Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Visual and auditory communication over the Internet has enabled communication unlike any humankind has experienced before. However, Internet communication based on haptic interfaces is not yet widespread. This study seeks to allow thousands of people to share the sense of force and enjoy Internet games such as tug-of-war by providing a stabilizing system able to overcome Internet communication delay. First, we derive non-positivity for the multi-coupling physical model. Second, we prove that a closed loop using a phase control filter is stable despite constant communication delay using Integral Quadratic Constraints (IQC). Finally, we validate our proposed system through a series of experiments with 8 clients.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE COMPUTER SOC  

In our vehicle driving, it is important to take appropriate evasive action based on the recognition of the hazardous events as one of driver's ability. There is a concept of "Risk perception" that makes effect to both driver's ability sides of the behavioral and acceptance with their controllability. In the previous study, the relation of Risk perception with the number of traffic accidents have been shown, however, the quantification of the Risk perception have not been performed in addition to driving knowledge and behavior. In this study, driving knowledge and driving behavior are quantified, and an analysis method for it is constructed. In order to obtain the knowledge and ability, the experiments with subject driver were designed and conducted. By using obtained data, validation for proposed analysis method was also carried out. As a result of correlated with driving tendency, classification possibility of hazard sensitivity based on the individual characteristics had been confirmed.

DOI： 10.1109/SMC.2015.225

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, we propose the novel directional Wavelet Transform based on the Complex Discrete Wavelet Transform(CDWT). The CDWT is one of the Wavelet Transform and widely used as space-frequency analysis method for the signal and the image. The CDWT decomposes the image into directional components from the frequency analysis. And then, we can get the border, discontinuities and edges in the image. This property is called Directional Selection and this property is expected to give us shape information and geometric features. But, previous Directional Selection only offers the six directional components and features. Thus we firstly design the directional filter that can extract many directional feature rather than previous one. Secondly we propose the novel directional Wavelet Transform combining with previous CDWT and designed directional filters. Finally, we apply the proposed method into medical image processing.

DOI： 10.1299/transjsme.15-00012

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：WORLD SCIENTIFIC PUBL CO PTE LTD  

The real-valued tight wavelet frame having perfect translation invariance (PTI) has already proposed. However, due to the irrational-number distances between wavelets, its calculation amount is very large. In this paper, based on the real-valued tight wavelet frame, a practical design of a real-valued discrete wavelet transform (DWT) having PTI is proposed. In this transform, all the distances between wavelets are multiples of 1/4, and its transform and inverse transform are calculated fast by decomposition and reconstruction algorithms at the sacrifice of a tight wavelet frame. However, the real-valued DWT achieves an approximate tight wavelet frame.

DOI： 10.1142/S0219691314600054

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：WORLD SCIENTIFIC PUBL CO PTE LTD  

The theorems giving the conditions for discrete wavelet transforms (DWTs) to achieve perfect translation invariance (PTI) have already been proven, and based on these theorems, the dual-tree complex DWT and the complex wavelet packet transform, achieving PTI, have already been proposed. However, there is not so much flexibility in their wavelet density. In the frequency domain, the wavelet density is fixed by octave filter banks, and in the time domain, each wavelet is arrayed on a fixed coordinate, and the wavelet packet density in the frequency domain can be only designed by dividing an octave frequency band equally in linear scale, and its density in the time domain is constrained by the division number of an octave frequency band. In this paper, a novel complex DWT is proposed to create variable wavelet density in the frequency and time domains, that is, an octave frequency band can be divided into N filter banks in logarithmic scale, where N is an integer larger than or equal to 3, and in the time domain, a distance between wavelets can be varied in each level, and its transform achieves PTI.

DOI： 10.1142/S0219691314600017

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：WORLD SCIENTIFIC PUBL CO PTE LTD  

It is well-known that a mother wavelet for the discrete wavelet transform (DWT) has the band-pass filter characteristic with octave width in the frequency domain and can be used for octave analysis. However, it is possible that the octave analysis is not necessarily the most suitable to match the analysis signal. In this study, in order to construct the most suitable basis to match the analysis signal, a novel variable-filter band discrete wavelet transform (VFB-DWT) is proposed. It is achieved by using variable-band filters instead of conventional decomposition and reconstruction sequences, which are designed in consideration of the real signal characteristics. Additionally, it is proven that perfect reconstruction of the analysis signal by VFB-DWT is guaranteed using the perfect shift invariant theorem that underlies the theory of the PTI-CDWT having base DWT.

DOI： 10.1142/S0219691314600066

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC International  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC International  

In this study, a robust driver inattention detection system based on a driver model and dynamic relational network (DRN) using sensor data such as the quantity of vehicle speed and pedal operation is proposed. The system can be divided into three parts: the sensor diagnosis module, the driver model and inattentive driving detection. The sensor diagnosis module using the DRN is developed to analyze and identify faulty sensors (if any) through its measurement data. The driver inattention detection system was tested with actual data from a car driving on a highway and the system's diagnosis performance was evaluated. The results obtained indicate the effectiveness of the proposed system for inattentive driving detection. © ICIC International 2014.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC International  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC International  

In this paper, we focus on a time-series analysis method for human motion analysis based on symbolization of sensor data. Human motions are observed by motion sensors such as accelerometers and gyroscopes, which involve time series. Time series of motions can often be represented as periodical signals. In our approach, the time series of the periodical signals are expressed by dynamical systems having attractors, which symbolize the time series in state space. Moreover, the symbol space is designed from a set of attractors to classify/partition symbols. In this paper, we discuss similarity measures for motion in the symbol space by using simulation. The aim of this simulation is to investigate the relationship between the physical conditions of motion and the distribution of symbols in the symbol space. The results suggest that symbol space can be used to discriminate motions. © 2014 ISSN 2185-2766.

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/NetGames.2014.7008966

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Language：Japanese   Publisher：The Japan Joint Automatic Control Conference  

DOI： 10.11511/jacc.57.0_1650

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Language：Japanese   Publisher：The Japan Joint Automatic Control Conference  

DOI： 10.11511/jacc.57.0_1642

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In recent years, in order to reduce traffic accidents, several kind of support systems for driving safety have been put to practical use. Almost the support systems avoid the dangerous situation based on the recognition results of outside environment of the car. On the other hand, more than 90 % of traffic accidents are caused by human errors. In the research field of human - machine interaction, to estimate and recognize of human psychological of emotional state is needed as one of important fuction for machine side. It is thought that these system are effective as fundamental instrumentation to realize the driving support system, and to avoid the human errors and overconfidence for these support system.
The authors have been researched about driver modeling based on the Hidden Markov Model, and its application for the estimation of driver's intention. In the previous paper, decision methodology of reasonable true value of driver's intention in the experiment had been proposed. In this paper, implementation of real-time estimation for driver's intention on the driving simulator system with higher realistic has been introduced, and their validity have been discussed with experimental results.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper proposes the novel directional selection based on the complex discrete wavelet transform (CDWT). CDWT is known as a very useful image processing method because of shift-invariant property. Another property of the CDWT is the directional selection that can detect the edges with different direction in images and the directional selection is expected as a geometric feature extraction method. However, the directional selection of the CDWT does not offer various directional features. Therefore, we propose the novel directional selection based on the CDWT and the directional filters We design the directional filters that can offers many directional features references from the curvelet transform and the contourlet Transform.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本機械学会  

DOI： 10.1299/kikaic.79.4901

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC International  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：World Scientific  

DOI： 10.1142/S0219691313600035

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：World Scientific  

DOI： 10.1142/S0219691313600102

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：WORLD SCIENTIFIC PUBL CO PTE LTD  

The theorems, giving the condition of perfect translation invariance for discrete wavelet transforms, have already been proven. Based on these theorems, the dual-tree complex discrete wavelet transform, the 2-dimensional discrete wavelet transform, the complex wavelet packet transform, the variable-density complex discrete wavelet transform and the real-valued discrete wavelet transform, having perfect translation invariance, were proposed. However, their customizability of wavelets in the frequency domain is limited. In this paper, also based on these theorems, a new type of complex discrete wavelet transform is proposed, which achieves perfect translation invariance with high degree of customizability of wavelets in the frequency domain.

DOI： 10.1142/S0219691313600035

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Language：English   Publishing type：Research paper (scientific journal)  

In this paper, we focus on a time-series analysis method for human motion analysis based on symbolization of sensor data. Human motions are observed by inertial sensors such as accelerometers and gyroscopes, which involve time series. Motions in time series can often be represented as periodical signals. In our approach, the time series of periodical signals are expressed by dynamical systems having attractors, which symbolize motion data in state space. Moreover, the symbol space is designed from a set of attractors to classify symbols. In this paper, we discuss a statistical characteristic of the symbol space by using simulation. The aim of the simulation is to examine the properties of stochastic fluctuations in the symbol space when trajectories in the state space fluctuate randomly. The results suggest that a distance measure can be defined on the symbol space, i.e., the Mahalanobis distance, for symbol clustering to classify or characterize motion data. © 2013 ISSN 1881-803X.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SPIE-INT SOC OPTICAL ENGINEERING  

In this paper, we propose the novel design method of directional selection for three-dimensional complex discrete wavelet transform (3D-CDWT) (hereafter, all abbreviations will be written with capital letters). Previously, the complex discrete wavelet transform has been able to extract directional edges from images using the directional selection property. This can be applied to shape and texture analysis. However the angular range of each directional edge is still unclear and the angular ranges are fixed. Thus, it is difficult to be applied to image processing. Therefore, we firstly clarify the angular range of directional edges by using frequency characteristics. Secondly, we propose a design method for the angular range of directional edges with a desirable angular range. As a result, we can clarify the angular ranges of directional edges and it is possible to obtain the directional edges with arbitrary angular range.

DOI： 10.1117/12.2049683

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Generally, inattentive driving is driving while in a state where attention has been weakened by a psychological factor. As a result, either the driver does not realize this condition or realization is delayed. In order to evaluate inattentive driving, the authors constructed a neural network-based NARX model for each driver using operation signals of neutral driving without secondary tasks and inattentive driving without secondary tasks and made the difference between the neutral driving and inattentive driving clear. However, the influence of the secondary task for inattentive driving is different for different drivers. Therefore, the problem is how to examine drivers' characteristics. In this study, in order to examine drivers' characteristics, we designed an experiment to measure a driver's reaction time, which is an important driver characteristic, by using a driving simulator, and obtained encouraging results.

DOI： 10.1109/SMC.2013.630

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Demands of automatic inspection for appearance of metallic plating parts with specular reflection have been increased. However, the automation of them is difficult because the reflection from surround scene or their strong specular characteristics makes bigger whit noise and saturation of brightness. In our recent research, we proposed an algorithm, which can eliminate their strong specular reflection by using image processing technique and multiple images with different light sources, and confirmed its effectiveness. In this paper, in order to correspond to the parts of the three-dimensional shape from the conventional plane parts to be inspected, we examined the optimization method of light-source positions by using three-dimensional reflection model and showed encouraging results obtained by simulation.

DOI： 10.1109/ICInfA.2013.6720368

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE Computer Society  

It is well known that a mother wavelet for the discrete wavelet transform (DWT) has the band-pass filter characteristic with octave width in the frequency domain and can be used for octave analysis. However, it is possible that the octave analysis is not necessarily the most suitable to match the analysis signal. In this study, a novel variable-filter band discrete wavelet transform (VFB-DWT) is proposed. It is achieved by using variable-band filters instead of conventional decomposition and reconstruction sequences, which are designed in consideration of the real signal characteristics. Furthermore, the VFB-DWT is applied to the fetal electrocardiogram de-noising and good performance has ben obtained. © 2013 IEEE.

DOI： 10.1109/DSP-SPE.2013.6642590

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In recent years, in order to reduce traffic accidents, support systems for driving safety have been put to practical use, such as ITS. However, a support system which considers the driver's intentions has not yet been developed. If the system reflects the intentions of the driver in system behavior, important information will be provided at suitable timing. In a previous study, the authors have studied an estimation method for driver intentions, and a reasonable definition method for labeling driver intentions has been proposed based on the assumption of compliance with traffic rules. In this paper, the validity of our proposed method by using a driving simulator is discussed. The system is specially designed to induce driver intention changes by using traffic flow and environmental control. Moreover, in order increase the effectiveness in practical use, a real-time estimation system has also been constructed.

DOI： 10.1109/SMC.2013.566

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In recent years, senior driver-related traffic accidents have been increasing while the number of deaths in these accidents has been decreasing. This also shows the complexity of the composition ratio of drivers to pedestrians in the traffic environment. In order to ensure traffic safety under this environment, not only is advanced technology for vehicle safety necessary but also traffic safety education of vulnerable road users. As one education method, the use of driving simulators is proposed in this paper, and its validity is evaluated through the application of the proposed method in a special course for high school students in our university. Finally, a questionnaire survey for students was conducted to confirm its effectiveness and the validity of the educational content.

DOI： 10.1109/SMC.2013.784

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

A variable filter band discrete wavelet transform (VFB-DWT) is a kind of discrete wavelet transform (DWT), which has variable band filter, and it can extract desired signal. However, its calculation speed becomes slower than that of the base DWT. In this study, in order to improve the calculation speed of the VFB-DWT, a complex wavelet, RI-Spline wavelet is used to base DWT by Lifting Scheme, and the VFB-DWT is achieved by added the band-pass and band-reject filters on the CDWT. As a result of numerical experimentation, it was shown that signal extraction can be performed correctly.

DOI： 10.1109/ICWAPR.2013.6599300

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Language：English   Publishing type：Research paper (international conference proceedings)  

In this paper, firstly, we introduce our proposed complex discrete wavelet transform achieving variable wavelet density in the frequency and time domains with perfect translation invariance. Next, using it, we introduce three musical applications 'High-precision frequency detection', 'Time stretch' and 'Pitch shift'. The time stretch is the process of changing the speed of an audio signal without affecting its pitch, and the pitch shift is the process of changing the pitch without affecting the speed. © 2013 IEEE.

DOI： 10.1109/ICWAPR.2013.6599325

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Previously, Discrete wavelet Transform(DWT) is well known for useful image processing method. Complex Discrete Wavelet Transform(CDWT) is one of the DWT and has the function called directional selection. This is the expected to be applied into shape and texture analysis. But the principle of directional selection is still not clear. In this paper, we consider the principle of directional selection. After that, we propose the evaluation method for directional selection based on the principle. Finally, we confirm the validity of evaluation method.

DOI： 10.1109/ICWAPR.2013.6599333

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

Previously, Discrete Wavelet Transform(DWT) is widely used as the image processing method. Some of the DWT, Complex DiscreteWavelet Transform(CDWT) and ComplexWavelet Packet Transform(CWPT) have directional selection that can detect the directional edges from the high frequency components. This property is expected to be used for shape and texture analysis such like a circuit pattern images. However, the principle of directional selection is still unclear. Therefore, fundamental properties such as the detect direction and detection angular range(resolution) are also still unclear. Thus, it is difficult to apply the defect detection that has the directional shape and textures. In this research, we firstly consider the principle of directional selection and we proposed the evaluation method of directional selection based on the consideration result. Proposed evaluation method can make clear the detect direction and resolution quantitatively. Finally we apply the directional selection to defect recognition of semiconductor wafer circuit in combination with Kmeans method. As the result, directional selection of 2D-CDWT and 2D-CWPT achieved highest recognition rate and lowest miss recognition rate compared with previous DWT and FFT. © 2013 The Japan Society of Mechanical Engineers.

DOI： 10.1299/kikaic.79.4901

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Social communication based on visual and auditory has enabled communication. However, Internet communication based on haptic interface has not generally spread yet. This study will achieve that tens of thousands of people share the sense of force and enjoy the Internet games such as tug-of-war by stabilizing the whole system in spite of Internet communication delay. Our proposed method consists of the phase control filter and phase compensation filter. First, phase characteristics of the scattering matrix is derived, and it is proved that the combination of phase control filter and scattering matrix are passive. Second, the combination of phase compensator and mechanical model in the emulator are also passive. Thus, the closed loop system being non-passive system, in which input/output are force/position, can be stabilized. Finally, validation for our proposed system is demonstrated though some simulation.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper presents a tele-control system comprised of a robot hand/arm and an operator. In our system, the angle of the finger of the robot hand is controlled according to the angle of the operator's finger, and the position of the robot arm is controlled according to the position of the operator's arm. Simultaneously, the operator feels the environmental force as detected by the touch sensor attached to the robot hand, resulting in so-called bilateral master/slave control. To date, there have been a few studies of bilateral master/slave systems that use a multi-fingered humanoid robot hand in communication networks with delay caused by physical distance. The purpose of our study was to achieve tele-operation with bilateral master/slave control between the operator's hand/arm and the multi-fingered humanoid robot hand/arm using the Internet with delay caused by distance. For our experiment, the operator was in the USA, and the multi-fingered humanoid robot hand/arm and object were in Japan. Using our system, the operator could successfully grasp and move an object while he felt the reaction force from the object. This technology can applicable to tele-operation such as feeling the hardness and weight of the stone which exist in the moon, on the ground etc.

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Language：English   Publishing type：Research paper (scientific journal)  

In this study, a Dynamic Relational Network (DRN) is designed to monitor the status of car drivers. Using sensor data such as vehicle speed and pedal pressure, a new method for detecting driver inattention and monitoring the normal operation of the driver is developed. The relationship between the sensors is linked by using a nonlinear autoregressive exogeneous (NARX) model. Furthermore, the diagnostic performance of the DRN is evaluated by using the data of each state, in which a secondary task either is or is not imposed on the driver. © 2013 ISSN 1881-803X.

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC INTERNATIONAL  

This paper aims to create an automatic vision defect inspection system that is capable of detecting defects on highly specular reflection curved surfaces, especially for chrome-plated surfaces. These are strongly specular surfaces with very weak diffuse reflection. It is impossible to detect all the defects in one image in which defects may be covered by highlight regions or do not appear because the defects' shapes or positions are random when the object is illuminated. A set of images are captured under different illumination conditions with an optimized relative position and illumination parameter. In the set of images, the specular spots move smoothly on the intact surface and the defects appear randomly as the light source moves. A synthetic image in which specular spots have been removed is reconstructed from the set of images. Moreover, defects are integrated in the synthetic image with higher defect expressivities. Finally, defects can be extracted by combining template matching and morphology techniques. The presented automatic vision defect inspection system has been implemented and tested on a number of simulation images and actual highly specular parts. Encouraging experimental results show that our method is robust, effective and feasible.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC International  

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Language：English   Publishing type：Research paper (scientific journal)  

Inattentive driving is an important safety problem. More than 25% of crashes are attributed to this aspect. An encouraging approach to overcoming this problem is to detect driver inattention and then use the information with in-vehicle support systems accordingly to compensate the effect of inattention. To realize this objective, a new method for analysis and evaluation of driver inattention under secondary tasks is discussed in this paper. Firstly, based on the result of our previous study [1], new informative features that are moving average and moving standard deviation extracted from residual value of driver model were proposed. Results show that these features can be used to distinguish between neutral and inattentive driving when the size of time window more than 40 second is used. Then, the driver features were used to train and test support vector machine (SVM) classifier. The results show that the SVM classifier was able to systematically detect and classify neutral and inattentive driving for each driver. © 2012 ICIC International.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC International  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC INTERNATIONAL  

This paper presents a new methodology for the analysis of driver inattention using the driving operation signals. The proposed method constructs a driver model based on a nonlinear autoregressive exogenous input (NARX) model using neutral driving data. The nonlinear function of the model is approximated by a multilayer perceptron (MLP) neural network. Driving data with and without a secondary task, collected using a real vehicle in Nagoya city, was used in this study. The performance of the model was evaluated during a validation process where the model produced acceptably small errors and the predicted values closely following the actual values. Finally, through an assessment of the model residuals between the actual signal and predicted signal of the inattentive driving data, we prove that driver inattention while driving in a real environment can be detected.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC International  

In this study, we address an analysis method of human motion data using attractors in nonlinear dynamical systems. The time-sequence data of motion obtained from the motion sensors (accelerometers and gyroscopes) are divided into some simple movements, and they can be often described as periodic signals. The periodic signals are described by a dynamical system, which can store the periodic or transitional trajectory in a state space by using basin of attraction. The periodic attractors abstract a kind of proto-symbol. The dynamical system having periodic attractors is shown to characterize human motion effectively by exploiting spatiotemporal continuity, because it describes flow of its transitions into the state space. The results of our method in a simple upper-limb movement show that the state of the movements can be described in low-dimensional feature space. ICIC International © 2012.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC International  

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Electric power steering systems (EPS) greatly improve fuel performance over conventional hydraulic power steering systems, and therefore are increasingly being adopted. In this study, an identification technique for the visualization of rattle noise and timie-frequency analysis by Wavelet Transform (WT) using a Real-signal Mother Wavelet (RMW) is introduced. In order to identify the rattle noise source on a running Belgian road, a number of sound signals are adopted as an average RMW and the Wavelet Instantaneous Correlation Value (WICV) is applied. The results obtained show that the WICV is effective at identifying the rattle noise source. ICIC International © 2012.

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In previous research, the Real-signal Mother Wavelet (RMW) has been proposed as one effective method for abnormal signal detection. In order to apply the RMW to the Discrete Wavelet Transform (DWT), a Parasitic Discrete Wavelet Transform (PDWT) has also been proposed. In this research, to extend an application case of this method, attempts are being made to apply it to biological signal processing, including abnormal signals. In this paper, the problem of aliasing energy loss in the process of decomposition and reconstruction by using the RMW is focused on as one type of implementation problem. A proposed method of improvement and its effectiveness is examined. ICIC International © 2012.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC INTERNATIONAL  

Cellular neural networks (CNNs) are one type of interconnected neural network and differ from the well-known Hopfield model in that each cell has a piecewise linear output function. In this paper, we present a multi-valued CNN model in which each non-linear element consists of a multi-valued output function. The function is defined by a linear combination of piecewise linear functions. We conduct computer experiments of auto-associative recall to verify our multi-valued CNN's ability as an associative memory. In addition, we also apply our multi-valued CNN to a disease diagnosis problem. The results obtained show that the multi-valued CNN improves classification accuracy by properly selecting the output level q. Moreover, these results also show that the multi-valued associative memory can expand both the flexibility of designing the memory pattern and its applicability.

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)  

In this paper, a new method of motion analysis using attractors in nonlinear dynamical systems is discussed. The attractor is defined as a set of spatially-expanded trajectories of time-series data of a human motion in a state space. Using the attractor representation in the state space, a method of feature extraction from time-series data of human motions is proposed. The time-series data of human motions are captured by wearable inertial sensors. First, a design method of a dynamical system, which encodes time-series data of motions in attractors, is introduced. Next, an example of feature extraction using our approach is demonstrated for a simple upper limb movement. Finally, the physical meaning of the extracted features is discussed. As a result, the extracted features by attractors can describe the characteristics of the human motion, such as posture and quickness, effectively in the spatiotemporal continuity feature space. © 2012 The Institute of Electrical Engineers of Japan.

DOI： 10.1541/ieejeiss.132.975

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

A vehicle's steering wheel is a special interface because it needs to be grasped by the driver's hand while driving. This is very useful from the viewpoint of biological instrumentation. This may achieve steady instrumentation for biological information, and by using this information, an estimate of the driver's state can also be made. In past research, a steering wheel sensor system was proposed by the authors. It has 28 pressure sensor points, and several of its characteristics have been analyzed. In this paper, an estimation method of grasp behavior is proposed based on the distribution of grasp pressure data. Four kinds of steering wheel grasp states are defined. Finally, the estimation method and its results are evaluated experimentally.

DOI： 10.1109/ICSMC.2012.6377950

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In this paper, firstly, we prove a useful theorem to investigate behavior of discrete wavelet transforms in the frequency domain. Next, based on this theorem, we propose a 3-dilation orthogonal basis, constructed from two types of symmetric and antisymmetric wavelets arrayed alternately. Finally, based on this orthogonal basis, we propose a 3-dilation complex discrete wavelet transform having perfect translation invariance. © 2012 IEEE.

DOI： 10.1109/ICWAPR.2012.6294807

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper presents an evaluation of driving attentiveness by using Fuzzy Inference based on the driver's gaze when driving. Two cameras are used respectively to capture images in front of the driving car and to capture images of the driver's face in order to calculate the coordinates of the objects in front of the car and the driver's eye sight angle by using image processing. There are many kinds of inattentive driving such as loss of concentration on the objects in front of the vehicle, looking aside or idly thinking of some other things while driving, where we are able to detect the inattentive driving by evaluating the movement of the driver's gaze. Driving data with and without task were taken through offline mode experiment by using driving simulator. The tasks are to influence the concentration of the driver when driving. As a result, with the Fuzzy Inference that we proposed, inattentive driving can be detected due to the significant difference evaluation result between attentive driving and inattentive driving.

DOI： 10.1109/ICSMC.2012.6377777

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Today, Virtual Reality (VR) technology has been applied in various fields, and the effects of inducing VR contents in humans have been studied. Generally, VR contents mainly consist of visual stimulation and it is considered that it influences the recognition mechanisms in the human brain, the behaviors in the human body and so on. In this research, in order to construct a methodology of VR content production with higher realism, an analysis method for behaviors in the human body induced by visual stimulation is studied. It is known that the sensation induced by visual stimulation affects the human behavior with a specific frequency component. If this kind of behavior can be modeled by using simple model parameters, it has the possibility to control the human behavior using visual stimulation or to increase its realism. In previous research, a parameterized first-order human behavior model has been proposed. The validity of the proposed model and its parameters has been confirmed through the analysis of verification experimental results. In this research, long-term experiments have been conducted to check the validity of the proposed analysis method. In addition, the possibility of applying the method as a time series modeling method to postural sway analysis is also considered.

DOI： 10.1109/ICSMC.2012.6377947

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In this paper, we propose a design method for directional selection in the 2-Dimensional Complex Wavelet Packet Transform. Previous 2-Dimensional Complex Discrete Wavelet Transforms break up direction components, but the number of directions is small, and the directions and resolutions are fixed. So, they are not flexible enough. In this study, we propose a new design method that can detect desirable directions and resolutions. Finally, the proposed method is applied to defect detection in semiconductor wafer circuits in order to validate the proposed method. © 2012 IEEE.

DOI： 10.1109/ICWAPR.2012.6294817

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In this study, a new design method for Variable-Band Filters (VBFs) corresponding to the Real-signal Mother Wavelet (RMW), which is constructed from a real signal, is proposed. In order to detect and extract unsteady abnormal signals, the designed VBFs are used in the discrete wavelet transform (DWT) instead of traditional wavelets. The DWT that uses the VBFs is called the Variable-Band Filter Discrete Wavelet Transform (VBF-DWT). The VFB-DWT is applied to remove the pulse noise in the ion current waveform, which is measured in a spark-ignition engine and extracts the knocking components. The obtained results show that the VFB-DWT is effective in the detection and extraction of abnormal signals. © 2012 IEEE.

DOI： 10.1109/ITNG.2012.130

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In this study, a new variable-filter-band discrete wavelet transform (VBF-DWT) is proposed for detecting and extracting unsteady abnormal signals. The VBF-DWT is achieved by using the band pass wavelet set (BP-WS) and band rejection wavelet set (BR-WS) instead of traditional mother wavelet (MW). Corresponding to it, in the multi-resolution algorithm, the variable-band filters (VBFs) are used instead of traditional low and high pass filters. The VBFs are designed from the BP-WS and BR-WS, which is constructed from a real-signal MW. © 2012 IEEE.

DOI： 10.1109/ICWAPR.2012.6294810

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In the variable filter band discrete wavelet transform (VFB-DWT), the frequency components in a specific frequency range has energy losses, and it also makes to reduce the extraction accuracy. In the previous study, this problem was improved by applying stationary wavelet transform (SWT) with redundancy. However, the SWT has a larger calculation cost more than that of previous method because it does not do down-sampling. In this paper, we propose the method of reducing the calculation cost and their effectiveness have been examined. © 2012 IEEE.

DOI： 10.1109/ICWAPR.2012.6294815

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society for Industrial and Applied Mathematics  

The lack of translation invariance of typical real-valued discrete wavelet transforms is always pointed out as the serious problem in using them for signal and image processing. In this paper, we prove the useful theorem for considering this problem in the frequency domain. This theorem is generalized from the perfect translation invariance theorem, which gives the condition of the perfect translation invariance for complex discrete wavelet transforms of an arbitrary complex-valued square integrable function. Next, based on this theorem, we propose a new type of real-valued tight wavelet frame having perfect translation invariance.

DOI： 10.11540/jsiamt.21.4_255

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

It is well Known that the conventional method to detect presence and strength of the knocking by the ion current using the band pass filter is effective up to now. However, as compression ratio increases, there is a stationary wave in the ion current waveform and its frequency components and amplitude of the waveform are almost same as that of the knocking. Therefore the distinction of knocking and the standing wave becomes difficult by the conventional detection method. In this study, a new knocking detection technique which based on the difference of time-frequency properties of knocking and the standing wave was proposed. It first constitutes two band-pass complex real-signal mother wavelets (BC-RMW), and then thereby takes out the knocking ingredient and detects a change share of the wavelet coefficient of the knocking by using them. Furthermore, the proposed method was applied to the distinction of knocking and the standing wave and its effectiveness was inspected.

DOI： 10.1299/kikaib.77.1994

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC International  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society for Industrial and Applied Mathematics  

In this paper, the perfect translation invariance theorem is proved, which gives the condition of the perfect translation invariance for complex discrete wavelet transforms of an arbitrary complex square integrable function. Next, by using this theorem, the existence of an orthogonal complex wavelet basis on the classical Hardy space is confirmed. Finally, by extending the perfect translation invariance theorem to the case of using the discrete Fourier transform, the orthogonal complex wavelet transform with this wavelet basis is approximated by the orthogonal decomposition constructed with the fast Fourier transform.

DOI： 10.11540/jsiamt.21.1_1

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：AMER SOC MECHANICAL ENGINEERS  

This paper presented a new illumination system for defect inspection on the highly specular surface, especially for Chrome-plated surface. The surface is perfect specular, from which the diffuse reflection components are weak while specular reflection components are so strong that its intensity saturate the CCD matrix to causes some surface features to be lost. The square LED with white light pass through frosted glass and provides diffuse light source and a separate constant current source with intensity control were adopted. Diffuse illumination source with an optimum location impinge the specular surface also can reduce specular reflection from the surface and enhance the edge bright. But, variety of defects with different geometry shape maybe illuminated to perform specular reflection or covered by bright region in one image. So, a set of images are captured under the proposed illumination system. It is favorable for inspecting objects with highly reflective or uneven surfaces. By using of the system, some experiments defect inspection on chrome-plated surface show that the system is efficient and feasible.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper presents a tele-control system constructed by a robot hand/arm and operator. The angle of the robot hand is controlled by the angle of the operator's finger, and the operator feels the environmental force, as detected by the touch sensor of the robot hand, constituting so-called bilateral master/slave control. The position of the robot arm is controlled by the position of the operator's arm.
So far, there has been little research using a multi-fingered humanoid robot hand in a network environment where communication delay exists. The purpose of our study is to achieve tele-operation between an operator's hand/arm and a multi-fingered humanoid robot hand/arm with delayed time. Therefore, this study constructs a system that can grasp and manipulate objects stably, despite the communication delay.
In the experiments, the operator operates humanoid robot hand/arm of Toyohashi University of Technology from USA. The operator grasp and moves an object in Japan by operating the humanoid robot hand/arm. The staff in Japan gives the operation instruction to the operator in USA during experiment. The operator operates robot according to the voice. The experimental results show that this system can grasp and manipulate objects stably, despite the communication delay. In addition, the operator grasped the object using a multi-fingered humanoid robot hand/arm by master/slave control feeling fingertip force by tele-operation between USA and Japan.

DOI： 10.1145/1957656.1957706

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This paper discusses the problem of human motion analysis from inertial sensor (accelerometer and gyroscope) data, which is the time sequence data obtained from human motion. The inertial sensors are widely used in the wearable sensing field for understanding human activities. Human motion can be divided into simple movements, such as swinging the arms or legs. These simple movements are fundamentally periodic, and they can be modeled with dynamical systems having periodic attractors. On the other hand, more complex motion like walking can be represented as a sequence of simple movements. To address the problem of analyzing human motion data, we propose a new framework based on a dynamical system. The human motions observed by the inertial sensors are divided into simple movements, and they can be often described as periodical signals. The periodical signals are described by a dynamical system, which can store the periodical or transitional trajectory in a state space by using basin of attraction. The attractors abstract a kind of proto-symbol. The dynamical system having periodical attractors is shown to characterize human motion effectively by exploiting spatiotemporal continuity, because it describes the flow of its transitions into the state space. Moreover, in the designed symbol space from the attractors, the information of human motion dynamics is described in the placement of the points. Thus, each point or transition between points in the symbol space corresponds to a specific type of motion; it can act as a notation method of motion characteristics. © 2011 IFAC.

DOI： 10.3182/20110828-6-IT-1002.03781

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In this paper, we expand the perfect translation invariant complex discrete wavelet packet transform (PTI-CWPT) to the 2-dimensional PTI-CWPT for separating more directional components. A new definition is made for evaluating its directional selection and resolution properties. The results show that the 2-dimensional PTI-CWPT is capable of separating 30 directional components with each directional component having uniform energy. © 2011 IEEE.

DOI： 10.1109/ICWAPR.2011.6014504

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Today, Virtual Reality (VR) technology has been widely applied in various fields. In past research, the influence of inducing VR in humans through the human senses or virtual effects has been studied. However the methods used to analyze human sensation have only involved measuring the center of gravity and questionnaire surveys. On the other hand, it is known that the sensation induced by VR affects the userfs behavior with specific frequency component. If this kind of behavior can be modeled by using simple model parameters, it has possibility to control the humanfs behavior using visual stimulation or to increase their reality. And its application field has widely for the VR application with higher reality or medical rehabilitation supports and so on. In this papar, the human behavior model using first order system with parameters has been proposed. And identification method for their parameters by using frequency analysis of human behavior with measurement system is also proposed. In addition, various experiments are performed using the proposed system in order to evaluate its effectiveness. As a result, validity of proposed model and its parameters are confirmed through the analysis of experimental results.

DOI： 10.1109/ICSMC.2011.6083666

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This paper presents an educational research project based on a collaboration between the National Colleges of Technology (NCT) and the Toyohashi University of Technology (TUT) in Japan. First, we constructed a telecontrol system that can work on the Internet for teleoperation experiments. To transmit realistic-looking environmental information, we implemented a 3D scenography system. Here we describe our experimental apparatuses and the control experiments performed as educational experiences for NCT students. In addition, to enhance the effectiveness of the educational experience and improve the proposed telecontrol system, we designed a questionnaire for operators to fill out after they finished the experiments. In this paper, we discuss the contents of the proposed educational system and the improvement of learning motivation that we believe could result from this project. © 2011 IFAC.

DOI： 10.3182/20110828-6-IT-1002.02759

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It is well known that Independent Component Analysis (ICA) is a useful method for blind source separation although it does have some drawbacks, such as performing poorly on unsteady sounds. In this study, in order to improve this deficiency, a new method combining ICA with the complex discrete wavelet transform is proposed and its performance at source separation in relation to the problems of permutation and scaling in the ICA are investigated experimentally. Through comparison of the results according to the Signal Noise Ratio (SNR), the effectiveness of the proposed method is confirmed.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：World Scientific  

DOI： 10.1142/S0219691310003663

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DOI： 10.1142/S0219691310003705

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier  

DOI： 10.7763/IJCEE.2010.V2.215

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DOI： 10.1142/S0219691310003638

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：WORLD SCIENTIFIC PUBL CO PTE LTD  

The useful theorems for achieving perfect translation invariance have already been proved, and based on these theorems, dual-tree complex discrete wavelet transforms with perfect translation invariance have been proposed. However, due to the complication of frequency divisions with wavelet packets, it is difficult to design complex wavelet packet transforms with perfect translation invariance. In this paper, based on the aforementioned theorems, novel complex wavelet packet transforms are designed to achieve perfect translation invariance. These complex wavelet packet transforms are based on the Meyer wavelet, which has the important characteristic of possessing a wide range of shapes. In this paper, two types of complex wavelet packet transforms are designed with the optimized Meyer wavelet. One of them is based on a single Meyer wavelet and the other is based on a number of different shapes of the Meyer wavelets to create good localization of wavelet packets.

DOI： 10.1142/S0219691310003638

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：WORLD SCIENTIFIC PUBL CO PTE LTD  

In this study, a novel direction selection method using the two-dimensional complex discrete wavelet transform (2D-CDWT) is proposed. In order to achieve arbitrary direction selection, the directional filters are first designed. Calculation procedure of directional selection can be shown as follows: (1) The 16 sub-images are generally generated from the original image by the 2D-CDWT without a down-sampling process and the 12 sub-images that correspond to the high-frequency components are selected. (2) The 12 sub-images are filtered by using the designed directional filter. (3) The down-sampling process is carried out and the resulting images are obtained. Furthermore, this method is applied to the surface analysis of a wafer, and it is confirmed that our method is effective in detecting irregular direction components.

DOI： 10.1142/S0219691310003705

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：WORLD SCIENTIFIC PUBL CO PTE LTD  

Independent component analysis (ICA) is a useful method for blind source separation of two or more signals. We have previously proposed a new method combining ICA with the complex discrete wavelet transform (CDWT), in which voice and noise signals were separated using a new method. At that time, we used a simulated signal. In this study, we analyze measured biological signals by using a new method, and discuss its effectiveness. As an experiment, we try to separate an electromyogram (EMG) signal from an electrocardiogram (ECG) signal.

DOI： 10.1142/S0219691310003663

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It is well known that there are many advantages in using two microphones in sound localization systems when applied to assist the hearing impaired and in humanoid,robots. In this paper, we propose a novel sound localization method based on the binaural model, in which the feature differences of observed signals obtained from two microphones are used. In our method, first the feature vectors corresponding to the ratio of the observed signature power spectrum between both ears and the difference between the arrival times of the sound in. both cars are learned based on the algorithm of Self Organizing Maps (SOM) and then the SOM of the 3-D sound source direction is created.. The characteristic vector of the sound source is input into the SOM and the node that is the nearest reference vector to the input characteristic vector is estimated by searching for the winning node in the map's reference vector space, and the sound source direction corresponding to the winning node is output as the estimated sound source direction. Sounds from five kinds of objects from many directions were used to experimentally confirm the effectiveness of the method and a correct answer rate of 98.7% was obtained.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

It is well known that parasitic discrete wavelet transform (PDWT) proposed by authors is a useful tool for abnormal signal detection, although it uses only for the signal decomposition and detection In this study, a reconstruction possible new parasitic discrete wavelet transform (N-PDWT) has been proposed for traditional PDWT. The N-PDWT is different from the PDWT and the traditional DWT that it enabled the detailed decomposition corresponding to the purpose signal. In addition, the N-PDWT has been applied to the Korona noise removal form the ion current waveform of the engine and confirmed that the N-PDWT has bester performance than that of conventional impulse noise removal technique used the CDWT.

DOI： 10.1109/ICWAPR.2010.5576386

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Language：Japanese   Publishing type：Research paper (international conference proceedings)   Publisher：Japan Society of Mechanical Engineers  

Among the various types of human eye movements, one that is strongly related to degrees of concentration and wakefulness is the saccade, which is a type of high-speed eye movement. In order to measure the saccade, a contact method called EOG (electrooculogram) is generally used. In this study, a non-contact image measurement system for saccades has been successfully developed by measuring and analyzing facial images. By comparing the analysis results obtained from the EOG to those of the proposed method, it was found that our method could detect saccades by measuring the eye velocity of the subject and the correlation between the EOG and the eye velocity of the saccade was 0.94. Therefore, our method has a measurement precision that is approximately the same as that of the EOG.

DOI： 10.1299/kikaic.76.3438

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An efficient BRDF(Bidirectional Reflectance Distribution Function) measurement of glossy surface by photometric stereo was proposed. We assume that the surface reflectance can be approximated by the sum of a Lambertian and a specular component. We define the best window in one image and classify the patches into the diffuse points and the mix ones according to their radiance values. The diffuse parameter and surface normal are recovered by the diffuse points and the darkest three pixels of four pixels. The specular reflectance parameters are recovered by the specular components of mix points which normal and diffuse parameter are known. In the last, all reflection parameters are refined by minimizing the fitting error of the reflectance model. Experiments show that the reflectance of glossy object can be recovered in a good precision by the proposed method. © 2010 IEEE.

DOI： 10.1109/ICACTE.2010.5579112

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, the general perfect translation invariance theorem is proved, which ensures the condition of perfect translation invariance for complex discrete wavelet transforms of an arbitrary complex square integrable function. Next, by using this theorem, an orthogonal complex wavelet basis on the classical Hardy space is defined and its calculation method is designed. Finally, by extending the general perfect translation invariance theorem to the case of using the discrete Fourier transform, the fast calculation algorithm for this wavelet basis is proposed.

DOI： 10.1109/ICWAPR.2010.5576394

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In order to prevent the traffic accident, several kind of safe driving support systems have been developed. And, consideration for the intention of driver's operation will be needed for prevalence of these systems with higher safety and availability. In this paper, estimation method for driver's intention considering using HMM has been proposed considering with the driver's individuality to its symbolizing process. The validity of the method has been examined by the experimental driving data on the driving simulator system. And the results make clear the possibility that the proposed method can be classified the driver's intention into the driving in hurry or normal driving.

DOI： 10.1109/ICSMC.2010.5641992

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：TRANS TECH PUBLICATIONS LTD  

In production line, pose estimation of 3D object of products is needed beforehand. In order to perform shape measurement of the objects corresponding to speed of the mass production lines before the contact measurement is done, the information of object pose and matching is become required. In this paper, we conducted a study on the performance of model based and view based pose estimation method using image sequence of a rotating 3D object. In model based, we used object feature points from center of gravity and in view based method, the subspace calculation by block diagonalization of matrix represents a transformation an image to another image. We have confirmed the both method performance and it's considered useful for pose estimation.

DOI： 10.4028/www.scientific.net/AMM.36.485

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DOI： 10.1109/ICSMC.2009.5346618

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Knowing the geometrical object pose of products in manufacturing line before robot manipulation is required and less time consuming for overall shape measurement. In order to perform it, the information of shape representation and matching of objects is become required. Objects are compared with its descriptor that conceptually subtracted from each other to form scalar metric. When the metric value is smaller, the object is considered closed to each other. Rotating the object from static pose in some direction introduce the change of value in scalar metric value of boundary information after feature extraction of related object. In this paper, a proposal method for indexing technique for retrieval of 3D geometrical models based on similarity between boundaries shapes in order to measure 3D CAD object pose using object shape feature matching for Computer Aided Testing (CAT) system in production line is proposed. In experimental results shows the effectiveness of proposed method. © 2009 WASET.ORG.

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It has been reported in the literature that Cellular Neural Networks (CNN) are effective as associative memories and they have been applied to many kinds of pattern recognition tasks. Flexibility of their design can be increased by expanding the output function from being 2-valued to being multi-valued. As a design method for associative memories, SVD(singular value decomposition) is popular, but a design procedure which uses LMI(linear matrix inequality) was proposed and obtained excellent results. In this paper, we propose a new design method expanded from the 2-valued output CNN to a multi-valued output CNN by using the LMI method and confirm the effectiveness of it. © 2009 IEEE.

DOI： 10.1109/ICICIC.2009.31

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：富士技術出版  

DOI： 10.20965/jrm.2009.p0384

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

In this study, in order to improve effectiveness of the abnormal signal detection, we first developed a novel parasitic discrete wavelet transform (P-DWT) to perform fast wavelet instantaneous correlation (F-WIC) and then proposed a new design method of the parasitic filters for the P-DWT. Furthermore, we showed a judgment standard for assessing the credibility of the abnormal signal detection by using the P-DWT. Finally, we applied the F-WIC to car rattle noise source identification and showed that our method can improve computation efficiency and obtain sufficient calculation accuracy at the same time.

DOI： 10.1299/kikaic.75.2529

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

It is well known that in real world source separation, the environment noise removal must be considered with complex reverberating sound, and various noises. In this study, in order to improve the voice recognition accuracy in real world source separation, a new method that uses Independent Component Analysis (ICA) in the time-frequency domain using the variable density complex discrete wavelet transform (VD-CDWT) and the subspace method has been proposed. Through comparison of the results according to signal noise ratio (SNR), the effectiveness of the proposed method is confirmed.

DOI： 10.1109/ICWAPR.2009.5207450

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Casting is one of the principal techniques in the field of industrial metal production. A traditional casting process uses a mold with a pouring gate and some sprue runners through which melted metal is introduced into a mold cavity. In recent years, we have developed a novel casting process that improves the yield of production and reduces heat loss. The new process, called a press casting method, has the capability to produce a thin wall casting. In order to carry out the new casting process, mold shaping that affects the accuracy of goods must always be observed.
In this paper, we propose a method for measuring a mold shape using two pairs of stereo cameras. A stereo camera method for 3D shape measurement is widely used in various fields. The reason is that the method can obtain 3D data of a shape of an object within a very short period of time without contact with the object. But search process for finding a stereo pair images takes not a little time, and it is the weakest point of the method. We achieved fast searching by using a shape model of a metal mold to form the sand mold. The experimental results showed that our proposed method is useful to evaluate position and orientation of the cavity of the mold with required accuracy and acceptable time.

DOI： 10.1109/ICIT.2009.4939567

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

View direction is meaningful information for understanding the person's will. For this reason many researches have been done to utilize eye-gaze as a certain input signal to the computer. The methods of detecting view direction are divided into two groups. The one uses a specialized hardware device including an infrared as a light source and the other uses image data.
In this paper we describe how the view direction is measured with a single camera and how its information is used for an environment control device and a safely driving support system.

DOI： 10.1109/IECON.2009.5414928

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

The prevention of car accidents is one of the main issues in any car-oriented society. A method for this kind of prevention system is the estimation of the driver's conditions based on human sensing. This research's aim is the development of a measurement system for human behavior by using contact sensing on a steering wheel. In this paper, a sensing system using an array of small pressure sensors is proposed, and a design method for the sensor part on the steering wheel based on a fundamental analysis of the driver's operation of the steering wheel and its validity are discussed. Finally, characteristics of the proposed sensor system are evaluated through implementation on a real steering wheel device.

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In this study, we first analyze the characteristics of knocking and the standing-wave by the wavelet transform using the ion current waveform, which is measured in a spark-ignition engine. Based on this result, we design wavelets to detect knocking from the ion current waveform. We next define an evaluation parameter E, and apply it to knocking detection and show its effectiveness. © 2009 IEEE.

DOI： 10.1109/ICICIC.2009.173

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Edges are image attributes which are useful for image analysis and classification in a wide range of applications. The numerous applications and the subjective approaches to edge definition and characterization have promoted the development of a large number of edge operators which may perform well in given applications but poorly in smooth metallic surface where specular reflection components are very strong but diffuse reflection components are often too weak. In order to detect edge on smooth metallic surfaces, a set of real images are taken under various lighting conditions and Special Random Sampling Method is introduced to process reflection components. The experimental results show that a large number of edge operators can be effectively applied to realistic images of smooth metallic surfaces after processing reflection components by Special Random Sampling Method. © 2009 IEEE.

DOI： 10.1109/ICICIC.2009.187

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE COMPUTER SOC  

On Chrome-plated surfaces, specular reflection is very strong while reflection is very weak. This makes the automatic inspection on a Chrome-plated very difficult. Based on analysis of Chrome-plated reflection properties, this paper propose and develop a method to reduce specular reflection. Using the median of gradients of all input images taken with various lighting direction, we reconstruct a syntheses image that contains only diffuse reflection, and the useful information is remained. Experimental results on chrome-plated ABS resin show that the method is efficient in reduction of specular reflections. The work is the basis of create visual inspection system for Chrome-plated surfaces.

DOI： 10.1109/IAS.2009.265

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This paper presents a new method for modeling driver operation behavior. The proposed method is based on using the predictor coefficients as feature vectors extracted from driving operation signal by linear prediction analysis (LPA). The distribution of the feature vectors is captured by employing auto associative neural networks (AANN) model. The performance of the model was evaluated through driver identification process and the results obtained demonstrate that the model can grasp the individual characteristics of the driver.

DOI： 10.1109/ICSMC.2009.5346668

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Cellular neural networks (CNNs) are one type of interconnected neural network and differ from the well-known Hopfield model in that each cell has a piecewise linear output characteristic. In this paper, we present a multi-valued CNN model in which each nonlinear element consists of a multi-valued output function. The function is defined by a linear combination of piecewise linear functions. We conduct computer experiments of auto-associative recall to verify our multi-valued CNN's ability as an associative memory. In addition, we also apply our multi-valued CNN to a disease diagnosis problem. The results obtained show that the multi-valued CNN improves classification accuracy by selecting the output level q properly. Moreover, these results also show that the multi-valued associative memory can expand both the flexibility of designing the memory pattern and its applicability.

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DOI： 10.1299/kikaic.74.2577

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC INTERNATIONAL  

In this study, in order to improve the effectiveness of abnormal signal detection, we first develop a novel parasitic discrete wavelet transform (P-DWT) to perform fast wavelet instantaneous correlation (F-WIC) and then propose a new design method of parasitic filters that corresponds to the real signal mother wavelet by using the lifting scheme and the optimization method for the P-DWT. Finally, we apply the F-WIC to car rattle noise source identification and show that our method can improve computational efficiency and obtain sufficient calculation accuracy at the same time.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ICIC INT  

In smooth metallic surfaces, specular reflection components are very strong while diffuse reflection components are very weak. This makes the automatic inspection of defects on a smooth metallic surface very difficult. In order to divide specular reflection and diffuse reflection components from surface reflected light, this paper presents a novel method, called the special random sampling method (SRSM) based on the photometric linearization method, in which a set of real images taken in various lighting conditions are converted successfully into synthetic images that contain only diffuse reflection components. Encouraging experimental results show that the SRSM is efficient in processing reflections on a chrome-plated ABS resin.

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In this study, in order to improve the effectiveness of unsteady abnormal signal detection, the technique of constituting an average real signal mother wavelet (A-RMW) from two or more real signals is proposed and its effectiveness is confirmed. The procedure of constructing A-RMW by two or more signals is as follows: first the symmetric complex real signal mother wavelet (SCRMW) was constructed and then the average SCRMW was obtained by adding them. Finally the average SCRMW obtained above was normalized and the A-RMW was obtained. The proposed constructing method of the SCRMW is different from the traditional complex real signal mother wavelet (CRMW) in that the phase information of all the frequency components is set to 0 and symmetry can be obtained. The proposal method is applied to rattle noise source detection of a car, and its effectiveness is confirmed.

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Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/kikaic.74.642

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Nowadays, research and development in vehicle safety system has been intensively conducted. However, research focusing on detection unsafe signal from driving behavior is much less defined and explored. Abnormal driving behavior is a result of instability of internal state of the driver that could lead to uncomfortable and dangerous situation in driving task. In this study we described a method for abnormal driving behavior detection and classification using statistical analysis. Two parts of driving data called as start and stop period were used in the analysis. Preliminary result from analysis shows that the driver control behavior can be characterize into normal and abnormal using the proposed method based on jerk information. Through questionnaire survey, the relationship between driving behavior and internal state of driver is verified.

DOI： 10.1109/ICSMC.2008.4811498

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this study, a novel direction selection method using the two dimensional complex discrete wavelet transform is proposed. In order to achieve arbitrary direction selection, direction extraction filters are designed. And then, this method is applied to the surface analysis of a wafer, and it is confirmed that our method is effective in detecting irregular direction components.

DOI： 10.1109/ICWAPR.2008.4635766

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Independent Component Analysis (ICA) is a useful method for blind source separation of two signals or more. We have previously proposed a new method combining ICA with the complex discrete wavelet transform (CDWT). In this case, the voice and the noise were separated using a new method. At that time, we used the simulation signal. In this study, we analyze measured biological signals by using this new method, and discuss its effectiveness. As an example, we tried the separation of the EMG signal and the ECG signal.

DOI： 10.1109/ICWAPR.2008.4635819

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Prevention for car accident is one of main issue in the car-oriented society. This research aims at the development of fundamental solution for decrease the car accidents. For this purpose, driver model for evaluation of abnormal driver's operations through the handling behavior are proposed. In this paper, analysis method for driver's operations of left-turning in a intersection and sensing method using steering wheel with pressure sonsors have been discussed. Through the experimental results and questionnaire survey with 11 subjects, validity of the proposed analysis method has been confirmed. And the basic design of steering wheel for sensing also defined based on the grabing style survey.

DOI： 10.1109/ICSMC.2008.4811499

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Language：English   Publishing type：Research paper (international conference proceedings)  

Prevention for car accident is one of main issue in the car-oriented society. This research aims at the development of fundamental solution for decrease the car accidents. For this purpose, evaluation of abnormal driver's operations through the handling behavior is proposed. In this paper, analysis methods for driver's operations of left-turning in an intersection and grabbing style on steering wheel have been discussed. Through the experimental results and questionnaire survey with 11 subjects, validity of the proposed analysis method has been discussed. And the basic design of steering wheel for sensing also proposed based on the grabbing style survey. © 2008 SICE.

DOI： 10.1109/SICE.2008.4655126

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In this study, in order to improve the effectiveness of abnormal signal detection, we first develop a novel parasitic discrete wavelet transform (P-DWT) to perform fast wavelet instantaneous correlation (F-WIC) and then propose a new design method of the parasitic filters for the P-DWT. Furthermore, we show a judgment standard for assessing the credibility of the abnormal signal detection by using the P-DWT. Finally, we apply the F-WIC to car rattle noise source identification and show that our method can improve computation efficiency and obtain sufficient calculation accuracy at the same time.

DOI： 10.1109/ICWAPR.2008.4635821

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In this study, we propose a novel sound localization method, in which the feature differences of observation signals obtained from the two microphones are used. The features are learned based on the algorithm of the SOM (Self Organizing Maps) and the SOM of 3-D sound source direction is made. Furthermore, the five kinds of objects sound from each direction ere used to conforming experiment and the correct answer rate 98.7% is obtained. © 2008 IEEE.

DOI： 10.1109/ICICIC.2008.2

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Currently one of the most time-consuming, costly and important phases of metal products production is the inspection process, in which automated optical inspection and image processing techniques are used to identify production defects. It is difficult to detect defects occurred on metallic surface, especially on smooth metallic surface. The major problems in inspection process involve complex reflections and noise. Based on 2-D Translation Invariant RI-Spline Wavelet Transform, a novel automated defects detection system is developed for smooth chrome-plated ABS resin surface. From encouraging experimental results, it is confirmed that it is possible for automated inspection system to accurately detect defects on smooth metallic surface. © 2008 IEEE.

DOI： 10.1109/ICICIC.2008.322

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In this study, in order to improve effectiveness of the abnormal signal detection, first the technique of constituting an Average Real signal Mother Wavelet (A-RMW) from two or more real signals was proposed. Then a novel parasitic discrete wavelet transform by using the RMW designed is proposed and it effectiveness has been conformed in the identification of the rattle noise that steering operation mechanism causes. © 2007 IEEE.

DOI： 10.1109/ICICIC.2007.440

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Prevention for car accident is one of main issue in the car-oriented society. This research aims at the development of fundamental solution for decrease the car accidents. For this purpose, evaluation of abnormal driver's operations through the handling behavior is proposed. In this paper, analysis methods for driver's operations of left-turning in an intersection and grabbing style on steering wheel have been discussed. Through the experimental results and questionnaire survey with I I subjects, validity of the proposed analysis method-has been discussed. And the basic design of steering wheel for sensing also proposed based on the grabbing style survey.

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In this paper, a master-slave robot system involving haptic feedback and teleoperation for rehabilitation is presented. A teleoperation mechanism capable of force feedback by means of brake is proposed. The stability of the teleoperation system with haptic feedback via a time-delay communication environment is mathematically proved. Moreover, in order to reduce the packet transfer rate for data transmission, a deadband control approach is used. A new data reconstruction algorithm is proposed to improve the system's performance while maintaining the system's stability. This system allows passive assisted movement utilizing teleoperation for the rehabilitation of upper limb function.

DOI： 10.5687/iscie.20.309

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DOI： 10.1299/kikaic.73.1676

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The direction of a generated sound source can be estimated by humans using the time difference between both ears and the way the sound changes due to the shape of the head and ears. However, it is very difficult to create an estimation system using a computer and two microphones. In this study, we propose a novel sound source direction estimation method, in which the feature difference between two recorded microphone signals is used. As a result, an average correct estimation rate of 96% was obtained in determining the location of 11 kinds of object sounds.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

It is well known that Independent Component. Analysis (ICA) is a useful method for blind source separation although it does have some drawbacks, such as performing poorly on unsteady sounds. In this study, in order to improve this de deficiency, a new method combining ICA with the cony-Vex discrete wavelet transform is proposed and verification of source separation with relation to the problems of permutation and scaling in the ICA are performed Through comparison of the results according to the Signal Noise Ratio (SNR), the effectiveness of the proposed method is confirmed.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SPRINGER-VERLAG BERLIN  

This paper discusses the design of multi-valued output functions of Cellular Neural Networks (CNNs) implementing associative memories. The output function of the CNNs is a piecewise linear function which consists of a saturation and non-saturation range. The new structure of the output function is defined, and is called the "basic waveform". The saturation ranges with n levels are generated by adding n -1 basic waveforms. Consequently, creating an associative memory of multivalued patterns has been successful, and computer experiment results show the validity of the proposed method. The results of this research can expand the range of applications of CNNs as associative memories.

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In this paper, teleoperation of a master-slave robot system with haptic feedback and network traffic reduction for rehabilitation are presented. At first, the stability of the teleoperation system with haptic feedback via time delay communication environment is mathematically shown for multijoint robot arm system. Experiments show that the system is stable, despite of time delay. In order to reduce packet transfer rate for transmission of data, deadband control approach is used. A new data reconstruction algorithm is proposed to improve system's performance for telerehabilitation while keeping the stability of the system. The validity of the approach is shown in simulations. © 2006 IEEE.

DOI： 10.1109/CCA.2006.286051

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Recently, there is a demand for the development of a noise removal system to acquire comfortable sounds in real-life sound environments in which various noises are intermingled. The Adaptive Line Enhancer (ALE), one of the applications of an adaptive digital filter, can extract only periodic signals from signals containing non-periodic noises. However, the ALE does not work well when applied to signals containing pulse noise. In this study, in order to improve this drawback of the ALE, a new method that combining the Complex RI-Wavelet with the ALE is proposed. In our experiments of the simulation, encouraging results were obtained.

DOI： 10.1109/SICE.2007.4421325

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Prevention of traffic accidents is one of the main issues in car-oriented societies. In this paper, we aim at a fundamental solution for decreasing car accidents. For this purpose, models for the evaluation of a driver's ability and a database of handling ability are proposed. Methodologies of construction of the model and database using a driving simulator are discussed. Through results of the experiments performed with five participants, the validity of the proposed methods has been confirmed.

DOI： 10.1109/ICSMC.2007.4414145

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, a design and implementation method of cellular neural networks with a multi-valued saturation function is discussed. The multi-valued saturation function is defined as a linear combination of piecewise linear functions that consist of a saturation range and a linear-slope range. The length of these ranges determine the output characteristics of each neuron, and is expressed by two parameters. We investigate the relation between these output characteristics and the ability of the multi-valued associative memory with computer simulation. Finally, we propose a design guideline for deciding its parameters from these results.

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Publishing type：Research paper (international conference proceedings)  

This paper discusses the design of multi-valued output functions of Cellular Neural Networks (CNNs) implementing associative memories, The output function of the CNNs is a piecewise linear function which consists of a saturation and non-saturation range. The new structure of the output function is defined, and is called the "basic waveform". The saturation ranges with n levels are generated by adding n -1 basic waveforms. Consequently, creating an associative memory of multivalued patterns has been successful, and computer experiment results show the validity of the proposed method. The results of this research can expand the range of applications of CNNs as associative memories. © Springer-Verlag Berlin Heidelberg 2007.

DOI： 10.1007/978-3-540-72393-6_65

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Japanese society is aging rapidly. Muscle exercises for the elderly, has been proposed to reduce their dependence on nursing care. Specifically, rehabilitation exercise appears to be a suitable program, by considering the individual's present muscular power and the limitations of the human body. In order to prepare and modify the exercise program to match the changes of the patient's condition, it is necessary to build a patient muscular-power estimation system that considers the patient's situation. Electromyography (EMG) provides useful biological information by measuring the muscular dynamics of the human body. This paper proposes a method of estimating muscular power of the upper limbs using both EMG and a skeletal-linkage model. This method was validated through experimentation and simulation analysis, which confirmed that it could estimate the muscular power of each muscle of the upper limbs through simple exercises (such as circle-drawing movement).

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this study, we examine the necessity for the Complex Discrete Wavelet Transform (CDWT) from the viewpoint that the signal's position shifting corresponds to the signal's phase change and discuss the effectiveness of the improved shift invariability of the CDWT based on linear translation invariant system theory. The results are: 1) the DWT is sensitive to the signal's shift (the phase change) and correspondingly the wavelet coefficients change sharply as the signal shifts. On the other hand, the CDWT is insensitive to the signal's phase change and the obtained wavelet coefficients are stable. 2) The output obtained by the CDWT is unique to the input signal having an arbitrary shift. That is, the CDWT system is not dependent on the position of the input signal and can be considered a linear translation invariant system.

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A stereo camera method for 3D shape measurement is widely used in various fields. The reason is that the method can obtain 3D data of a shape of an object within very short time without contact with the object. But search process for finding a stereo pair image takes much time, and it is the weakest point of the method. If we can estimate an area where one of the pair image exists, stereo search can be performed quickly and total time for a 3D shape reconstruction is shortened. In this paper we apply the stereo method to a sand mold measurement. In order to realize fast searching, we propose using a CAD model of a metal mold for the sand mold. The experimental results show that a flat part of the mold is reconstructed within 500 msec with the accuracy of 10 mu m. On the other hand, the simulation results show that two sets of the stereo camera are needed to reconstruct a cylindrical part within the required accuracy.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Recently, cellular-phones and hearing aids have been getting smaller and more functional. There is a demand for the development of a noise removal system to acquire comfortable sounds in real-life sound environments in which various noises are intermingled. The Adaptive Line Enhancer (ALE), one of the applications of an adaptive digital filter, can extract only periodic signals from signals containing non-periodic noise. However, the ALE does not work well when applied to signals containing pulse noise. In this study, in order to improve this drawback of the ALE, a new de-noising method is proposed which combines the Complex Discrete Wavelet Transform (CDWT) with the ALE. In our simulation experiments, encouraging results were obtained.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE COMPUTER SOC  

In metallic surfaces, highlights are very strong and illuminant shapes are often observed as specular reflections. In order to control specular reflection components of metallic surfaces, a set of real images are taken under various lighting conditions and Photometric Linearization is introduced to control diffuse reflection components as welt as to reduce. specular reflection components. Experimental results show that specular reflection components can he effectively reduced in realistic images of metallic surfaces using this technique.

DOI： 10.1109/ICICIC.2006.141

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

The direction of a generated sound source can be estimated by humans using the time difference between both ears and the characteristics of the sound. However, it is very difficult to create an estimation system using a computer and two microphones. In this study, we propose a novel sound source direction estimation method, in which the feature difference of two recorded microphone signals is used. As a result, an average correct estimation rate of 96% was obtained in determining the location of 11 kinds of object sounds.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, teleoperation of a master-slave robot system with haptic feedback and network traffic reduction for rehabilitation are presented. At first, the stability of the teleoperation system with haptic feedback via time delay communication environment is mathematically shown for multi-joint robot arm system. Experiments show that the system is stable, despite of time delay. In order to reduce packet transfer rate for transmission of data, deadband control approach is used. A new data reconstruction algorithm is proposed to improve system's performance for telerehabilitation while keeping the stability of the system. The validity of the approach is shown in simulations.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper discusses the design of multi-valued output functions of Cellular Neural Networks (CNNs) implementing associative memories. The output function of the CNNs is a piecewise linear function which consists of a saturation and non-saturation range. The new structure of the output function is defined, and is called the "basic waveform". The saturation ranges with n levels are generated by adding n - 1 basic waveforms. Consequently, creating an associative memory of multi-valued patterns has been successful, and computer experiment results show the validity of the proposed method. The results of this research can expand the range of applications of CNNs as associative memories.

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DOI： 10.1299/kikaic.69.1648

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DOI： 10.1299/kikaic.69.906

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In this research, we focus on Visual induced postural sway as one of basis for the Virtual reality technique. And we are examining the measurement and analysis method for control application of VR system and human behavior. In this report, in order to determine the induction property of human postural sway, validity of Heart rate analysis method have been discussed.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In recent year, senior driver related traffic accidents have been increased while the decreasing of the number of death for the accident. It also shows the complexity of composition ratio of drivers and pedestrians in the traffic environment. In order to realize the traffic safety under this environment, it is necessary not only advanced safety technology for a vehicle but also the traffic safety education to vulnerable road users. As one of education method, the use of driving simulator has been proposed in this paper, and its validity has been evaluated through the application of the proposed method to a special course for high school students in our university. Finally, questionnaire survey for students has also conducted to confirm its effectiveness and validity of educational contents.

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The numbers of traffic fatalities are on the decline with automobile technology advances; however the number of traffic accidents has still kept high level. It also shows the importance of developing the preventive safety driving support system in order to decrease traffic accidents. Therefore, various studies about active safety: techniques to prevent traffic accidents have been done. In our laboratory, by the focusing on the device which has necessity to grasp in the driving situation, the Steering wheel sensor system has been proposed. In the previous research examined the relationship between driver's sleepiness and his grasp pressure, however, index value or method for evaluation of grasp pressure level have not exist quantitatively. In order to make clear the relations of grasp behaviors and aimless driving, fundamental experiment and analysis were conducted in this study. Especially, a change of the amount of value obtained from Steering wheel sensor according to changes of driving posture and grasping were investigated with quantitative evaluation in this report.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Various systems to support a vehicle driving aiming prevention for traffic accidents have been studied. One of the important problems in these systems is to measure the state of driver by using in-vehicle sensors, and to detect the careless driving state which is one of caused the accident. In this study, the driver's reaction time for driving events is focused in order to identify the individual characteristics. And, measurement method using driving simulator with several driving tasks is proposed. Through the experiments and analysis, it is confirmed that the validity of proposed measurement method. And it also shows the possibility which the characteristics were expressed in the reaction time.

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In this study, we aim to develop the system that many people can share a sense of force through the Internet, using a force-position multilateral tele-control system. We apply scattering matrix and phase control filter in order to stabilize the multilateral tele-control system with a new knowledge of scattering matrix. Additionally, we derive a design method for system "shared haptic mouse". The unique characteristic of our design method is that stabilization is achieved by focusing on phase. In our system, topology takes the form of a commonly used star-shaped client/server system network topology and is configured such that the success or failure of specific connections between the client and server do not affect the entire system. We have conducted experiments between Seoul, Florida, and Toyohashi using three haptic devices to verify the usefulness of this system, and successfully position was controlled by the force applied to the haptic device. Through experimentation, we verify that the shared haptic sensing between three clients is confirmed to have been realized in a multilateral system that included a communication delay.

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (scientific journal)   Publisher：システム制御情報学会  

DOI： 10.11509/isciesci.56.11_569

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Today, Virtual Reality (VR) technology has been applied in various fields, and the influences for human induced by VR contents have been studied. VR contents mainly use the visual stimulation, and the influence induced by the vision stimulus has been evaluated by center of gravity or a questionnaire survey. Meanwhile, in our laboratory focused on the postural sway induced by visual stimulation and has experimented using the numerical modeling technique of input stimulus and postural sway. As a result, it was confirmed that the model parameters have a certain tendency. In this research, long term experiments have been conducted to check the validity of the proposed analysis method. In addition, the possibility of the application for time series modeling method to the postural sway analysis is also considered.

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Language：Japanese   Publishing type：Internal/External technical report, pre-print, etc.   Publisher：統計数理研究所  

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This paper proposes a method for measurement and parameter identification of Visual-Induced Postural sway. From the viewpoint of time-frequency domain analysis and knowledge of previous researches, validation method for induced postural sway and classification method for frequency component of it have been pr oposed. Validation method is constructed b y using heart rate analysis method, and classification method uses one kind of s ystem identification techniques in control engineering. The experiments with subject persons have been conducted, and their results show the validity of the proposed methods and acceptable parameter of human behaviors.

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Language：Japanese   Publisher：一般社団法人 日本機械学会  

This study aims to define a novel evaluation method of the settings of a road racer. To make an evaluation criteria of the setting of saddle height, the authors focused on lower muscular activities during cycling exercise and have thought an estimation method using surface electromyography and statistical processing. In our previous work, the experimental result indicated a small difference between the system output and the subjective aspect of an expert cyclist. Then, this paper reconsider the data processing method with reconstructing the experimental device. A symmetrical boundary condition is adopted in the process of First Fourier Transformation of electromyography. As the result, the effect of muscular fatigue clearly appeared in frequency analysis, so that the saddle height continuously dropped. This paper describe the technical materials and discusses the experimental results.

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Language：Japanese   Publisher：[沼津] : [高等専門学校情報処理教育研究委員会]  

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Other Link： http://id.ndl.go.jp/bib/10440960

Language：Japanese   Publishing type：Rapid communication, short report, research note, etc. (bulletin of university, research institution)  

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In this Paper, collaboration and education system for students of National College of Technology (NCT) based on Tele-Control system has been proposed. In the proposed system, Toyohashi University of Technology (TUT) provides experimental apparatuses for tele-control system as a server site, and the client system is constructed by using 1 DOF paddle system with haptic feedback for student's use in a client site at NCT. Several control experiments have conducted between TUT and 9 NCTs respectively. Moreover, experimental contents have proposed and improvement for communication environment using QoS control has evaluated through the experiments.

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A sound source direction can be estimated by humans using a time difference between both ears and how a sound is heard, when the sound is generated. However, it is very difficult to create an estimation system by using a computer and two microphones. In this study, we propose a novel sound source direction estimation method, in which the feature difference of observation signals obtained from the two microphones is used. The feature is learned based on the algorithm of the SOM (Self Organizing Maps) and the map of 3-D sound source direction is made. Furthermore, the five kinds of objects sound from each direction are used to conforming experiment and the correct answer rate 98.7% is obtained.

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Deviance behaviors of driving from daily driving behaviors are one of factor of the traffic accident. Therefore, it will be possible to realize a safe-driving support by using a technique for judgment and classification of driving behavior considering with deviance.In this research, the methodology for the judgment and classification of deviant behavior has been proposed based on a definition for the daily behavior from driving behavior of driving. In this research, the statistical analysis for experimental data with subject drivers has been conducted. Especially, analysis for the similarity of driving trajectory at the turn left in an intersection has also conducted using correlation between driving behaviors. Moreover, to evaluate the validity of proposed analysis method, same analyses for the driving with time constrain which makes a stress for driving has examined. Finally, effectiveness of propose analysis for the turn left motion which focus on a compatibility using correlation analysis have been confirmed.

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The direction of a generated sound source can be estimated by humans using the time difference between both ears and the characteristics of the sound. However, it is very difficult to create an estimation system using a computer and two microphones. Aims of this study are the achievement of three dimension sound localization with two microphones. We have developed the sound source direction estimation system, in which the sound source direction can be shown by two angles, the horizontal angle α and the vertical angle β. The former is presumed from the difference of the arrival time when the sound progresses from the source to right and left ear, and the latter is presumed from spectrum correlation analysis using head related transfer function (HRTF). In this study, we propose a novel sound source direction estimation method, in which the feature difference of two recorded microphone signals is used. As a result, an average correct estimation rate of 96% was obtained in determining the location of 11 kinds of object sounds.

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In this Paper, collaboration and education system for students of National College of Technology (NCT) based on Tele-Control system has been proposed. In the proposed system, Toyohashi University of Technology (TUT) provides experimental apparatuses for tele-control system as a server site, and the client system is constructed by using 1 DOF paddle system with haptic feedback for student's use in a client site at NCT. Several control experiments have been conducted between TUT and 4 NCTs respectively and various data of communication conditions and answers of questionnaire survey have been collected through the experiments.

DOI： 10.1299/jsmermd.2008._2A1-J22_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this study, in order to improve effectiveness of the abnormal signal detection, the technique of constituting an Average Real signal Mother Wavelet (A-RMW) from two or more real signals has been proposed and its effectiveness has been confirmed. The main results obtained can be summarized as follows : (1) For constructing A-RMW by two or more signals, the Symmetric Complex Real signal Mother Wavelet (SCRMW) first was constructed respectively and then the average SCRMW was obtained by adding them. Finally the average SCRMW obtained above was normalized and the A-RMW was obtained. (2) The proposed constructing method of the SCRMW is different from the traditional Complex Real signal Mother Wavelet that the phase information of all the frequency components has been cut off and symmetric property can be obtained. (3) The proposal method is applied to the rattle noise source detection of a car, and its effectiveness is examined.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the vehicle system, a steering wheel is grabbed by driver with inevitability for one's driving operation. From the viewpoint of human interface designing, it is assumed that the steering wheel operation includes the driver's skills, intentions and psychological information etc. This matter has the possibility for realization of more suitable driver-vehicle interaction of intuitive driving. In this paper, the holding or grabbing styles of subject driver have been investigated through the experiments on a Driving simulator. And the relationship between the holding styles and the driver's situations has been discussed.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recently, assistance systems for driver's safety have been developed in the industrial fields. Especially, an Antilock-Brake System (ABS) that maintains driver's controllability at the emergency situations is representative. Near the future, driver support system like car navigation will be developed. However, this kind of supporting system without monitoring and considering the driver's behavior will makes increase the physical and mental workload for the drivers. In this paper, the driver's behavior modeling method by using the information of the driver's operation and running environment have been discussed. Especially, in order to evaluate the driver's skill as an ability of adapt for the driving environment, the experimental method by using Driving Simulator have been proposed.

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Language：Japanese   Publisher：The Institute of Electronics, Information and Communication Engineers  

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Language：Japanese   Publisher：The Institute of Electronics, Information and Communication Engineers  

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Language：Japanese   Publisher：The Institute of Electronics, Information and Communication Engineers  

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Language：Japanese  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In metallic surfaces, highlights are very strong and light shape is often observed as a specular reflection. A number of methods have been proposed to remove or reduce specular reflection components of inhomogeneous objects and quite a few methods are applied to metallic surfaces. This paper presents a method that can reduce specular reflection components of metallic surfaces. A set of real images are taken in various lighting conditions and Photometric Linearization method is introduced to control diffuse reflection components as well as reducing specular reflection components. It separates specular reflection components and converts input images to imaginary images that contain only diffuse reflection components. The experimental results show that specular reflection components can be effectively reduced in realistic images of metallic surfaces using this technique.

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Language：Japanese   Publishing type：Internal/External technical report, pre-print, etc.   Publisher：財団法人フランスベッド・メディカルホームケア研究・助成財団  

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Language：Japanese   Publishing type：Internal/External technical report, pre-print, etc.   Publisher：東海産業技術振興財団  

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