折り紙公理に基づく谷折り操作の記述・認識に関する研究

日常生活には，多くの柔軟物体が存在するが，把持や操作を行うごとにその挙動が異なることから，作業をロボットに指示することは困難である．ロボットにより人間のように巧みな柔軟物体の操作が実現すれば，工場等から介護や福祉，家庭環境などに普及していく一助となることが期待される．本研究では，紙を谷折りする作業を対象として，人間によって行われた谷折り操作を認識し，ロボットの作業記述に適した形で記述する手法を提案する．そのために，折り紙作業を逐次的な「操作の連続と見なし」，操作前後の紙の状態と実行された操作の内容を明確にする記述方法を提案し，さらに人間が行う折り操作からその記述に必要なパラメータを推定する手法を提案する．まず，折り紙公理の折り紙の線や点の扱いについて分析し，どのような情報が折り紙公理に基づく作業記述にとって必要か示した．それに基づき折り紙公理で作業を記述するためのデータ構造を定義し，それを用いて折り紙作業を記述する手法を示した．次に，折り線検出に基づく折り操作の認識手法の提案および評価を行った．ここでは，折り操作前後の画像から折り線を画像認識により推定した．その後，行われた操作の種類と折り動作後の折り紙の状態を推定する手法を提案した． 提案した手法に対し実験により評価を行い，この手法により二回折りまでの折り作業が推定可能であることを示した．続いて 上述の手法で対応できない折り方に対応する手法を検討した．この手法では，まず折り動作前の折り紙の状態に対し，折り紙公理から記述可能な全ての折り線を列挙する手法を提案した．その際，折り線には適用された公理の情報を保存することで折り線自体に作業としての情報を持たせた．その後，実際の折り動作後の形状に最も近い折り線を選び出し，折り動作後の折り紙の状態を推定する手法を提案した．示した手法に対して実験を行い，三回折りまでの折り作品に対して，認識可能であることを示した．また，認識失敗した例から，このアルゴリズムが点や線の増加により認識率が低下するが示唆されたため，それに対応するための今後のアルゴリズムの改良についての検討を行った．電気通信大学201

Knowledge of knots: shapes in action

Logic is to natural language what knot theory is to natural knots. Logic is concerned with some cognitive performances; in particular, some natural language inferences are captured by various types of calculi (propositional, predicate, modal, deontic, quantum, probabilistic, etc.), which in turn may generate inferences that are arguably beyond natural logic abilities, or non-well synchronized therewith (eg. ex falso quodlibet, material implication). Mathematical knot theory accounts for some abilities - such as recognizing sameness or differences of some knots, and in turn generates a formalism for distinctions that common sense is blind to. Logic has proven useful in linguistics and in accounting for some aspects of reasoning, but which knotting performaces are there, over and beyond some intuitive discriminating abilities, that may require extensions or restrictions of the normative calculus of knots? Are they amenable to mathematical treatment? And what role is played in the game by mental representations? I shall draw from a corpus of techniques and practices to show to what extent compositionality, lexical and normative elements are present in natural knots, with the prospect of formally exploring an area of human competence that interfaces thought, perception and action in a complex fabric

Sim2Real Neural Controllers for Physics-based Robotic Deployment of Deformable Linear Objects

Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear deformations may occur during the manipulation process. This problem is made even more difficult as the different deformation modes (e.g., stretching, bending, and twisting) may result in elastic instabilities during manipulation. In this paper, we formulate a physics-guided data-driven method to solve a challenging manipulation task -- accurately deploying a DLO (an elastic rod) onto a rigid substrate along various prescribed patterns. Our framework combines machine learning, scaling analysis, and physical simulations to develop a physics-based neural controller for deployment. We explore the complex interplay between the gravitational and elastic energies of the manipulated DLO and obtain a control method for DLO deployment that is robust against friction and material properties. Out of the numerous geometrical and material properties of the rod and substrate, we show that only three non-dimensional parameters are needed to describe the deployment process with physical analysis. Therefore, the essence of the controlling law for the manipulation task can be constructed with a low-dimensional model, drastically increasing the computation speed. The effectiveness of our optimal control scheme is shown through a comprehensive robotic case study comparing against a heuristic control method for deploying rods for a wide variety of patterns. In addition to this, we also showcase the practicality of our control scheme by having a robot accomplish challenging high-level tasks such as mimicking human handwriting, cable placement, and tying knots.Comment: YouTube video: https://youtu.be/OSD6dhOgyMA?feature=share

ハンドとひもの関係に基づくひも結び作業の実行

電気通信大学201

College Students’ Perceptions of the Desert Canyons of the Colorado Plateau

This study investigates eight college students’ perceptions of their experiences during an accredited outdoor education course entitled Technical Canyoneering. The course took place in four separate desert canyons of the Colorado Plateau, two in Arches National Park, and two on nearby Bureau of Land Management public space. Utilizing the data collection process of photo-elicitation, the participants’ time spent in the canyon settings was described in order to gain an understanding of their experiences, with particular attention paid to analyzing what perceptions those students ascribed to those experiences. The intent was threefold. First, the study makes understanding at how college students perceive the wilderness environment of the course. Secondly, the study demonstrated the beliefs, values, and commitments that are fostered and/or furthered secondary to the students’ perceptions of the place. Thirdly, the study attempted to explicate the value of the desert canyons of the Colorado Plateau and. more broadly, “wilderness” settings as educational venues. The qualitative methodology of educational criticism and connoisseurship guided the study

DEVELOPMENT OF A PROPAGATION PROGRAM FOR BEECH BARK DISEASE-RESISTANT AMERICAN BEECH (FAGUS GRANDIFOLIA) AND AN APPLIED RESTORATION PLAN FOR MITIGATION OF BEECH BARK DISEASE

This dissertation describes the work accomplished towards mitigation of beech bark disease (BBD) through a joint venture by Michigan Technological University and the National Park Service. American beech is an ecologically important species that is threatened throughout its range by beech bark disease and other newer, emergent pressures such as climate change and beech leaf disease. A literature review is included to synthesize recent advances in American beech (Fagus grandifolia Ehrh.) propagation and their application in mitigation of BBD (Chapter 2). These concepts are examined in an applied restoration framework to outline the importance of understanding ecological and technological context of the proposed project. It was determined that the target properties, Pictured Rocks and Sleeping Bear Dunes National Lakeshores, both in northern Michigan, are in differing phases of the progression of beech bark disease, making a restoration plan more complex. Planting sites and site preparation activities are proposed for the applied restoration project meeting ecological context and stakeholder’s objectives (Chapter 3). Development and refinement of methods for successfully grafting BBD-resistant American beech are described as knowledge transfer (Chapter 4). Furthermore, plain language, illustrated manuals were created to maintain institutional knowledge of the process to collect resistant scions and graft them to create resistant trees (Appendix A, B). Finally, a pilot study exploring methods for transplanting wildling American beech is described (Chapter 5) that confirms survivability for potentially a more cost-effective way to obtain grafting materials. This will also inform future work examining the potential transplanting of naturally resistant beech root sprouts, which may significantly reduce the monetary cost and increase long-term survival of fully resistant trees. Overall, the work described here details a holistic approach to the mitigation of beech bark disease through creation and planting of resistant American beech using local provenance genetic sources and considering a public agency’s objectives

Pangasinan Dictionary

Humanities Open Book Program, a joint initiative of the National Endowment for the Humanities and the Andrew W. Mellon FoundationThe Philippines series of the PALI Language Texts, under the general editorship of Howard P. McKaughan, consists of lesson textbooks, grammars, and dictionaries for seven major Filipino languages

Farming bivalve molluscs : methods for study and development

Published jointly with IDR