NAIST Graduate School of Information Science
| Date: | Friday, September 22th 2006 |
|---|---|
| Time: | 13:30 - 16:20 |
| Place: | L1 Lecture Room |
| Language: | English ( Oral Presentation ), English/Japanese ( Discussion ) |
| Co-Chairs: | Ismail Arai ( Internet Architecture and Systems Lab. : COE promoted researcher ), Masahiro Kondo ( Robotics Lab. : COE promoted researcher ). |
In recent years, remote control systems via networks have become something familiar to people due to the rapid progress of the information technology. Rescue robot and telemedicine system are typical examples. In such systems, stability analysis has been one of the most challenging issues. Investigation of the stability analysis is often performed by introducing Linear Matrix Inequality (LMI) or other robust control approaches. However, such approaches often treat the characteristics of the system by linear representation while taking some parameters roughly. Hence, in general, those approaches produce very conservative results, although we can analyze those systems easily. In this research, we analyze the system exactly and treat a wider class of systems. In this presentation, we indicate that an effective analytical result is achievable by introducing the concept of polynomial analysis. We aim to establish a method which can handle exactly the robot having nonlinearity via network.
I propose a new hybrid contorl scheme for stable bilateral manipulation. The propose system consists of two control elements; position control and adaptive force control. These two contorl elements can be automatically selected according to the contact situation with the environment. Under a large informattion transmission delay, the proposed control system maintain its stability. In addition, I confirm the effectiveness of the method by experiments.
For Japanese learners, it is difficult to master writing in Japanese, not to mention writing a thesis. Previous researches said that the expression of "It is considered", in Japanese "-to kangaerareru", is used frequently in academic articles. On the contrary, the expressions such as "I think" (-to omou), "It must be" (- ni tigainai), are barely used. This research aims to investigate what are frequent used verb expressions in a large number of thesis corpuses. In order to do this, I employed "freqt" which calculates frequent used word patterns. In conclusion, some patterns are found in those theses. Expressions and vocabulary freqeuntly appear which have a meaning of "change"in those theses. Some verbs have a tight link with certain conjugational forms. This findings will be useful for Japanese language learners in writing an academic thesis.
This research investigates the performance comparison and computational complexity of single carrier with frequency domain equalization (SC/FDE) and Carrier Interferometry Orthogonal Frequency Division Multiplexing (CI/OFDM). SC with frequency domain equalization has been reported to have similar performance, efficiency, and low signal processing complexity advantages as OFDM, in addition SC is less sensitive than OFDM to RF impairments such as power amplifier nonlinearities. However, there is an idea that CI/OFDM is one of Single carrier system. To clarify this statement, in this research we compare the performance and the complexity of SC/FDE and CI/OFDM systems. First, we compare its Bit Error Rate (BER) then we investigate the complexity of filter design of both systems.
The DataGrid aims to manage a huge amount of data generated widely on the Internet by scientific simulations. Executing scientific simulations on Grid environments, a Virtual Organization will be formed. It is required that a scientist can access simulation data during and after executing simulation program without being aware of the location of such data. Moreover, scientists wants to access simulation data by some semantic manner such as a simulation purpose. In this research, we propose a new data management and access mechanism on DataGrid systems, by which a user can access data without being aware of their stored location. To represent the semantics of data, we attach Basic Metadata and Application Metadata to the data. Basic Metadata derived from the Dublin Core Metadata represents common attributes of all data generated on Grid environments. Application Metadata represent application specific information. We have been developing a prototype of the proposed DataGrid system, Moreover, I explain the plan for the future.
This presentation will talk about a new approach which uses predictive filtering for model-based hand-pose estimation. First, a review of hand-gesture recognition, hand-tracking, and human-computer interfacing which captures hand motion using model-based approach will be presented. Second, the use of predictive filter in model-based hand modeling will be discussed. Then, the outline of how predictive filtering in the current multi-view point hand-pose estimation system is introduced. The current system uses silhouette images taken from multiple cameras to create a volumetric model of the hand. Model-fitting using a force vector makes the skeletal model approach the voxel model. In the new approach, predictive filter will be added in the current system to simultaneously estimate the pose of the hand. Finally, simulations results will be discussed.