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Integration of Intelligent Technologies for Simultaneous Localization and Mapping
Naoyuki Kubota,Kodai Yuki,Norio Baba 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes a simultaneous localization and mapping method for a mobile robot in unknown environments. According to the measured distance by laser range finder, a topological environmental map is updated sequentially by using growing neural gas. When the difference between the measured distance and its corresponding map data is large, the robot must update the self-location. In this paper, we apply a particle filter and steady-state genetic algorithm, and compare their performance. Finally, we discuss the effectiveness of the proposed methods through several experimental results.
Features of Fatal Truck Accidents Compared with Sedans
Oikawa Shoko,Matsui Yasuhiro,Kubota Naoyuki,Aomura Shigeru,Sorimachi Kazuhiro,Imanishi Akira,Fujimura Takeshi 한국자동차공학회 2021 International journal of automotive technology Vol.22 No.4
This study clarified the features of fatal truck–pedestrian and truck–cyclist accidents by a comparison with sedans. Fatal accident data from the Japanese Institute Traffic Accident Research and Data Analysis (ITARDA) database were analyzed for the years 2012 ~ 2016. The trucks were classified into three categories: heavy-, medium-, and light-duty. All three categories had higher percentages of pedestrians as fatal collision partners as opposed to cyclists. Every truck category had significantly higher percentages of pedestrian fatalities due to daytime right turns than sedans. Heavy-duty trucks had significantly higher percentages of cyclist fatalities due to daytime and nighttime left turns than sedans. These results show that the design specifications for new sensing technology to avoid collisions with pedestrians and cyclists should differ among vehicle types. The knowledge obtained in this study will be useful to develop new technology or systems that are effective in dangerous situations between trucks and pedestrians or cyclists.
Sadao Horino,Midori Mori,Naoyuki Kubota,Shunsuke Gennai,Kazutaka Kogi 대한인간공학회 2007 대한인간공학회 학술대회논문집 Vol.- No.-
Conditions relating to universal design of the historic tourist areas around the JR Kita-Kamakura Station were studied in order to develop a barrier-free road map for wheelchair visitors. On the average, about 18,000 passengers were utilizing the station per day. Access conditions of the station facilities including means of using the platforms and toilets were examined in cooperation with wheelchair passengers. Access conditions of shops along a 1.8 km-long main streets leading to the station were examined in terms of road-floor height differences, and entrance and aisle widths, road signs and toilets. For the station, the need was suggested for providing a lift for reaching the platform and a multi-purpose toilet. Of 70 shops along the street, only 23% had the road-floor height difference of 2cm or less, 31% that of 3-6cm and 46% that of 7cm or more. The entrance width of 90cm or more was cleared by 41% and the aisle width of 90cm or more by 44% of the shops. Thus, 36% of the shops were evaluated to be accessible for wheelchair users. There were few multi-purpose toilets available along the street and an insufficient number of road signs for tourist routes. It was suggested that the rate of wheelchair-accessible shops would increase substantially by eliminating road-floor differences and that there was an urgent need for improving the accessibility for wheelchair visitors in terms of the station facilities, road signs and toilets. On the basis of these results, a road map describing barrier-free conditions for wheelchair visitors was designed and published. It was found useful together with barrier-free maps previously offered for other tourist routes of the city.
Oikawa Shoko,Matsui Yasuhiro,Kubota Naoyuki,Aomura Shigeru,Sorimachi Kazuhiro,Imanishi Akira,Fujimura Takeshi 한국자동차공학회 2023 International journal of automotive technology Vol.24 No.2
This study attempts to clarify the characteristics of light-duty truck collision accidents involving pedestrians during right-turn maneuvers by analyzing actual pedestrian accident data in Japan. Evidence differences were observed between the daytime and nighttime. The number of injured and fatal pedestrians during the day was larger than that during the night. The rate of vehicle travel velocity ≤ 10 km/h in the daytime (47.0 %) was significantly higher than that in the nighttime (39.2 %), whereas the rate of vehicle travel velocity ≤ 20 km/h in the nighttime (52.7 %) was significantly higher than that in the daytime (46.9 %). The highest rate in the daytime was presented for the age group of 13 ~ 64 years in minor injuries (54.1 %) and for those 75 years or older in serious injuries (47.5 %) and fatalities (64.3 %). For pedestrian crossing directions on the crosswalk, the pedestrian crossing from the forward left-side corner to the right-side corner exhibited the highest percentage in the daytime (39.2 %), and the opposite direction of crossing from the right-side corner to the forward left-side corner exhibited the highest percentage in the nighttime (39.6 %). The characteristics obtained in this study will contribute to the development and evaluation of advanced safety systems that are specialized for right-turning maneuvers of light-duty trucks.
Human-friendly Arm Robot Using Interactive Particle Swarm Optimization for Trajectory Generation
Indra Adji Sulistijono,Anhar Risnumawan,Cynthia Rachmanita,Naoyuki Kubota 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This work deals with human-friendly trajectory generation of an arm robot. Various methods for the trajectory generation have been proposed so far, but robots must deal with environments including human operators. In this situation, the robot should take a suitable action/motion to the individual operator. This work applies an interactive particle swarm optimization for the trajectory generation using human evaluation. Particle Swarm Optimization offer multiple sets of candidate trajectory and then the best one is shown to the human to be evaluated. Basically human evaluation is very important for generating robotic behavior, but the detail of the human evaluation is not clear. Furthermore, to reduce the number of the human evaluations, a state-value function is used. Therefore, we can search for good trajectory candidates with the estimated human evaluation. The experimental results show that the state-value function can estimate the human evaluation.
Dexterous motions of Japanese dance by a miniature humanoid robot
Osamu Yuuki,Seiya Yamazaki,Kunihiro Yamada,Naoyuki Kubota 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
First, we discuss about requirements for humanoid robots of Japan. Here, Japanese dance is one of important Japanese cultures. Also, there are many people unfamiliar with Japanese dance in other countries. If they hope to learn Japanese dance, it is very important to instruct such people in Japanese dance. There have been several studies about the system for imitating human dances by using a robot. In this paper, we discuss the availability of robots for the instruction of Japanese dance. Typically, a classical Japanese dance is composed with fluent motions. Therefore, a robot needs to shift the center of gravity smoothly in Japanese dancing. In such a case, we found that ‘Suri-Ashi’ motion was effective. In this study, we focused on the realization of ‘Suri-Ashi’ motion. We researched about ‘Suri-Ashi’ motion from various points. Especially, we investigated points for implementing ‘Suri-Ashi’ motion to a miniature humanoid robot. Finally, we carried out experiments of dexterous motions in Japanese dancing by using a miniature humanoid robot.