論文 - 高橋 伸弥
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SGLDOMP–Stochastic Gradient Langevin Dynamics Optimization-based Motion Planning
Masahiro Yokomichi and Nobuya Takahashi
The Thirtieth International Symposium on Artificial Life and Robotics 2025 (AROB 30th 2025) 1455 - 1459 2025年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Reinforcement learning and LiDAR-SLAM based obstacle avoidance of drone with depth camera
Ren Shigenaga and Masahiro Yokomichi and Nobuya Takahashi
The Thirtieth International Symposium on Artificial Life and Robotics 2025 (AROB 30th 2025) 1464 - 1467 2025年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Gradient-based Multiplicative Update Rules for Non-negative Matrix Factorization
Nobuya Takahashi and Masahiro Yokomichi
The Thirtieth International Symposium on Artificial Life and Robotics 2025 (AROB 30th 2025) 1460 - 1464 2025年1月
担当区分：筆頭著者 記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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A Genetic Algorithm-based Approach for Design-level Class Decomposition 査読あり
Priyambadha B., Takahashi N., Katayama T.
International Journal of Advanced Computer Science and Applications 15 ( 4 ) 461 - 468 2024年4月
掲載種別：研究論文（学術雑誌） 出版者・発行元：International Journal of Advanced Computer Science and Applications
Software is always changed to accommodate environmental changes to preserve its existence. While changes happen to the software, the internal structure tends to decline in quality. The refactoring process is worth running to preserve the internal structure of the software. The decomposition process is a suitable refactoring process for Blob smell in class. It tried to split up the class based on the context in order to arrange it based on each responsibility. The previous approach has been implemented but still leaves problems. The optimum arrangement of class cannot be achieved using the previous approach. The genetic algorithm provides the search mechanism to find the optimum state based on the criterion stated at the beginning of the process. This paper presents the use of genetic algorithms to solve the design-level class decomposition problem. The paper explained several points, including the conversion from class to the chromosome construct, the fitness function calculation, selection, crossover, and mutation. The results show that the use of a genetic algorithm was able to solve the previous problems. The genetic algorithm can solve the local optimum problem from the previous approach. The increment of the fitness function of the study case proves it.
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HMC-PSO : Hamiltonian Monte Carlo-embedded Particle Swarm Optimization
Masahiro Yokomichi, Nobuya Takahashi
The Twenty-Ninth International Symposium on Artificial Life and Robotics 2024 1147 - 1151 2024年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Fundamental study focusing on structural similarity of street based on geographic information using graph neural network
Hiroya Hoshihara, Nobuya Takahashi, Masahiro Yokomichi
The Twenty-Ninth International Symposium on Artificial Life and Robotics 2024 1156 - 1159 2024年1月
担当区分：責任著者 記述言語：英語 掲載種別：研究論文（学術雑誌）
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UAV flight path planning based on deep reinforcement learning
Masami Hisayama, Nobuya Takahashi, Masahiro Yokomichi
The Twenty-Ninth International Symposium on Artificial Life and Robotics 2024 1152 - 1155 2024年1月
担当区分：責任著者 記述言語：英語 掲載種別：研究論文（学術雑誌）
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The method for reproducing the haptic feedback of fluid in a virtual space using multiple stimuli
Masahiro Yokomichi, Nobuya Takahashi and Yuki Komatsu
Proceedings of the 28th International Symposium on Artificial Life and Robotics 2023 1173 - 1176 2023年1月
掲載種別：研究論文（国際会議プロシーディングス）
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Research on Path Planning for UAV based on Geometrical Method
Nobuya Takahashi and Masahiro Yokomichi
Proceedings of the 28th International Symposium on Artificial Life and Robotics 2023 1165 - 1168 2023年1月
担当区分：筆頭著者 掲載種別：研究論文（国際会議プロシーディングス）
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A Control System Design based on Automatic Differentiation
Nobuya Takahashi, Fubuki Takahashi and Masahiro Yokomichi
Proceedings of the 28th International Symposium on Artificial Life and Robotics 2023 1169 - 1172 2023年1月
担当区分：筆頭著者 掲載種別：研究論文（国際会議プロシーディングス）
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Video-based Japanese Finger-spelling Recognition using CNN
Masahiro Yokomichi and Nobuya Takahashi
Proceedings of the 27th International Symposium on Artificial Life and Robotics 2022 1478 - 1482 2022年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Gradient-based Redesign for the Optimal Regulator with Considering Nonlinearity
Nobuya Takahashi, Masahiro Ikeda and Masahiro Yokomichi
Proceedings of the 27th International Symposium on Artificial Life and Robotics 2022 1466 - 1469 2022年1月
担当区分：筆頭著者 記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Reproducing the haptic feedback of soft objects and fluids by particle-based simulation methods
Yuki Komatsu, Nobuya Takahashi, Masahiro Yokomichi
Proceedings of the 27th International Symposium on Artificial Life and Robotics 2022 1474 - 1477 2022年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Optimal control of discrete-time system with prescribed degree of stability
Nobuya TAKAHASHI, Shosei YAYAMA, Masahiro YOKOMICHI and Osamu SATO
Proceedings of the 25th International Symposium on Artificial Life and Robotics 785 - 788 2020年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Asymptotic model maching controller design for rigid body dynamics based on conformal geometoric algebra
Masahiro YOKOMICHI, Nobuya TAKAHASHI and Osamu SATO
Proceedings of the 25th International Symposium on Artificial Life and Robotics 789 - 794 2020年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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A study of manipulator on a moving base
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Proceedings of the 25th International Symposium on Artificial Life and Robotics 777 - 780 2020年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Gunaratne P., Tamura H., Yoshida C., Sakurai K., Tanno K., Takahashi N., Nagata J.
MERCon 2019 - Proceedings, 5th International Multidisciplinary Moratuwa Engineering Research Conference 382 - 387 2019年7月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：MERCon 2019 - Proceedings, 5th International Multidisciplinary Moratuwa Engineering Research Conference
© 2019 IEEE. Incorporating real time health monitoring systems in a non-restrictive way, can significantly improve an individual's quality of life in the treatment of sleep disorders. This paper suggests a novel system fornon-wearable, cost effective measurement of breathing and heart-beat during sleep state. The measurement system is composed of flexible multi-piezoelectric elements to acquire the pressure fluctuations persuade by respiratory movement and heart-beat when the subject is lying on it. By employing filters with predefined frequency bands, the breathing andheart-beat waveforms were extracted. The capturing of breathing heart-beat counts was performed by normalizing the extracted waveforms using Wavelet Transform (WT) followed by Fuzzy Logic principles. Further, in the evaluation of nonbreathing time intervals, the amplitude changes in the extracted breathing waveforms were considered over its sleep event. Several experiments were conducted in order to evaluate the performance of the system on above criteria, along with a commercially available system. The experimental results suggest that the proposed method can measure and extract the related waveforms of breathing and heart-beat successfully.
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Discrete-time robust controller and observer for a ball and beam system
Takahashi N., Sato O., Yokomichi M.
Artificial Life and Robotics 24 ( 2 ) 239 - 244 2019年6月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2018, ISAROB. This paper deals with a digital controller and observer design problem for the ball and beam system which is extended version of the previous investigated result. The controller is an extension of robust integral tracking controller. In the discrete-time system, it cannot perform integration and differentiation operation, so we introduce a difference system to design controller for the distance subsystem between reference and output. The observer is designed using dual system LQ design method. The observer gain is able to obtain as the result of robust control design problem of dual system. Each design problem is solved by the guaranteed cost control method. Through the numerical result, we validity and effectiveness of our proposed method.
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UAV operation support system using GIS and virtual environment
Yoshihiko Harada, Nobuya Takahashi, Masahiro Yokomichi, Osamu Sato
Proceedings of the 24th International Symposium on Artificial Life and Robotics 866 - 869 2019年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Speed control of object at release by casting manipulator
Asaji SATO, Osamu SATO, Masanori MATSUNO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Proceedings of the 24th International Symposium on Artificial Life and Robotics 882 - 885 2019年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）