Material Recognition CNNs and Hierarchical Planning for Biped Robot Locomotion on Slippery Terrain

In this paper we tackle the problem of visually predicting surface friction for environments with diverse surfaces, and integrating this knowledge into biped robot locomotion planning. The problem is essential for autonomous robot locomotion since diverse surfaces with varying friction abound in the real world, from wood to ceramic tiles, grass or ice, which may cause difficulties or huge energy costs for robot locomotion if not considered. We propose to estimate friction and its uncertainty from visual estimation of material classes using convolutional neural networks, together with probability distribution functions of friction associated with each material. We then robustly integrate the friction predictions into a hierarchical (footstep and full-body) planning method using chance constraints, and optimize the same trajectory costs at both levels of the planning method for consistency. Our solution achieves fully autonomous perception and locomotion on slippery terrain, which considers not only friction and its uncertainty, but also collision, stability and trajectory cost. We show promising friction prediction results in real pictures of outdoor scenarios, and planning experiments on a real robot facing surfaces with different friction

Dynamic Network DEA and An application to Japanese Prefectures

Workshop 2013 on Dynamic and Network DEA (January 29-30, 2013)The purpose of this paper is twofold. First, we develop a multi-period dynamic multi-process network DEA (data envelopment analysis) model. Second, we apply this methodology to Japanese prefectural time series data. In this framework, we specify that prefectural technology consists of two sectors, called the human capital generating sector and the physical capital formation sector. Each sector has its own exogenous inputs, and carry-overs in preceding and subsequent periods as well as final output. We assume that the final output is jointly produced by the two sectors.This workshop is supported by JSPS KAKENHI Grant Number 22310093 under the title “Theory and Applications of Dynamic DEA with Network Structure.

Simulation of an interlocking hydraulic direct-drive system for a biped walking robot

Biped robots with serial links driven by an electric motor experience problems because the motor and transmission are installed in each joint, causing the legs to become very heavy. Previous solutions involved robots using servo valves, a type of highly responsive proportional valve. However, high supply pressure is necessary to realize high responsiveness and the resulting energy losses are large. To address this problem, we proposed a hydraulic direct-drive system in which the pump controls the cylinder meter-in flow, while a proportional valve controls the meter-out flow. Furthermore, our hydraulic interlocking drive system connects two hydraulic direct-drive systems for biped humanoid robots and concentrates the pump output on one side cylinder. The meter-in flow rate of the other side cylinder is controlled by the meter-out flow rate of the cylinder on which the pump is concentrated. A comparison of the walking simulation performance with that of the conventional independent system shows that our proposed system reduces the motor output power by 24.3%. These results prove the feasibility of constructing a two-legged robot without having to incorporate highly responsive servo valves

A dynamic-network slacks-based measure with an application to Japanese Prefectures

Workshop 2015 -Advances in DEA Theory and Applications (December 1-2, 2015)This paper develops a dynamic-network DEA (data envelopment analysis) model where total output is jointly produced from two sectors: a human capital sector and a physical capital sector. While human capital is treated as an exogenous input, physical capital production is an intermediate output of one period that becomes an input to a subsequent period. The method is applied using pooled data on 47 Japanese prefectures during the period 2007-2009.The workshop is supported by JSPS (Japan Society for the Promotion of Science), Grant-in-Aid for Scientific Research (B), #25282090, titled “Studies in Theory and Applications of DEA for Forecasting Purpose.本研究はJSPS科研費 基盤研究(B) 25282090の助成を受けたものです

A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER bioinspired robotic arm. The two controllers are both constituted by an internal proportional-derivative (PD) closed-loop for the position control. The force control of the two systems is composed of an external proportional (P) closed-loop for one system (P system) and an external proportional-integrative (PI) closed-loop for the other system (PI system). The simulation tests performed with the two systems on a planar representation of the DEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness of the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with great precision the desired position. The two controllers do not have large differences in performance when interacting with a lower stiffness environment. In case of an environment with greater rigidity, the PI system is more stable. The subsequent implementation of these control systems on the DEXTER robotic bioinspired arm gives guidance on the design and control optimisation of the arms of the humanoid robot named SABIAN

Drastic Spectroscopic Variability of the Be/X-ray Binary A0535+262/V725 Tau during and after the 2009 Giant Outburst

We report on high-dispersion optical spectroscopic observations of the Be/X-ray binary A0535+262/V725 Tau during the giant outburst in November/December 2009 and after it. The observed emission line profiles, reflecting the structure of the geometrically thin circumstellar envelope of the Be star (Be disk), show drastic variabilities and indicate the existence of a warped component. The enhanced blue shoulder seen after periastron passage implies the gas stream from a dense part of the Be disk to the neutron star.Comment: accepted to PAS

Walking in the uncanny valley: importance of the attractiveness on the acceptance of a robot as a working partner

The Uncanny valley hypothesis, which tells us that almost-human characteristics in a robot or a device could cause uneasiness in human observers, is an important research theme in the Human Robot Interaction (HRI) field. Yet, that phenomenon is still not well-understood. Many have investigated the external design of humanoid robot faces and bodies but only a few studies have focused on the influence of robot movements on our perception and feelings of the Uncanny valley. Moreover, no research has investigated the possible relation between our uneasiness feeling and whether or not we would accept robots having a job in an office, a hospital or elsewhere. To better understand the Uncanny valley, we explore several factors which might have an influence on our perception of robots, be it related to the subjects, such as culture or attitude toward robots, or related to the robot such as emotions and emotional intensity displayed in its motion. We asked 69 subjects (N = 69) to rate the motions of a humanoid robot (Perceived Humanity, Eeriness, and Attractiveness) and state where they would rather see the robot performing a task. Our results suggest that, among the factors we chose to test, the attitude toward robots is the main influence on the perception of the robot related to the Uncanny valley. Robot occupation acceptability was affected only by Attractiveness, mitigating any Uncanny valley effect. We discuss the implications of these findings for the Uncanny valley and the acceptability of a robotic worker in our society

Pathway to psychiatric care in Japan: A multicenter observational study

<p>Abstract</p> <p>Background</p> <p>This study examines pathways to psychiatric care in Japan using the same method as the collaborative study carried out in 1991 under the auspices of the World Health Organization.</p> <p>Methods</p> <p>Thirteen psychiatric facilities in Japan were involved. Of the 228 patients who contacted psychiatric facilities with any psychiatric illness, eighty four visiting psychiatric facilities for the first time were enrolled. Pathways to psychiatric care, delays from the onset of illness to treatment prior to reaching psychiatrists were surveyed.</p> <p>Results</p> <p>Thirty three patients (39.4%) directly accessed mental health professionals, 32 patients (38.1%) reached them via general hospital, and 13 patients (15.5%) via private practitioners. The patients who consulted mental health professionals as their first carers took a longer time before consulting psychiatrists than the patients who consulted non-mental health professionals as their first carers. The patients who presented somatic symptoms as their main problem experienced longer delay from the onset of illness to psychiatric care than the patients who complained about depressive or anxiety symptoms. Prior to the visit to mental health professionals, patients were rarely informed about their diagnosis and did not receive appropriate treatments from their physicians. Private practitioners were more likely to prescribe psychotropics than physicians in general hospitals, but were less likely to inform their patients of their diagnosis.</p> <p>Conclusion</p> <p>This first pathway to psychiatric care study in Japan demonstrated that referral pathway in Japan heavily relies on medical resources. The study indicates possible fields and gives indications, underlining the importance of improving skills and knowledge that will facilitate the recognition of psychiatric disorders presenting with somatic and depressive symptoms in the general health care system and by private practitioners.</p