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ARNOLD SOLVI FYLGJA  アーノード ソービ フルヒャ

教員組織学術研究院(工学系)電話番号
教育組織工学部FAX番号
職名助教(特定雇用)メールアドレス
住所〒380-8553 長野県長野市若里4-17-1ホームページURL

プロフィール

研究分野
人工知能
学歴
出身大学院
2015 , 名古屋大学 , 情報科学研究科 , 複雑系科学
2010 , ユトレヒト大学 , 自然科学研究科 , 認知人工知能

出身学校・専攻等(大学院を除く)
2007 , ユトレヒト大学 , 人文学部 , 認知人工知能

取得学位
博士(情報科学) , 名古屋大学(日本)
修士 , ユトレヒト大学(オランダ)
研究職歴等
研究職歴
2015-2017 , 研究員 (信州大学工学部)
2013-2015 , 日本学術振興会特別研究員(DC2)

研究活動業績

研究業績(著書・
発表論文等)
論文
Unfolding of a rectangular cloth from unarranged starting shapes by a Dual-Armed robot with a mechanism for managing recognition error and uncertainty
Advanced Robotics, Vol.31, Issue 10, pp. 544 – 556, http://dx.doi.org/10.1080/01691864.2017.1285722,31(10):544-556 2017(Feb. 09)
Author:Hiroyuki Yuba, Solvi Arnold, Kimitoshi Yamazaki
Abstract:We propose a method for unfolding a rectangular cloth placed on a table in an arbitrary unarranged shape, using a dual arm robot. There are many situations where the manipulation of fabric products by dual arm robots is slow due to operation complexity. Also, observation of fabric products in unarranged shapes can be fraught with uncertainty, posing further difficulties for robotic manipulation. In this article, we address these problems for our specific task, implementing a ‘pinch and slide motion’ to address the former issue, and an operation selection mechanism implemented as a partially observable Markov decision process to address the latter. We used this approach to let a robot unfold a rectangular cloth, thereby experimentally verifying the effectiveness of our approach.
Keywords:Cloth unfolding, dual-armed manipulation, pinch and slide motion


学会発表
Cloth Manipulation Planning by Back-propagation using a 3D Convolutional Auto-Encoder and a Recurrent Neural Network
日本ロボット学会 , 第35回日本ロボット学会学術講演会 2017(Sep. 13)
Author:Solvi Arnold, 山崎公俊


Hanging Work of T-Shirt in Consideration of Deformability and Stretchability
IEEE International Conference on Information and Automation 2017(Jul. 18)
Author:Yosuke Koishihara, Solvi Arnold, Kimitoshi Yamazaki, Takamitsu Matsubara


Real-time scene parsing by means of a convolutional neural network for mobile robots in disaster scenarios
IEEE International Conference on Information and Automation , :201-207 2017(Jul. 18)
Author:Solvi Arnold, Kimitoshi Yamazaki
Abstract:Disaster robotics poses particular challenges for computer vision, both in terms of image characteristics (due to motion blur, difficult light conditions, lack of up/down orientation, etc.), and in terms of learning data (limited availability, difficulty of annotation due to image quality, etc.). We developed a system for real-time scene-parsing, intended for use in a support system for operators of remote-controlled mobile robots employed in disaster areas. Our testbed is video footage gathered by a snake-like mobile robot exploring an (artificial) collapsed building environment. The core of the system is a relatively small-scale convolutional neural network. Our approach combines pixel-level learning with superpixel-level classification, in an effort to learn efficiently from a relatively small number of partially annotated frames. Our classification system is capable of real-time operation, and demonstrates that convolutional neural networks can be applied effectively even under the harsh conditions imposed by disaster robotics
Keywords:disaster robotics, rescue robots, computer vision, convolutional neural networks, scene parsing


サイバー救助犬の屋外探索活動における環境認識補助視覚の適用
ロボティクス・メカトロニクス講演会2017 2017(May 12)
Author:山崎公俊,松田耕太郎,Solvi Arnold,星達也,山口竣平,濱田龍之介,大野和則


Implicit Policies for Deformable Object Manipulation with Arbitrary Start and End States: A Novel Evolutionary Approach
2016 IEEE Conference on Robotics and Biomimetics , :1776 -1781 2016(Dec. 06)
Author:Solvi Arnold, Kimitoshi Yamazaki


畳み込み自己符号化器を用いた対話的学習に基づく災害対応のための画像認識システム
第22回ロボティクスシンポジア , :211-212 2016(Mar. 16)
Author:Arnold Solvi, 山崎公俊


Unfolding of a Rectangular Cloth Based on Action Selection Depending on Recognition Uncertainty
IEEE/SICE International Symposium on System Integration , :623 – 628 2015(Dec.)
Author:Hiroyuki Yuba, Solvi Arnold, Kimitoshi Yamazaki