discussed method can process even low quality images since it does not require extracting feature points differently from known methods. Experiments were applied to actual images of bills.

DOI： 10.1117/12.270370

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

箱根

カメラ画像によって収録された画像は, 回転・平行移動だけでなく拡大 (縮小) の影響も受けている場合がある. ハフ変換と共にフーリエ-メリン変換を利用することによって, これらの影響下にある画像から, 周波数空間上でこれらの影響を除去する方法を模索し, 見出すことができた. 提案法により, カメラから対象までの距離や姿勢が未知であっても, 対象物に写っている形状が何かを自動識別させることが可能となった.

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

This paper proposes a method of, given a multilevel image called a reference image in which an arbitrary shape S lies and another multilevel image called an input image in which one rotated and parallel translated from S lies, computing the angle of rotation and the quantity of parallel translation. This method applies a modified version of Hough transform proposed by O'Gorman and Clowes that uses information of edges. This paper analyzes the effect of using edges from an aspect of robustness against noises.

DOI： 10.1109/ICSIGP.1996.566245

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Authorship：Lead author,　Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers (IEICE)  

CiNii Books

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報処理学会  

本論文は, エッジ方向を勘案したθ-ρハフ変換, および, フーリエ変換を用いて, パーシャルマッチングを行ない, 複雑な画像に対しても回転・平行移動量が計算できる方法を提案している. ランダムドット, 紙幣, 印鑑画像に対してシミュレーションを行ない, 良好な実験結果が得られた.

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Other Link： https://ci.nii.ac.jp/ncid/BB02157627

Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan  

A security camera system in this article means such a system as observes movement of a man with a video camera and that gives a warning if the movement is suspicious. By using a method of self-organizing a binary tree, this article constructs an associative memory system that accepts, as inputs, dynamic patterns including a time axis. This article also studies on a possibility of realizing automatic customization of the security camera system based on this associative memory system. An experimental evaluation on computation times is shown.

DOI： 10.7210/jrsj.14.234

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Institute of Electronics, Information and Communication Engineers (IEICE)  

CiNii Books

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

A security camera system in this article means such a system as watches movement of a person through a video camera and as gives a warning if the movement is suspicious. This article based on a method of self-organizing binary trees proposes an associative memory that treats with dynamic patterns as inputs, and shows a possibility of realizing automatic customization of the security camera system using this associative memory. Computation times are examined experimentally.

DOI： 10.1109/ICSMC.1995.537990

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper analyzes the number of computation steps on a binary tree searching fast for one in some beforehand-given points (binary sequences) that is the nearest to a query point in a Hamming space.

DOI： 10.1109/ISIT.1995.531158

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Society of Information Theory and Its Applications  

This article evaluates an asymptotic performance of a binary tree that finds one among some sample points given beforehand that is the nearest in an 1-bit Hamming space to an arbitrary reference point.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG  

This article shows construction of an asymptotically optimal source code for transmitting sentences together with truth values on a [0, 1]-valued logic system.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)  

A construction of asymptotically optimal source code for transmitting sentences together with truth values on a [0,1]-valued logic system is shown.

DOI： 10.1109/ISIT.1994.394776

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ISIT.1994.394970

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：ELSEVIER SCIENCE INC  

Based on a straightforward understanding of set operations, a fuzzy logic system is embedded into a Boolean lattice. Different from ordinary fuzzy logic systems, this system satisfies a complementary law.

DOI： 10.1016/0020-0255(94)90031-0

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：日本ロボット学会  

電気通信大学

集合演算に対する直接的な解釈に基づき, 伝統的なファジー論理系とは対照的に, 論理的一貫性の保証された[0, 1]値論理系を提案する. 一貫性[0, 1]値論理系を定義したのち, 本論理系をロボットの制御に応用する場合のキーポイントを示す.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Society of Information Theory and Its Applications  

集合演算に対する直接的な解釈に基づき, 伝統的なファジー論理系とは対照的に, 論理的一貫性の保証された[0, 1]値論理系を提案する. 一貫性[0,1]値論理系を定義したのち, いわゆるメンバーシップ関数が陽に与えられた場合の真理値の計算法と, メンバーシップ関数が陽に与えられていない場合の 暗黙の 計算法を示す.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The 2nd International Conference on Fuzzy Theory and Technology  

本論文では, 普通のファジー論理系とは異なって相補則を満たす, 連続多値論理系の一つである相補ファジー論理系, について議論する. 相補ファジー論理系を定式化し, トートロジー(恒真式)を導出する. さらに部分集合のメンバーシップ表現を導入し, 伝統的なファジー論理系と相補ファジー論理系との推論計算における相違が表出した例を示す.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG  

Let U denote a set comprising elements called ''keys.'' The goal of the nearest point problem is to search quickly for a key x among some keys x1, ... x(n) that is the nearest to a reference key x under a partial order relation less-than-or-equal-to defined as (x, y) less-than-or-equal-to (x, z) for x, y, z is-an-element-of U if d (x, y) less-than-or-equal-to d (x, z) given a wide-sense distance measure d. This article proposes a method of rearranging x1, ..., x(n) into a binary perfectly-balanced tree for solving quickly the nearest point problems. Further, computational performances of the proposed method are evaluated experimentally.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Based on a straightforward understanding of set operations the authors suggest that there exists a method of embedding a fuzzy logic system into a Boolean algebra so that the logical consistency may be guaranteed. The suggested logic system, called a Boolean fuzzy logic system, is defined. By formulating the fuzzy logic system in this way, there arises the possibility of inheriting a large store of axioms that are known in the traditional binary logic system.

DOI： 10.1109/FUZZY.1993.327527

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ISIT.1993.748532

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Authorship：Lead author,　Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper proposes a method of rearranging a list of keys into a binary perfectly balanced tree. Computational performances of the method are evaluated by experiments.

DOI： 10.1109/ICCS.1992.255097

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Society of Information Theory and Its Applications  

ホイヘンスの原理を利用して, 2点間の最短経路を再帰的に探索する方法を示した論文. 波面の挙動が, セル化された並列処理系上でシミュレートできることを述べ, 最短距離の対数関数のステップ数で計算可能なことを示している. また, 複数の移動点の経路計画への応用を示唆している.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG  

This article proposes, given an independently-and-identically distributed binary source, an arithmetic code-like variable-to-variable length source code whose compression efficiency achieves nearly the rate function in a range of small distortion. Inheriting advantages of arithmetic codes, the proposed code requires neither large memory capacity nor large computation time for management of messages and codewords. The Elias code, which can be regarded as an antecedent of arithmetic codes, is defined originally in terms of the first-in-first-out (FIFO) coding form. The proposed code corresponds to an extension from the Elias code refined in terms of the last-in-first-out (LIFO) coding form into one considered a fidelity criterion.

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Information Processing Society of Japan (IPSJ)  

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Authorship：Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：日本機械学会  

川崎振興会館

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

CiNii Books

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Authorship：Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：文部省科学研究費補助金重点領域研究「自律分散システム」  

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE/RSJ (RSJ: The Robotics Society of Japan)  

A problem of task planning of a robot can result in, another problem of finding a path that connects some given initial point and final point. The article suggests prospect of a 'wave front method' that can find one of the shortest paths in a computation time being proportional to the length of the shortest paths. This wave front method is based on an analogy of the Huygens' principle known in physics, and can be extended into the time dimension.

DOI： 10.1109/IROS.1991.174545

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Society of Information Theory and Its Applications  

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electronics, Information and Communication Engineers  

This paper proposes (i) an algorithm that dynamically constructs an asymptotically-balanced binary tree to store successively-given keys without knowledge of the distribution of key occurence, and (ii) another algorithm for quick key search over the constructed tree such that: If the tree has in memory at least a key that is inside the Δ-neighbor (in a Hamming space) of a reference key, then the algorithm can find one of such Δ-neighbor keys almost with probability 1. The memory capacity required to describe a tree in the tree construction algorithm is of order being proportional to the number l of keys already processed. For an independently and idenically distributed binary source of generating keys, the mean computation time required to update a tree for every key input can be of an order being a little higher than (log_2l)^2log_2(log_2l), and that required to search a Δ-neighbor key can be of an order being a little higher than (log_2l)^3.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

歪み規範を考慮したうえで二元平衡木の動的な構成法を提案した論文. 歪み規範なしの平衡木の構成法は従来より知られていたが, 歪み規範を考慮するといわゆる最近接点問題に似た問題を解かなければならないため, この問題は従来より保留されたままであった. 木の探索・更新に要する時間はデータ数の対数関数のオーダーでおさえられる.

DOI： 10.1109/ISIT.1991.695292

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

A class of learning control algorithms with a forgetting factor 1> alpha >0 and without differentiation of velocity signals is proposed, which updates the input by u/sub k+1/=(1- alpha ) u/sub k/+ alpha u/sub 0/+ Phi e/sub k/, where u/sub k/ and e/sub k/ stand for command input and velocity error at kth exercise, respectively. The robustness of this learning control with respect to reinitialization errors, fluctuation of dynamics, and measurement noise is studied. It is shown that the exponential passivity of displacement robot dynamics plays a crucial role in the uniform boundedness of transient behaviors and the convergence in the progress of learning. A method called selective learning, which updates u/sub 0/ in the long-term memory by selecting the best command among the past several trials, is proposed. It is claimed that this method accelerates the speed of convergence.

DOI： 10.1109/ROBOT.1991.131671

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Society of Information Theory and Its Applications  

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Authorship：Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

元の系列と復元された系列の間の歪みをハミング距離によって評価する忠実度規範のもとで, 効果的なデータ圧縮符号化を実現する拡大Elias符号化法を考案した. これについて報告した論文. この符号化法を用いると, レート歪み定理によって示される圧縮率の限界近くを, 符号語長の増大に伴い漸近的に達成できる.

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

A class of simple learning control algorithms with a forgetting factor and a long-term memory and without use of the derivative of velocity signals is proposed for motion control of robot manipulators. The robustness of search learning laws with respect to initialization errors, fluctuations of the dynamics, and measurement noises is studied extensively. As a result the uniform boundedness of motion trajectories is proved based on the passivity analysis of robot dynamics. It is also proved that motion trajectories converge to a neighborhood of the desired one and eventually remain in it provided the content of the long-term memory is refreshed adequately after a sufficient number of trials.

DOI： 10.1109/CDC.1990.203457

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Society of Information Theory and Its Applications  

個人小切手に手書きされたドル金額を認識するエキスパートシステムの開発を報告した論文. 手書きされた金額は互いに接触した数字を含んでいるほか, ドルの位とセントの位とを区別するための特殊記号を含んでいる場合が多く, 従来は文字や記号の分離は困難とされてきた.文字や記号の配置を推論するルールを分析しこの問題を解決した.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Society of Information Theory and Its Applications  

元の系列と復元された系列の間の歪みをハミング距離によって評価する忠実度規範のもとで, 効果的なデータ圧縮符号化を実現する拡大Elias符号化法を考案した. これについて報告した論文. この符号化法を用いると, レート歪み定理によって示される圧縮率の限界近くを, 符号語長の増大に伴い漸近的に達成できる.

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Authorship：Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：日本ロボット学会  

東北大学

本論文は, 再帰的軌道計画法を状態空間において一般化された形で定義し直し, 応用例としてこの手法が2リンク2自由度アームおよび2リンク3自由度アームの経路計画に使えることを示したものである.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan (RSJ)  

This article, modeling a mobile robot as a point, discusses on a problem of trajectory planning in transient environment. When a robot moves over a plane, every stationary environment is representable as some subspace of two-dimensional Euclidean space while every transient environment, as some subspace of three-dimensional Euclidean space obtained by adding the time axis to the two-dimensional space. Given a transient environment E and a start point B and a goal point G of the robot, by applying a paint procedure supported by graphics library in computer, examine an area DB being accessible from B and another area DG being accessible to G. Next, select an arbitrary point M just on the boundary between DB and DG. Then, the original problem is decomposed into "a problem of trajectory planning from B to M in environment DB" and "another problem of trajectory planning from M to G in environment DG." By repeating this decomposition, each problem becomes primitive problem joining some adjacent two points in small environment. The trajectory joining the original B and G is a sequence of many short trajectories solved thus.

DOI： 10.7210/jrsj.8.5_513

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (bulletin of university, research institution)   Publisher：The University of Tokyo  

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

メッセージ長の増大に伴い伝送比が歪みレート関数に近づく一方, 元のメッセージと復元されたメッセージの間の歪みが設計値以下となる確率が 1 に近づくような固定・可変長データ圧縮符号化の一方法を提案した論文. 二元系列間の歪みの評価値に基づいて索引される平衡木のトップダウン構成アルゴリズムを開発し, 符号語辞書の作成に応用している.

Scopus

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

犬山

歪み規範を考慮したうえで二元平衡木の動的な構成法を提案した論文. 木の探索・更新に要する時間はデータのビット長に比例するオーダーでおさえられることを示している.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：日本ロボット学会  

芝浦工業大学

時変環境において点と見なした移動ロボットの軌道計画の問題を, 計算機のグラフィクスライブラリー中のペイント命令を利用して解く方法について述べた論文.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Robotics Research: The Fifth International Symposium  

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Scripta Technica  

This paper proposes a universal learning machine (ULM) that absorbs information from environments and acquires an ability to process information professionally according to the environments. Additionally, it applies this information to the recognition of the English type‐letters that are highdensely printed in magazines, books, etc. A window is applied on a black and white image gathered through an image scanner so that only a letter and a head part of the succeeding letter can be observed. Appropriately fixing a distance that measures the similarity between the window images, the recognizer utilizing the ULM searches for some one of the most similar window images to the current from among the window images memorized in the past. Then the recognizer loads the records accompanying it to display for a user the reading of the designated letter and the boundary between this letter and the succeeding letter. the user commands whether the recognizer should revise the memory or continue the recognition process. If the command is for revision, the content of revision is memorized in the form of a binary tree while part of the content memorized in the past is deleted to prevent overflow in system memory capacity. A theoretical evaluation of the performance of the ULM and an experimental evaluation on the English type‐letter recognizer actually constructed are performed. Copyright © 1989 Wiley Periodicals, Inc., A Wiley Company

DOI： 10.1002/ecjc.4430720207

Scopus

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Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

別府

自己組織化データベースの音声認識への応用例を述べた論文. 大阪府下の私電の駅名を対象に行なった音声認識の実験について論じている.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Society of Information Theory and Its Applications  

数個のレジスター上で簡単な算術演算により運用できる慣用の暗号系の一方式を提案した論文.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：日本ロボット学会  

名古屋大学

動的環境におけるロボットの軌道計画法を扱った論文. 静的環境を記述するn次元座標系に時間軸を加えたn+1次元座標系を考え, 時空間中の "移動" と重力場中の "落下" との類似性を指摘したもの.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Osaka University and Academic of Sciences of Armenia SSR  

計算機を用いて音声を認識し, 音声信号の特性に合わせて加工を施すという 計算機補聴器 の概念を述べ, これを実現するための基礎実験の結果を報告した論文.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Scopus

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Information Processing Society of Japan (IPSJ)  

CiNii Books

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Doctoral thesis   Publisher：Hisashi Suzuki  

本論文の第一章では学習機械の周辺の研究状況を背景に自己組織化アルゴリズムを定め, その性質を論じている. 第二章では, 自己組織化アルゴリズムに基づく学習機械を自律移動ロボットシステムへと応用した例について述べている. 第三章では文字認識システムへの応用例を述べている.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

The development of a conveyer vehicle that reads address labels on packages and carries them to destination automatically is considered. As a first step, three problems, namely, handwritten continuous letter recognition, obstacle avoidance, and position identification are solved using a self-organizing model for pattern learning. The self-organizing model is discussed, and its applicability to the three problems is shown.

DOI： 10.1109/CAIA.1988.196109

Scopus

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Neural Information Processing Systems  

Summary form only given. A simple and efficient method of organizing associative databases is proposed with some applications to learning systems. The databases associate input data with some related information in memory. An algorithm of self-organization is constructed, and the complexity of computation and other factors of performance are evaluated mathematically. Applicability to typographic and handwritten letter recognition and to an autonomous mobile robot system has been demonstrated.

Scopus

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：日本自動制御協会  

自己組織化データベースを応用することにより視覚方式の障害物回避移動ロボットを開発した経過について述べたもの. 普及している超音波方式では高さを持たない障害物 (地面に落ちている小物体や, 階段の降り口等) を回避できないが, 本方式ではこの問題が解決される.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan  

A simple and efficient method of self-organizing associative data-bases is proposed with a demonstration of application to an autonomous mobile intelligent robot. The system consists of a processing block prescribed and a memory block being blank at the initial state. For a current input signal, the processing block searches for a past input signal that is similar to the current one in the memory block, and recalls the referred information. If the information accompanied with the current input signal does not agree with the recalled one, the new information is added to a data-base in the memory block, with influence reflects on the processing at the next time. If an input series of sufficient length is given, the relation between input signals and the referred information tends to agree with that of the input series. The brain of robot is constructed on a microcomputer of processor i80286, and behavior of the robot is controlled with a small-size robot language that is supplemented to C-language. A successful experiment result is shown.

DOI： 10.7210/jrsj.5.431

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：日本ロボット学会  

筑波大学

連想データベースを自己組織化する簡単で効率のよい方法を提案し, 廊下で運用するカメラ方式の自律移動知能ロボットへと応用したことを報告している論文.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

江ノ島

自己組織化データベースを利用し, 手書きされた筆記体の連続英字の認識器を実現したことについて述べた論文.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electronics, Information and Communication Engineers (IEICE)  

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：人工知能学会  

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：日本ロボット学会  

早稲田大学

環境から情報を吸収し内部構造を自己組織化してゆくデータベースの構築法, および文字認識や移動ロボットへの応用について述べた論文.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：計測自動制御学会  

情報源から与えられた情報に基づき決定木を自己組織化的に構築してゆく方法を提案すると共に, 生体のパターン認識に関する高次情報処理機構のモデルとしての可能性を述べた論文. 適応パターン認識システムは2台の計算機から成る簡単なネットワークによって構成され, 両者が協調しつつ記憶の更新・整理・構造化を行なう.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用学会  

赤倉

情報源から与えられた情報に基づき決定木を適応的に構築してゆく方法を提案した論文. 応用例として手書き文字認識器を構成している.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Scopus

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用研究会  

奈良

悉尽解読に対する計算上の安全性が保証された暗号化方式を提案した論文. 暗号化アルゴリズムは簡単な算術演算の組み合わせにより構成され, 正当な送信者と受信者との間では暗号化・復号化が高速に行なえる.

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Doctoral thesis   Publisher：Hisashi Suzuki  

Arithmetic source-codingとは, 与えられたデータ系列を, その中に含まれる情報の蓄積に必要な記憶容量を最小限におさえるような別のデータ系列へと変換する符号化である. 本論文は簡単な算術演算の組み合わせによるこのような符号化の構成法を述べると共に理論的な性能評価を行ない, 信号の圧縮やデータベースの構築などへの多用な応用例を示している.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用研究会  

与えられたデータ系列を希望の分布を持つデータ系列へと冗長性を除去しつつ変換する符号化法について述べた論文. 通信系においてデータの伝送時間を最小化する目的等への応用を考慮し, 理論的な基盤を構築したもの.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：情報理論とその応用研究会  

松山

データ系列を圧縮変換する符号化方式として有限オートマトン型のものが多種考案されているが, いずれも外来雑音に対し符号器・復号器間で同期崩れを起こしやすく実用化への障害となっている. 本論文は, 同期崩れが自然に修復されるような, 簡単な算術演算の組み合わせによる圧縮符号化法を述べたもの.

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Total pages：x, 200   Responsible for pages：i-x, 1-200   Language：Japanese   Book type：Textbook, survey, introduction

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Total pages：iii, 310   Responsible for pages：231-286   Language：Japanese   Book type：Scholarly book

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Responsible for pages：395-403   Language：English   Book type：Scholarly book

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Authorship：Corresponding author   Language：Japanese   Publishing type：Internal/External technical report, pre-print, etc.   Publisher：中央大学理工学部コンピテンシー育成FD研究会  

リンク情報の URL から pp.91-133 ダウンロード可．

File： competency_76_90.pdf

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Authorship：Corresponding author   Language：Japanese   Publishing type：Internal/External technical report, pre-print, etc.   Publisher：中央大学理工学部コンピテンシー育成FD研究会  

リンク情報の URL から pp.16-133 ダウンロード可．

File： competency_1_15.pdf

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Authorship：Corresponding author   Language：Japanese   Publishing type：Internal/External technical report, pre-print, etc.   Publisher：中央大学理工学部コンピテンシー育成FD研究会  

リンク情報の URL から pp.31-133 ダウンロード可．

File： competency_16_30.pdf

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Authorship：Corresponding author   Language：Japanese   Publishing type：Internal/External technical report, pre-print, etc.   Publisher：中央大学理工学部コンピテンシー育成FD研究会  

リンク情報の URL から pp.106-133 ダウンロード可．

File： competency_91_105.pdf

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Authorship：Corresponding author   Language：Japanese   Publishing type：Internal/External technical report, pre-print, etc.   Publisher：中央大学理工学部コンピテンシー育成FD研究会  

リンク情報の URL から pp.121-133 ダウンロード可．

File： competency_106_120.pdf

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Internal/External technical report, pre-print, etc.   Publisher：Technical Report on Department of Information and System Engineering (TRISE), Chuo University  

Although various kinds of logic have been named "multivalued" logic, we call in this article only logic such that logic formulas can take more-than-two truth values, multivalued logic. This article, by coding binary fractions as truth values, defines a new multivalued logic on which the set of logic formulas forms a Boolean algebra, and shows with examples how this logic is applicable to inferences and fuzzy logic.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Internal/External technical report, pre-print, etc.   Publisher：Department of Information and System Engineering, Chuo University  

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Internal/External technical report, pre-print, etc.   Publisher：Department of Information and System Engineering, Chuo University  

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Event date： 2010.1 　 　

Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech   Country：Japan  

Lecture 3, pp. 73-83 on the report.

In order to maintain global peace and security, Japan performs trade control to ensure that machines and technology that have military potential (known as sensitive technology), are not sent from Japan to countries that are developing weapons of mass destruction or similar devices (this is referred to as security trade control). Security trade control is performed under the Foreign Exchange and Foreign Trade Act of Japan. The importance of security trade control has increasedunder the current international circumstances.. The Foreign Exchange and Foreign Trade Act was revised in November of 2009 as part of a response to this growing issue, and there is also concern that security holes exist at universities, which often engage in research exchange and the acceptance of foreign exchange students. To increase awareness regarding this issue, Professor Hisashi Suzuki (Faculty of Science and Engineering, Chuo University) has given lectures regarding measures for effective security trade control at universities.

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Event date： 2009.11 　 　

Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech   Country：Japan  

In order to maintain global peace and security, Japan performs trade control to ensure that machines and technology that have military potential (known as sensitive technology), are not sent from Japan to countries that are developing weapons of mass destruction or similar devices (this is referred to as security trade control). Security trade control is performed under the Foreign Exchange and Foreign Trade Act of Japan. The importance of security trade control has increasedunder the current international circumstances.. The Foreign Exchange and Foreign Trade Act was revised in November of 2009 as part of a response to this growing issue, and there is also concern that security holes exist at universities, which often engage in research exchange and the acceptance of foreign exchange students. To increase awareness regarding this issue, Professor Hisashi Suzuki (Faculty of Science and Engineering, Chuo University) has given lectures regarding measures for effective security trade control at universities.

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Event date： 2009.9 　 　

Language：Japanese   Presentation type：Symposium, workshop panel (nominated)   Country：Japan  

The 1st session

In order to maintain global peace and security, Japan performs trade control to ensure that machines and technology that have military potential (known as sensitive technology), are not sent from Japan to countries that are developing weapons of mass destruction or similar devices (this is referred to as security trade control). Security trade control is performed under the Foreign Exchange and Foreign Trade Act of Japan. The importance of security trade control has increasedunder the current international circumstances.. The Foreign Exchange and Foreign Trade Act was revised in November of 2009 as part of a response to this growing issue, and there is also concern that security holes exist at universities, which often engage in research exchange and the acceptance of foreign exchange students. To increase awareness regarding this issue, Professor Hisashi Suzuki (Faculty of Science and Engineering, Chuo University) has given lectures regarding measures for effective security trade control at universities.

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Work type：Software   Location：Tokyo  

The attached file “samp_trly.txt” downloadable from the above includes some output samples of running 100-times the C function “trly” for solving the original trolley problem focused on by Thomson (1984) based on Foot (1967).

Concerning the output of running the C function “vartrly” for solving the variant trolley problem introduced by Singer (2005), see the attached file “samp_vartrly.txt” on the following URL of link information.

File： samp_trly.txt

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Work type：Software   Location：Tokyo  

The attached file “bml16.txt” downloadable from the above includes C source library of 16-dimensional Boolean multivalued logic. After rewriting the extension “txt” to “lib”, make newly a file of extension “c” in the following manner, then you can do compiling and execution.

#include "bml16.lib"
int main(void) { int i = 1; for(; i <= 100; i++) { printf("\n****************\nSample %d\n",i); trly(); } return 0; }

Concerning the output of running the function “trly” for solving the original trolley problem focused on by Thomson (1984) based on Foot (1967), see the attached file “samp_trly.txt” on the below described URL of link information.

For details, refer to J. Peng, R. Mizutani, K. Suzuki, A. Midorikawa, and H. Suzuki, “Algebraic Modeling of Trolley Problems on a Boolean Multivalued Logic,” in proc. 4th International Conference on Industrial Artificial Intelligence (IAI 2022) co-sponsored by IEEE etc., Aug. 24-27, 2022.
https://doi.org/10.1109/iai55780.2022.9976864

The original version of the source code is registered as P10779-1 under the Software Information Center in Japan. Academic use of this source code with reference to the original paper is free. The author is not liable for any damages, including but not limited to direct, indirect, incidental, or consequential damages, arising from the use or inability to use the software.

File： bml16.txt

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Other Link： https://researchmap.jp/read0162240/others/39774053

Application no：特願2006-134370  Date applied：2006.5.12

Announcement no：特開2007-304983  Date announced：2007.11.22

Applicant (Organization)：学校法人中央大学、電子システム株式会社

Date applied：2005.11.4

Registration no：特許第3737388号  Date registered：2005.11.4 

Application no：特願2005-154232  Date applied：2005.5.26

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Date applied：2000.8.11

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Applicant (Organization)：出願人: グローリー工業株式会社

Registration no：P第10779号-1  Date registered：2017.11.16 

Applicant (Organization)：学校法人中央大学

Registration no：P第11236号-1  Date registered：2022.5.17 

Applicant (Organization)：学校法人中央大学

Type：Academic society, research group, etc. 

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Type：Academic society, research group, etc. 

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Type：Competition, symposium, etc. 

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Type：Academic society, research group, etc. 

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Type：Competition, symposium, etc. 

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