Multi-cue 3D Object Recognition in Knowledge-based Vision-guided Humanoid Robot System

Abstract — A vision based object recognition subsystem on knowledge-based humanoid robot system is presented. Humanoid robot system for real world service application must integrate an object recognition subsystem and a motion planning subsystem in both mobility and manipulation tasks. These requirements involve the vision system capable of self-localization for navigation tasks and object recognition for manipulation tasks, while communicating with the motion planning subsystem. In this paper, we describe a design and implementation of knowledge based visual 3D object recognition system with multi-cue integration using particle filter technique. The particle filter provides very robust object recognition performance and knowledge based approach enables robot to perform both object localization and self localization with movable/fixed information. Since this object recognition subsystem share knowledge with a motion planning subsystem, we are able to generate vision-guided humanoid behaviors without considering visual processing functions. Finally, in order to demonstrate the generality of the system, we demonstrated several vision-based humanoid behavior experiments in a daily life environment. Fig. 1. system Behavior example of knowledge based vision guided humanoid I

The Construction Of A Business Model For Intellectually Disabled Workers

The Japanese welfare system has undergone rapid change. A law has been enacted that requires the handicapped to work in order to be independent from government assistance. However, it is difficult for the intellectually disabled (ID) to earn a living wage because of a lack of understanding with respect to their ability and communication skills. Our organization conducts business with ID individuals such as those with autism. The business model for the income of our organization and the ID individuals concerned was successfully constructed through an understanding and application of the characteristics of ID individuals. This paper shows the current environment affecting the ID and presents our strategic and successful business model that is designed to enable them to achieve a realistic livelihood

Indolizino[5,6-b]quinoxaline Derivatives: Intramolecular Charge Transfer Characters and NIR Fluorescence

Indolizino[5,6-b]quinoxaline derivatives (1 a and 1 b) with a push-pull structure were prepared to show intramolecular charge-transfer properties. Compounds 1 a and 1 b are strongly fluorescent in aprotic solvents while symmetrical derivatives (2?a and 2?b) were non-fluorescent. The π-expanded α-α linked dimer (10) of indolizino[5,6-b]quinoxaline 1 b was serendipitously obtained to show NIR absorption over 800 nm and the fluorescence edge reached to 1400 nm