著者

上町 亮介

出版者

法政大学大学院理工学・工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 = 法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.56, pp.1-4, 2015-03-24

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In this paper, we describe about a study of dead-reckoning algorithm for mecanum wheel based mobile robot under various types of road surface. Because of mecanum wheel based mobile robot can move omni-direction by utilizing tire-road surface friction. Therefore depending on road surface condition, it is difficult to estimate accurate self-position by applying conventional dead-reckoning method. In order to overcome inaccuracy of conventional dead-reckoning method for mecanum wheel based mobile robot, we propose new dead-reckoning algorithm. Validity of proposed algorithm is confirmed by extensive actual experiment under various types of road surface.

著者

鶴谷 亮人 TSURUYA Akito

出版者

法政大学大学院理工学・工学研究科

雑誌

法政大学大学院紀要 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.55, 2014-03-24

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In this study, we consider a problem of finding factors results in penalty shootouts (abbreviated to PSO) of football games. We check up 143 official football games and after PSOs, the first kicking PSO teams are confirmed to have tendency win. London School of Economics and Political Science infer that first successes in PSO are main factor of wins in PSOs and they give pressures to the opponent teams. Our date reject above inference of LSE & PS. Therefore , we construct a simple stochastic model in which each PSO is independent with equal probability of success. We demonstrate algebraically that if the success rate of PSOs of the first kicking PSO team is higher than that of the opponent team, then firs kicking team wins. Furthermore, our date fit quite well to the demonstrated result. It is truth that our stochastic model explains to PSOs very well. However, because we cannot reject all of inference of LSE & PS, it is needs that further analysis of PSOs.

著者

青木 真也

出版者

法政大学大学院理工学・工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.58, 2017-03-31

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Polystyrene block copolymers containing triethoxysilyl (TES) groups were synthesized by a living anionic polymerization and the subsequent functional group transformation reactions. Then thin polymer films were applied for the reaction with organic acid to form Si-O bonds at the film surface. Surfaceconcentration of Si was confirmed by X-ray photoelectron spectroscopy (XPS) measurement for the resulting polymer film. In addition, contact angle of water droplet for the film increased after acid treatment.These results clearly showed that the polysiloxane substrate was prepared at the outer most surface by treatment with organic acid.Key Words : living anionic polymerization, triethoxysilyl group, surface characterization, block copolymer

著者

宮本 康樹

出版者

法政大学大学院理工学・工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 = 法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.58, 2017-03-31

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Recently, many Japanese play games on their smartphones. They can play these games for free, but they can also pay money for these games in order to gain an advantage. Due to this system, some players pay too much money and they become unable to make a living. These people develop severe social problems. In this study, I surveyed the reasons that respondents pay money for these games despite the fact that they can play for free. Questions included whether they have or haven't paid for games, the reasons for pay to play, the amount of money they spent on these games and so on. The results showed that the behavioral aspects (ex. the amount of money) influenced more than the psychological aspect (ex. the feel of troubles).Key Words: social psychology, game, addiction

著者

山下 大輝 YAMASHITA Taiki

出版者

法政大学大学院理工学・工学研究科

雑誌

法政大学大学院紀要 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.56, 2015-03-24

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Li8SiN4 (tetragonal structure) is expected as a cathode material of Li secondary batteries because it includes eight Li atoms in its 1/8-sublattice. Li8SiN4 is synthesized by the direct reaction between Li3N and Si with the molar ratio of 2.5:1 at 1073 K for 30 minutes under a nitrogen atmosphere of about 700 Torr. As grown crystals, which are light orange color, are confirmed to be single phase of Li8SiN4 with a = 10.148 Å and c = 9.567 Å by the X-ray diffraction method. A broad Raman peak observed at 586 cm-1 suggests the disordered structure between Li and Si. The band gap of Li8SiN4 evaluated using optical absorption and photoacoustic spectroscopy is about 2.4 eV. Li8SiN4 is a direct transition, which is slightly larger than the d-d electron transitions in the typical cathode materials LiMn2O4 and LiCoO2. For a 5 × 5 mm2 sized lithium secondary battery with the Li8SiN4 + Acetylene Black cathode / Propylene Carbonate + LiClO4 electrolyte / Li anode structure, the capacity for the discharge current of 10 μA is between 2.44 μAh/cm2 and 3.56 μAh/cm2 for a potential range between 2.8 V and 3.8 V.

著者

成田 結香

出版者

法政大学大学院理工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.60, pp.1-7, 2019-03-31

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Laparoscopic surgery is a difficult surgical procedure as compared with open operation. Therefore, training is necessary for surgeons before conducting laparoscopic surgery clinically. In this paper, improvement and extension of the training system which has been developed by our group was carried out. First, effectiveness of the evaluation method for trainee's hands movement was verified through the past measurement data obtained for operation of ligation. Second, in order to make it easy to perform ligation under Para-axial position, camera position of the training box was improved. Third, former sensor module which was attached to the forceps was downsized so as not to collide to other objects. Finally, the proposed evaluation system for hands movement and the evaluation system for angle of the wrists which was developed in our previous study were merged. Then, the evaluation results of trainee's angle of the left and the right wrists, hands movement and operation time in comparison with those of the excellent skilled surgeon are displayed on the monitor screen.

著者

市川 竜太郎

出版者

法政大学大学院理工学・工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.62, pp.1-6, 2021-03-24

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Have you ever imagined the character and gender of the writer by looking at the handwriting ? There has been a lot of research on the relationship between handwriting and personality for a long time. However, there may be some changes in Japanese handwriting with the times. If that is the case, we may find something new in Japanese handwriting nowadays. The purpose of this study is to explore the structure of the impressions of Japanese handwriting using SCT.

著者

四木 宏香

出版者

法政大学大学院理工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.61, pp.1-6, 2020-03-24

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The multi-map navigation using SLAM is one of the current research topics of the mobile robots. In this paper, we describe a study of a mobile robot navigation using the multi-map method. By applying SLAM, both the map and trajectory of a mobile robot can be generated simultaneously. However, the drawback of SLAM depends on sensor accuracy, which may cause mapping failure. One of the solutions to prevent the failure of mapping is not monolithic mapping but short-term multiple mapping. The advantage of short-term multiple map generation can reduce map construction failures. The other typical applications for multi-map is multi-floor navigation. In this paper, we apply multi-map method for both navigations. The usefulness of the proposed method was confirmed by simulation and actual experiments.

著者

河野 辰哉

出版者

法政大学大学院理工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.60, pp.1-6, 2019-03-31

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This paper describes the development of Robot Operating System (ROS) component for lane recognition and navigation of IGVC Auto - Nav Challenge. To achieve a robust and stable navigation, we propose new lane and obstacle recognition algorithm based on omnidirectional camera. Employing fast NCC based piecewise template matching technique enables robust lane detection regardless of surrounding brightness changes and various lane shape including sharp curves. To recognize surrounding obstacles only vision sensor without LiDAR, we employ YOLOv3-tiny based deep learning algorithm which can avoid obstacle collision. Since ROS has capability of environmental simulation by using Gazebo, rapid prototyping is achieved by applying both simulations and actual experiments which can significantly reduce development period. The effectiveness of the newly proposed algorithm was confirmed by both offline simulation and actual outdoor experiment.

著者

伊藤 千鶴

出版者

法政大学大学院理工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.59, pp.1-4, 2018-03-31

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We can imagine that one having more useful information gets superior than others if they are in the same condition and under some struggling situation. For example, in a supermarket, we naturally choose the shortest queue of cashiers in order to finish our payment with minimal waiting time. If one knows a better strategy to choose the queue, she or he can finish the payment in more shorter time. However, the more customers know the strategy, the less the effectiveness of using the strategy. In this study, we assume one strategy in such a situation, and investigate its effectiveness via simulation study.

著者

蔡 詩祐

出版者

法政大学大学院理工学・工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.56, 2015-03-24

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Goto and Shibata(2010) proposed a reinforcement learning algorithm using a recurrent neural network. Back Propagation Through Time (BPTT) was used for the neural network’s learning rule. This algorithm autonomously acquires prediction functions for tasks that are difficult to be accomplished without these functions. To verify the effectiveness of this method, they used episodic tasks where the starting state and the terminal state of the tasks could be given explicitly. However, in the real world, there are many continuous tasks that cannot indicate the starting and terminal state in detail. This study verifies the performance of the previous method on continuous tasks and presents a new method that uses Real Time Recurrent Learning (RTRL) which allows real-time learning for the neural network. The results indicated that the previous method had a good performance even in continuous tasks. On the other hand, the new method using RTRL was inferior to the previous method in performance for both continuous tasks and episodic tasks.

著者

横林 亮平

出版者

法政大学大学院理工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

no.60, pp.1-8, 2019-03-31

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The tensor data model is capable of detailed data representation and is compatible with data mining. However, there is a problem that the data volume becomes enormous and processing time is required. It is one solution to this problem to improve the efficiency of a series of data processing such as insertion, deletion, search of data in the secondary storage area. In this paper, we propose an serial search method using locality sensitive hashing. The hash technique is a search method that is hardly affected by the data amount, but there is a problem that the serial search can not be performed. By using locality sensitive hashing, we sequentially arrange similar data in the same block and improve efficiency by carrying out parallel processing for each block. We will also describe the efficiency of tensor data manipulation (especially data mining manipulation). Using locality sensitive hashing, realize high-speed multidimensional association rules extraction limited to partial data.

著者

石川 聖也

出版者

法政大学大学院理工学・工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 = 法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

no.55, 2014-03-24

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General levels of players hitting the "glide slice" is now not many. This study that measured using a high speed movement of the camera when the backspin tennis ball bounce, to analyze the "glide slice", to the improvement of technology by showing clearly to those who play tennis as a hobby aims to help.Going to clarify important points to beat by analyzing the speed and angle, the spin a "glide slice".

著者

伊藤 綾香

出版者

法政大学大学院理工学・工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 = 法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.58, 2017-03-31

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We examined the properties of 45 variable stars in the Trapezium cluster, which we identified from J, H and Ks band near-infrared imaging with the 1.4 m IRSF telescope carried out at three epochs, 2000, 2005, and 2014.Their positions in the color-magnitude diagram and the two-color diagram show that they are young stellar objects. The variability over 2000 to 2014 of the majority of them (36/45) are found to be classified into two patterns. One group became brighter and bluer while the other became fainter and redder. Stars with largerbrightness change showed larger color change with the time scale of 〜10 years. The distribution of slope angles in the J vs J-H diagrams of 2014 is similar to that of 2005 showing the bimodal feature consistent with previous work. Comparison of the slope angles with that of interstellar extinction suggests that the origin of variation ofabout two-thirds of the 45 variables is the change in the column density of material similar to that responsible for the interstellar extinction. The light variation of the remaining variables may be due to the change in accretion and circumstellar disk activity.Key Words : young stars, variable stars, infrared, open clusters, Orion, Trapezium cluster