Multiple fuzzy state-value functions for human evaluation through interactive trajectory planning of a partner robot

The purpose of this study is to develop partner robots that can obtain and accumulate human-friendly behaviors. To achieve this purpose, the entire architecture of the robot is designed, based on a concept of structured learning which emphasizes the importance of interactive learning of several modules through interaction with its environment. This paper deals with a trajectory planning method for generating hand-to-hand behaviors of a partner robot by using multiple fuzzy state-value functions, a self-organizing map, and an interactive genetic algorithm. A trajectory for the behavior is generated by an interactive genetic algorithm using human evaluation. In order to reduce human load, human evaluation is estimated by using the fuzzy state-value function. Furthermore, to cope with various situations, a self-organizing map is used for clustering a given task dependent on a human hand position. And then, a fuzzy state-value function is assigned to each output unit of the self-organizing map. The robot can easily obtain and accumulate human-friendly trajectories using a fuzzy state-value function and a knowledge database corresponding to the unit selected in the self-organizing map. Finally, multiple fuzzy state-value functions can estimate a human evaluation model for the hand-to-hand behaviors. Several experimental results show the effectiveness of the proposed method.     

Spatial indexing of high-dimensional data based on relative approximation

We propose a novel index structure, the A-tree (approximation tree), for similarity searches in high-dimensional data. The basic idea of the A-tree is the introduction of virtual bounding rectangles (VBRs) which contain and approximate MBRs or data objects. VBRs can be represented quite compactly and thus affect the tree configuration both quantitatively and qualitatively. First, since tree nodes can contain a large number of VBR entries, fanout becomes large, which increases search speed. More importantly, we have a free hand in arranging MBRs and VBRs in the tree nodes. Each A-tree node contains an MBR and its children VBRs. Therefore, by fetching an A-tree node, we can obtain information on the exact position of a parent MBR and the approximate position of its children. We have performed experiments using both synthetic and real data sets. For the real data sets, the A-tree outperforms the SR-tree and the VA-file in all dimensionalities up to 64 dimensions, which is the highest dimension in our experiments. Additionally, we propose a cost model for the A-tree. We verify the validity of the cost model for synthetic and real data sets. Edited by T. Sellis. Received: December 8, 2000 / Accepted: March 20, 2002 Published online: September 25, 2002     

Ultrasonic effects on electroorganic processes: Part 24. Rate and saturated amount of the self-assembled adsorption of thiolate species on a gold surface

The rate and saturated amount of the self-assembled adsorption of aromatic thiolate species such as 4-pyridinethiolate and phenylthiolate on a polycrystalline gold surface were clearly increased under ultrasonic irradiation with an intensity higher than the ultrasonic cavitation threshold. On the other hand, in the case of the self-assembled adsorption of an aliphatic thiolate species like carboxy ethane thiolate, only the adsorption rate was increased under the irradiation, while the saturated amount was not. This fact suggests that the adsorption of carboxy ethane thiolate results in the most closely packed and ordered monolayer, regardless of ultrasonic irradiation.     

Effects of4He coverage on the propagation of fourth sound in superfluid3He

We report measurements on the effects of⁴He coverage and pressure on the fourth sound propagation in superfluid³He in confined geometries of four different pore sizes.     

STORY GENERATION BASED ON DYNAMICS OF THE MIND

A story generation system based on dynamics of the mind is presented. Semantic theories until now avoided discussing a linkage of language with encyclopedic human knowledge. This paper attacks the problem of how to make clear the complicated, wide-ranging dynamics of the mind and how to connect it to language.
First, the background of this study is shown, in which our model of the mind, with both five levels along the concept formation process and eight domains according to the contents of mental activities, is surveyed.
Based on this model, then, the dynamics of mind are discussed, along an Aesop fable. A unit of data processing in the mind is called a "module," and the mental dynamics are considered as a chain activation of those modules, represented by a dynamic network. Next, a method for story generation is discussed. Propositional information of a sentence is embedded in a slot of activated, frame-structured modules, and the discourse structure of a generated story basically depends on the dynamic network. Both the chain activation and the generation processes are verified by experiments.
Lastly, residual problems of our research, a comparison with related research, and its applications are discussed.
This case study would be expected to give a basis to integrated systems for problem solving, natural language and image understandings, their generations, and intelligent robots.     

Ipidacrine (NIK-247), a novel antidementia, rapidly enters the brain and improves scopolamine-induced amnesia in rats during the Morris water maze task

The effects of single and repeated administrations of ipidacrine (NIK-247, 9-amino-2, 3, 5, 6, 7, 8-hexahydro-1H-cyclopenta [b] quinoline monohydrochloride monohydrate) on scopolamine-induced spatial learning deficit were investigated in rats using the Morris water maze task. A single oral administration of ipidacrine (0.3 and 1 mg/kg) reduced the increased total latency induced by scopolamine in this task. The repeated administration of ipidacrine (1 mg/kg) of once a day for 5 successive days reduced the increased total latency induced by scopolamine to the levels of the saline-treated control rats in this task. In this pharmaco-kinetic study, ipidacrine was rapidly taken up into the brain within 5 min. Moreover, higher drug levels were observed mainly in the cortex and hippocampus, which both play important roles in learning and memory. Thus, a previous study together with this investigation indicate that ipidacrine improves amnesia which consists of the impairment of the working and reference memory in various animal models, suggesting that ipidacrine is a useful candidate for the therapy of patients with Alzheimer's disease.     

Analysis of the spectral linewidth of distributed feedback laser diodes

The spectral linewidth of DFB laser diodes is analysed. DFB lasers with long cavities are shown to have very narrow spectral linewidth, and it is further narrowed if a phase shift is introduced at the centre of the cavities.     

Spin-Entropy Wave Propagation in 3He A1 in Magnetic Fields up to 12 Tesla

The propagation of spin-entropy wave has been studied in ³ He A ₁ in magnetic fields up to 12 tesla and at a pressure of 22.9 bar. The superfluid fraction at T _c2 extracted from the propagation velocity increases linearly with magnetic field and reduced temperature. The anomalous attenuation previously found near T _c2 in lower magnetic fields was also observed in the present maximum field. The pore size in the oscillating superleak transducer does not affect the anomalous attenuation. Outside the anomalous attenuation region, the dissipation coefficient is found to vary linearly with frequency. This frequency dependence is contrary to that of dissipations owing to viscous losses at walls and to bulk losses.     

Velocity, electromechanical coupling factor and acoustic loss of surface shear waves propagating along x-axis on rotated Y-cut plates of LiNbO3

Velocity and propagation loss of surface shear waves are measured on free-space and metallised surfaces of LiNbO3 crystals along the x-axis of rotated Y-cut plates as a function of rotation about the x-axis between 35° and 70°. The coupling factor obtained from the velocities is 0.20 for a 35° rotated Y-cut plate and 0.09 for a 70° plate. The coupling factor changes linearly with the rotation angle. The propagation losses over the whole range measured here are less than 5 dB/cm on both free-space and on metallised surfaces. These losses are fairly low and very favourable for fabricating s.a.w. filters.