Reviewerly/exHarmony huggingface dataset:
Development of driving support system of welfare vehicle using augmented reality sharing system

Recently, welfare vehicles are widely used among the aged. However, it is not easy for inexperienced beginners or the aged to control the welfare vehicle in narrow places such as elevators and corridors. For these problem, the driving assistance system has been proposed in which virtual vehicle can be projected on Head Mounted Display (HMD) and remotely controlled by a pseudo third person viewpoint so that the complex courses can be easily operated. However, it is difficult for beginners to drive virtual vehicles smoothly. So, the well-suited instruction or advice for beginners is necessary from skilled person or instructors. In this paper, we focus on the driving support system using the sharing system of Augmented Reality (AR). Not only the driver but also the instructor wearing the HMD can instruct even while driving with sharing AR. The effectiveness of the proposed support system is evaluated by comparative experiments.
Development of Super Long Reach Articulated Manipulator with Weight Compensation and Joint Drive by Thrusters

Recently long reach articulated manipulator is widely required for infrastructure inspection. Long reach manipulator can be realized by using thrusters for weight compensation. In this research, we propose a super long reach manipulator with weight compensation and joint drive by thrusters. Considering the static influence of weight and its longitudinal direction moment of the manipulator, the force required for each thruster was obtained analytically. The result of the analysis showed that the weight compensation force is constant, but the longitudinal direction moment caused by the weight depends on the arm posture. After that, we designed a system which controls joint angle with the simple PID controller and the feedforward term, and confirmed its validity by dynamic simulation of the 2 units model. Moreover, we developed 2 units prototype whose length was 4.3 meters and confirmed its basic motion.
A Study on Personal Estimation by Extracting Speed Pattern in Brush Touch of Drawings

In the handwriting verification system that identifies fake works of art works and signatures, in the conventional system, it is a method to estimate from the similarity of image patterns. In this research, we aim at a system that identifies individuals from the velocity pattern of the brush, focusing on the touch of the drawer. In this paper, speed patterns and features in handwriting are extracted.
Real-time 3D pose estimation by RGB-D camera for prediction of human motion

As the opportunity of interactions between human and robot increases, real-time human 3D pose estimation technique is required for robot to act adaptively to human motion. A marker-less motion capturing system, such as Kinect, sometimes miss and incorrectly estimates 3D pose when the joint-points are in a specific pose, for instance, with crossed arm. This paper describes a method of real-time 3D pose estimation using a RGB-D camera and an image-based pose estimation technique. This can be an easy-to-use real-time motion capture system. We will use this system to obtain human 3D motion data in everyday environment for predicting human motion in real time.
Motion control technique on rough terrain for four-wheel type robot with rolling shaft

Recently, there is a demand for a wheel type mobile robot that can safely move on rough terrain. “RT-Mover” are four- wheel type robots, which have both of wheel mode and leg mode despite the simplicity of mechanism. In this paper, we propose a method of rolling axis control when a four-wheel type robot such as RT-Mover moves on rough terrain. The torque of the rolling axis is decided with a certain ratio between target torque for horizontal control and angle control. In this way, the robot can move on rough terrain while keeping all wheels grounded and more safely than leg mode.
Context-sensitive mobile learning systems using the method for engineering learning systems MISA

Two major challenges are faced when designing context-sensitive mobile learning systems: i) considering contextual components in the instructional design and ii) implementing the system response to those changing components in order to enhance the learner's learning experience without altering pedagogical objectives. The complication stems from poor understanding of what constitutes context and how it should be presented but also from its unpredictability and richness making it almost impossible to consider all its elements upstream the design process. We address these issues in the present paper by defining and categorizing the contextual information into semantic models to be included in the mobile learning system design process obtained using the method for Engineering Learning Systems MISA. We then determine the main technical and instructional functionalities to be implemented by such systems
Plant automatic operation utilizing AI and big data analysis in Waste to Energy Plants．

JFE Engineering has continued to make various efforts from an early stage for PFI/DBO projects involving the joint management of facilities by the government and private businesses, and is engaged in operating waste to energy plants through long-term comprehensive commissioned projects. JFE Hyper Remote was developed to reduce plant life cycle cost and to support safe and stable operation. Connecting by the high speed optical fiber networks in various plants beginning with waste to energy plants constructed and operated by JFE Engineering and the Global Remote Center(GRC) at Yokohama headquarters, we provide comprehensive services by remote monitoring and operation support and automatic operation.
Development of hexacopter based on wall adhesion mechanism

Social infrastructures such as tunnels and bridges are aging in Japan. In order to achieve the automated inspection by robotics technology, inspection multirotors with adhesion mechanism are developed. We developed the multirotor with Universal Vacuum Gripper (UVG) as the adhesion mechanism. UVG is a kind of vacuum sucker with deformable lip part composed of an elastomer and powder, which can freely deform along the uneven surface and prevent air leakage. Inspection equipment is required for infrastructure inspection work. Therefore, a multi rotor with a large payload amount is required. In this research, we developed a large-sized hexacopter which can hold a suction drive source and can adhesive on the wall with horizontal propulsion mechanism.
Convolutional event embeddings for fast probabilistic earthquake assessment

Recent research showed that machine learning, in particular deep learning, can be applied with great success to a multitude of seismological tasks, e.g. phase picking and earthquake localization. One reason is that neural networks can be used as feature extractors, generating generally applicable representations of complex data. We employ a convolutional network to condense earthquake waveforms from a varying set of stations into a high dimensional vector, which we call event embedding. For each event the embedding is calculated from instrument-corrected waveforms beginning at the first P pick and updated continuously with incoming data. We employ event embeddings for real time magnitude estimation, earthquake localization and ground motion prediction, which are central tasks for early warning and for guiding rapid disaster response. We evaluate our model on the IPOC catalog for Northern Chile, containing ∼100,000 events with low uncertainty hypocenters and magnitude estimates. We split the catalog sequentially into a training and a test set, with the 2014 Iquique event (Mw 8.1) and its fore- and aftershocks contained in the test set. Following preliminary results the system achieves a test RMSE of 0.28 magnitude units (m.u.) and 35 km hypocentral distance 1 s after the first P arrival at the nearest station, which improves to 0.17 m.u. and 22 km after 5 s and 0.11 m.u. and 15 km after 25 s. As applications in the hazard domain require proper uncertainty estimates, we propose a probabilistic model using Gaussian mixture density networks. By analyzing the predictions in terms of their calibration, we show that the model exhibits overconfidence i.e. overly optimistic confidence intervals. We show that deep ensembles substantially improve calibration. To assess the limitations of our model and elucidate the pitfalls of machine learning for early warning in general, we conduct an error analysis and discuss mitigation strategies. Despite the size of our catalog, we observe issues with two kinds of data sparsity. First, we observe increased residuals for the source parameters of the largest events, as training data for these events is scarce. Second, similar inaccuracies occur in areas without events of a certain size in the training catalog. We investigate the impact of these limitations on the Iquique fore- and aftershocks.
Deliverable 5.4 Initial Training Materials

This interim report describes the approach taken to creating training materials in the FREYA project and provides an overview of the materials created and links to them. Up to this point in the project the team has migrated and update the FREYA Knowledge Hub to a new location on pidforum.org. FREYA has also collaborated with a wide range of stakeholders, including other European projects, to broaden the reach of the training materials and co-organise events which appeal to a broader audience, including co-organising several joint events and creating a guide on personal identifiers. The report also discusses the successes and challenges encountered in creating training materials thus far. In the next six months, prior to submission of the final report, the project will evaluate the training materials created and refine them where possible to better suit users’ needs.The sustainability of the Knowledge Hub content will also be addressed. In addition, with the ongoing development of the PID Graph, further materials will be created to support early adopters and all events will be evaluated to inform and improve future events.
Tongue Mechanism Inspired by Anteater for the Realization of the Function of Repeatable Putting in-out Motion

In this paper, we developed a robot as a simplified physics simulator to elucidate the tongue of the anteater and exploit its moving principle. Furthermore, the middle term purpose of the research is to extract the functions of the soft switching bodies entering and leaving at high frequency, implement them as mechanism elements, and utilize as an application such as cleaning devices. As a long term, the major objective is to lead to an interactive academic development of both biology and robot engineering.
Impression formation for a telepresence robot in office environment

We aim to obtain design guidelines that will enhance the acceptability of telepresence robots in office environments. As an initial step, we conduct an interview survey on a case in which a manager has used a telepresence robot to communicate with his team members occasionally for a long period (about 3 years). In this paper, we examine office worker’s impression change on the telepresence robot. The survey suggests that (1) frequency of interaction with the robot and relationship with the manager affect the impression formation of the members, and (2) suspicious feeling on the robot is weaken over time, and the members gradually start feeling as if the robot is like the manager himself.
Effort of Robot Engineer Training Workshops at The University of Aizu

This paper shows our effort for robot engineer training workshops in the project for the robot technology development and support at the University of Aizu. In particular, the paper shows our RT middleware workshop, e-learning and hackathon trial to obtain knowledge for controlling the robot by OpenRTM-aist. Additionally, the paper describes about our effort for workshop that robot engineers learn knowledge for special fields such as electronic engineering and information science.
Assessing Metadata and Curation Quality

Since 2017, the publisher Springer Nature has provided an optional Research Data Support service to help researchers deposit and curate data that support their peer-reviewed publications. This service builds on a Research Data Helpdesk, which since 2016 has provided support to authors and editors who need advice on the options available for sharing their research data. In this paper, we describe a short project which aimed to facilitate an objective assessment of metadata quality, undertaken during the development of a third-party curation service for researchers (Research Data Support). We provide details on the single-blind user-testing that was undertaken, and the results gathered during this experiment. We also briefly describe the curation services which have been developed and introduced following an initial period of testing and piloting.
Software's Quality-in-use Mining for User's Comments

At present, user's comments are important information sources that help users and software developers to evaluate the software's quality-in-use. However, the accumulation of user's comment information is rapid. There are some difficulties while using user's comments to evaluate software's quality-in-use. The research and practical value of mining software's quality-in-use for user's comments are becoming more and more prominent. The systematic and comprehensive review on software's quality-in-use mining for user's comments is trying to present on the basis of related researches in recent years. There are two cores in software's quality-in-use mining for user's comments, including identification of software's quality-in-use information and analysis of software's quality-in-use information. For identification of software's quality-in-use information, it is concluded that application of feature words reflecting quality-in-use, combination with language rules of quality-in-use, extraction of evaluation aspects reflecting quality-in-use and classification based on quality-in-use characteristics. Furthermore, analysis for overall usage of software and analysis for specific usage of software are summarized. Finally, the future work of software's quality-in-use mining for user's comments is discussed.
Using Story Mapping Strategy and Reading Motivation to Improve Reading Narrative Comprehension Achievement of Tenth Graders of SMAN 1 Kotapadang

The study was conducted to see whether or not there was a significant improvement in reading narrative comprehension achievement between the students who were taught by using Story Mapping and those who were taught by Guided Reading, to know what the students’ reading motivation, and to know whether or not reading motivation significantly contributed to reading narrative comprehension achievement of tenth grader of SMAN 1 Kotapadang Bengkulu. The experimental research with non-equivalent control design was applied in this study. The population was the tenth graders of SMAN 1 Kotapadang and sixty students were selected as the sample purposefully; they were equally grouped into experimental and control ones. To collect the data, Reading Comprehension Test and Motivation Reading Questionnaire (MRQ) were used. The results showed that there was significant improvement in reading narrative comprehension achievement of the students who were taught by Story Mapping, students’ reading motivation was high, and reading motivation was significantly contributed to reading narrative comprehension achievement of tenth graders of SMAN 1 Kotapadang.
Consideration of Oblivion Models for Communication Agents

This paper proposes an oblivion model concerning episode memory for communication agents. First, the subjects were instructed to listen to a certain sentence, immediately after which they were asked to freely describe the content. Moreover, one month after this event, the subjects were once again asked to describe the content, and their status of oblivion (quantity, quality) was investigated using the number of characters and idea units. The oblivion model for the communication agent was generated using the results of this investigation.
Development of a Wheel Robot which Locally Transforms a Diameter

We have developed a wheel robot which locally transforms its diameter to improve mobility of a wheel on uneven terrain. Our wheel robot locomotes on a flat road with high mobility of a wheel and on rough terrains by changing its diameters. We developed a variable diameter wheel as a prototype of the wheel robot and investigated its availability. In this paper、the wheel robot did not have an axle motor, however the robot could locomote by utilizing expansion and contraction of diameters with moving a center of gravity. We tested its mobility through the two experiments.
Single Rotor Drone with Vertical Wings.

In this paper, we propose a compact and lightweight robot with autonomous flight capability using only a single rotor, that is, with minimal degree of freedom, using microcomputers and sensors. A simple flying robot that improves the problem of drone, the flight sound and the complexity of the system is required. Not only the propeller and the motor but also two vertical body wings that prevent the body of the robot from rotating can make it possible to fly with only a single rotor. The proposed palmtop type prototype equipped with a microcomputer weighing 32[g] with a size of 200 × 23 × 93[mm] showed the possibility of flying with a single rotor.
Development of tactile presentation mirror system for wrist joint motion

In this laboratory, we have focused on mirror therapy that has been done for patients with stroke hemiplegia, and have developed and evaluated mirror therapy system using tactile information. This suggested that the tactile information might be effective in improving the paralysis function. Based on this result, we thought that tactile sense might contribute to improving sense of motor participation. In this study, we developed a mirror system that presents tactile sense for abduction and inversion of the wrist joint and evaluated how much the presence or absence of tactile presentation influences the induction of the motor participant feeling. As a result, it is suggested that the tactile information may contribute to improving the sense of motor participation.
Proposition of Echography Support System by superimposed displaying using Optical Head Mounted Display

Echography is an imaging diagnostic method that has advantages of low cost, minimally invasive, real time, compactness, and simplicity. It is indispensable equipment in every medical field but examination with echography greatly depends on the expertise and experience of an operator. Recently, it has been revealed mainly by overseas research that echography is a risky work of musculoskeletal disorders. The reason for this, ultrasonographer have to look at the position of ultrasound probe and the monitor which displayed got echogram alternately by diagnosis. In this paper, we have constructed ultrasound diagnosis support system that superimposed displayed echogram at the position where the probe applied in real time applying optical see-through head mounted display OST-HMD, for the purpose of encouraging of echography techniques of inexpert.
Model interaction using 3D Aerial Image Interface

The three-dimensional aerial image interface (3DAII) is a system for aerially projecting various 3D objects. The projected objects can be viewed from multiple directions without the use of special devices, such as eyeglasses (i.e. AR), gas or vapor for projection...etc. This research aims to reproduce 3D objects that can be touched and rotated interactively, as if on a freely spinning platform. The previous system only allowed positional movement of objects based on finger gestures. However, positional (but non-rotational) movement functionality alone is not enough to reproduce a true sensation of interacting with an object. In this paper, we added a function to rotate a given object and a function to transform it (e.g. squeezing by fingers). As a result, it was confirmed that this addition provided a more realistic interaction than the previous function.
Development of the aerial manipulator based on the multi-rotor UAV with tilt propeller mechanism

The raerial manipulator is the UAV (Unmanned Aerial Vehicle) which is equipped the robot arm used for working during flight. In this paper, we describe that the development of an aerial manipulator which based on the multi-copter UAV with tilt propeller mechanism. In our research, the aerial manipulator combining the UAV which can control both position and attitude independently and one robot hand has been developing. In order to reduce weight, the robot hand is also serve as landing gear during landing. Additionally, the flight experiment result is showed in this paper.
Detection of Position of Step Made by a Cloth-like Object from Sectional Form using Machine Learning

In this paper we aim to realize a detection method of a step at the position of the edge of a cloth in the form data by a laser displacement sensor. This paper subscribes about a detection method that using Machine Learning, and a method of Data Augmentation for the form data to increase count of form data with the correct edge input by human. In the results, we found that the mean and the maximum error by the AdaBoost and the Data Augmentation method are less than they by we previous proposed. But we also found that the error by we previous proposed is less than by the AdaBoost in some frames.
To detect area by ToF sensor array.

We propose an obstacle detection sensor for operation support system aimed at preventing falling and toppling over of electric wheelchair. The LRF which is commonly used so far is excellent for detecting obstacles and the like. Since the obstacle to be detected is of the shortest distance within the range, it is difficult to detect steps, grooves on the floor surface and the like. Therefore, the proposed system arranges the laser ranging sensors in the form of an array and extends the reading range by reflection and angle adjustment of the plane mirror. In this paper, we describe the extraction of problems of LRF and the features of the proposed system.
Development of Robotic Hands for Pain Reduction by Social Touch

In this study, we developed a robot hand that social touch in interpersonal relationships can be established between humans and robots. The developed robot hand is device capable of expressing human like body temperature as well as touch and grip like human skin. We developed two different sizes of robot hands in a structure able to grasp other hands and to be grasped by other hands which is different from the traditional structure of robot hands. We made a hypothesis that if a robot hand improves its similarity to a human being, a social touch can be created through physical contact with the robot hand. This means that even from physical contact with robots, the positive effects from social touch can be obtained. It is also suggested that the social touch with robot hands opens the possibility of pain reduction effects like social touch in human-to-human.
Development of Robotic Human Support Unit for workload reduction on the lower surface of bridge and Social Implementation Experiment

In Japan it enforced Basic Act for National Resilience Contributing from Ministry of Land, Infrastructure, Transport and Tourism (MLIT) based on the lessons learned from The Great East Japan Earthquake. The basic plan has been stated that the development of plans based on the infrastructure life basic plan, one of the periodic inspection have been established in five years due to the proximity visually on the road bridge of the country management to one of them. Suspended scaffolds are used to inspect and repair large bridges. However, work in suspended scaffold places a burden on worker. So, there is a demand for a system that reduces the load. In this paper, we have developed prototype of robot unit for work load reduction in suspended scaffold, held a field validation and improved the robot unit.