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Integrating Ant Colony Clustering Method to a Multi-Robot System Using Mobile Agents
Yasushi Kambayashi,Masataka Ugajin,Osamu Sato,Yasuhiro Tsujimura,Hidemi Yamachi,Munehiro Takimoto,Hisashi Yamamoto 대한산업공학회 2009 Industrial Engineeering & Management Systems Vol.8 No.3
This paper presents a framework for controlling mobile multiple robots connected by communication networks. This framework provides novel methods to control coordinated systems using mobile agents. The combination of the mobile agent and mobile multiple robots opens a new horizon of efficient use of mobile robot resources. Instead of physical movement of multiple robots, mobile software agents can migrate from one robot to another so that they can minimize energy consumption in aggregation. The imaginary application is making “carts,” such as found in large airports, intelligent. Travelers pick up carts at designated points but leave them arbitrary places. It is a considerable task to re-collect them. It is, therefore, desirable that intelligent carts (intelligent robots) draw themselves together automatically. Simple implementation may be making each cart has a designated assembly point, and when they are free, automatically return to those points. It is easy to implement, but some carts have to travel very long way back to their own assembly point, even though it is located close to some other assembly points. It consumes too much unnecessary energy so that the carts have to have expensive batteries. In order to ameliorate the situation, we employ mobile software agents to locate robots scattered in a field, e.g. an airport, and make them autonomously determine their moving behaviors by using a clustering algorithm based on the Ant Colony Optimization (ACO). ACO is the swarm intelligence-based methods, and a multi-agent system that exploit artificial stigmergy for the solution of combinatorial optimization problems. Preliminary experiments have provided a favorable result. In this paper, we focus on the implementation of the controlling mechanism of the multi-robots using the mobile agents.
Short-Term Student Exchanges for Aspiring International Activities of Engineering Students
Sato, Takashi,Sakamoto, Shuichi,Shimizu, Tadaaki,Suzuki, Takamasa,Ikeda, Hideki,Hopf, Anja,Goto, Yasushi,Oka, Tetsuo,Sasaki, Tomohiro,Narumi, Takatsune Korean Society for Engineering Education 2014 공학교육연구 Vol.17 No.4
The Faculty of Engineering, Niigata University, Japan, obtained the scholarship in "Short-Stay and Short-Visit scholarship programs(SS-SV programs)" for both German and Japanese students in 2011 and 2012. Our short-term student exchange programs proved that a short-term stay in a foreign country worked as an initiator for the students' interest and it strengthen their will to study further more in foreign countries.
Tatsuya Sato,Taro Bannai,Toru Miyake,Keita Murakami,Risa Maekawa,Yasushi Shiio 대한노인병학회 2021 Annals of geriatric medicine and research Vol.25 No.1
Diffuse idiopathic skeletal hyperostosis (DISH) is a non-inflammatory process characterized by hyperostosis at tendon insertions and around joint capsules and ossification of the anterior longitudinal ligament of the spine. The flexibility of the spinal column is reduced in DISH and affects the movement of the thorax, leading to restrictive ventilatory function. In this report, we describe the first two cases of severe type 2 (hypercapnic) respiratory failure associated with DISH. Two older men presented with histories of shortness of breath. Radiography of the spine revealed DISH with coexisting ankylosis of the costovertebral joints. The patients’ thoracic motion was severely restricted, reducing the mechanism of lung expansion to diaphragm contraction only. Both patients required non-invasive positive-pressure ventilation therapy to cope with their conditions. Our report sheds light on the risk of potentially life-threatening respiratory manifestations of DISH among older adults.
Information Gathering by wireless camera node with Passive Pendulum Mechanism
Hideo Sato,Kuniaki Kawabata,Tsuyoshi Suzuki,Hayato Kaetsu,Yasushi Hada,Yoshito Tobe 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
After the earthquake, it is very important to recognize the situation of the disaster area as soon as possible. Therefore, the objective of our research is to realize information gathering system applying wireless sensor network technology. This paper describes about development of a novel camera node for gathering the information and also experimental results by using the camera node via wireless multi-hop ad-hoc network. The wireless camera node consists of a small Linux embedded computer, a GPS adaptor, a CMOS camera with fish-eye lens and passive pendulum mechanism for maintain uniform posture of build-in camera passively. Thus, the wireless camera node can be set easily only to roll it up on the rough terrain. The developed node also can deliver gathered environmental information (video) to remote site by multi-hop transferring. It is experimented that the prototype can transfer the captured video information in the wireless ad-hoc network.
Short-Term Student Exchanges for Aspiring International Activities of Engineering Students
Takashi Sato,Shuichi Sakamoto,Tadaaki Shimizu,Takamasa Suzuki,Hideki Ikeda,Anja Hopf,Yasushi Goto,Tetsuo Oka,Tomohiro Sasaki,Takatsune Narumi 한국공학교육학회 2014 공학교육연구 Vol.17 No.4
The Faculty of Engineering, Niigata University, Japan, obtained the scholarship in “Short-Stay and Short-Visit scholarshipprograms(SS-SV programs)” for both German and Japanese students in 2011 and 2012. Our short-term student exchange programsproved that a short-term stay in a foreign country worked as an initiator for the students' interest and it strengthen their will tostudy further more in foreign countries.
Risk Factors for Loosening of S2 Alar Iliac Screw: Surgical Outcomes of Adult Spinal Deformity
Iijima Yasushi,Kotani Toshiaki,Sakuma Tsuyoshi,Nakayama Keita,Akazawa Tsutomu,Kishida Shunji,Muramatsu Yuta,Sasaki Yu,Ueno Keisuke,Asada Tomoyuki,Sato Kosuke,Minami Shohei,Ohtori Seiji 대한척추외과학회 2020 Asian Spine Journal Vol.14 No.6
Study Design: Retrospective study.Purpose: To determine the risk factors for S2 alar iliac (S2AI) screw loosening and its association with lumbosacral fusion in patients with adult spinal deformity (ASD).Overview of Literature: S2AI screws have been widely used for ASD surgery in recent years. However, no studies have analyzed the risk factors for loosening of S2AI screws and its association with lumbosacral fusion.Methods: Cases of 50 patients with ASD who underwent long spinal fusion (>9 levels) with S2AI screws were retrospectively reviewed. Loosening of S2AI screws and S1 pedicle screws and bone fusion at the level of L5–S1 at 2 years after surgery were investigated using computed tomography. In addition, risk factors for loosening of S2AI screws were determined in patients with ASD. Results: At 2 years after surgery, 33 cases (66%) of S2AI screw loosening and six cases (12%) of S1 pedicle screw loosening were observed. In 40 of 47 cases (85%), bone fusion at L5–S1 was found. Pseudarthrosis at L5–S1 was not significantly associated with S2AI screw loosening (19.3% vs. 6.3%, <i>p</i>=0.23), but significantly higher in patients with S1 screw loosening (83.3% vs. 4.9%, <i>p</i><0.001). On multivariate logistic regression analyses, high upper instrumented vertebra (UIV) level (T5 or above) (odds ratio [OR], 4.4; 95% confidence interval [CI], 1.0–18.6; <i>p</i>=0.045) and obesity (OR, 11.4; 95% CI, 1.2–107.2; <i>p</i>=0.033) were independent risk factors for S2AI screw loosening.Conclusions: High UIV level (T5 or above) and obesity were independent risk factors for S2AI screw loosening in patients with lumbosacral fixation in surgery for ASD. The incidence of lumbosacral fusion is associated with S1 screw loosening, but not S2AI screw loosening.
Integrating Ant Colony Clustering Method to a Multi-Robot System Using Mobile Agents
Kambayashi, Yasushi,Ugajin, Masataka,Sato, Osamu,Tsujimura, Yasuhiro,Yamachi, Hidemi,Takimoto, Munehiro,Yamamoto, Hisashi Korean Institute of Industrial Engineers 2009 Industrial Engineeering & Management Systems Vol.8 No.3
This paper presents a framework for controlling mobile multiple robots connected by communication networks. This framework provides novel methods to control coordinated systems using mobile agents. The combination of the mobile agent and mobile multiple robots opens a new horizon of efficient use of mobile robot resources. Instead of physical movement of multiple robots, mobile software agents can migrate from one robot to another so that they can minimize energy consumption in aggregation. The imaginary application is making "carts," such as found in large airports, intelligent. Travelers pick up carts at designated points but leave them arbitrary places. It is a considerable task to re-collect them. It is, therefore, desirable that intelligent carts (intelligent robots) draw themselves together automatically. Simple implementation may be making each cart has a designated assembly point, and when they are free, automatically return to those points. It is easy to implement, but some carts have to travel very long way back to their own assembly point, even though it is located close to some other assembly points. It consumes too much unnecessary energy so that the carts have to have expensive batteries. In order to ameliorate the situation, we employ mobile software agents to locate robots scattered in a field, e.g. an airport, and make them autonomously determine their moving behaviors by using a clustering algorithm based on the Ant Colony Optimization (ACO). ACO is the swarm intelligence-based methods, and a multi-agent system that exploit artificial stigmergy for the solution of combinatorial optimization problems. Preliminary experiments have provided a favorable result. In this paper, we focus on the implementation of the controlling mechanism of the multi-robots using the mobile agents.
Improvement in the Super Low Core-loss Soft Magnetic Materials
Maeda Toru,Sato Atsushi,Mochida Yasushi,Toyoda Haruhisa,Mimura Koji,Nishioka Takao 한국분말야금학회 2006 한국분말야금학회 학술대회논문집 Vol.2006 No.1
We reported a P/M soft magnetic material with core loss value of , which is lower than that of 0.35mm-thick laminated material, by using high purity gas-atomized iron powder. Lack of mechanical strength and high cost of powder production are significant issues for industrial use. In order to achieve both low core loss and high strength by using inexpencive powder, the improvement of powder shape and surface morphology and binder strength was conducted. As the result, the material based on water-atomized powder with 80 MPa of TRS and 108 W/kg of core loss (W10/1k) was achieved.