Reviewerly/exHarmony huggingface dataset:
ロボットによる特性が未知な紐の３次元動的マニピュレーションの基礎的検討

Generally, deformable objects are large deformations, and nonlinear. Because of these characteristics, the recognition and estimation of their movement are difficult. Many studies have been conducted aimed at manipulating deformable objects at will. However, they focused on situations wherein a rope’s properties are already known from prior experiments. We previously proposed motion planning to manipulate unknown ropes using a robot arm. Motion planning comprises motion generation, manipulation, and parameter estimation. By repeating these three steps, a parameter that can be expressed as the actual rope movement was estimated, and manipulation was realized. However, previous studies were limited to 2-dimensional space manipulation. In this paper, we present casting manipulation in a 3-dimensional (3D) space. Casting manipulation hits the rope tips on the target object. Moreover, 3D manipulation using an unknown rope has never been reported for dynamic manipulation with deformable objects. We present the proposed method is functioning in 3D manipulation.
Obstacle detection using a monocular camera that can handle bad weather

Currently, automated driving has reached level 3, and research and development is progressing toward level 4. Driver and passenger safety must be guaranteed in automated driving, there are various causes of accidents, but the accident rate in bad weather is about five times higher than in fair weather. Focusing on this, AI is used to recognize obstacles in bad weather. Specifically, first, the features of the vehicle are extracted. Next, the original image is fog-processed to create fog image data. Let the AI learn it. In addition, in terms of cost reduction, we aimed at obstacle recognition with a low-cost monocular camera.
Motion Generation for Violin-playing Robot Using Reinforcement Learning

We are building a system that can determine the bowing motion of our violin-playing robot. In this report, we describe effects of the parameters in the reinforcement learning such as the exploring rate, the number of the hidden layer, and the leaning rate on the bowing motion of the robot. In the violin playing, it is difficult to automatically determine the bowing motion (bow direction, bow speed, etc.) only from the musical score. Thus, we focus on the reinforcement learning as one method to solve the problem. In our system, Q-learning is adopted as a leaning strategy, and neural network a value function. We built a simulation system to evaluate our method. As a result of the simulation, we found that we can improve the success rate of the learning by changing the parameters.
Personality-aware Non-verbal Facial Behavior Modelling for Robotic Agent

Social robot platforms demand well-versed human behavior planning to be effective in their role of interacting with people. For a long time, despite the capability to perform a wide range of tasks, the lack of flexibility and effectiveness in decision-making on human-robot interaction is always the main issue of autonomous social robots’ severely limited real-world adoption. Social robot platforms nowadays are, though sufficiently sophisticated in behavior control with recent mechanical manipulation advancement, usually criticized for their uncanny and unnatural behavior planning. To improve this, we took a new data-driven approach to build a framework that learned from publicly available video data as an input with next-to-none annotation cost that could forecast and generate human-like facial behavior in an auto-regressive manner. The key idea was to break a long facial motion input into smaller sub-segments as a better cross-subject generalizable feature before feeding it into a Transformer-like cross-modal model. The goal was to create an open-source generative facial behavior component that could output to social robot platforms or other downstream tasks.
Developing Learning Media for the Snakes and Ladders Game Newton's Law with the QuizWhizzer Application to Support Student Learning Motivation

One important factor that can influence students' learning success is their learning motivation. This research aims to develop the Snakes and Ladders QuizWhizzer Game learning and test the feasibility and influence of using this media on students' learning motivation in the classroom. This research was carried out at Madrasah Tsanawiyah Sleman in November 2023. The method used was research and development (R&amp;D) with the Four D (4D) development model taken from four development stages, namely Define, Design, Develop and Disseminate. The research sample was class VIII students, totaling 5 students. The results of the feasibility test by experts show that the media is suitable for use as a support for learning in the classroom because it can increase students' learning motivation as indicated by the results of the snakes and ladders game and direct interviews. Keywords: Newton's Law, QuizWhizzer, Motivation.
Analysis Of Non-Cash Payment Control Systems On Revenue At PT Marga Sarana Jabar

PT Marga Sarana is companies operating in the field service that is as administration and service service road toll. In giving service to users road effective and efficient toll road for customers feel comfortable as well as make it easier accessibility road toll, then required system payment in a way non-cash ( e -tool). System Many non- cash payments profitable and giving convenience to user her, especially For company in do A activity business his shaped non- cash payment, will more A little risk its implementation compared to with system payment cash. System systemized non - cash payments with Good will produce A effective income and expenses efficient operation. Because of that, company must need A internal control, especially on revenue company. Research purposes This For know system non- cash payment to control income. Writer do research at PT. Marga Sarana Jabar which is located at Plaza Sentul, Jl. Bogor Outer Ring Road, Cadas Ngampar, West Bogor. In running study This researcher do approach descriptive qualitative. Result of study this, that system control non- cash payment Already done with Good so that increase quality revenue and efficiency to burden operation company although Still must There is repair.&#x0D; &#x0D; Keywords: Non-Cash, Internal Control System, Revenue
A Systematic Literature Review: A Comparison Of Available Approaches In Chatbot And Dialogue Manager Development

The present study reviewed a number of articles chosen from a screening and selecting process on the various different methods that can be used in the context of chatbot development and dialogue managers. Since chatbots have seen a significant rise in popularity and have played an important role in helping humans complete daily tasks, this systematic literature review (SLR) aims to act as a guidance for future research. During the process of analyzing and extracting data from the 13 articles chosen, it has been identified that Artificial Neural Network (ANN), Ensemble Learning, Recurrent Neural Network (RNN), and Long-Short Term Memory (LSTM) is among some of the most popular algorithms used for developing a chatbot. Where all of these algorithms are suitable for each unique use case where it offers different advantages when implemented. Other than that, dialogue managers lean more towards the field of Deep Reinforcement Learning (DRL), where Deep Q-Networks (DQN) and its variants such as Double Deep-Q Networks (DDQN) and DDQN with Personalized Experience Replay (DDQN-PER) is commonly used. All these variants have different averages on episodic reward and dialogue length, along with different training time needed which indicates the computational power needed. This SLR aims to identify the methods that can be used and identify the best proven method to be applied in future research.
Designing E-Commerce Sales of Footwear Using the Waterfall Method

E-Commerce's quick growth and Indonesia's growing footwear industry offer expanding opportunities. A website-based E-Commerce Information System to promote varied Indonesian footwear brands is proposed to boost their market exposure nationally and globally. The structured Waterfall technique emphasises system development step-by-step for greater control and completion of each stage before moving on. E-Commerce software offers safe payment choices and better order management to streamline sales. It promotes using technology and data analysis to improve business and marketing decisions. This E-Commerce system's Waterfall-based strategy promises efficient online footwear sales management. Successful implementation requires careful integration and completion of developmental stages
Implementation of Naive Bayes Classifier (NBC) for Sentiment Analysis on Twitter in Mobile Legends

On July 11, 2016, the mobile legends game was first released on the Indonesian server, and became one of the first MOBA games to enter the e-sports branch in Indonesia. The popularity of this game is growing rapidly, reaching more than 500 million downloads in the play store, and reaping a lot of controversy from mobile legends players. So that people create content and express their concerns through social media Twitter in the form of uploads and tweets. This makes the writer want to know how the public sentiment towards mobile legends online games on Twitter social media. The purpose of this research was to analyze how people's opinion about the Mobile Legends Online Game uses the Naïve Bayes Classifier method and to find out the level of accuracy that is obtained automatically by the system. As well as doing manual testing of the Confusion matrix from the results obtained. in classifying tweets. The results of community tweets taken using the data scraping method totaled 217 tweets and became a dataset, after the preprocessing process the tweets totaled 199 and became data testing, after being labeled it showed 100 positive tweets, 25 negative and 74 neutral. The level of accuracy obtained using the Naïve Bayes Classifier method is 80% with 104 positive tweets, 7 negative tweets and 88 neutral tweets. With a precision value of 83% positive, 100% negative and 76% neutral. The recall values obtained were 86% positive, 28% negative and 91% neutral. As for the F1-Score values obtained 84% positive, 44% negative and 83% neutral.
Perancangan Animasi Dengan Pendekatan Psikologi Sosial Untuk Anak-Anak Kaum Marjinal Usia 7-12 Tahun Sebagai Media Edukasi Pendidikan Karakter

The National Law No. 20 of 2003 emphasizes the importance of the national education system in achieving equal educational opportunities, improving quality, and managing education efficiently. However, marginalized children with economic constraints still face challenges in accessing educational opportunities due to limited time and difficulties in studying at home. Instead of exploiting these limitations, the Red Nose Foundation utilized them in a social psychology class aimed at instilling character education. Nevertheless, they recognize the need for innovative and effective approaches in delivering character education to the target audience. To achieve a precise and effective design, the process will involve existing studies, experimental studies, in-depth interviews with stakeholders and necessary resources, user testing, and literature review to support the design. The urgency of the design and how the resulting media output canbetter connect with the target audience compared to other media outputs will also be considered. Two animated episodes have been presented to the target audience, and it has been concluded that using animation as a medium for character education has yielded positive results. The audience enjoys watching the animations, and the evaluations conducted have shown excellent outcomes. Therefore, it can be said that the animation used in this design has been successful.
Perancangan Visual Novel Berbasis Sejarah G30S Melalui Pendekatan Multiple Choice Untuk Remaja dan Dewasa

Controversies surrounding the 30th September Movement (G30S) in Indonesia have become sensitive issues, especially concerning the Indonesian Communist Party's (PKI) resurgence. Even after the Era Reformasi, fear and paranoia toward the PKI still exist in society and become politicization subject, which stems from the background of the Orde Baru regime, where the history of G30S were only presented in single version. This limits diverse perspectives and objective information, despite the existence of seven dif erent theories behind G30S. Essentially, this issue arises because of the limited historical references available to the public. So, a media platform is needed that can present multiple perspectives on the G30S events in a coherent narrative. The chosen media for this project is a Visual Novel with multiple-choice approach. This media and method are selected because they provide readers to explore multiple possiblity storyline, covering four dif erent G30S theories. The research method used will involve qualitative data, including literature studies from books, notes, and historical documentation. This data will be corroborated through interviews with experts to confirm its accuracy. Once the data is gathered, the design process will be executed in several stages, analyzed it with experts, and resulting the prototype. The prototype will be tested with user testing sample and refined to reach the final design. This design aims to enhance the historical reference materials to the younger generation, specifically the G30S events, and provide an understanding that multiple historical possibilities can exist. As a result, people will be wiser in responding current phenomena.
Mobile Application for Locating Nearby Garbage Collection Sites

Human actions produce waste. The placement of garbage cans is an issue in the Special Region of Yogyakarta. The public is often unaware of the location of garbage cans. The Nearest Garbage Sites Search System (SIPTeST) solves an existing problem. The objective of developing SIPTeST is to enable the public to determine the location of the nearest garbage can based on their current location. SIPTeST is based on both mobile and web platforms. The SIPTeST website is constructed with PHP and MySQL. Android Studio is used to build SIPTeST mobile. In addition to using the user's location, the system uses the user's location to add garbage bin locations. Location-based services (LBS) are implemented by SIPTeST. This system's output is that it assists users in locating the closest garbage cans and viewing photos of their locations. The user can also observe the location history of previously viewed trash cans. Then, users who encounter problems can also submit reports.
Examples of the use of “Yukkuri Kaisetsu” and short movie in robotics education

We are teaching "Fundamental Mechatronics Experiments," which is a required course for second-year students at this university. For the 2021-2022 academic year, we implemented a system where students were required to watch 5-15 minute lecture videos explaining the experimental principles, in addition to reading the experiment guidebook, before the actual experiment. As a result, while some students watched the videos and gained a sufficient understanding, there were others who did not watch the videos or watched them without gaining a sufficient understanding before the experiment. Therefore, improving the video viewing rate became a challenge. Starting in 2021, we created videos explaining the experimental principles using the "slow explanation" technique commonly used on YouTube and allowed students to watch them at their own discretion, conducting surveys to investigate their usefulness. In this report, we will present the results of the survey conducted in the 2022 academic year. We will also report on our findings regarding the use of short videos, which have been gaining increasing viewership in recent years.
Visual-based robot arm control interface for gripping objects on the floor

About half of the patients with spinal cord injuries in Japan have cervical spinal cord injury. Particularly, for patients with high-level spinal cord injury, it is difficult for them to search or pick up objects from the floor due to trunk dysfunctions. Recently, welfare robot arms of self-reliance supporting functions are being developed for them. In this study, we proposed an operating system that includes an eye in hand system with a touch panel interface for grasping the object from the floor. In the proposed method, the visual information of the target objects is shown in the touch panel interface. The patient could specify the target position of the robot arm by drawing a line on the target object on the interface.
Development of a decontamination robot for decommissioning nuclear reactor and its social implementation through a contest

Technology contests are based on the competition rules of a certain field. Participating in this is a kind of social implementation research. Authors developed a remote-controlled mobile robot to decontaminate the inside of a nuclear reactor building, and participated in the Decommissioning Robot Contest. In this paper, we report on robot research and development through technology-based contests from the perspective of social implementation-oriented research.
リムレスホイール移動ロボットの滑りを評価する方法の提案

Currently, a robot with rimless wheels has been proposed to avoid destroying grassland. Therefore, our research proposes a rimless castor-type three-wheeled mobile robot. The objective is to quantitatively evaluate the slippage in order to design a robot that reduces slippage against the ground during its movement. We visualized the slippage that occurred during the robot’s movement, and then used image processing to quantify and evaluate the slippage. We conducted an experiment in which a crayon was attached to a miniature robot and the robot was made to run on a flat surface, and the recorded trajectory was evaluated by an evaluation program. As a result, it was found that slippage occurred when the robot switched directions. This study showed that the slip evaluation system is effective on flat surfaces.
脆弱な食品を把持可能なバインディングハンド

In recent years, the aging of society has caused a decline in the working population, which is a serious social problem. The food production industry tends to require manpower due to the high-mix low-volume production. Thus, automation of handling by robots is urgently needed to solve the serious human power shortage. In particular, foods with fragile characteristics, such as marine products, are considered to be difficult to grasp. Therefore, this paper proposes a method for stable grasping of fragile objects. We fabricated a binding hand and conducted grasping experiments on 10 kinds of food products. The experimental results were compared, and the conditions for stable grasping were discussed. In addition, we expect that the deflection of the binding hand affects the grasping results. We attempted to predict the grasping results by calculating the deflection from the model of the beam and comparing it with the actual measured values.
クレーンの地切り時姿勢制御機構の開発

The purpose of this study is to develop a posture control mechanism for cargo that maintains a parallel posture with the ground during winding up, even when the center of gravity is unspecified, without being limited by the shape or density of the cargo. Specifically, this paper reports on the usefulness of the developed posture control mechanism.
エージェントの表情により生起する触覚の評価のための表情設計に関する基礎検討

This study investigates the effects of the facial expressions of an avatar on haptic perception during human-agent interactions by means of physical and psychological measures. Thus far, we demonstrated that changes in facial expressions can generate haptic perception in a system in which a human-like agent on the display behaved as if it pulled the mouse cursor against a human participant control. This paper presents an experiment to evaluate the emotions recognized by the facial expressions designed by the authors. This would enable us to study the relation between recognized emotions and haptic perception.
外界を表現する立体振動ディスプレイ

Stereo vibration is an innovative vibrotactile technology that extends the conventional phantom sensation to the surrounding space, representing a virtual vibration source in the external environment. This vibrotactile localization technology is expected to be combined with stereophonic sound to reinforce each other’s localization performance through multimodal perception and to be applied to enhance the reality of virtual reality. This paper reports the analysis of the interaction between stereophonic sound and stereo vibration in localization based on the results of an experiment to identify the travel paths of a virtual vibration source represented by a bracelet-type device and a virtual sound source represented by an earphone.
Experimental Verification of the Effect of Interaction Between Two Multicopter UAVs in Close Proximity Focusing on Thrust Changes

When UAVs approach each other, the airflow affects their flight performance. This paper describes the interaction between two UAVs when two UAVs are close to each other in the vertical direction. In this paper, the proximity flight is imitated with fixed UAVs and the forces applied to the UAVs are measured at different distances between the UAVs. The experimental results show that the thrust of the lower UAV decreases due to the airflow from the upper side, which can be explained using the momentum theorem. The result can be helpful in determining the safer flight operation in narrow areas such as urban sites.
楕円のMinkowski和の超楕円近似による干渉判定高速化

In this paper, we propose an accurate and fast method checking collision of ellipses. Ellipse collision detection techniques are used in various applications such as robot collision avoidance and material packing. Our proposed collision detection method is based on the Minkowski sum, which is the union of two ellipses as a subset. Ours approximates the Minkowski sum of ellipses in the form of a superellipse. We evaluate the accuracy and computation time of the Minkowski sum for various combinations of ellipses and describe the simplicity of the collision determination.
Development of Performance Evaluation Method for Small UAS Survey and Inspection in Restricted Environmental

This paper introduces a development of evaluation methods for flight performance of small unmanned aircraft system (UAS) restricted environments.
Expanded field of view with less cognitive load due to smooth connection of rearward video

In car driving, where a wide field of vision is one of the most critical factors, ambient vision tools such as mirrors have been used, but many road accidents still occur due to poor vision. The problem with current ambient vision tools is that they require the driver to look at them actively and induce side vision. So, we propose a field-of-view expansion method that achieves a large effective field of view, assuming a future where the entire driver's field of vision can be rewritten as a video image through HMDs and other means. Specifically, we present a panoramic video centered on the user's viewpoint to the user, which is gradually reduced the size of the area from the central field of view to the peripheral field of view. We conducted subject experiments in terms of rapid situation understanding and confirmed the effectiveness of the proposed method.
Calibration of a galvanometric laser scanner for line-art projection in a dynamic scene

Calibaration of a galvanometric scanner is important in providing distortion-free line-art projections. In particular, accurate projection in a dynamic scene requires an efficient backward model that maps a target projection point to voltages applied to the scanner. However, most of existing calibration methods offer forward models, which are difficult to invert efficiently. In this study, we investigate two types of simple backward models. Through experiments, we argue that the model representing the voltages by polynomials in terms of the light direction vector components achieves high projection accuracies for a wide range of target depths, despite the fact that it must introduce an approximate optical center.