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サービスロボット実現に向けたオープンワールド認識
Get PDF九州工業大学博士（工学）1 緒言| 2 サービスロボット| 3 オープンセット認識| 4 3次元表現生成| 5 結言九州工業大学博士学位論文 学位記番号:生工博甲第516号 学位授与年月日:令和7年9月25日令和7年度doctoral thesi
Parallel Execution Method Using Multiple High-level Synthesized Hardware for Compositing Sprite and Background
Get PDFWe have developed hardware compositing multiple sprites and background in games using high-level synthesis. To improve performance more, parallel execution using multiple hardware is considerable. However, contention to the display frame in shared memory may badly affect the performance. This paper proposes parallel execution methods considering contention to shared memory.conference pape
Identification of Novel Compounds That Bind to the HGF β-Chain In Silico, Verification by Molecular Mechanics and Quantum Mechanics, and Validation of Their HGF Inhibitory Activity In Vitro
Get PDFThe development of small-molecule drugs targeting growth factors for cancer therapy remains a significant challenge, with only limited successful cases. We attempted to identify hepatocyte growth factor (HGF) inhibitors as novel anti-cancer small-molecule drugs. To identify compounds that bind to the β-chain of HGF and inhibit signaling through HGF and its receptor Met interaction, we performed a hierarchical in silico drug screen using a three-dimensional compound structure library (Chembridge, 154,118 compounds). We experimentally tested whether 10 compounds selected as candidates for novel anticancer agents exhibit inhibition of HGF activity. Compounds 6 and 7 potently inhibited Met phosphorylation in the human EHEMES-1 cell line, with IC50 values of 20.4 and 11.9 μM, respectively. Molecular dynamics simulations of the Compound 6/7–HGF β-chain complex structures suggest that Compounds 6 and 7 stably bind to the interface pocket of the HGF β-chain. MM-PBSA, MM-GBSA, and FMO analyses identified crucial amino acid residues for inhibition against the HGF β-chain. By interfering with the HGF/Met interaction, these compounds may attenuate downstream signaling pathways involved in cancer cell proliferation and metastasis. Further optimization and comprehensive evaluations are necessary to advance these compounds toward clinical application in cancer therapy.journal articl
Error-Related Potential During Cooperative Exploration by Humans and Robots in a Large-Scale Maze and the Effect of Boredom on It
Get PDFIn future, humans live with autonomous robot, and cooperate with it. In this study an autonomous robot and a human were asked to cooperate in an exploration task to reach a goal in a large-scale maze. While they were doing a task, electroencephalogram (EEG) was measured from the human. The human was asked to choose the direction of travel at intersections, and 30% of the choose, the robot traveled in a different direction from that specified by the human. Error-related potentials (ErrPs) occurred in the human brain at the time, and that was consistent with that reported in the previous studies. Time-frequency analysis of EEG revealed an increase in θ-frequency power and a decrease in β-frequency power. Some participants felt “bored” during the task. As if to reflect this, in the second half of the task, the amplitude of ErrPs decreased and θ-frequency power also decreased. When the ErrPs of the first and second halves were discriminated using a convolutional neural network, the accuracy rate of the correct responses decreased in the second half compared to the first half. These results suggest that ErrP changes with boredom, and there is a possibility to detect the boredom using EEG.journal articl
A Coherent Random Number Utilization Scheme for a Fault-tolerant Parallel Execution Model Based on Hierarchical Omission
Get PDFHigh productivity, scalability, load balancing, and fault tolerance are all important issues of massively parallel computing. A parallel execution model called HOPE, which we are proposing, addresses these issues by “hierarchical omission of redundant computations”. Every HOPE worker performs the entire divide-and-conquer computation with its own planned order, whereas it can omit subcomputations whose results are obtained from other workers at runtime, achieving fault tolerance and parallel efficiency as a team of workers. In most random number generation algorithms, a random number is generated on the basis of the internal state after the previous random number generation. Therefore, simple reordering does not preserve coherent results/conditions among workers based on the properties of utilized random numbers. In order to always use the same sequence for each hierarchical subcomputation, this study explores coherent random number utilization schemes, using Sobol' sequences or the PCG random number generator, which allow generation starting from the latter part by skipping the first part. In addition, the Monte Carlo method is an important application of random numbers. In this study, we examine a HOPE application that computes highly dimensional numerical integrals for pricing securities known as MBS (mortgage-backed securities) using the Monte Carlo method, where the convergence speed of integration errors is independent of dimensionalityjournal articl
Rethinking Environmental Consciousness: A Multimodal Peer-to-Peer Approach for Sustainable Behavioural Intention Change
Get PDFOur study aims to (1) understand the impact of student-led knowledge dissemination and (2) examine the effects of multimodal interventions — comprising (i) a video on environmental catastrophes, (ii) pictorial reading materials on environmental issues (iii) lab-based simulated eco-tourism trips. This study involved students enrolled in a subject offered at Universiti Teknologi PETRONAS, Malaysia, attended by undergraduates from three different degree programmes. These interventions were implemented to examine their impact on both student advocates and their peers, particularly in terms of raising environmental awareness, shaping attitudes and fostering sustainable behavioural intentions (SBI). We equip students to become environmental advocates by providing them with environmental knowledge in class and assessing their ability to effectively share this knowledge with their peers. We conducted an experimental study using a multimodality intervention approach to assess changes in SBI. Study 1 measures the initial SBI without treatment, while Study 2 measures the incremental SBI after treatment. In our experiment, we requested 124 students (advocates) to reach out to at least three friends, and from this outreach, we obtained 401 respondents altogether. Our approach uncovers the effectiveness of same-level knowledge transfer (students to peers), facilitating the spread of environmental knowledge within peer groups.journal articl
Meta-modeling of latent variable models based on the optimal transport distance
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Crash-Tolerant Perpetual Exploration with Myopic Luminous Robots on Rings
Get PDFWe investigate crash-tolerant perpetual exploration algorithms by myopic luminous robots on ring networks. Myopic robots mean that they can observe nodes only within a certain fixed distance ϕ, and luminous robots mean that they have light devices that can emit a color from a set of colors. The goal of perpetual exploration is to ensure that robots, starting from specific initial positions and colors, move in such a way that every node is visited by at least one robot infinitely often. As a main contribution, we clarify the tight necessary and sufficient number of robots to realize perpetual exploration when at most f robots crash. In the fully synchronous model, we prove that f+2 robots are necessary and sufficient for any ϕ ≥ 1. In the semi-synchronous and asynchronous models, we prove that 3f+3 (resp., 2f+2) robots are necessary and sufficient if ϕ = 1 (resp., ϕ ≥ 2).journal articl