398 research outputs found
Image similarity based on Discrete Wavelet Transform for robots with low-computational resources
No full textThis paper describes a similarity measure for images which can be used in image-based topological localization and topological SLAM problems by autonomous robots with low computational resources. Instead of storing the images in the robot’s memory, we propose a compact signature to be extracted from the images. The signature is based on the calculation of the 2D Haar Wavelet Transform of the gray-level image and its size is only 170 bytes. We called this signature the DWT-signature. We exploit the frequency and space localization property of the wavelet transform to match the images grabbed by the perspective camera mounted on board the robot and the reference panoramic images built using an automatic image stitching procedure. The proposed signature allows, at the same time, memory saving and fast and efficient similarity calculation. For the topological SLAM problem we also present a simple implementation of a loop-closure detection based on the proposed signature.
We report experiments showing the effectiveness of the proposed image similarity measure using two kinds of small robots: an AIBO ERS-7 robot of the RoboCup Araibo Team of the University of Tokyo and a Kondo KHR-1HV humanoid robot of the IAS-Lab of the University of Padua
Toward image-based localization for AIBO using wavelet transform
No full textThis paper describes a similarity measure for images to be used in image-based localization for autonomous robots with low computational resources. We propose a novel signature to be extracted from the image and to be stored in memory. The proposed signature allows, at the same time, memory saving and fast similarity calculation. The signature is based on the calculation of the 2D Haar Wavelet Transform of the gray-level image. We present experiments showing the effectiveness of the proposed image similarity measure. The used images were collected using the AIBOs ERS-7 of the RoboCup Team Araibo of the University of Tokyo on a RoboCup field, however, the proposed image similarity measure does not use any information on the structure of the environment and do not exploit the peculiar features of the RoboCup environment
A new fluorescent anatomic pulmonary segmentectomy using PDD endoscope system™ and vitamin B2: evaluation in a clinical setting using living animal
No full text金沢大学博士（医学）博士論文本文Full 以下に掲載：Surgical Endoscopy 30(1) pp.339-345 2016. Springer. 共著者：Masahiro Ohsima, Ryuichi Waseda, Nobuhiro Tanaka, Hideyuki Ueda, Akishi Ooi, Isao Matsumotodoctoral thesi
Cognitive demands and dynamic cosmesis of walking of amputees using intelligent knee : a comparative evaluation
No full textComposition and structure of Al-Sn alloys formed by constant potential electrolysis in an AlCl3-NaCl-KCl-SnCl2 molten salt
No full textTo form Al-Sn alloys for bearing materials, molten salt electrolysis was performed in an AlCl3-NaCl-KCl molten salt containing SnCl2 at 423 K. The voltammogram showed that the cathodic reduction of the Sn ions started at a potential of 0.5 V vs. Al/Al(III) in the molten salt showing that deposition of pure Sn was possible at 0.5 V. Co-deposition of Al and Sn occurred at potentials more negative than 0.1 V. The co-deposit was composed a solid solution of Al and Sn. The ratio of the Sn in the electrodeposits decreased with the potential from 100 at.% at 0.2 V to 19 at.% at -0.3 V. In the structural observations, electrodeposits with an alternate stacked structure of Al and Sn is obtained at -0.075 V. (c) 2012 Elsevier Ltd. All rights reserved
Searching Behavior of a Simple Manipulator Only with Sense of Touch Generated by Probabilistic Flow Control
No full text
Emerg Infect Dis
No full textClostridium butyricum, a probiotic commonly prescribed in Asia, most notably as MIYA-BM (Miyarisan Pharmaceutical Co., Ltd.; https://www.miyarisan.com), occasionally leads to bacteremia. The prevalence and characteristics of C. butyricum bacteremia and its bacteriologic and genetic underpinnings remain unknown. We retrospectively investigated patients admitted to Osaka University Hospital during September 2011-February 2023. Whole-genome sequencing revealed 5 (0.08%) cases of C. butyricum bacteremia among 6,576 case-patients who had blood cultures positive for any bacteria. Four patients consumed MIYA-BM, and 1 patient consumed a different C. butyricum-containing probiotic. Most patients had compromised immune systems, and common symptoms included fever and abdominal distress. One patient died of nonocclusive mesenteric ischemia. Sequencing results confirmed that all identified C. butyricum bacteremia strains were probiotic derivatives. Our findings underscore the risk for bacteremia resulting from probiotic use, especially in hospitalized patients, necessitating judicious prescription practices
Generation of compensation behavior of autonomous robot for uncertainty of information with probabilistic flow control
No full text<div><p>We exhibit that a robot shows strategic behaviors for overcoming uncertainty of information in navigation tasks by a modification of the core formula in value method. The new formula biases the calculation so as to give a priority, the decision-making to an important part of the state space. value method with the modified formula is named as probabilistic flow control (PFC) method. We apply PFC method to a simulated simple task of a mobile robot. In the task, the robot with PFC method shows tricky behaviors that compensate the uncertainty of state information.</p></div
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