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A Geometric Edge Detection Method from Cross-sectional Shapes of Cloth-like Object
Ibuki Yamamoto,Takashi Yoshimi,Motoki Hirayama 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
This study aims to propose methods that detect edge of the cloth by using a displacement laser sensor for the automatic sawing by a robot arm. For the edge detection, three filters which extract candidates are used, then the most suitable point is selected by the proposed condition. We tested the method at the required feeding speeds under moving the cloth with some feeding speeds. Then, we confirmed that the proposed method can detect whole edge in all cases.
Eiri Ogura,Takashi yoshimi,Motoki Hirayama 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
To realize the task of stitching the edges of semi-circular and rectangular parts together in three dimensions with a robot arm, we have proposed and studied several methods to feed the edges of the parts accurately including a guide-set or a semi-circular robot hand. To investigate the conditions suitable for automatic stitching of the target parts in three dimensions, we conducted some experiments of the combination of different proposed methods. The results showed that the guide-set was effective in assisting the sending of parts with regular sewing lines, and that when the robot hand gripped the part, the gripping surface should have the same shape as the sewing line of the part. Through a series of experiments and verifications, we were able to realize three-dimensional sewing of two different shaped parts by the robot arm. In this report, we describe the results of verification and evaluation of the proposed methods by experiments.
사용자의 잠재적 흥미를 인식하기 위한 주시 모방 모델 기반의 지능형 정보 시스템
박혜선(Hye-Sun Park),히라야마 다카쯔쿠(Takatsugu Hirayama),마쯔야마 다카시(Takashi Matsuyama) 한국지능정보시스템학회 2010 지능정보연구 Vol.16 No.3
The information system that preserves and presents information collections, records, processes, retrievals, is applied in various fields recently and is supporting man’s many activities. Conventional information systems are based on the reactive interaction model. Such reactive systems respond to only specific instructions, i.e. the defined commands, from the user. To go beyond the reactive interaction, it is necessary that the interactive dynamic interaction based information system which understands human’s action and intention autonomously and then provides sensible information adapted to the user. Therefore, we propose a Gaze Mirroring-based intelligent information system for making user’s latent interest using the internal state estimation methods based on the interactive dynamic interaction. Then, the proposed Gaze Mirroring method is that an anthropomorphic agent(avatar) actively established the joint attention with the user by imitating user’s eye-gaze behavior. We verify that the Gaze Mirroring can elicit the user’s behavior reflecting the latent interestand contribute to improving the accuracy of interest estimation. We also have confidence that the Gaze Mirroring promotes the self-awareness of interest. Such a Gaze Mirroring-based intelligent information system also provides suitable information to user by making user’s latent interest using the internal state estimation.
Endocuff-Assisted versus Cap-Assisted Colonoscopy Performed by Trainees: A Retrospective Study
Yutaka Okagawa,Tetsuya Sumiyoshi,Yusuke Tomita,Shutaro Oiwa,Fumihiro Ogata,Takashi Jin,Masahiro Yoshida,Ryoji Fujii,Takeyoshi Minagawa,Kohtaro Morita,Hideyuki Ihara,Michiaki Hirayama,Hitoshi Kondo 대한소화기내시경학회 2020 Clinical Endoscopy Vol.53 No.3
Background/Aims: The adenoma detection rate (ADR) of screening colonoscopies performed by trainees is often lower than thatof colonoscopies performed by experts. The effcacy of cap-assisted colonoscopy (CAC) in adenoma detection is well documented,especially that of CACs performed by trainees. Endocuff, a new endoscopic cap, is reportedly useful for adenoma detection; however,no trials have compared the effcacy of Endocuff-assisted colonoscopy (EAC) and CAC conducted by trainees. Therefore, the presentstudy retrospectively compared the effcacy between EAC and CAC in trainees. Methods: This was a single-center, retrospective study involving 305 patients who underwent either EAC or CAC performed by threetrainees between January and December 2018. We evaluated the ADR, mean number of adenomas detected per patient (MAP), cecalintubation rate, cecal intubation time, and occurrence of complications between the EAC and CAC groups. Results: The ADR was significantly higher in the EAC group than in the CAC group (54.3% vs. 37.3%, p=0.019), as was the MAP (1.36vs. 0.74, p=0.003). No significant differences were found between the groups with respect to the cecal intubation rate or cecal intubationtime. No major complications occurred in either group. Conclusions: Our results suggest that EAC exhibits increased ADR and MAP compared to CAC when performed by trainees.