ゼミナール発表

日時: 9月29日(木)3限(13:30-15:00)


会場: L1

司会: 畑 秀明
槇原 絵里奈 1561020: D, 中間発表 ソフトウェア設計学 飯田 元,松本 健一,市川 昊平,崔 恩瀞
title: Development of supporting system for programming exercise based on exploratory programming
abstract: Developers often perform the repeating cycle of implementation and evaluation when they need to deal with the unfamiliar portion of the source code. This cycle is named as exploratory programming. We regarded exploratory programming as an effective way not only to improve novice's programming skill but also to support educators in programming exercise in University. Because when novices often use the exploratory programming, it means novices struggle to solve their assignments. Educators should grasp which elements, APIs or blocks novices often used exploratory programming for and when. However, there is no existing system or programming environment educating and supporting exploratory programming for novices and educators. In this presentation, I am going to explain three steps to visualize the log of exploratory programming by novices to educators. The steps are as follows: (1)Developed a tool to support exploratory programming for novices, (2)Refined the definition of novice's exploratory programming to collect logs of exploratory based on various granularity by novices and (3)proposed an algorithm based on our proposed definition to automatically detect exploratory programming behaviours.
language of the presentation: Japanese

 
山 雅也 1551112: M, 2回目発表 ソフトウェア設計学 飯田 元,松本 健一,片平 眞史,石濱 直樹,川口 真司

title: A study of spacecraft software verification method based on anomalies analysis results

abstract: In spacecraft development, developer must prevent mission failure limited time and budged. So it is effective to grasp the past defects’ tendency for well scoped verification. In this research, I applied Orthogonal Defect Classification (ODC) that can analyze such as defect zone and mixed process for spacecraft software to find out anomaly occurrence process and the controversial. As the result, I found specific result that in system test including defects the most not depending on what kind of function these have. I focused on unit test automation that software tester can’t spend much time for unit test. And the cost of software modification in system test phase is very high compare to unit test phase. I applied “Concolic test” that is dynamic automatic test case generating method and can achieve higher coverage than static method to small development satellite 4(SDS4) of the attitude and flight control software. In this presentation, I will introduce the result of ODC and concolic test applied to Japan’s spacecraft software. Finally, I will show the direction of my research plan.

language of the presentation: Japanese

 
田中 大樹 1551060: M, 2回目発表 ソフトウェア設計学 飯田 元,松本 健一,市川 昊平,吉田則裕(客員准教授),崔 恩瀞
title: A survey of target of extract method refactoring using process metrics
abstract: Refactoring is a technique for restructuring an existing body of code, altering its internal structure without changing its external behavior. Extract method is one of refactoring patterns and it extracts a part of existing method as new method. Also it is known that it is executed many times. We need to survey target of extract method refactoring to support the activities. In the past, a survey of target of extract method was conducted using code metrics gotten from snapshot of version control system, for example, Method Lines of Code, Number of Parameters and so on. As measuring method from a different perspective, there is a process metrics such as a number of changes of method, a number of author having a relationship with the change of code and so on. A survey using process metrics hasn't been conducted yet. That's why I conducted the survey. As the result, we confirmed statistical significance to some of the process metrics.
language of the presentation: Japanese
 
八木 英光 1551110: M, 2回目発表 ソフトウェア設計学 飯田 元,松本 健一,市川 昊平,高井利憲(客員准教授),崔 恩瀞
title: Development and verification about GSN linked with riskmatrix for supporting of introducing assurance case
abstract: Assuarance cases, some documents to share common understandings of risks among stakeholders, are often required by international standards. On the other hand, recently people worry about that even consumer systems like personal care robots have unprecedented risks and thus it is expected that assuarance cases will also be required for such consumer systems. In this research, we aim to realize a system of introducing assuarance case that supports explaining risks of products. we propose GSN that links to risk matrix. we verify that proposed GSN improves understandings about risks of products and supports tasks of quality control division.
language of the presentation: Japanese

 

会場: L2

司会: 南 裕樹
岡澤 孝仁 1151028: M, 1回目発表 ロボティクス 小笠原 司,杉本 謙二,高松 淳,丁 明
 
尾中 哲哉 1551027: M, 2回目発表 ロボティクス 小笠原 司,杉本 謙二,高松 淳,丁 明
title: Manipulation of cloth and utensil tool for buttoning using dual arm robot
abstract:In recent years, household robots is suggested backed by low birthrate and aging. For assisting housework, research on cloth manipulation is pushed forward. However, buttoning is particularly difficult, because complex motion is necessary. In this study, we propose a basic motion, as well as a method to follow and revise it using force feedback, for the automation of the buttoning task. We will show the result from machine experiment with basic motion.
language of the presentation: Japanese
発表題目: 双腕ロボットによる衣類ボタンかけのための衣服と専用道具の操作
発表概要: 近年、少子高齢化を背景に家事を補助するロボットが提案されている。その中で洗濯など衣類を扱う作業を補助することを目的とした衣類操作に関する研究が広く進められているが、複雑な操作が要求されるボタンを扱う作業は困難である。 本研究では双腕ロボットによって衣服のボタンかけを行うことを目的とし、動作教示システムにより指針となる基本動作を作成し、力覚フィードバックにより動作を修正してボタンかけを行う手法を提案する。 発表では、システムの構成と作成した基本動作について説明する。また、固定動作を用いて実機実験を行い、力覚フィードバックを作業が成功した場合と失敗した場合について比較することにより得られた指針を示す。
 
石倉 裕貴 1551009: M, 2回目発表 知能システム制御 杉本 謙二,小笠原 司,松原 崇充,南 裕樹
title: Sit-to-Stand Timing Prediction from Surface Electromyography Signals with Discriminative Latent Variable Models
abstract: Estimation and prediction of user motion intention are crucial for assistive robotics. In this study, we propose an approach for predicting sit-to-stand timing from surface electromyography signals. A predictor constructed only with sit-to-stand motion data is unsuitable for the application in assistive robotics since it cannot discriminative between the sit-to-stand motion and other motions; Incorrect timing prediction with confidence would be made even for other motions, thus, it may cause physical danger to the user when the robotic assistance is applied based on such prediction result. To address this issue, we propose to learn a timing predictor from both the sit-to-stand motion and other motion data. Our proposed method combines Gaussian process regression and discriminative latent space learned by discriminative Gaussian process latent variable models. The effectiveness of our proposed method is investigated with experimental data.
language of the presentation: Japanese
 
村瀬 真基 1551106: M, 2回目発表 知能システム制御 杉本 謙二,小笠原 司,松原 崇充,南 裕樹
title: Mobile planning for putting rubber bands focused on viscoelasticity for a dual-arm robot
abstract: This study focuses on the navigation problem of mobile robots, and proposes a navigation method based on illuminance field control. The proposed method is composed of the projection of binary images onto the field through the projector and the determination of the control input by using the information on projected images. We first formulate the design problem of two controllers: one controller is embedded in the projector and the other is embedded in the robot. Then as a solution to the problem, we derive two controllers such that the robot reaches to a given target point. Finally, we evaluate the effectiveness of the proposed method by position control experiments.
language of the presentation: Japanese