Issue 1 (June)

Editor-in-Chief
Masanori Sugisaka
Journal of Advances in Artificial Life Robotics
Preface

1.Robot Motion and Grasping for Blindfold Handover
Sakmongkon Chumkamon, Kota Kawamoto, Umaporn Yokkampon, Eiji Hayashi
Pages 1-5
Abstract
Autonomous robots in human-robot interaction (HRI) recently are becoming part of human life as the number of services or personal robots increasingly used in our home. In order to fulfill the gap of HRI merit, we would like to propose a system of the autonomous robot motion and grasping creation for assisting the disabled person such as the blind people for handover tasks to help blind people in pick and place tasks. In this paper, we develop the robot motion to receive the object by handing over from the blindfold human to represent the blindness. To determine the target of the object and human hand, we implement the 6DOF pose detection using a point cloud and hand detection using the Single Shot Detection model in Deep learning for planning motion using 9DOF arm robot with hand. We finally experiment and evaluate the tasks from blindfold-robot handover tasks.
Keywords:Factory Automation,Motion Planning, Human-Robot Interaction.

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2.A Device Design Based on TDS Water Quality Detection
Fengzhi Dai, Jichao Zhao
Pages 6-10
Abstract
The traditional water quality detection method is sampling and detection by artificial nodes, which is easily interfered by weather and environment. The presented design method is a new water quality detection device for marine and other waters. The device is spherical in shape and uses a built-in sensor and control system to detect the water quality in the form of drifting. This device has a built-in micro control system, TDS detection module, power voltage regulator module, GPS module and wireless signal transmission module. The TDS module detects the concentration of total dissolved matter in the water, and the GPS module measures the current location of the device, which sends the data to the micro control system. The micro control system sends the water quality information and the geographical location information through the wireless transmitting module, and the user can view the water quality status by the device in real time through the Internet. The power supply voltage regulator module provides the different voltages required by the entire device to achieve the function of detecting the current water quality.
Keywords:TDS; Real-time detection; Micro control system; GPS module

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3.Robot competition for underwater technology researchers and students
Yuya Nishida, Takashi Sonoda, Takayuki Matsuo, Shinsuke Yasukawa, Masanori Sato, Yasunori Takemura, Kazuo Ishii
Pages 11-15
Abstract
To promote the research of oceanic engineering technology, an underwater robot competition has been held since 2016. The seventh competition this year consists of AUV leagues, in which vehicles developed by university teams automatically cruise in the field, and junior leagues that participate in making underwater craft. This paper presents the competition regulations for the AUV and junior leagues and the results of the competition held in October 2019.
Keywords:robot competition, autonomous underwater vehicle, Junior league

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4.A Design of the Intelligent Aircraft based on STM32
Fengzhi Dai, Hongbo Hao
Pages 16-20
Abstract
With the chip STM32f767 igt6 (M7 series) as the core, the designed aircraft will finally realize the intelligence by using the optimized attitude algorithm (cascade PID and single-stage PID share the optimized control), omni-directional ultrasonic radar detection barrier collision prevention technology, long-distance wireless transmission technology (to realize the timely transmission of images recognition), navigation technology (the Beidou and GPS double positioning system to realize more accurate positioning), voice recognition technology, man-machine interaction technology, and wireless local area network technology. The experiment shows the result.
Key words:Aircraft, man-machine interaction, wireless transmission, PID

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5.Fundamental Study on Hidden Surface Removal for Interactions between User’s Bare Hands and Virtual Objects in Augmented Reality
Makoto Sakamoto, Takahiro Ishizu, Kenji Sakoma, Takahiro Shinoda, Amane Takei, Takao Ito
Pages 21-25
Abstract
Augmented reality (AR)technology is a technique of superimposing information generated by a computer on perceptual information that we receive from real space. Recently, much attention has been focused on interaction techniques between users and virtual objects, such as the user directlymanipulating virtual objects with his/her bare hands. On the other hand, in AR technology, since the 3-dimensional (3D) model is superimposed on the image of the real space afterwards, it is always displayed on the front side than the hand. Thus, it becomes an unnatural scene in some cases (occlusionproblem). In this study, this system considers the object-context relations between the user's hand and the virtual object by acquiring depth information of the user's finger.In the evaluation experiment, it is confirmed that the hidden surface removal in this study not only makes it possible to consider the object-context relations but also can distinguish between finger boundaries and to clarify and process finger contours.
Keywords:Augmented Reality (AR), Occlusion Problem, Hidden Surface Removal, Hand Detection

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6.Parallel Full-Wave Electromagnetic Field Analysis Using Anatomical Human Body Models
Amane Takei, Makoto Sakamoto
Pages 25-32
Abstract
The authors have investigated a high-accuracy analysis for the electromagnetic field of anatomical human body models using the parallel finite element method. In the full-wave electromagnetic field analysis by the parallel finite element analysis with anatomical human models, efficient conversion from voxels to finite element meshes and speed-up of an analysis become important topics. In this paper, we propose parallel mesh generation method with mesh smoothing, and show to be able to generate large-scale mesh very effective. Then, we evaluated the performance of two kinds of iterative method by numerical experiments using large-scale human body model. As the results, the COCR method is very useful as the interface solver in the DDM for high-frequency electromagnetic field analysis using anatomical human model.
Keywords:Iterative domain decomposition method, Parallel finite element method, Berenger’s PML, Large-scale analysis, Microwave analysis.

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7.No Free Lunch Principle in Agent Swarm Systems: One Case Study
Yunzhong Song, Fengzhi Dai, Huimin Xiao, Shumin Fei
Pages 33-38
Abstract
This note comes with information flooding of the control action of the leader in leader follower framework. In this situation, even observer for the leader velocity is built in a distributed style, the agent swarm system in a whole could not be classified into distributed one. One case study example will be borrowed to demonstrate the truth of the no free lunch principle in agent swarm systems.
Keywords:free lunch principle, agent swarm systems, distributed observer, leader-follower framework

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8.Mouse Cursor Control System using Facial Movements
Masayoshi Tabuse, Manase Mizobe, Yasunari Yoshitomi, Taro Asada
Pages 39-44
Abstract
It is necessary to support of computer operation for a physically disabled person. One of the possible physical movements of the physically disabled person is facial movement. Recognition of facial movement of a person makes it possible to operate a computer. Furthermore without the adjustment for a user and adjustment for the distance from a user, it is possible to reduce the burden on a user. We developed a system to resolve these problems. In our system, a web camera, dlib C++ library and OpenCV library are used to extract feature points of the face and obtain the face direction. Changing the face direction, we can move a mouse cursor. Recognizing an open mouth or closed eye, we can carry out an operation of mouse click. In this paper, we evaluated the effect on operability due to the face direction and recognition rate due to distance.
Keywords:Mouse cursor system, dlib C++ library, facial movements, Physically disabled people

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9.An effective visual inspection device for wafer physical defects
Xiaoyan Chen,Jianyong Chen, Chundong Zhao
Pages 45-48
Abstract
Wafer defect detection is an indispensable part of semiconductor manufacturing. In this paper, an automatic and efficient device is designed and constructed to detect wafer physical defects. Programmable logic controllers (PLCs) are used as the controller of the transmission mechanism of the device, and the servo motor is used for driving. Wafer images are captured by a CMOS camera. In addition, in order to improve the detection accuracy, the camera calibration is completed according to the mapping relationship between the pixel coordinate system and the world coordinate system. A computer is adopted for wafer image processing and displaying the final detection results. The device proposed in this paper has low cost and high reliability. It provides a new solution for wafer defect detection.
Keywords:Semiconductor manufacturing, Machine vision, Camera calibration, Programmable logic controller

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10.A Study on Prevention of Predictive Failures
Tsutomu Ito, Takao Ito, Makoto Sakamoto
Pages 49-54
Abstract
Electric motors play an important role as the primary power for conveyor and drop lifts in manufacturing systems especially in automobile manufacturing factories.Many electric motors equipped with brake systems have sensors that determine where they should stop. This brake system needs to be maintained to keep proper brake gap consistent. Measuring the brake gap of electric motors is one of the main jobs of maintenance department, but this is a difficult task because most of the motors are located in unsafe spaces, like the upper end or under the lift pit. This paper proposes a new approach to measure the brake gap of motors to reducemaintenance risks, thus saving costs. The method suggests using vibration acceleration to measure the motor gap in running production system based on mechanical model.The effectiveness of this research is indicative by experience results.
Keywords:motor brake, brake gap, acceleration, maintenance

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Issue 2 (Septmber)

1.Modeling and Simulation of Molecular Artificial Intelligence with DNA computing by using Abstract Rewriting System on Multisets
Yasuhiro Suzuki
Pages 55-58
Abstract
We have bio-chemically realized Artificial Intelligence by using DNA reactions, which is composed of a well-known as oscillating DNA reactions, the seesaw gate reaction. Through biochemical experiments, we confirm that mismatched interact-able DNA sequences can adapt to perturbations of environmental change, which is caused by making point mutation in an input sequence. Based on this result, we model this reaction by using abstract chemistry and confirm that the model exhibits the same behavior as biochemical experiments. Through computational simulations show that this DNA reaction can compose the logic gate bio-chemically.
Keywords:Molecular Artificial Intelligence, DNA computing, bio-chemical logic gate, the seesaw gate reaction

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2.Facial Expression Synthesis System Using Speech Synthesis and Vowel Recognition
Taro Asada, Ruka Adachi, Syuhei Takada, Yasunari Yoshitomi, Masayoshi Tabuse
Pages 59-63
Abstract
Herein, we report on the development of a system for agent facial expression generation that uses vowel recognition when generating synthesized speech. The speech is recognized using the Julius high-performance, two-pass largevocabulary continuous speech recognition decoder software system, after which the agent’s facial expression is synthesized using preset parameters that depend on each vowel. The agent was created using MikuMikuDanceAgent (MMDAgent), which is a freeware animation program that allows users to create and animate movies with agents.
Keywords:MMDAgent, Speech recognition, Vowel recognition, Speech synthesis

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3.Design of a low pulse high current series topology for EDM system
Yu-Kai Chena, Min-Feng Leea, Yung-ChunWua, Chau-Chung Songaa, Jui-Yang Chiub
Pages 64-69
Abstract
The design of the LLC resonant converter is presented for use in Electric discharge machining (EDM) applications. The converter is designed to operate with a 3phase ac input voltage and will output controlled dc voltages during thestriking and arc conditions of EDM process. The method of the LLC resonant converter can operate at zero voltage and zero current transitions, we change the output current and control the current waveform of the EDM.
Keywords:Electric discharge machining (EDM), LLC, Resonant converter, Frequency control, Sic-MOSFET

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4.An FSK based industrial analog signal transmission
Po-Yun Shih, Chung-Wen Hung, Chau-Chung Song
Pages 70-74
Abstract
An FSK (Frequency-Shift Keying) based industrial analog signal transmission is proposed inthis paper. Due to the advantage of digital transmission, such as noise immunity and error check, the digital transmission is more and more popular. The FSK is a simple kind of basic digital transmission. Although the analog signal modulation is already well-known and mature, but it is easily interfered by the noise, especially in an industrial environment. When the carried frequency is occupied, the alternative frequency is necessary. However, it is a tough work for sure. The FSK based wireless transmissionis used to perform a wireless transmission of analog signal in the industry. It also has good effects of removing the wiring from device to device, and breaks the restriction of the device movement. Experimental results show that the proposed method can work well, and the wireless transmission bandwidth achieves 16kHz.
Keywords:FSK, Wireless, Industrial communication, Active filter

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5.Design of an embedded humanoid soccer robot based on image processing
Yuheng Zhang, Yizhun Peng, Lianchen Zhao, Zhou Zhang, Wanlong Peng
Pages 75-79
Abstract
As a humanoid robot, the humanoid soccer robot integrates artificial intelligence with competitive sports skillfully. It is an intelligent control system which integrates mechanical structure, computer, circuit design, automatic control,decision-making, communication, and other technologies. In recent years, it is a very good research platform in the field of artificial intelligence and robots. This paper designs a humanoid soccer robot based on STM32 processor, and completes the theoretical analysis and experimental verification, the specific work is as follows:Through theoretical analysis and experimental verification, the stability,working parameters and the division and cooperation of STM32 and 51 series single-chip computers of humanoid soccer robot system are analyzed, and determine the final control scheme. STM32 drives the camera to collect information, process images and make decisions. STC12C5A60S2 controls the robot steering gear to complete the corresponding action. Serial communication is used between the two controllers. The peripheral circuit mainly includesOV7725 camera module and TFT-LCD LCD display module.In order to recognize and approach soccer by humanoid soccer robot and kick soccer into the goal, we should design the action programs such as straight walking, left turning,right turning, head scanning course, left translating, right translating and kicking. Reasonable images processing and decision algorithms are also designed. Finally, the control program is developed on Keil software platform for debugging. The experimental results show that the humanoid soccer robot designed in this paper can accurately identify the soccer ball and the goal, and accurately complete the kicking actions, which meets the relevant requirements of the expected design and scheme.
Keywords:Humanoid robot; Dual controller; erial communication; Images processing

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6.A Design of Polyurethane-Material-based Film Forming Rate Measuring Instrument
Fengzhi Dai, Jichao Zhao
Pages 70-84
Abstract
The polyurethane materials have been widely used in the field of antibacterial, medical, waterproof and moisture permeable. Therefore, this paper mainly studies on the determination of the film formation rate of polyurethane, and designs a film formation rate measuring instrument based on the Atmega328P single chip microcomputer and BH1750 light intensity measurement chip. This design compares the advantages and disadvantages of the currently widely used film formation rate measuring instrument and improves its multiple sensors into a high-precision main sensor. Measurement requirements are reduced, and the size of the instrument is also reduced, making it easier and more portable. Moreover, it can be used not only to measure the film formation rate of polyurethane, but also to determine the film formation rate of other materials.
Keywords:Measurement instrument; Film formation rate; ATmega328P; BH1750

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7.Interactive Projection Mapping using Human Detection by Machine Learning
Makoto Sakamoto, Takahiro Shinoda, Kenji Sakoma, Takahiro Ishizu, Amane Takei, Takao Ito
Pages 85-89
Abstract
In recent years, “Entertainment Computing” (EC) has attracted attention and has become one of the major industries in Japan. “Projection Mapping” is well known in this EC. Projection mapping is a video technology that creates a new space by synthesizing space and video using a projector. Among them, many people are fascinated by works that create a fantastic world by combining dancer performance and projection mapping. However, these works require the performer to accurately align with the coordinates of the image objects in the projection mapping, which is not easy for everyone. In this study, we aim to entertain not only the people who see the projection mapping but also performers. Therefore, we have prototyped an interactive projection mapping that changes according to user movement. This time, we focused on sports and projected the ball to the user to experience baseball pitching and soccer lifting. Furthermore, we conducteda questionnaire survey to evaluate the sense of use of this system, and the results showed that many people can enjoy by this projection mapping.
Keywords:Entertainment Computing, EC, Projection Mapping, Kinect

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8.Research on online detection of wafer surface defects
Xiaoyan Chen, Chundong Zhao, Dongyang Zhang, Jianyong Chen, Kuifeng Zhu, Yanjie Su
Pages 90-94
Abstract
With the development of integrated electronic circuit manufacturing technology, enterprises have put forward higher requirements for the quality of silicon chips. Aiming at the low efficiency of silicon wafer defect detection, this paper proposes an automatic defect detection method based on machine vision. The voiding algorithm based on flood fill can effectively extract the inner contour information of the wafer profile. A rotation correction algorithm is proposed to correct the wafer yaw angle. The actual wafer was used to verify the performance of the proposed method. The results show that the proposed method is effective in detection accuracy.
Keywords:machine vision, flood fill, defect detection, rotation correction

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9.Effectiveness of Data Augmentation in Pointer-Generator Model
Tomohito Ouchi, Masayoshi Tabuse
Pages 95-99
Abstract
We propose a new data augmentation method in automatic summarization system, especially the Pointer-Generator model.A large corpus is required to create an automatic summarization system using deep learning. However, in thefield of natural language processing, especially in the field of automatic summarization, there are not many data sets that are sufficient to train automatic summarization system.Therefore, we propose a new method of data augmentation. We use the Pointer-Generator model. First, we determine the importance of each sentence in an article using topic model.In order to augment the data, we remove the least important sentence from an input article and use it as a new article.We examine the effectiveness of our proposed data augmentation method in automatic summarization system.
Keywords:automatic summarization, data augmentation, Pointer-Generator Model.

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10.Development of an Autonomous Mobile Robot Doing Self-Position Estimation and Road Region Search
Naokazu Iwata, Joo Kooi Tan
Pages 100-104
Abstract
This paper proposes an autonomous mobile robot expected to realize an intelligent robot that supports a human life. The proposed mobile robot has three main functions; self-position estimation, road region estimation, and routeplanning. Self-position estimation is performed by comparing local features obtained from the frontal images captured by the robot to a knowledge base. In road region estimation, the frontal image is separated into several regions to findthe region where the robot can move. Furthermore, the route to the destination is planned by graph search. Experimental results show satisfactory performance of the proposed mobile robot.
Keywords:Autonomous Mobile Robot, ORB, BoF, GBS, K-means

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Issue 3 (December)

1.Wheeled Mobile Robot Robust Control Based on Hybrid Controller Approach
Ho-Nien Shou
Pages 105-110
Abstract
In this paper, a novel trajectory following method based on hybrid control strategy is proposed for the trajectory following problem of mobile robots with nonholonomic constraints. The mobile robot controller is composed of threeparts: kinematics, dynamics equations and Cerebellar Model Articulation Controller. The control speed needed to realize the reference trajectory tracking is obtained from the motion equation under the position tracking error. The virtual control value of the control speed is obtained by using Lyapunov, and the controller is designed in the dynamic equation. The cerebellar model articulation controller (CMAC) is used to approximate the nonlinearity and uncertainty of the dynamic model of the mobile robot. At the same time, the torque controller is combined with the velocity error to form the torque controller. The influence of the uncertain disturbance on the system is compensated on-line. In the discussion in this paper, the nonlinear system is consider, and the Lyapunov stability criterion guarantees the global stability of the system and the asymptotical convergence of tracking error. The simulation results in Matlab/Simulink environment further verify the effectiveness and superiority of the proposed control algorithm.
Keywords:nonholonomic mobile robot, Cerebellar Model Articulation Controller, Lyapunov stability criterion, disturbance observer

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2.The IoT Solution to Archive and Play the Digital Library of Kamishibai
Motohide Yoshimura, Ayumi Eikawa
Pages 111-114
Abstract
We innovate an IoT solution to archive and play the digital library of Kamishibai. Kamishibai is a form of Japanese picture story show. The solution has two aspects. The one is a regional vitalization to know cultural history of the residential area, and the other is an educational platform to design the programming education by using NFC device. In this paper, we report the experimental results to build a display and sound system to play the digital library of Kamishibai.
Keywords:Kamishibai, Japanese picture story show, regional vitalization, programming education, IoT solution, near field communication

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3.AGVs Task Management with Occupancy Grid Map for Foam-Manufacturing In-Plant Transport
Amornphun Phunopas, Wisanu Jitviriya, Noppadol Pudchuen, Songklod Tunsiri,Eiji Hayashi
Pages 115-120
Abstract
AGVs are increasingly used in the automated warehouse with a high demand for changing traditional workflow management to industrial 4.0. The heart of the computerized system is the central software that can distribute work functions from the queues and manage the AGVs’ traffic. On the 2D floor plant layout and the occupancy grid map, the RFID girds are initially from marked points or the place that AGVs have to transit to do an assigned task. This research proposes autonomously generating paths via four nearest grids and path switching scenarios. The results show the generated paths with sequential tasks concurrently in random conditions. The task management method can prevent the AGVs’ crash and bottleneck from the operation of nine machines in the foam manufacturing plant.
Keywords:automated tasking, AGVs traffic, queue management

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4.Specular Reflection Analysis and Illumination Manipulation of Still Images with Single Multicolor Object
Hsuan T. Chang, Wei-Hsiu Chang
Pages121-126
Abstract
An illumination manipulation scheme for a single object in still images is proposed in this paper. By using the dichromatic-based model, the reflection component can be resolved through a single-image specular reflection removal method with the characteristics of color constancy. Then, virtual illumination effect can be made through the recombination with the reflection component. The scenery illumination can be estimated using the proposed automatic method without knowing the illumination spectra, three-dimensional object modeling, or texture databases. Experimental results show that the method is useful for handling the images with a single multicolor object in scenes.
Keywords:Chromaticity, dichromatic-based model, specular removal, color consistence, virtual illumination

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5.A Design of Controllable Gain Amplification System Based on Single Chip Computer
Fengzhi Dai, Haokang Wen
Pages 127-131
Abstract
This paper studies and designs a gain controllable radio frequency amplifier system. As the hardware core of the whole system, the variable gain amplifier realizes the data function of the amplifier combined with the single chip microcomputer. After adjusting the gain of RF amplifier, the input signal can be amplified or attenuated, and the ideal output signal can be obtained. Experimental results show that the gain controllable radio frequency amplifier system designed in this paper can achieve better control effects to amplify some signals. Theoretically, in real life, this amplifier has the advantage of being able to meet higher indicators, stable performance, and certain practicality.
Keywords:radio frequency amplifier, gain controllable, single chip microcomputer

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6.Analysis and Circuit Design of a Novel 4D Chaotic System
Yan Sun, Yongchao Zhang, Jiaqi Chen
Pages 132-136
Abstract
In this paper, a novel 4D chaotic system is proposed. First, the basic dynamic characteristics of this system are analyzed theoretically. Second, dynamical properties of the system are investigated by phase portraits, Poincaré sections, Lyapunov exponent spectrum and bifurcation diagram. In addition, an analog circuit of the system is designed and simulated by Multisim, a circuit simulation software. The experimental results show that the circuit simulation results are consistent with the numerical simulation results. Therefore, the existence of chaotic attractor in the system is verified from the physical level.
Keywords:Novel 4D chaotic system; Dynamic characteristics; Simulation analysis; Analog circuit design

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7.Respawning point recommendation by TD-Learning as a content generation of FPS video game-like E-learning
Masao Kubo, Takeshi Ueno, Hiroshi Sato
Pages 137-142
Abstract
In this paper, we propose an approach to customize the E-learning of video game-like by trial and error. A virtual training environment is getting to be common in military training, however, it is still underway to use it as a self-learning tool because of a lack of suitable training curricula for each trainee. First Person Shooting game (FPS) environment which is adequate for such the training, but a lot of characters and objects there which can be considered as the customizing point may cause combinatorial problems in traditional approaches. We show our method based on respawning point can present tasks to trainees by reinforcement learning and they can reach the goal faster than other content generation methods.
Keywords:Content Generation, Reinforcement Learning, E-Learning, Game AI, Video Game, Virtual Reality

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8.A new rotary actuator capable of rapid motion using an antagonistic cam mechanism
Katsuaki Suzuki, Yuya Nishida, Takashi Sonoda, Kazuo Ishii
Pages 143-151
Abstract
Animals can achieve agile behaviors such as jumping and throwing in addition to flexible behaviors with the same musculoskeletal systems, and those movements can extend the range of their activities. We have been working on actuators capable of rapid and flexible motions learning the musculoskeletal systems. In this paper, we propose a new rotary actuator using a pair of motors, springs, and cams to perform three functions, namely, normal motion, rapid or instantaneous motion, and rigidity control using an antagonistic cam mechanism, and describe the operating principle of the proposed mechanism, the mathematical model of the mechanism during rapid motion, and the design principle of the cam, which is a key mechanical element in this mechanism. Finally, we present an analysis of the error between the theoretical the measurement results during rapid motion.
Keywords:high-power joint, link mechanism, cam mechanism, design principle

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9.Basic Study on Motion Control of CG Characters by Electroencephalography (EEG) analysis
Makoto Sakamoto, Kenji Sakoma, Takahiro Ishizu, Takahiro Shinoda, Amane Takei, Takao Ito Pages 152-157
Abstract
Virtual Reality (VR) technology is expected to develop in various fields such as medical, education, business and entertainment. In this study, we aim at more intuitive operation by focusing on troublesome mounting in VR.To achieve this goal, we propose manipulation method of CG character by electroencephalography (EEG) with relatively inexpensive equipment. In this paper,we ask five subjects to manipulate CG characters by EEG and evaluate this system by questionnaire.
Keywords:Virtual Reality (VR), manipulation method, CG character, electroencephalography (EEG).

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10.Automatic Classification and Recovery System of Beverage Bottles Based on STM32
Fengzhi Dai, Yuqi Yan, Longyu Gao
Pages 158-162
Abstract
At present, the problems of environmental pollution and resource waste in China need to be solved. The existing beverage bottle recycling system in the market has the problems of high cost, imperfect function and inflexible rebate mode. Based on the sensor detection technology, the WiFi wireless communication and software development technology, this paper designs a comprehensive system of beverage bottle classification and recycling, which includes intelligent classification and recycling machine, Mini Program and Web remote monitoring platform. The system can automatically identify and classify metal bottles and plastic bottles, and can give users integrals, which has certain environmental protection significance.
Key words:Classification, Mini Program, Web, integrals

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Issue 4 (2021, March)
1.Image Super-Resolution Reconstruction Technology Based on Deep Learning
Lingran An, Fengzhi Dai, Linghe An
Pages 158-162
Abstract
The traditional super-resolution method has limited ability of feature extraction and feature expression, which cannot meet the requirements of high quality image in practical application. This paper mainly applies the relevant theories of deep learning to image super-resolution reconstruction technology. By comparing three classical network models used for image super-resolution (SR), finally a generative adversarial network (GAN) is selected to implement image super-resolution, which is called SRGAN. SRGAN consists of a generator and a discriminator that uses both perceived loss and counter loss to enhance the realism of the output image in detail. Compared with other algorithms, although the improvement of PSNR and SSIM values of the SGRAN network obtained by the final training is not obvious, the output high-resolution images are the best in the subjective feelings of human eyes, and the reconstruction effect in the image details is far higher than that of other networks.
Key words:Super-resolution, deep learning, neural network, Generative Adversarial Networks

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2.Cradle Design and Implementation Based on Artificial Intelligence
Ting Zhao, Qing He, Zhuofan Xu, Zhou Yang, Zhenjiang Chen, Shuo Jiang
Pages 167-173
Abstract
In order to reduce the burden of child care and better child care.A cradle with artificial intelligence technology is designed for families to raise child . The data of baby shaking are collected and analyzed by the Micro Control Unit, so that the cradle bed can bionic cradle shaking. The SVM database training of infant crying can realize the recognition of infant crying and determine the specific meaning of crying, such as hunger, excretion, pain and other factors, and timely inform parents; Based on ROS robot operating system and iflytek platform, it can carry out natural language interaction and autonomous navigation. Parents can call the baby cradle and let it reach the designated position automatically to achieve autonomous obstacle avoidance and path planning without manual interference. At the same time, the camera can view the baby's status and transmit the real-time picture to the mobile phone APP
Key words:bionic cradle, infant crying, ROS, natural language interaction, autonomous navigation

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3.Predicting the State of Interfirm Relationships:An Empirical Investigation Using Integrative Forecasting Techniques
Takao Ito,Tsutomu Ito, Rajiv Mehta, Seigo Matsuno, Makoto Sakamoto
Pages 174-179
Abstract
The formation of successful corporate strategy among vertically integrated organizations is predicated upon a plethora of dynamic relationships among buyer-seller firms. Albeit growing in interest, there is a paucity of research that focuses on predicting the nature of interfirm relationships among Japanese keiretsu members. Discerning this knowledge can help formulate successful strategic decisions, such as whether to continue procuring parts or increasing future investments in partner firms. As studies on predicting interfirm relationships among keiretsu member firms has been scant, this research offers insights by illustrating a newer approach for making decisions regarding corporate strategy. Using data collected on transaction from Yokokai—parts suppliers of Mazda—in this study a new model is developed to predict the nature of interfirm relationships using the degree index and DEA model. The primary contribution of this research is that interfirm relationships not only depend on future trends, but are also determined by the interactions among member firms of a keiretsu.
Key words:out-degree, rate of change, Interfirm relationship, cross-sectional interaction, Yokokai

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4.Book box design and implementation of intelligent network-based sharing
Zhou Zhang, Yajun Li, Yizhun Peng, Yuqi Zhao, Songyun Shi
Pages 180-185
Abstract
The original intention of this device is to allow people to use social book resources more effectively. Users can share the books in their hands through this device. Multiple devices connected by cloud servers can form a book storage network to realize the circulation of paper books. The camera is used for the ISBN code identification of books, the WiFi module is used for the wireless network communication between the device and the background server, the bluetooth module is used for the near distance communication between the device and the mobile terminal, and the infrared module is used for detecting the storage state of the device. Equipment ISBN read, storage of equipment state inspection, such as simple data processing done by the device with a built-in MCU, user registration, user reading habits, such as book search more complex data calculated by the background server processing,.By borrowing the concept of distributed computing, implements the equipment, and efficient use of server resources, reduce the workload of the entire system at the same time.
Key words:book, wireless network, WiFi, bluetooth, ISBN, MCU, Cloud server

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5.Identification of Redundant Test Cases by Using Similarity Measurement Method for Test Suite Evaluation
Mochamad Chandra Saputra, Tetsuro Katayama, Yoshihiro Kita, Hisaaki Yamaba, Kentaro Aburada, Naonobu Okazaki
Pages 186-191
Abstract
Evaluating the test suite that contains redundant test cases is necessary to ensure the efficiency of the testing and reducing the cost of testing. The principle of redundant test cases on this research is any test cases on a similar path executed with a similar high value of normalized Euclidean distance. The first, the similarity calculated between the test cases and path coverage uses Euclidean distance. The value of the Euclidean distance on the test case with the lowest value of distance indicating highly similar and possibly executing similar lines of code. The normalized Euclidean distance is using to normalize the value from Euclidean distance result. The experiment uses two java programs. Each redundancy score is 0.37 and 0.67, respectively. It means 37% and 67% of the test cases should be avoided because there are inefficiency test cases on the test suite. The research confirmsredundant test cases can be identified by Euclidean distance and normalized Euclidean distance to evaluate the test suite.
Key words:Euclidean distance, Redundant test cases, Test suite evaluation

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6.Research on characteristics and synchronization control of a system without equilibrium point
Lianchen Zhao, Yizhun Peng, Yuheng Zhang
Pages 192-197
Abstract
In this paper, the dynamic characteristics of a chaotic system without equilibrium point are studied. Through numerical simulation and theoretical analysis, the chaos characteristics of the system without equilibrium point are studied. In this paper, the synchronous control method based on state observer is used. First, the state observer system is designed according to the original system. And then the simulation results are obtained. At the end of this paper, we give the advantages and disadvantages of this synchronization method
Key words:Chaotic characteristics; Synchronous control method based on state observer

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7.Design of smart home security system based on 52 MCU
Hongbo Hao, Fengzhi Dai
Pages 198-202
Abstract
Before the smart home has appeared in people's vision, people do not have a deep understanding. But we may think something is insignificant in daily life. The article designs a simple, convenient, easy way to operate, and connected with the real life of smart home system. This design is based on the STC89C52 microcomputer as the control system, the smoke sensor and temperature and humidity sensor is used to detect the external environment. The system uses the button to adjust the threshold of the smoke concentration limit. LCD1602 can display the sampled external environment information in real time. This system can be used for anti-theft in shopping malls, warehouse, bank and other occasions. The device has a strong guiding significance for the current people's daily life.
Key words: STC89C52 microcomputer, temperature and humidity sensor, LCD1602

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8.Design and Implementation of Quad-rotor UAV Based on Remote Control Equipment and Program
Junjie Lin, Chunxia Zhang, Yizhun Peng, Ting Zhao, Wangfeng He
Pages 203-207
Abstract
Quad-rotor UAV is an unmanned aircraft controlled by radio remote control equipment and independent programcontrol device. In the past five years, unmanned intelligent equipment has attracted extensive attention. At present,the application of UAV in aerial photography, agriculture, plant protection, mapping and other fields has greatlyexpanded the application of UAV itself. Our UAV is based on TI MSP432, which can be connected to PC via USBport. This printed circuit board is used to transmit the program for the flight control of UAV. The OpenMV moduleserves as the data source of the line patrol controller, which is the top-level controller, the same level as the remotecontroller. The IMU unit calculates information to attitude controller, in order to keep the flight of UAV stable. Afterthe IMU solution information is fused with the optical flow sensor, the information is sent to the horizontal controllerto control the flight of the UAV in the horizontal direction. Similarly, After the IMU information is fused with thelaser height information, the height controller is applied to control the flight height of UAV.
Keywords: UAV, OpenMV module, IMU unit

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9.Design and Implementation of in-home Wireless Crucial Events Logging and Alarming System for Elderly and Disabled People Care
Ali S. Al-Mejrad
Pages208-212
Abstract
This paper aims at developing a system that will help in in-home care for elderly or disabled people. The system can record the
patient vital parameters such as temperature, SpO2, ECG, heart rate, bed moisture and fall off sensor with features of the system
ability to adapt new sensors if needed. The system could be installed at the bathroom or shower area at the patient terminal and
transmit the critical situations such as high or low values to an alarming system. The system will be developed using the National
Instrument Wireless Sensor Network (NI-WSN) to control the crucial events transmission and LabVIEW software to design theuser interface.
Keywords:Elderly; Disabled people; In-home care; NI-WSN; PSoC; Virtual

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10.Design of Distributed Remote Sensing Data Storage System based on Hadoop Framework
Lianchen Zhao, Yizhun Peng, Di Li
Pages 213-217
Abstract
With the progress of the times, remote sensing technology has become more and more mature, and remote sensing data has become more and more complex with the continuous progress of technology. Remote sensing data has the characteristics of unstructured and large amount of data, so the distributed system can be used to store it. In this paper, according to the characteristics of space remote sensing data, we build a distributed storage system for space remote sensing data. According to the unstructured characteristics of space remote sensing data, distributed storage is used to store the data in virtual environment Hadoop distributed cluster is built to realize the distributed storage of space remote sensing data.
Keywords:Hadoop, name node, HDFS, Space remote sensing dat

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