Artificial Life and Robotics最新文献_第2页

Artificial life and robotics celebrates its 30th anniversary 人工生命和机器人迎来30周年纪念

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Artificial Life and Robotics Pub Date : 2025-01-30 DOI: 10.1007/s10015-025-01009-1

Fumitoshi Matsuno

引用次数: 0

Reducing the effect of face orientation using FaceMesh landmarks in drowsiness estimation based on facial thermal images 基于人脸热图像的困倦估计中，使用FaceMesh标记减少人脸方向的影响

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Artificial Life and Robotics Pub Date : 2025-01-26 DOI: 10.1007/s10015-024-01001-1

Ayaka Nomura, Atsushi Yoshida, Kent Nagumo, Akio Nozawa

{"title":"Reducing the effect of face orientation using FaceMesh landmarks in drowsiness estimation based on facial thermal images","authors":"Ayaka Nomura, Atsushi Yoshida, Kent Nagumo, Akio Nozawa","doi":"10.1007/s10015-024-01001-1","DOIUrl":"10.1007/s10015-024-01001-1","url":null,"abstract":"<div><p>In this study, facial skin temperature distribution (FSTD) is focused on as a new driver monitoring index. FSTD is an autonomic index that can be measured remotely. Studies have been conducted to estimate drowsiness based on FSTD using modelng methods such as CNN, a type of deep learning, and sparse modeling, which can be trained with a small amount of data. These studies, however, only evaluated front-facing facial thermal images. FaceMesh is a model that extracts 478 3D facial feature landmarks from a 2D face image. In contrast to conventional models that extract only 68 facial feature landmarks, FaceMesh can extract facial feature landmarks for the entire face, including the cheeks, forehead, and other areas of the face that are in the blind spots. This study aims to improve the accuracy of drowsiness estimation by applying FaceMesh to automatically detect tilted faces and not including tilted images in the training data. As a result, the method proposed in this study improved drowsiness estimation accuracy by about 6% compared to the old method, which did not take face orientation into account.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 2","pages":"317 - 324"},"PeriodicalIF":0.8,"publicationDate":"2025-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10015-024-01001-1.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143925494","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An empirical evaluation of a hierarchical reinforcement learning method towards modular robot control 模块化机器人控制的层次强化学习方法的经验评价

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Artificial Life and Robotics Pub Date : 2025-01-23 DOI: 10.1007/s10015-025-01003-7

Sho Takeda, Satoshi Yamamori, Satoshi Yagi, Jun Morimoto

{"title":"An empirical evaluation of a hierarchical reinforcement learning method towards modular robot control","authors":"Sho Takeda, Satoshi Yamamori, Satoshi Yagi, Jun Morimoto","doi":"10.1007/s10015-025-01003-7","DOIUrl":"10.1007/s10015-025-01003-7","url":null,"abstract":"<div><p>There is a growing expectation that deep reinforcement learning will enable multi-degree-of-freedom robots to acquire policies suitable for real-world applications. However, a robot system with a variety of components requires many learning trials for each different combination of robot modules. In this study, we propose a hierarchical policy design to segment tasks according to different robot components. The tasks of the multi-module robot are performed by skill sets trained on a component-by-component basis. In our learning approach, each module learns reusable skills, which are then integrated to control the whole robotic system. By adopting component-based learning and reusing previously acquired policies, we transform the action space from continuous to discrete. This transformation reduces the complexity of exploration across the entire robotic system. We validated our proposed method by applying it to a valve rotation task using a combination of a robotic arm and a robotic gripper. Evaluation based on physical simulations showed that hierarchical policy construction improved sample efficiency, achieving performance comparable to the baseline with 46.3% fewer samples.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 2","pages":"245 - 251"},"PeriodicalIF":0.8,"publicationDate":"2025-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143925714","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robust pig extraction using ground base depth images for automatic weight estimation 利用地基深度图像进行自动权重估计的鲁棒猪提取

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Artificial Life and Robotics Pub Date : 2025-01-18 DOI: 10.1007/s10015-025-01004-6

Khin Dagon Win, Kikuhito Kawasue, Tadaaki Tokunaga

{"title":"Robust pig extraction using ground base depth images for automatic weight estimation","authors":"Khin Dagon Win, Kikuhito Kawasue, Tadaaki Tokunaga","doi":"10.1007/s10015-025-01004-6","DOIUrl":"10.1007/s10015-025-01004-6","url":null,"abstract":"<div><p>Dark colored pigs (Berkshire, Duroc, etc.) are widely recognized nationwide in Japan for their exceptional taste, with the southern Kyushu region being a renowned production area for these esteemed breeds. However, estimating the weight of these pigs using a camera presents a unique challenge. The key process in a camera-based weight estimation system is the precise extraction of the target pig from the background. Typically, cameras capture images from above, as the top-view images provide the most specific growth indicators. However, the image from above contains a ground image. Since Berkshire and Duroc pigs are black and red, respectively, they blend into the ground, making it difficult to accurately segment the pigs in the images. Thus, it is crucial to perfectly distinguish between the ground and the pigs. Therefore, a new extraction method is proposed to distinguish between the ground and pigs by converting depth data based on the pig's position. To enhance the efficiency of pig farming and alleviate the burden on workers, our goal is to develop a system that automatically measures the weight of Berkshire pigs for shipment without background interference. In this study, we installed the system at a Berkshire pig farm and demonstrated the effectiveness of this innovative extraction method for camera-based weight estimation.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 1","pages":"42 - 50"},"PeriodicalIF":0.8,"publicationDate":"2025-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10015-025-01004-6.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143480909","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Improvement of fault tolerance of quadruped robots by detecting correlation anomalies in sensor signals 通过检测传感器信号中的相关异常来提高四足机器人的容错性

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Artificial Life and Robotics Pub Date : 2025-01-17 DOI: 10.1007/s10015-024-00984-1

Eisuke Matsubara, Satoshi Yagi, Yuta Goto, Satoshi Yamamori, Jun Morimoto

{"title":"Improvement of fault tolerance of quadruped robots by detecting correlation anomalies in sensor signals","authors":"Eisuke Matsubara, Satoshi Yagi, Yuta Goto, Satoshi Yamamori, Jun Morimoto","doi":"10.1007/s10015-024-00984-1","DOIUrl":"10.1007/s10015-024-00984-1","url":null,"abstract":"<div><p>Autonomous robots that rely on sensors for operation require fail-soft strategies to continue tasks despite partial sensor failures. We propose a sensor anomaly detection method that monitors changes in sensor data correlations. Our method eliminates the need for pre-defined programming to determine abnormal states for each individual sensor. Furthermore, real-time anomaly detection is possible through sparse structure learning. In the experiment, we evaluated this method on a quadruped robot in a simulated environment. We perturbed the sensor readings by adding two types of large or small noise at one of the robot’s leg joints. When an anomaly was detected, the robot estimates the actual value of the noisy joint using a pre-trained multiple regression model. With our proposed anomaly detection method, the robot successfully completed the walking task in most trials. Specifically, without anomaly detection, adding a large noise to any of the twelve joints resulted in a 0 % success rate. However, with anomaly detection, the success rate improved to over 89 % in seven of the twelve joints.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 2","pages":"252 - 259"},"PeriodicalIF":0.8,"publicationDate":"2025-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143925611","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Optimization of garbage collection routes for evidence-based policy-making 基于循证决策的垃圾收集路径优化

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Artificial Life and Robotics Pub Date : 2025-01-11 DOI: 10.1007/s10015-024-00988-x

Tomoki Kaho, Kazutoshi Sakakibara, Mikiharu Arimura, Shinya Watanabe

{"title":"Optimization of garbage collection routes for evidence-based policy-making","authors":"Tomoki Kaho, Kazutoshi Sakakibara, Mikiharu Arimura, Shinya Watanabe","doi":"10.1007/s10015-024-00988-x","DOIUrl":"10.1007/s10015-024-00988-x","url":null,"abstract":"<div><p>This study models garbage collection in a local city in Hokkaido, Japan, driven by the increasing burden of collection costs despite a declining population. A unique problem in this city is the large number of garbage stations, which exacerbates the collection burden. We examine the impact of waste volume fluctuations and the number and layout of garbage stations on collection routes and costs to find solutions to this issue. This research aims to develop cost-effective and feasible garbage collection strategies to support evidence-based policymaking. We formulated a garbage collection challenge using mixed integer linear programming to minimize travel distances and operational burdens within vehicle capacity constraints. Numerical simulations reveal significant findings: (i) optimized routes reduce total travel distance by <span>(sim)</span>25% compared to existing routes, (ii) increased waste volumes lead to non-linear increases in route lengths, and (iii) the aggregation strength of garbage stations significantly impacts route efficiency and the number of required stations. Conclusively, this study provides empirical evidence to guide policymakers in optimizing garbage collection systems, ensuring effective resource utilization and maintaining service quality.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 1","pages":"156 - 164"},"PeriodicalIF":0.8,"publicationDate":"2025-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143481043","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The effectiveness of GAN-based synthetic-to-real domain adaptation methods in training a wood ear mushroom detection model 基于gan的合成-实域自适应方法在木耳检测模型训练中的有效性

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Artificial Life and Robotics Pub Date : 2025-01-04 DOI: 10.1007/s10015-024-00998-9

Hajime Taguchi, Ryo Matsumura, Hironori Kitakaze

{"title":"The effectiveness of GAN-based synthetic-to-real domain adaptation methods in training a wood ear mushroom detection model","authors":"Hajime Taguchi, Ryo Matsumura, Hironori Kitakaze","doi":"10.1007/s10015-024-00998-9","DOIUrl":"10.1007/s10015-024-00998-9","url":null,"abstract":"<div><p>In this study, we verify whether computer-generated imagery (CGI) for real image domain adaptation using a generative adversarial network (GAN) based method can improve the accuracy of wood ear mushroom detection. Automated harvesting is important to address labor shortages in agriculture. However, a significant amount of training data is needed to detect crops with features such as wood ear mushroom. In our previous work, a slight improvement in accuracy was achieved with a small number of real-world images by incorporating CGI into the training data. Nevertheless, the reality gap between the CGI and real-world images is expected to degrade detection accuracy. GAN-based methods are effective in bridging the gap, and this study validates this approach. As a result of the experiment, the accuracy improved by approximately 6% in the F2-score between the CGI and GAN-generated datasets. However, there was no significant difference in detection accuracy when training with a combination of real-world and generated image data. In conclusion, this experiment suggests that data augmentation with generated images is not effective for this specific detection target. Nevertheless, this approach should be explored further by generating data on a larger scale with greater computational resources.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 2","pages":"310 - 316"},"PeriodicalIF":0.8,"publicationDate":"2025-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143925542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Optimal group structure for group chase and escape 群体追逃的最优群体结构

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Artificial Life and Robotics Pub Date : 2024-12-27 DOI: 10.1007/s10015-024-00991-2

Kohsuke Somemori, Takashi Shimada

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Development and verification of connectors for modular robots to complete practical tasks on the moon 开发和验证模块化机器人在月球上完成实际任务的连接器

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Artificial Life and Robotics Pub Date : 2024-12-26 DOI: 10.1007/s10015-024-00987-y

Ryohei Michikawa, Kiona Hosotani, Yuya Shimizu, Ching Wen Chin, Xixun Wang, Tomohiro Hayakawa, Ryusuke Fujisawa, Tetsushi Kamegawa, Motoyasu Tanaka, Fumitoshi Matsuno

{"title":"Development and verification of connectors for modular robots to complete practical tasks on the moon","authors":"Ryohei Michikawa, Kiona Hosotani, Yuya Shimizu, Ching Wen Chin, Xixun Wang, Tomohiro Hayakawa, Ryusuke Fujisawa, Tetsushi Kamegawa, Motoyasu Tanaka, Fumitoshi Matsuno","doi":"10.1007/s10015-024-00987-y","DOIUrl":"10.1007/s10015-024-00987-y","url":null,"abstract":"<div><p>Modular robots, capable of reconfiguration using heterogeneous modules, are considered to be suitable for the completion of base construction tasks on the lunar surface. To this end, there is a need for developing a connector mechanism that connects modules mechanically and electrically in a robust manner. This study developed such a connector with small size, diameter of 13 cm, and satisfactory strength with the ability to withstand a load of 35 Nm. The connector is designed to be genderless, which allows lower restriction in the connection orientation and high flexibility in the reconfiguration of modular robots. The electrical connection is equipped with electrical contact pins and pads that can establish 1000BASE–T Ethernet communication and RS485 communication, and provide 12 V power supply, enabling wired communication between the module computers and the powering of passive modules without a computer. In this study, the developed connectors were mounted onto actual modular robots and their performance and effectiveness was verified. The 16 connectors were sufficiently strong to configure the model of a 40 kg moving robot that consisted of four legs, one body, and four wheels, and the communication quality was acceptable.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 2","pages":"198 - 207"},"PeriodicalIF":0.8,"publicationDate":"2024-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143925493","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

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Structural balance of alliance and rivalry networks in international relations 国际关系中联盟与竞争网络的结构平衡

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Artificial Life and Robotics Pub Date : 2024-12-26 DOI: 10.1007/s10015-024-00997-w

Koji Oishi, Kentaro Sakuwa

{"title":"Structural balance of alliance and rivalry networks in international relations","authors":"Koji Oishi, Kentaro Sakuwa","doi":"10.1007/s10015-024-00997-w","DOIUrl":"10.1007/s10015-024-00997-w","url":null,"abstract":"<div><p>Does the enemy of my enemy become my friend? A growing body of literature on structural analysis of interstate relationships has tackled this old question from the complex system and network perspective. However, the mechanism of long-term change in the structure of cooperation and enmity has yet to be fully understood. In search for a general explanation for the long-term evolution of interstate structure, we empirically examine the structural balance theory, which predicts that a signed network evolves toward a more “balanced\" structure where in many triangular relationships (i.e., triads) two states tend to share a common enemy or three states cooperate with each other. We investigate the network of alliances (positive edges) and rivalries (negative edges) between sovereign states and examine whether its evolution from 1816 to 2009 can be explained by the structural balance theory. We find the consistency with the structural balance theory drastically changes over time. The empirical pattern follows the prediction by the theory before German unification in the nineteenth century and after World War II while being inconsistent in the middle period. This result reveals the impact of the two historical events on the underlying mechanism of network evolution. Moreover, the contrast with previous studies of signed social networks that generally support the structural balance theory indicates that international alliance and rivalry networks can be promising material to study novel mechanisms behind the time evolution of signed networks and complex systems of conflict and cooperation.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 2","pages":"303 - 309"},"PeriodicalIF":0.8,"publicationDate":"2024-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143925492","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0