Updated on 2022/10/01

写真a

 
PARQUE TENORIO, Victor
 
Affiliation
Faculty of Science and Engineering, Graduate School of Creative Science and Engineering
Job title
Associate Professor(without tenure)
Profile
Victor Parque is Associate Professor at the Department of Modern Mechanical Engineering, Waseda University and JSUC Tokunin Professor at Egypt-Japan University of Science and Technology. His research interests span the principles in Learning Systems and Artificial intelligence, and the practical applications in Design Engineering, Planning and Control. He is the first author of more than 70 articles in conferences, book chapters and journals, and is actively involved in research collaboration with both industry and academia. He was honoured as finalist in the Humies Awards for Human-Competitive Results, in 2018. He is member of IEEE ACM, RSJ and JSPE.

Research Institute

  • 2020
    -
    2022

    理工学術院総合研究所   兼任研究員

Education

  • 2009
    -
    2011

    Waseda University   Graduate School of Information, Production and Systems   Ph.D.  

  • 2007
    -
    2009

    Esan University   Graduate School of Business Administration   MBA  

  • 2000
    -
    2004

    National Central University   School of Systems Engineering   B.Sc.  

Degree

  • Waseda University   Dr. Eng.

  • Esan University   MBA

  • Central National University   B. Sc.

Research Experience

  • 2019
    -
    Now

    Waseda University   Associate Professor

  • 2014
    -
    2018

    Waseda University   Assistant Professor

  • 2012
    -
    2014

    Toyota Technological Institute   Post Doctoral Fellow

Professional Memberships

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    ACM

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    IEEE

  •  
     
     

    JSPE

  •  
     
     

    RSJ

  •  
     
     

    ACM SIGAI

  •  
     
     

    ACM SIGEVO

  •  
     
     

    IEEE SMC

  •  
     
     

    IEEE IES

  •  
     
     

    IEEE RAS

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Research Areas

  • Control and system engineering

  • Soft computing

  • Mathematical informatics

  • Intelligent informatics

  • Computational science

  • Basic mathematics

  • Intelligent robotics

  • Educational technology

  • Design

  • Applied mathematics and statistics

▼display all

Research Interests

  • Evolutionary Computation

  • Soft Computing

  • Computational Geometry

  • Parallel Computing

  • Deep Learning

  • Cyber-Physical Systems

  • Systems Engineering

  • Embedded Systems

  • Complex Systems

  • Combinatorial Optimization

  • Network Design

  • Graph Theory

  • Data Science

  • Robotics

  • Control

  • Design Engineering

  • Computational Intelligence

  • Optimization

  • Artificial Intelligence

▼display all

Papers

  • Estimating the stiffness of kiwifruit based on the fusion of instantaneous tactile sensor data and machine learning schemes

    Frank Efe Erukainure, Victor Parque, M. A. Hassan, Ahmed M.R. FathEl-Bab

    Computers and Electronics in Agriculture   201  2022.10

     View Summary

    Measuring the ripeness of fruits is one of the critical factors in achieving real-time quality control and sorting of fruit by growers and postharvest managers. However, recent tactile sensing approaches for fruit ripeness detection have suffered setbacks due to: (1) the nonlinear relationship between the sensor output and the true stiffness of fruits; and (2) the angle of contact, referred to as the inclination angle, between the sensor and the outer surface of the fruit. In this paper, we propose a non-destructive tactile sensing approach for estimating the stiffness of fruits, using kiwifruit as a case study. Our sensor configuration is based on a three-probe piezoresistive cantilever beam, allowing us to obtain relatively stable sensor outputs that are independent of the inclination angle of the fruit surface. Our stiffness estimation approach is based on the combination of instantaneous sensor outputs with 63 regression-based machine learning models comprising of neural networks, Gaussian process, support vector machines, and decision trees. For experiments, we used several kiwifruit samples at diverse ripeness levels. The extracted sensor data was used to train the learning models over a 10-fold cross-validation technique, allowing us to find the nonlinear relationships between the instantaneous sensor outputs and the ground truth stiffness of the fruit. Our pairwise statistical comparison by the Wilcoxon test at 5% significance revealed the competitive performance frontiers of our approach for stiffness prediction; the Gaussian process kernel functions and the binary trees outperformed other models at a mean squared error (MSE) of 1.0 and 2×10−23, respectively. Most neural network models achieved competitive learning performance at MSE less than 10−5 and the utmost performance being a pyramidal class of feed-forward neural architectures. The results portray the potential of achieving accurate ripeness estimation of fruit using intelligent tactile sensors with fast machine learning schemes across the supply chain.

    DOI

  • Towards Estimating the Stiffness of Soft Fruits using a Piezoresistive Tactile Sensor and Neural Network Schemes.

    Frank Efe Erukainure, Victor Parque, Mohsen A. Hassan, Ahmed M. R. Fathelbab

    AIM     290 - 295  2022

    DOI

  • A Study of Fairness Functionals for Smooth Path Planning in Mobile Robots

    Victor Parque

    IEEE International Conference on Automation Science and Engineering   2021-August   1568 - 1573  2021.08

     View Summary

    Smoothness of mobile and vehicle navigation has become relevant to ensure the safety and the comfortability of riding. The robotics community has been able to render smooth trajectories in mobile robots by using non-linear optimization approaches and well-known fairness metrics considering the curvature variations along the path. In this paper, we evaluate the possibility of computing smooth paths from input reference trajectories by using higher order non-linear fairness functionals. Our approach is potential to enable the generation of simple and computationally-efficient path planning and smoothing for navigation in mobile robots.

    DOI

  • Small-Scale Human Impact Anthropomorphic Test Device Using the Similarity Rule

    Satoshi Miura, Souhei Takahashi, Victor Parque, Tomoyuki Miyashita

    IEEE Transactions on Industrial Electronics   68 ( 8 ) 7188 - 7198  2021.08

     View Summary

    Anthropomorphic test devices (ATDs) are useful for simulating human damage during traffic accidents. For large accidents such as train accidents, experiments using full-size ATDs are not feasible because of cost, space, and time requirements. However, it is difficult to develop small-scale ATDs because changes in geometry are not necessarily accompanied by commensurate changes in mass or force. In this study, we designed and developed small-scale human dummies using the similarity rule. We determined the similarity ratio and focused on the neck, chest, and abdomen, which are important for protecting organs and nerves. Drop, impact, and sled tests based on ISO TR9790 indicators were used to evaluate the ATD. The first ATD scored 4.69, which indicates 'fair biofidelity'; the neck and chest delivered low scores during the sled and impact tests, respectively. We simulated the behavior of the ATD using finite element analysis; the experimental and analytical values were consistent. We modified the neck and chest parameters using simulation results and evaluated the optimized ATD using impact and sled tests. The optimized ATD scored a 6.56, which indicates 'good biofidelity.' In conclusion, we developed a small-scale ATD capable of satisfactorily simulating human behavior. Using the proposed ATD, we can reduce the opportunities for full-scale experiments.

    DOI

  • Generating combinations on the GPU and its application to the k-subset sum

    Victor Parque

    GECCO 2021 Companion - Proceedings of the 2021 Genetic and Evolutionary Computation Conference Companion     1308 - 1316  2021.07

     View Summary

    Efficiently representing and generating combinations can allow the seamless visualization, sampling, and evaluation of combinatorial architectures. In this paper, being relevant to tackle resource allocation problems ubiquitously, we address the subset sum problem by (1) using gradient-free optimization with a number-based representation of the combinatorial search space and by (2) generating combinations with minimal change order through parallel reductions in the GPU. Our computational experiments consisting of a relevant set of problem instances and gradient-free optimization algorithms show that (1) it is possible to generate combinations in the GPU efficiently, with quasi-linear complexity, (2) it is possible to tackle instances of the subset sum problem within a reasonable number of function evaluations, and (3) Particle Swarm Optimization with Fitness Euclidean Ratio converges faster. Since the search space of number-based representations is one-dimensional and amenable to parallelization schemes (e.g., GPU), we believe our work opens the door to tackle further combinatorial problems.

    DOI

  • Towards higher order fairness functionals for smooth path planning

    Victor Parque

    GECCO 2021 Companion - Proceedings of the 2021 Genetic and Evolutionary Computation Conference Companion     319 - 320  2021.07

     View Summary

    Smoothness of mobile and vehicle navigation has become relevant to ensure the safety and the comfortability of riding. The robotics community has been able to render smooth trajectories in mobile robots by using non-linear optimization approaches and well-known fairness metrics considering the curvature variations along the path. In this paper, we introduce the possibility of computing smooth paths from observed mobile robot trajectories from higher order non-linear fairness functionals. Our approach is potential to enable the generation of simple and computationally-efficient path planning smoothing for navigation in mobile robots.

    DOI

  • A differential particle scheme and its application to PID parameter tuning of an inverted pendulum

    Victor Parque

    GECCO 2021 Companion - Proceedings of the 2021 Genetic and Evolutionary Computation Conference Companion     1937 - 1943  2021.07

     View Summary

    Gradient-free stochastic optimization algorithms are well-known for finding suitable parameter configurations over independent runs ubiquitously. Attaining low variability of convergence performance through independent runs is crucial to allow further generalization over distinct problem domains. This paper investigates the performance of a differential particle system in stabilizing a nonlinear inverted pendulum under diverse and challenging initial conditions. Compared to the relevant algorithms in the literature, our experiments show the feasibility of achieving lower convergence variability to stabilize a nonlinear pendulum over independent runs and initial conditions within a reasonable computational load.

    DOI

  • Learning motion planning functions using a linear transition in the C-space: Networks and kernels

    Victor Parque

    Proceedings - 2021 IEEE 45th Annual Computers, Software, and Applications Conference, COMPSAC 2021     1538 - 1543  2021.07

     View Summary

    Motion planning approaches aided by learning schemes have achieved relevant results in the community, particularly in terms of rendering new paths efficiently and adapting to new environments/situations through encoder-decoder frameworks and latent space configurations. This paper evaluates the feasibility of learning motion planning functions for robot manipulators using a linear transition of the configuration space. Our computational experiments involving a relevant set of learning architectures have shown the feasibility and the efficiency in finding motion planning functions that meet user-defined criteria. Our approach contributes to realizing the practical efficiency to tackle the learning-based motion planning problem. Due to the amenability to parallelization schemes, our approach is potential to tackle larger degrees of freedom.

    DOI

  • Design optimization of copper patterns and location of power semiconductors and terminals

    Yusuke Abe, Akira Hirao, Ryoichi Kato, Yoshinari Ikeda, Victor Parque, Muhammad Khairi Faiz, Makoto Yoshida, Tomoyuki Miyashita

    2021 International Conference on Electronics Packaging, ICEP 2021     157 - 158  2021.05

     View Summary

    In recent years, SiC power modules have attracted a lot of attention because they offer higher frequency and density as compared to the conventional Si power module. However high speed switching inevitably lead to the generation of surge voltage which may damage the power module. The design of layout, which composed of copper patterns, power semiconductors and terminals, is one of the factors that is necessary to overcome the problem. In this paper, the layout design of the half-bridge power module is optimized to reduce its internal inductance. The inductance was evaluated by electromagnetic field simulation.

    DOI

  • Electromagnet-Based Three-Dimensional Self-Assembly System for Hierarchical Modular Space Structures

    Ayako Torisaka, Shoichi Hasegawa, Satoshi Miura, Victor Parque, Tomoyuki Miyashita, Hiroshi Yamakawa, M. C. Natori

    Journal of Spacecraft and Rockets   58 ( 2 ) 1 - 14  2021.01

     View Summary

    This study focused on the hierarchical modular approach to assembling space structures, which can be scaled up to increasingly larger sizes. This approach is based on dividing a large space structure into multiple modules, each with homogeneous automatic assembly functions. Hence, the overall structure can have diverse shapes and functions depending on the arrangement of modules, regardless of the size of the structure. Conventional approaches use locomotion and docking/release mechanisms installed on each module, but have been limited to 2-D shapes. In this study, a mechanism was developed that uses permanent magnets and electromagnets to assemble the space structure into any shape in three dimensions. The response surface method and downhill simplex method were used to optimize the size and arrangement of the magnets for efficient locomotion. The proposed mechanism was applied to a demonstration experiment to evaluate its effectiveness compared with existing methods.

    DOI

  • Navigation of Omni-Directional Mobile Robot in Unstructured Environments using Fuzzy Logic Control

    Mohamed Abdelwahab, Victor Parque, A. A. Abouelsoud, Ahmed M.R. Fath

    2021 IEEE/SICE International Symposium on System Integration, SII 2021     684 - 689  2021.01

     View Summary

    Among the existing control schemes, Fuzzy Logic (FL) is advantageous in offering robustness to uncertainty and noise in sensor readings. However, the performance of FL-based navigation strategies is well-known to be bounded by localminima risks in polygonal environments with nonconvex configurations. Here, we propose a twin-stage Fuzzy Logic scheme for autonomous navigation of mobile robots. Our exhaustive computational and real-world experiments using Robotino, an omnidirectional mobile robot architecture shows the potential to avoid local-minima and obstacle collisions, enabling the computationally efficient and adaptive FL-based behavioural modules for mobile robots.

    DOI

  • On Hybrid Heuristics for Steiner Trees on the Plane with Obstacles

    Victor Parque

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   12692 LNCS   120 - 135  2021

     View Summary

    Minimal-length Steiner trees in the two-dimensional Euclidean domain are of special interest to enable the efficient coordination of multi-agent and interconnected systems. We propose an approach to compute obstacle-avoiding Steiner trees by using the hybrid between hierarchical optimization of shortest routes through sequential quadratic programming over constrained two-dimensional convex domains, and the gradient-free stochastic optimization algorithms with a convex search space. Our computational experiments involving 3,000 minimal tree planning scenarios in maps with convex and non-convex obstacles show the feasibility and the efficiency of our approach. Also, our comparative study involving relevant classes of gradient-free and nature inspired heuristics has shed light on the robustness of the selective pressure and exploitation abilities of the Dividing Rectangles (DIRECT), the Rank-based Differential Evolution (RBDE) and the Differential Evolution with Successful Parent Selection (DESPS). Our approach offers the cornerstone mechanisms to further advance towards developing efficient network optimization algorithms with flexible and scalable representations.

    DOI

  • A Differential Particle Scheme with Successful Parent Selection and its Application to PID Control Tuning

    Victor Parque

    2021 IEEE Congress on Evolutionary Computation, CEC 2021 - Proceedings     522 - 529  2021

     View Summary

    Proportional-integral-derivative (PID) control is ubiquitous in industrial automation tasks, and the parameter tuning of the gains is challenging due to nonlinearity and stagnation in local optima. In this paper we present a differential particle scheme based on stagnation-based selection mechanism, and evaluate its effectiveness in the stabilization of a nonlinear inverted pendulum and a magnetic levitation system. Our computational experiments show the feasibility to avoid stagnation, the lower variability of convergence over independent runs, and the feasibility to converge to significantly better fitness values compared to relevant heuristics in the literature. We believe our approach offers the building blocks to build stagnation-free nature inspired optimization algorithms useful for adaptive control and tuning.

    DOI

  • Tackling the Subset Sum Problem with Fixed Size using an Integer Representation Scheme

    Victor Parque

    2021 IEEE Congress on Evolutionary Computation, CEC 2021 - Proceedings     1447 - 1453  2021

     View Summary

    Addressing the subset sum problem is relevant to study resource management problems efficiently. In this paper, we study a new scheme to sample solutions for the subset sum problem based on swarm-based optimization algorithms with distinct forms of selection pressure, the balance of exploration-exploitation, the multimodality considerations, and a search space defined by numbers associated with subsets of fixed size. Our experiments show that it is feasible to find optimal subsets with few number of fitness evaluations, and that Particle Swarm Optimization with Fitness Euclidean Ratio converges faster to the global optima with zero variability over independent runs. Since the search space is one-dimensional and friendly to parallelization schemes, our work is potential to study further classes of combinatorial problems using swarm-based optimization algorithms and the representation based on numbers.

    DOI

  • On a class of polar log-aesthetic curves

    Victor Parque

    Proceedings of the ASME Design Engineering Technical Conference   3B-2021 ( IDETC-CIE2021 )  2021

     View Summary

    Curves are essential concepts that enable compounded aesthetic curves, e.g., to assemble complex silhouettes, match a specific curvature profile in industrial design, and construct smooth, comfortable, and safe trajectories in vehicle-robot navigation systems. New mechanisms able to encode, generate, evaluate, and deform aesthetic curves are expected to improve the throughput and the quality of industrial design. In recent years, the study of (log) aesthetic curves have attracted the community's attention due to its ubiquity in natural phenomena such as bird eggs, butterfly wings, falcon flights, and manufactured products such as Japanese swords and automobiles. A (log) aesthetic curve renders a logarithmic curvature graph approximated by a straight line, and polar aesthetic curves enable to mode user-defined dynamics of the polar tangential angle in the polar coordinate system. As such, the curvature profile often becomes a by-product of the tangential angle. In this paper, we extend the concept of polar aesthetic curves and establish the analytical formulations to construct aesthetic curves with user-defined criteria. In particular, we propose the closed-form analytic characterizations of polar log-aesthetic curves meeting user-defined criteria of curvature profiles and dynamics of polar tangential angles. We present numerical examples portraying the feasibility of rendering the logarithmic curvature graphs represented by a straight line. Our approach enables the seamless characterization of aesthetic curves in the polar coordinate system, which can model aesthetic shapes with desirable aesthetic curvature profiles.

    DOI J-GLOBAL

  • Development of a Balanced 3D Translational Interconnected Manipulator with Solely Rotary Joints/Actuators and Free-Internal-Singularity Workspace

    Ahmed Sameh, Mohamed Fanni, Victor Parque, Abdelfatah M. Mohamed

    IEEE Access   9   167880 - 167899  2021

     View Summary

    A new interconnected translational manipulator is proposed. It is the only interconnected manipulator that makes such motion using revolute joints and three rotary actuators. Rotary joints and actuators are favored practically than their linear counterparts due to their lower price, lower size of installation and higher reliability. The configuration of the proposed manipulator allows it to maintain, to a large extent, the combined merits of serial and parallel manipulators. In contrast to all other existing interconnected manipulators, the proposed manipulator has free-internal-singularity workspace. Using a practical proposed methodology, a balancing system is developed that reduces dramatically the power consumption and facilitates using small-sized-motors. The mobility analysis is carried out using a newly developed methodology suitable for interconnected manipulators. Closed forms for position and velocity kinematics as well as for maximum cuboid workspace are derived. The developed mechanical design is validated by finite element analysis. The controller performance is tested using ADAMS MATLAB/Simulink co-simulation. The results indicate the feasibility of the proposed manipulator and its advantages over existing translational manipulators from engineering as well as economic viewpoints.

    DOI J-GLOBAL

  • Design optimization of copper patterns and location of power semiconductors and terminals

    Yusuke Abe, Akira Hirao, Ryoichi Kato, Yoshinari Ikeda, Victor Parque, Muhammad Khairi Faiz, Makoto Yoshida, Tomoyuki Miyashita

    2021 INTERNATIONAL CONFERENCE ON ELECTRONICS PACKAGING (ICEP 2021)     157 - 158  2021

     View Summary

    In recent years, SiC power modules have attracted a lot of attention because they offer higher frequency and density as compared to the conventional Si power module. However high speed switching inevitably lead to the generation of surge voltage which may damage the power module. The design of layout, which composed of copper patterns, power semiconductors and terminals, is one of the factors that is necessary to overcome the problem. In this paper, the layout design of the half-bridge power module is optimized to reduce its internal inductance. The inductance was evaluated by electromagnetic field simulation.

  • Relationships of design parameters and the cooling performance of the spiral-fin heatsink

    Shingo Otake, Motohito Hori, Ryoichi Kato, Yoshinari Ikeda, Victor Parque, Muhammad Khairi Faiz, Makoto Yoshida, Tomoyuki Miyashita

    2021 INTERNATIONAL CONFERENCE ON ELECTRONICS PACKAGING (ICEP 2021)     161 - 162  2021

     View Summary

    Due to the demand for miniaturization, further improvement in cooling performance is required for power modules. The spiral-fin heatsink we considered has higher cooling performance than conventional ones. In this paper, we examined the design parameters of the spiral-fin, and found that three parameters of spiral-fin have big effect for the cooling performance

    DOI

  • An Efficient Scheme for the Generation of Ordered Trees in Constant Amortized Time.

    Victor Parque, Tomoyuki Miyashita

    15th International Conference on Ubiquitous Information Management and Communication(IMCOM)     1 - 8  2021

     View Summary

    Trees are useful entities allowing to model data structures and hierarchical relationships in networked decision systems ubiquitously. An ordered tree is a rooted tree where the order of the subtrees (children) of a node is significant. In combinatorial optimization, generating ordered trees is relevant to evaluate candidate combinatorial objects. In this paper, we present an algebraic scheme to generate ordered trees with $n$ vertices with utmost efficiency; whereby our approach uses $O$ (n) space and $O$ (1) time in average per tree. Our computational studies have shown the feasibility and efficiency to generate ordered trees in constant time in average, in about one tenth of a millisecond per ordered tree. Due to the 1-1 bijective nature to other combinatorial classes, our approach is favorable to study the generation of binary trees with $n$ external nodes, trees with $n$ nodes, legal sequences of $n$ pairs of parentheses, triangulated n-gons, gambler's sequences and lattice paths. We believe our scheme may find its use in devising algorithms for planning and combinatorial optimization involving Catalan numbers.

    DOI

  • Small-Scale Human Impact Anthropomorphic Test Device Using the Similarity Rule.

    Satoshi Miura, Souhei Takahashi, Victor Parque, Tomoyuki Miyashita

    IEEE Trans. Ind. Electron.   68 ( 8 ) 7188 - 7198  2021

    DOI

  • Shape optimization of a three-dimensional membrane-structured solar sail using an angular momentum unloading strategy

    Satoshi Miura, Kazuki Saito, Ayako Torisaka, Victor Parque, Tomoyuki Miyashita

    Advances in Space Research   67 ( 9 ) 2706 - 2715  2021.01

     View Summary

    A shape of the satellite's solar sail membrane is essential for unloading angular momentum in the three-axis stabilized attitude control system because the three-dimensional solar sail can receive solar radiation pressure from arbitrary directions. In this paper, the objective is the shape optimization of a three-dimensional membrane-structured solar sail using the angular momentum unloading strategy. We modelled and simulated the solar radiation pressure torque, for unloading angular momentum. Using the simulation system, since the unloading angular momentum rate is maximized, the shape of the three-dimensional solar sail was optimized using a Genetic algorithm and Sequential Quadratic Programming. The unloading velocity in the optimized shaped solar sail was greatly improved with respect to a conventional flat or pyramid solar sail.

    DOI

  • Packaging of thick membranes using a multi-spiral folding approach: Flat and curved surfaces

    Victor Parque, Wataru Suzaki, Satoshi Miura, Ayako Torisaka, Tomoyuki Miyashita, Michihiro Natori

    Advances in Space Research   67 ( 9 ) 2589 - 2612  2020.10

     View Summary

    Elucidating versatile configurations of spiral folding, and investigating the deployment performance is of relevant interest to extend the applicability of deployable membranes towards large-scale and functional configurations. In this paper we propose new schemes to package flat and curved membranes of finite thickness by using multiple spirals, whose governing equations render folding lines by juxtaposing spirals and by accommodating membrane thickness. Our experiments using a set of topologically distinct flat and curved membranes deployed by tensile forces applied in the radial and circumferential directions have shown that (1) the multi-spiral approach with prismatic folding lines offered the improved deployment performance, and (2) the deployment of curved surfaces progresses rapidly within a finite load domain. Furthermore, we confirmed the high efficiency of membranes folded by multi-spiral patterns. From viewpoints of configuration and deployment performance, the multi-spiral approach is potential to extend the versatility and maneuverability of spiral folding mechanisms.

    DOI

  • Leg-circle transformable wheel for improved runnability of a lunar rover

    Ayako Torisaka, Kohei Eguchi, Satoshi Miura, Victor Parque, Tomoyuki Miyashita

    Journal of Intelligent Material Systems and Structures   32 ( 9 ) 1045389X2095254 - 1045389X2095254  2020.09

     View Summary

    This paper proposes a wheel with a deployable leg that can change the apparent wheel radius to improve the runnability of a rover traversing a lunar surface covered with regolith. The driving force of the wheel was formulated according to terramechanics, and relations for the changing driving force with the different configurations were clarified. The simulated driving forces with the original wheel configuration and extended leg configuration were compared in a single-wheel experiment, and the results confirmed that the proposed extendable leg system exhibited a higher driving force than the original circular wheel. With this system, the rover can use the original wheel state for flat ground surfaces that do not require a high driving force and then switch to the proposed extendable leg system when a high driving force is required, such as escaping from local concave ground or climbing on steep slope. The proposed system is potentially applicable to efficiently traversing irregular surfaces not only on the Moon but also on other planets.

    DOI

  • Trajectory Tracking of Wheeled Mobile Robots Using Z-Number Based Fuzzy Logic.

    Mohamed Abdelwahab, Victor Parque, Ahmed M. R. Fath El-Bab, A. A. Abouelsoud, Shigeki Sugano

    IEEE Access   8   18426 - 18441  2020

    DOI

  • Bi-rigid guide wire enables endoscope insertion into winding small gas pipelines

    Satoshi Miura, Takayuki Nakagami, Victor Parque, Tomoyuki Miyashita

    MECHANICAL ENGINEERING JOURNAL   7 ( 4 )  2020

     View Summary

    This paper presents a method to inspect the interior of a winding small gas pipe using a hollow guide wire. There is no conventional method to insert an endoscope into an 8-bend 25-mm-diameter gas pipe within 2 hours. In medical practice, a guide wire inserted in advance enables insertion of a catheter into a vessel. However, it is impossible to insert a normal guide wire into a gas pipe because the wire buckles in the pipe. Thus, we designed a hollow guide wire with a small front diameter and large rear diameter, making the front soft and the rear stiff. This guide wire can be inserted without buckling or meandering. First, we measured mechanical properties such as the torsional spring constant and damping coefficient of the wire and the frictional coefficient between the pipe and wire. Second, we conducted an experiment inserting guide wires with various tip pitches, front lengths, front outer diameters, and rear outer diameters. Third, we analyzed the insertion distance by simulating guide wire insertion using the Lagrange method, and optimized the guide wire shape via the response surface method. Finally, the optimized guide wires were tested experimentally to validate the analysis. As a result, an optimized guide wire and an endoscope can both be inserted into a gas pipe and removed within just 3 minutes.

    DOI

  • An Efficient Scheme for the Generation of Ordered Trees in Constant Amortized Time.

    Victor Parque, Tomoyuki Miyashita

    CoRR   abs/2011.03636  2020

     View Summary

    Trees are useful entities allowing to model data structures and hierarchical
    relationships in networked decision systems ubiquitously. An ordered tree is a
    rooted tree where the order of the subtrees (children) of a node is
    significant. In combinatorial optimization, generating ordered trees is
    relevant to evaluate candidate combinatorial objects. In this paper, we present
    an algebraic scheme to generate ordered trees with $n$ vertices with utmost
    efficiency; whereby our approach uses $\mathcal{O}(n)$ space and
    $\mathcal{O}(1)$ time in average per tree. Our computational studies have shown
    the feasibility and efficiency to generate ordered trees in constant time in
    average, in about one tenth of a millisecond per ordered tree. Due to the 1-1
    bijective nature to other combinatorial classes, our approach is favorable to
    study the generation of binary trees with $n$ external nodes, trees with $n$
    nodes, legal sequences of $n$ pairs of parentheses, triangulated $n$-gons,
    gambler's sequences and lattice paths. We believe our scheme may find its use
    in devising algorithms for planning and combinatorial optimization involving
    Catalan numbers.

  • Estimation of Grasp States in Prosthetic Hands using Deep Learning.

    Victor Parque, Tomoyuki Miyashita

    44th IEEE Annual Computers, Software, and Applications Conference(COMPSAC)     1285 - 1289  2020

    DOI

  • Towards Fast Data-Driven Smooth Path Planning with Fair Curves.

    Victor Parque, Tomoyuki Miyashita

    44th IEEE Annual Computers, Software, and Applications Conference(COMPSAC)     1115 - 1116  2020

    DOI

  • Smooth Curve Fitting of Mobile Robot Trajectories Using Differential Evolution.

    Victor Parque, Tomoyuki Miyashita

    IEEE Access   8   82855 - 82866  2020

    DOI

  • Optimization and demonstration of 3d self-assembly system of hierarchical modular space structure using electromagnet

    A. Torisaka, S. Hasegawa, S. Miura, V. Parque, T. Miyashita, H. Yamakawa, M. C. Natori

    AIAA Scitech 2020 Forum   1 PartF   1 - 21  2020

     View Summary

    This research deals with hierarchical modular structure which is noted as the assembly method in view of the recent upsizing of space structures. The idea is dividing a large space structure into multiple modules and homogeneous automatic assembly functions are installed on each of a module. Hence the shape and function of the entire structure has diversity as they can be changed by the arrangement of modules, regardless of the size of the structure. The conventional researches of locomotion and docking / release mechanisms installed on each module and keeping such characteristics are limited to two-dimensional. In this research, we propose a mechanism using an electromagnet that can be assembled into any shape in three dimensions. The size and arrangement of the electromagnet are optimized to maximize its movement performance by using the Response Surface Method (RSM) for making response surface and applied downhill simplex method. On that basis, the demonstration experiment was actually carried out and the success rate was compared with the existing method to demonstrate the effectiveness of the proposed method.

    DOI

  • Enhanced frequency analysis on a vibrated tumor with a compression cylinder

    Satoshi Miura, Hidekazu Ishiuchi, Yuta Shintaku, Victor Parque, Ayako Torisaka, Tomoyuki Miyashita

    ROBOMECH Journal   6 ( 1 )  2019.12  [Refereed]

     View Summary

    © 2019, The Author(s). Breast cancer diagnosis has been mostly accomplished through imaging. These methods have great advantages in being able to detect the presence and location of breast cancer. However, it is difficult to distinguish between a benign and malignant tumor located in a deep position because both tumor types look similar. In this paper, tissue including the tumor from skin was vibrated using a compression cylinder, to analyze the frequency difference for distinguishing tissue type. Before distinguishing between a benign and malignant tumor, it is necessary to validate that the difference between normal tissue and tumor can be distinguished. The objective of the study is to validate the feasibility to emphasize the frequency differences in a 10.0 mm or greater deep tumors during vibration by pushing a cylinder towards the deep tumor. A phantom model and finite element analysis model were constructed to simulate the breast. In the experiment, air was injected into the phantom and the displacement was measured. The frequency response for distinction of tissue types was analyzed and it was found that the displacement difference rate was over 50% at a frequency of 130 Hz when the cylinder was pushed into the sample as opposed to when not pushed in. Changes in displacement were measured according to the distance between the tumor and vibration point using finite element analysis. When the measurement and vibration points were on the center of the tumor, the difference in the resonance point was at its largest (5.5 Hz). Results show that the position of a tumor could be easily and rapidly detected by vibrations from a cylinder pushed into the diagnostic site.

    DOI

  • Design factors for determining the radula shape of Euhadra Peliomphala

    Satoshi Miura, Rikako Saito, Victor Parque, Tomoyuki Miyashita

    Scientific Reports   9 ( 1 ) 749  2019.12  [Refereed]

     View Summary

    © 2019, The Author(s). Biomimetics present useful ideas for various product designs. However, most biomimetics only mimic the features of living organisms. It has not been clarified how a given shape is attained through natural selection. This paper presents the design factors that optimize the radula shape of Euhadra peliomphala. Clarifying the important design factors would help designers in solving several problems simultaneously in order to adapt to complicated and multi-functionalized design mechanisms. We measured the radula of Euhadra peliomphala by using a microscope and modeled the grinding/cutting force using the finite element analysis (FEA). We reproduced the natural selection using multi-objective genetic algorithm (MOGA). We compared the solutions when optimizing the radula shape using objective functions of each combination of stress, cutting force, abrasion, or volume. The results show that the solution obtained through two-objective optimization with stress and cutting force was the closest to the actual radula shape.

    DOI PubMed

  • Spiral Folding of Thin Films with Curved Surface

    Satoshi Miura, Victor Parque, Kohei Ogawa, Tomoyuki Miyashita

    Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018     1699 - 1704  2019.01  [Refereed]

     View Summary

    © 2018 IEEE. Being ubiquitously used as anti-adhesive and wound-covering mechanisms, thin films have potential therapeutic uses as cell sheets to target inner organs while navigating narrow environments. A significant challenge to realize versatile films lies in achieving compact storage and efficient transport while ensuring coherency in curvature-bounded environments. In this paper, we propose a folding mechanism of a curved film by using a spiral approach, enabling efficient unfolding and flexible plasters with curved surfaces. Our experiments using gelatin-based films with curved surfaces shows the superior indwelling ability in terms of chromaticity level compared to the conventional planar films, as well as the efficient unfolding in the order of seconds. Our results presents the theoretical and experimental building blocks to realize a versatile class of films which are able to navigate narrow environments, and unfold efficiently and flexibly.

    DOI

  • Heatsink design using spiral-fins considering additive manufacturing

    Shingo Otake, Yoshihiro Tateishi, Hiromichi Gohara, Ryoichi Kato, Yoshinari Ikeda, Victor Parque, Muhammed Khairi Faiz, Makoto Yoshida, Tomoyuki Miyashita

    2019 INTERNATIONAL CONFERENCE ON ELECTRONICS PACKAGING (ICEP 2019)     46 - 51  2019

     View Summary

    In recent years, there have been increasing the number of power modules which is required with high performance, miniaturization and weight saving. But these requires cause high heat generation density for power module, which gets junction operation temperature to rise. Cooling unit is thus greatly demanded for high heat dissipation. The simple shaped heatsinks (straight-fin type and pin fin type) were generally used. But they have the limit of cooling performance. In this report, we have developed new heatsink shape to cope with rapidly increasing of the cooling requirement. Cooling performance is shown to thermal resistance and pressure loss. We evaluated them by thermal fluid analysis. In this approach, the spiral-fin heatsink with spiral curved channels has excellent cooling performance. This shape is the unique point in this report. This is because the shape with three-dimensional regular curve has not been studied. The spiral-fin heatsink has many factors (tin thickness, fin pitch, the number of channels, etc.). These factors affect cooler performance. We changed these factors to determine the best shape of spiral-fin. As a result, the best shape is 14.9[%] lower than the straight-fin type in thermal resistance.

  • A Study of Spiral Folding Patterns for Automotive Airbag

    NOMURA Yuta, PARQUE Victor, MIURA Satoshi, MIYASHITA Tomoyuki

    The Proceedings of Design & Systems Conference   2019   2204 - 2204  2019

     View Summary

    <p>In this study we propose the use of spiral folding to deploy automotive airbags, and propose the folding pattern considering creases, which has the potential benefits to diminish friction during storage and bring benefits to faster deployment. Our preliminary experiments show the feasibility to deploy airbags by using the spiral folding approach, and the reasonable consistency between the modeling and real-world deployment. Our results offer preliminary insights for further study on spiral folding mechanisms and safest deployment performance.</p>

    DOI CiNii

  • Optimization of Surgical Robot Considering Variation of Muscle Burden

    MIURA Satoshi, KIKUCHI Hirotaro, PARQUE Victor, MIYASHITA Tomoyuki

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2019   1A1 - B01  2019

     View Summary

    <p>This paper presents a surgical robot mechanism optimization method considering of the working error and operator's muscle burden. The virtual surgical system was developed to simulate the visual and haptic feedback. The participants operated the VR surgical simulation system while the authors measured the working error and the participant's joint motion. The histogram was made of the data to show the distribution. The authors estimated the appropriate probabilistic distribution model using Akaike's Information Criterion (AIC) method. As a result, there were many cases most applicable to the Weibull model.</p>

    DOI CiNii

  • Runnability improvement of the moon rover with leg-circle transformable wheel

    Ayako Torisaka, Kohei Eguchi, Satoshi Miura, Victor Parque, Tomoyuki Miyashita

    Proceedings of 30th International Conference on Adaptive Structures and Technologies, ICAST 2019     55 - 56  2019  [Refereed]

     View Summary

    © copyright Environment and Climate Change Canada. In this paper, we proposed a wheel equipped rover with deployable legs that can change the apparent wheel radius in order to improve the runnability of the rover which travels on the ground covered with lunar regolith. Furthermore, we formulated the driving force of the wheel based on Terramechanics and clarified the mechanism of the driving force change using our proposed rover wheel. In addition, the driving force was compared between the original wheel configuration and the leg expanded one in single wheel running experiments, and it was validated that the proposed leg expandable system exhibits higher driving force than the original circular wheel. With this system, in the case of a flat ground surface that does not require a high driving force, the vehicle should use the original wheel state, and when a high driving force is required such like the situation the vehicle need to escape the wheel from the local concaved ground, the proposed expandable leg system can be useful, and then the possibility of traveling on irregular surface efficiently not only on the moon but also on other planets was shown.

  • On vehicle evaluation and design using data envelopment analysis with hierarchical concepts

    Victor Parque, Kazuhiro Honobe, Satoshi Miura, Tomoyuki Miyashita

    Proceedings of the International Conference on Engineering Design, ICED   2019-August   1225 - 1234  2019  [Refereed]

     View Summary

    © 2019 Design Society. All rights reserved. In recent years, product complexity in terms of function and structure has been driven by technological development in complementary components. Designing unbiased product evaluation metrics being to grasp the complex relationships of product features, and able to capitalize on market needs has become a challenge in industrial practice. In this paper, we propose a hybrid framework in which evaluation models are generated by integrating Interpretive Structural Modeling (ISM), Hierarchical Clustering and Data Envelopment Analysis (DEA). Whereas ISM constructs hierarchical digraphs (skeletons), Hierarchical Clustering reduces dimensionality of pairwise comparisons (correlations) of design variables, and suggests possible evaluation configurations, and DEA computes weights to provide optimal evaluation metrics. Our computational experiments using more than twenty thousand vehicles from 1982 to 2013 confirmed the feasibility and usefulness of DEA with hierarchical concepts to generate the optimal vehicle evaluation metric, and to suggest configurations for vehicle design layouts.

    DOI

  • Data Assimilation Using the Particle Filter for Online Identification of Organ Properties

    Sojuro Nakano, Satoshi Miura, Parque Victor, Ayako Torisaka, Tomoyuki Miyashita

    IET The Journal of Engineering (JOE)    2019.01  [Refereed]

    DOI

  • Study on in-plane and out-of-plane deformation considering elastic plasticity of membrane

    A. Torisaka, K. Ogawa, S. Miura, V. Parque, T. Miyashita, H. Yamakawa

    AIAA Scitech 2019 Forum    2019  [Refereed]

     View Summary

    © 2019 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved. This research formulates the two-dimensionally model of a membrane with crease line which is always added when the thin material is used for deployable space structure like a solar sail. Recent space development is tending to focus on installing a system on a ultra-light weight structure, so when the membrane is chosen as the base of space structure, the keeping accuracy of the membrane surface is the point of interest. This means how to reduce the wrinkle appeared on the membrane becomes the key point. However, the most research on modelling the membrane limit to the one dimension model, or if any, the plastic deformation is not considered. Here in this paper, the authors established the two-dimensionally membrane model considering the plasticity and clarified from analysis and experiment that wrinkles can be reduced by giving crease to a membrane. In the model assuming the actual antenna installed structure and with the actual load condition, the fact is obtained that a crease perpendicular to the loading direction should be applied to a position one fifth between the load application point and the wrinkle generated region. This position can be considered to be able to reduce wrinkle the most from the view point of amount of energy required to eliminate wrinkles.

    DOI

  • Path Bundling in Modular Bipartite Networks

    Victor Parque, Satoshi Miura, Tomoyuki Miyashita

    Advances in Intelligent Systems and Computing   873   222 - 238  2019  [Refereed]

     View Summary

    © 2019, Springer Nature Switzerland AG. Path bundling consists in compounding multiple routes in a polygonal map to minimize connectivity in a network structure. Being closely related to the Steiner Tree Problem, yet with a different scope, path bundling aims at computing minimal trees while preserving network connectivity among origin-destination pairs to allow the joint transport of information, goods, and people. In this paper, we propose a method to tackle the path bundling problem in modular bipartite networks by using a two-layer optimization with a convex representation. Exhaustive computational experiments in diverse polygonal domains considering convex and non-convex geometry show the feasibility and the efficiency of the proposed approach, outperforming the state of the art in generating comparatively shorter trees, and improved scalability as a function of edges in bipartite networks.

    DOI

  • Benchmarking Learning Networks on Eat-Sleep Conditions.

    Victor Parque, Hammed Obasekore, Solomon Oladayo, Tomoyuki Miyashita

    IEEE 1st Global Conference on Life Sciences and Technologies, LifeTech 2019, Osaka, Japan, March 12-14, 2019     29 - 30  2019  [Refereed]

    DOI

  • On Planning Distributed Minimal Sensor Networks.

    Victor Parque, Hammed Obasekore, Solomon Oladayo, Tomoyuki Miyashita

    IEEE 1st Global Conference on Life Sciences and Technologies, LifeTech 2019, Osaka, Japan, March 12-14, 2019     26 - 28  2019  [Refereed]

    DOI

  • On Path Planning using Minimal Aesthetic B-Spline Curves.

    Mohamed Abdelwahab,Victor Parque, Ahmed Fath El-Bab

    IEEE 1st Global Conference on Life Sciences and Technologies, LifeTech 2019, Osaka, Japan, March 12-14, 2019     21 - 25  2019  [Refereed]

    DOI

  • Enhanced Frequency Difference of Tumor inside Vibrated Tissue by a Compression Cylinder

    Satoshi Miura, Yuta Shintaku, Hidekazu Ishiuchi, Victor Parque, Tomoyuki Miyashita

    Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2018-July   380 - 383  2018.10  [Refereed]

     View Summary

    © 2018 IEEE. Breast cancer diagnosis has been mostly accomplished by imaging technologies. These methods have the great advantages of detecting the presence and location of breast cancer. However, it's difficult to distinguish between a benign and malignant tumor in a deep position because both tumor types look similar. In this paper, we vibrated the tissue including tumor from skin with a compression cylinder to analyze the frequency difference for distinguishing the tissue type. Before distinguishing a benign and malignant tumor, it's necessary to validate to distinguish between normal tissue and tumor. The objective is to validate the feasibility of using a compression cylinder that emphasizes the differences in frequency between normal tissue and tumor. In two experiments, we measured the displacement on the surface of a breast phantom vibrated by an impulse hammer. We compared the frequency difference with and without a cylinder. We also studied the frequency changes in the relationship between tumor and cylinder position. We found a 5.0 Hz difference in compliance between normal tissue and the simulated tumor using a compression cylinder. The difference in frequency correlated negatively with distance from the simulated tumor to a compression cylinder. We concluded that a compression cylinder would enhance the frequency difference between normal tissue and a simulated tumor with appropriate configuration.

    DOI PubMed

  • Spiral Folded Adhesive Plaster Optimization for Laparoscopic Surgery

    Satoshi Miura, Naoya Tsuda, Victor Parque, Tomoyuki Miyashita

    Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2018-July   151 - 154  2018.10  [Refereed]

     View Summary

    © 2018 IEEE. Laparoscopic surgery has the advantage of the minimally invasive for patients. However, the surgery is technically difficult for surgeon because high dexterity is required for suturing in the narrow patient's body. This paper presents a sealing method to locate the adhesive plaster at the incision instead of suturing. The objective is to optimize the plaster material and structure. We made the plaster with the thermally cross-linked gelatin film in a spiral fold because thermally cross-linked gelatin film has the high biocompatibility and tackiness, and a spiral fold has great storage efficiency. In 3 experiments, we measured expansion rate, expansion tension, peeling force, and sealing pressure in a variety of gelatin volume and concentration, and the films diameter. From these experimental results, we optimized the films using response surface method. As a result, the plaster is optimal at gelatin volume 10 mL, gelatin concentration 4 wt %, and films diameters 75 mm. We concluded that the optimized spiral folded adhesive plaster is sufficient in terms of the expansion, tackiness, and sealing properties.

    DOI PubMed

  • Bundling n-stars in polygonal maps

    Victor Parque, Tomoyuki Miyashita

    Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI   2017-   358 - 365  2018.06  [Refereed]

     View Summary

    This paper aims at computing minimal-length tree layouts given an n-star graph in a polygonal map. This problem is strongly related to the edge bundling problem, which consists of compounding the edges of an input graph to obtain topologically compact graph layouts being free of clutter and easy to visualize. Computational experiments using a diverse set of polygonal maps and number of edges in the input graph shows the feasibility, efficiency and robustness of our approach.

    DOI

  • On the numerical representation of labeled graphs with self-loops

    Victor Parque, Tomoyuki Miyashita

    Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI   2017-   342 - 349  2018.06  [Refereed]

     View Summary

    Graphs with self-loops enable to represent a large variety of interactions in natural and artificial systems, allowing not only inter-connectivity among heterogeneous entities but also the self-dependence of entities, e.g.The recursive and autonomous nature of dynamical systems. In this paper we present new bijective constructs which enable the numerical representation of graphs with self loops (or loopy graphs). In particular, we study the case of (1) undirected and (2) directed graphs with n nodes and m edges with self-loops. Our proposed approach realizes the succinct representations by using integer numbers in which rigorous computational experiments show the efficiency of our proposed algorithms: The complexity follows a quasi-linear behaviour as a function of the number of edges (which is independent of the number of nodes). Furthermore, as direct consequence of our constructs, we propose list structures having O(m) space complexity, which realize the linear space complexity depending only on the number of edges (the list is independent of n). We believe that our bijective algorithms are useful to tackle problems involving sampling of graphical models, network design as well as process planning by using number theory and sample-based learning.

    DOI

  • Optimization of route bundling via differential evolution with a convex representation

    Victor Parque, Satoshi Miura, Tomoyuki Miyashita

    2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017   2017-July   727 - 732  2018.03  [Refereed]

     View Summary

    © 2017 IEEE. Route bundling implies compounding multiple routes in a way that anchoring points at intermediate locations minimize a global distance metric. The result of route bundling is a tree-like structure where the roots of the tree (anchoring points) serve as coordinating locus for the joint transport of information, goods, and people. Route bundling is a relevant conceptual construct in a number of path planning scenarios where the resources and means of transport are scarce/expensive, or where the environments are inherently hard to navigate due to limited space. In this paper we propose a method for searching optimal route bundles based on a self-adaptive class of differential evolution using a convex representation. Computational experiments in scenarios with and without convex obstacles show the feasibility and efficiency of our approach.

    DOI

  • Path planning on hierarchical bundles with differential evolution

    Victor Parque, Tomoyuki Miyashita

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   10941   251 - 260  2018  [Refereed]

     View Summary

    Computing hierarchical routing networks in polygonal maps is significant to realize the efficient coordination of agents, robots and systems in general
    and the fact of considering obstacles in the map, makes the computation of efficient networks a relevant need for cluttered environments. In this paper, we present an approach to compute the minimal-length hierarchical topologies in polygonal maps by Differential Evolution and Route Bundling Concepts. Our computational experiments in scenarios considering convex and non-convex configuration of polygonal maps show the feasibility of the proposed approach.

    DOI

  • Towards the Succinct Representation of m Out of n.

    Victor Parque, Tomoyuki Miyashita

    Internet and Distributed Computing Systems - 11th International Conference, IDCS 2018, Tokyo, Japan, October 11-13, 2018, Proceedings     16 - 26  2018  [Refereed]

    DOI

  • Unranking Combinations Using Gradient-Based Optimization.

    Victor Parque, Tomoyuki Miyashita

    IEEE 30th International Conference on Tools with Artificial Intelligence, ICTAI 2018, 5-7 November 2018, Volos, Greece.     579 - 586  2018  [Refereed]

    DOI

  • Obstacle-Avoiding Euclidean Steiner Trees by n-Star Bundles.

    Victor Parque, Tomoyuki Miyashita

    IEEE 30th International Conference on Tools with Artificial Intelligence, ICTAI 2018, 5-7 November 2018, Volos, Greece.     315 - 319  2018  [Refereed]

    DOI

  • On parametric excitation for exploration of lava tubes and caves

    Victor Parque, Masato Kumai, Satoshi Miura, Tomoyuki Miyashita

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   10860 LNCS   470 - 482  2018  [Refereed]

     View Summary

    © Springer International Publishing AG, part of Springer Nature 2018. Huge lava tubes with an approximate diameter of 65–225 m were found on the surfaces of Moon and Mars in the late 2000’s. It has been argued that the interiors of the caves are spacious, and are suitable to build artificial bases with habitable features such as constant temperature, as well as protection from both meteorites and harmful radiation. In line of the above, a number of studies which regard the soft landing mechanisms on the bottom of the lava tubes have been proposed. In this paper, aiming to extend the ability to explore arbitrary surface caves, we propose a mechanism which is able to reach the ceiling of lava tubes. The basic concept of our proposed mechanism consists of a rover connected to an oscillating sample-gatherer, wherein the rover is able to adjust the length of the rope parametrically to increase the deflection angle by considering periodic changes in the pivot, and thus to ease the collection of samples by hitting against the ceiling of the cave. Relevant simulations confirmed our theoretical observations which predict the increase of deflection angle by periodically winding and rewinding the rope according to pivotal variations. We believe the our proposed approach brings the building blocks to enable finer control of exploration mechanisms of lava tubes and narrow environments.

    DOI

  • Towards bundling minimal trees in polygonal maps.

    Victor Parque, Tomoyuki Miyashita

    Proceedings of the Genetic and Evolutionary Computation Conference Companion, GECCO 2018, Kyoto, Japan, July 15-19, 2018     1813 - 1820  2018  [Refereed]

    DOI

  • On vehicle surrogate learning with genetic programming ensembles.

    Victor Parque, Tomoyuki Miyashita

    Proceedings of the Genetic and Evolutionary Computation Conference Companion, GECCO 2018, Kyoto, Japan, July 15-19, 2018     1704 - 1710  2018  [Refereed]

    DOI

  • Numerical Representation of Modular Graphs.

    Victor Parque, Tomoyuki Miyashita

    2018 IEEE 42nd Annual Computer Software and Applications Conference, COMPSAC 2018, Tokyo, Japan, 23-27 July 2018, Volume 1     819 - 820  2018  [Refereed]

    DOI

  • On Graph Representation with Smallest Numerical Encoding.

    Victor Parque, Tomoyuki Miyashita

    2018 IEEE 42nd Annual Computer Software and Applications Conference, COMPSAC 2018, Tokyo, Japan, 23-27 July 2018, Volume 1     817 - 818  2018  [Refereed]

    DOI

  • On Learning Fuel Consumption Prediction in Vehicle Clusters.

    Victor Parque, Tomoyuki Miyashita

    2018 IEEE 42nd Annual Computer Software and Applications Conference, COMPSAC 2018, Tokyo, Japan, 23-27 July 2018, Volume 2     116 - 121  2018  [Refereed]

    DOI

  • A method to learn high-performing and novel product layouts and its application to vehicle design

    Victor Parque, Tomoyuki Miyashita

    NEUROCOMPUTING   248   41 - 56  2017.07  [Refereed]

     View Summary

    In this paper we aim at tackling the problem of searching for novel and high-performing product designs. Generally speaking, the conventional schemes usually optimize a (multi) objective function on a dynamic model/simulation, then perform a number of representative real-world experiments to validate and test the accuracy of the some product performance metric. However, in a number of scenarios involving complex product configuration, e.g. optimum vehicle design and large-scale spacecraft layout design, the conventional schemes using simulations and experiments are restrictive, inaccurate and expensive.
    In this paper, in order to guide/complement the conventional schemes, we propose a new approach to search for novel and high-performing product designs by optimizing not only a proposed novelty metric, but also a performance function which is learned from historical data. Rigorous computational experiments using more than twenty thousand vehicle models over the last thirty years and a relevant set of well-known gradient-free optimization algorithms shows the feasibility and usefulness to obtain novel and high performing vehicle layouts under tight and relaxed search scenarios.
    The promising results of the proposed method opens new possibilities to build unique and high performing systems in a wider set of design engineering problems. (C) 2017 Elsevier B.V. All rights reserved.

    DOI

  • Definition and support of differentiation and integration in mechanical structure using S-curve theory and wavelet transform

    Takahiro Ishii, Victor Parque, Satoshi Miura, Tomoyuki Miyashita

    Proceedings of the International Conference on Engineering Design, ICED   6 ( DS87-6 ) 355 - 364  2017  [Refereed]

     View Summary

    The differentiation and the integration of products are the essential procedures for product innovation. To understand the product innovation, the approaches using S-curve theory, which explain the evolution of a technological system, have been effective. However, the S-curve theory has the disadvantage that the validity of the analysis depends greatly on the number of data. In this paper, we propose a novel method for measuring and predicting the technological innovation and the product evolution based on the S-curve and wavelet transform to solve the problem. In order to confirm the effectiveness of the proposed method, we will conduct a case study using patents of air purifiers. Furthermore, we will define and support the differentiation and the integration of the mechanical structure using the proposed method. Our analysis shows that the differentiation and the integration of the mechanical structure occur as a life cycle extension after the main technologies enter the declining phase. Therefore, the incidental technologies should be introduced at the beginning of the declining phase of the main technologies.

  • Route bundling in polygonal domains using Differential Evolution.

    Parque V, Miura S, Miyashita T

    Robotics and biomimetics   4 ( 1 ) 22 - 22  2017  [Refereed]  [International journal]

     View Summary

    Route bundling implies compounding multiple routes in a way that anchoring points at intermediate locations minimize a global distance metric to obtain a tree-like structure where the roots of the tree (anchoring points) serve as coordinating locus for the joint transport of information, goods and people. Route bundling is a relevant conceptual construct in a number of path-planning scenarios where the resources and means of transport are scarce/expensive, or where the environments are inherently hard to navigate due to limited space. In this paper we propose a method for searching optimal route bundles based on a self-adaptive class of Differential Evolution using a convex representation. Rigorous computational experiments in scenarios with and without convex obstacles show the feasibility and efficiency of our approach.

    DOI PubMed

  • Computing path bundles in bipartite networks

    Victor Parque, Satoshi Miura, Tomoyuki Miyashita

    SIMULTECH 2017 - Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications     422 - 427  2017  [Refereed]

     View Summary

    © Copyright 2017 by SCITEPRESS - Science and Technology Publications, Lda. All rights reserved. Path bundling, a class of path planning problem, consists of compounding multiple routes to minimize a global distance metric. Naturally, a tree-like structure is obtained as a result wherein roots play the role of coordinating the joint transport of information, goods, and people. In this paper we tackle the path bundling problem in bipartite networks by using gradient-free optimization and a convex representation. Then, by using 7,500 computational experiments in diverse scenarios with and without obstacles, implying 7.5 billion shortest path computations, show the feasibility and efficiency of the mesh adaptive search.

    DOI

  • On Succinct Representation of Directed Graphs

    Victor Parque, Tomoyuki Miyashita

    2017 IEEE INTERNATIONAL CONFERENCE ON BIG DATA AND SMART COMPUTING (BIGCOMP)     199 - 205  2017  [Refereed]

     View Summary

    Directed graphs encode meaningful dependencies among objects ubiquitously. This paper introduces new and simple representations for labeled directed graphs with the properties of being succinct (space is information-theoretically optimal); in which we avoid exploiting a-priori knowledge on digraph regularity such as triangularity, separability, planarity, symmetry and sparsity. Our results have direct implications to model directed graphs by using single integer numbers effectively, which is significant to enable canonical (generation of graph instances is unique) and efficient (coding and decoding take polynomial time) encodings for learning and optimization algorithms. To the best of our knowledge, the proposed representations are the first known in the literature.

    DOI

  • On k-Subset Sum using Enumerative Encoding

    Victor Parque, Tomoyuki Miyashita

    2016 IEEE INTERNATIONAL SYMPOSIUM ON SIGNAL PROCESSING AND INFORMATION TECHNOLOGY (ISSPIT)     81 - 86  2016  [Refereed]

     View Summary

    Being a significant construct in a wide range of combinatorial problems, the k-subset sum problem (k-SSP) computes k-element subsets, out of an n-element set, satisfying a user-defined aggregation value. In this paper, we formulate the k-subset sum problem as a search (optimization) problem over the space of integers associated with combination elements. And by using rigorous computational experiments using the search space over more than 10(14) integer numbers, we show that our approach is effective and efficient: it is feasible to find any combination with a user-defined sum within 10(4) function evaluations by using a gradient-free optimization algorithm. Our scheme opens the door to further advance the understanding of combinatorial problems by improved/tailored gradient-free optimization algorithms based on enumerative encoding. Also, our approach realizes the practical building block for combinatorial problems in planning and operations research using k-SSP concepts.

    DOI

  • Learning the Optimal Product Design Through History

    Victor Parque, Tomoyuki Miyashita

    NEURAL INFORMATION PROCESSING, PT I   9489   382 - 389  2015  [Refereed]

     View Summary

    The search for novel and high-performing product designs is a ubiquitous problem in science and engineering: aided by advances in optimization methods the conventional approaches usually optimize a (multi) objective function using simulations followed by experiments. However, in some scenarios such as vehicle layout design, simulations and experiments are restrictive, inaccurate and expensive. In this paper, we propose an alternative approach to search for novel and high-performing product designs by optimizing not only a proposed novelty metric, but also a performance function learned from historical data. Computational experiments using more than twenty thousand vehicle models over the last thirty years shows the usefulness and promising results for a wider set of design engineering problems.

    DOI

  • Searching for Machine Modularity using Explorit

    Victor Parque, Masakazu Kobayashi, Masatake Higashi

    2014 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC)     2599 - 2604  2014  [Refereed]

     View Summary

    Modularity is vital to engineer complex products and machines. We assert that modularity can emerge in the context of desirable structures constrained to life cycle factors; and propose a method to evaluate machine modularity in the context of life cycle optimization. Experiments using explorit, a new and well suited global optimization algorithm, on fve relevant and divergent machine models show that it is possible to obtain tractable modules within the context of life cycle factors.

    DOI

  • Bijections for the Numeric Representation of Labeled Graphs

    Victor Parque, Masakazu Kobayashi, Masatake Higashi

    2014 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC)     447 - 452  2014  [Refereed]

     View Summary

    Graphs denote useful dependencies among objects ubiquitously. This paper introduces new and simple bijections to the integer grid to enable the succinct, canonical and efficient representations of labeled graphs; whereas previous work has focused on regularities in structure such as triangularity, separability, planarity, symmetry and sparsity. By succinct we imply that space is information-theoretically optimal, by canonical we imply that generation of instances is unique, and by efficient we imply that coding and decoding take polynomial time.
    Our results have direct implications to handle labeled graphs by using single numbers efficiently, which is significant to enable the canonical graph encodings in learning and optimization algorithms. Our bijections are the first known in the literature.

    DOI

  • Neural Computing with Concurrent Synchrony.

    Victor Parque, Masakazu Kobayashi, Masatake Higashi

    Neural Information Processing - 21st International Conference, ICONIP 2014, Kuching, Malaysia, November 3-6, 2014. Proceedings, Part I     304 - 311  2014  [Refereed]

    DOI

  • Reinforced explorit on optimizing vehicle powertrains

    Victor Parque, Masakazu Kobayashi, Masatake Higashi

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   8227 ( 2 ) 579 - 586  2013  [Refereed]

     View Summary

    How to build optimal vehicular powertrains? We study this question and propose an algorithm inspired by a domain-general design process. The basic idea is to interplay co-biasingly between the local approximations of discrete design and the global refinements of continuous parameters. The proposed method was evaluated to design powertrains of four types of vehicles: Series Hybrid Electric Vehicle(SHEV), Parallel Hybrid Electric Vehicle(PHEV), Fuel Cell(FC) and Electric Vehicle(EV). Simulation results show noticeable improvements on mileage per gas emissions over different study cases. To our knowledge, this is the first study aiming at designing vehicle powertrains considering the holistic point of view. © Springer-Verlag 2013.

    DOI

  • Diversifying risk in portfolios using a variable-size genetic relation algorithm

    Victor Parque, Shingo Mabu, Kotaro Hirasawa

    IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING   7 ( 3 ) 291 - 299  2012.05

     View Summary

    One important concept in financial risk management is the diversification process of capital allocation. This paper proposes an evolutionary approach for the optimal diversification when making asset allocation using variable-size genetic relation algorithm (vs-GRA), whose main role is to model and evolve structures toward effective and diversified portfolios through its graph structure. Simulations using heterogeneous and globally located asset classes in the United States, Europe, and Asia show that the proposed scheme offers competitive economic advantages. (C) 2012 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

    DOI

  • Evolving asset selection using genetic network programming

    Victor Parque, Shingo Mabu, Kotaro Hirasawa

    IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING   7 ( 2 ) 174 - 182  2012.03

     View Summary

    As global financial innovation opens innumerable risks and opportunities, a global view of the asset allocation brings advantages in risk diversification for investments. We propose a novel framework for asset selection under global diversification principles using genetic network programming. Simulations using the stocks, bonds and currencies from relevant financial markets in USA, Europe and Asia show that the proposed framework is effective and offers competitive advantages against the conventional methods in finance and computational fields. (C) 2011 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

    DOI

  • Guided genetic relation algorithm on the adaptive asset allocation

    Victor Parque, Shingo Mabu, Kotaro Hirasawa

    Proceedings of the SICE Annual Conference     173 - 178  2011.11

     View Summary

    One important question in investment is how to build adaptive asset allocation strategies, i.e. portfolios which adjust to the changing conditions of the economic environments. This paper proposes an evolutionary approach for the adaptive asset allocation by using Guided Genetic Relation Algorithm(GRA-g), whose main role is to model and evolve the optimal adaptive portfolio structures. Simulations using asset classes in USA show that the proposed scheme offers competitive economic advantages. This paper suggests that the use of evolutionary computing techniques is an excellent tool to aid the asset allocation, whose advantages imply the usefulness to manage the exposure to risk. ? 2011 SICE.

  • Genetic network programming with changing structures for a novel stock selection model

    Victor Parque, Shingo Mabu, Kotaro Hirasawa

    Genetic and Evolutionary Computation Conference, GECCO'11 - Companion Publication     239 - 240  2011  [Refereed]

     View Summary

    Stock selection involves the continuous quest for the margin of safety, or a favorable difference between the stock price and its intrinsic value. Although this variable might not be quantified with exact precision, it may be approximated through the underlying relationships in financial markets and the real economy. We propose Genetic Network Programming with changing structures(GNP-cs), a novel evolutionary based algorithm to approximate these relationships through graph networks, and build asset selection models to identify the prospective stocks in the context of changing environments. GNP-cs uses functionally distributed systems to monitor the change of the economic environment and execute the strategy for stock selection adaptively. The comparison shows that the proposed scheme outperforms the standard stock selection styles using the stocks listed in the Russell 3000 Index. This paper suggests that the use of evolutionary computing techniques is an excellent tool to tackle the stock selection problem, whose advantages imply the usefulness to manage the risk and safeguard investments. © 2011 Authors.

    DOI

  • Enhancing Global Portfolio Optimization using Genetic Network Programming

    V. Parque, S. Mabu, K. Hirasawa

    SICE Annual Conference 2010     3078 - 3083  2010.08  [Refereed]

  • Robust Genetic Network Programming on Asset Selection

    Victor Parque, Shingo Mabu, Kotaro Hirasawa

    TENCON 2010: 2010 IEEE REGION 10 CONFERENCE     1021 - 1026  2010  [Refereed]

     View Summary

    Financial innovation is continuously testing the asset selection models, which are the key both for building robust portfolios and for managing diversified risk. This paper describes a novel evolutionary based scheme for the asset selection using Robust Genetic Network Programming(r-GNP). The distinctive feature of r-GNP lies in its generalization ability when building the optimal asset selection model, in which several training environments are used throughout the evolutionary approach to avoid the over-fitting problem to the training data. Simulation using stocks, bonds and currencies in developed financial markets show competitive advantages over conventional asset selection schemes.

  • Asset selection in global financial markets using Genetic Network Programming

    Victor Parque, Shingo Mabu, Kotaro Hirasawa

    2010 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC 2010)     677 - 683  2010  [Refereed]

     View Summary

    Asset selection is a challenging task in the complex global financial system, whose nature has highlighted the need to rethink conventional practices. The attractive and non-toxic assets must be kept on the eye so that our financial systems sustain building blocks in our economic systems. This paper presents an asset selection framework using Genetic Network Programming(GNP). GNP handles evolvable graph structures that prevent the size expansion for dynamic and complex environments, which in turn make it suitable for dealing with decision processes effectively under uncertainty such as partially observable Markov decision processes. Simulations using stocks, bonds and currencies from relevant financial markets in USA, Europe and Asia show the competitive advantages of the proposed method against relevant selection strategies in the finance literature.

    DOI

  • Evolving asset portfolios by genetic relation algorithm

    Victor Parque, Shingo Mabu, Kotaro Hirasawa

    Journal of Advanced Computational Intelligence and Intelligent Informatics   14 ( 5 ) 464 - 474  2010  [Refereed]

     View Summary

    Global financial development have opened innumerable risks and opportunities for investments. A global view of the portfolio allocation through diversification brings advantages for the risk allocation in investments. In this paper, an asset allocation framework under the return, risk and liquidity considerations is proposed for short term investment using Genetic Relation Algorithm. Simulations using the stocks, bonds and currencies from relevant financial markets in USA, Europe and Asia show that the proposed framework is effective and robust. The efficacy of the proposed method is compared against the relevant constructs in finance and computational fields.

    DOI

  • Global Portfolio Diversification by Genetic Relation Algorithm

    Victor Parque, Shingo Mabu, Kotaro Hirasawa

    ICROS-SICE International Joint Conference 2009     2567 - 2572  2009.08  [Refereed]

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Misc

  • Towards Hexapod Gait Adaptation using Enumerative Encoding of Gaits: Gradient-Free Heuristics

    Victor Parque

       2022.09

     View Summary

    The quest for the efficient adaptation of multilegged robotic systems to
    changing conditions is expected to render new insights into robotic control and
    locomotion. In this paper, we study the performance frontiers of the
    enumerative (factorial) encoding of hexapod gaits for fast recovery to
    conditions of leg failures. Our computational studies using five
    nature-inspired gradient-free optimization heuristics have shown that it is
    possible to render feasible recovery gait strategies that achieve minimal
    deviation to desired locomotion directives with a few evaluations (trials). For
    instance, it is possible to generate viable recovery gait strategies reaching
    2.5 cm. (10 cm.) deviation on average with respect to a commanded direction
    with 40 - 60 (20) evaluations/trials. Our results are the potential to enable
    efficient adaptation to new conditions and to explore further the canonical
    representations for adaptation in robotic locomotion problems.

  • A Study on Broadcast Networks for Music Genre Classification

    Ahmed Heakl, Abdelrahman Abdelgawad, Victor Parque

    CoRR   abs/2208.12086  2022.08

     View Summary

    Due to the increased demand for music streaming/recommender services and the
    recent developments of music information retrieval frameworks, Music Genre
    Classification (MGC) has attracted the community's attention. However,
    convolutional-based approaches are known to lack the ability to efficiently
    encode and localize temporal features. In this paper, we study the
    broadcast-based neural networks aiming to improve the localization and
    generalizability under a small set of parameters (about 180k) and investigate
    twelve variants of broadcast networks discussing the effect of block
    configuration, pooling method, activation function, normalization mechanism,
    label smoothing, channel interdependency, LSTM block inclusion, and variants of
    inception schemes. Our computational experiments using relevant datasets such
    as GTZAN, Extended Ballroom, HOMBURG, and Free Music Archive (FMA) show
    state-of-the-art classification accuracies in Music Genre Classification. Our
    approach offers insights and the potential to enable compact and generalizable
    broadcast networks for music and audio classification.

    DOI

  • Towards Spiral Brick Column Building Robots

    Yaseer Ashraf, Ahmed Abdallah, Abdelhaleem Osman, Victor Parque, Samy Assal

       2020.11

     View Summary

    Automation in construction has the potential to expand the technological
    landscape of labor intensive tasks, and bring gains in efficiency and
    productivity to sustain global competitiveness. In this paper we propose a
    task-level approach for assembly of spiral brick columns. Our extensive
    computational simulations using the generalized models of spiral brick columns
    show the feasibility, the effectiveness and efficiency of our proposed
    approach. Our results offer the potential to use robots in automated
    construction of spiral brick columns with utmost efficiency.

  • Using mechanical burden and accuracy for ergonomic evaluation of laparoscopic surgical system

    下前快喜, 三浦智, PARQUE Victor, 宮下朋之

    日本コンピュータ外科学会誌   22 ( 4 (Web) )  2020

    J-GLOBAL

  • Comparison of Schemes for Numerical Representation of Graph Structures

    Parque Victor, Miyashita Tomoyuki

    Proceedings of JSPE Semestrial Meeting   2019 ( 0 ) 71 - 72  2019

     View Summary

    &lt;p&gt;The numerical representation of graphs is useful to visualize, sample, and evaluate the design space of graph-based architectures. Although, the concept of representing graphs by numbers has attracted the attention in recent years, the through computational comparison has been elusive. To fill this gap, in this paper we describe our insights when comparing the computational complexity when converting numbers into graphs and vice versa. We show that the optimization-based approach is efficient and advantageous to scale to large graphs.&lt;/p&gt;

    CiNii

  • Minimal trees with Modularity

    Parque Victor, Miyashita Tomoyuki

    Proceedings of JSPE Semestrial Meeting   2019 ( 0 ) 439 - 440  2019

     View Summary

    &lt;p&gt;Minimal trees on polygonal maps bring potential applications to enable the efficient coordination of systems ubiquitously. In this paper, we propose the concept of Euclidean Steiner Trees avoiding obstacles with modularity concepts to bias the formation of clustered minimal trees in polygonal maps with arbitrary obstacles. Our computational experiments show the feasibility and efficiency of our proposed approach in polygonal maps with arbitrary geometry.&lt;/p&gt;

    CiNii

  • On Building Modular Trees in the Plane

    Parque Victor, Kobayashi Masakazu, Miyashita Tomoyuki

    Proceedings of JSPE Semestrial Meeting   2018 ( 0 ) 307 - 308  2018

     View Summary

    &lt;p&gt;Minimal trees on the plane have potential applications to enable efficient coordination of multi-agent systems. In this study, we propose the use of modularity concepts to bias the formation of local trees, and to enhance the efficiency and scalability to build minimal trees in polygonal maps. Computational experiments show the feasibility of our approach.&lt;/p&gt;

    CiNii

  • On Canonical Learning Networks

    Parque Victor, Miyashita Tomoyuki

    Proceedings of JSPE Semestrial Meeting   2018 ( 0 ) 849 - 850  2018

     View Summary

    &lt;p&gt;Networks are useful entities to model sophisticated phenomena. Over the recent years, we have focused on building canonical and succinct representation of networks. In this paper, we investigate the effectiveness of learning optimal network structures via canonical search space. Computational experiments show the feasibility and efficiency of our approach in robotics control problems.&lt;/p&gt;

    CiNii

  • A Study on the Intuitive Operation of the Catheter Extension System

    HAMASHIMA Motoi, MIURA Satoshi, Parque Victor, MIYASHITA Tomoyuki

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2018 ( 0 ) 1P1 - E03  2018

     View Summary

    &lt;p&gt;Catheter ablation is a method to treat arrhythmias which is an abnormal contractile movement of the myocardial. While this treatment is minimally invasive, it may lead to complications such as vascular injury, cardiac puncture and cardiac tamponade. The cause of this problem is considered as the difficulty for the surgeon to intuitively operate the catheter tip. To improve accuracy of catheter ablation treatment, we developed a master-slave system that considers the structure of a human wrist for surgeons to operate a catheter remotely. A master and a slave robot made it possible to operate the catheter in 2 DoF which is the inserting and the twisting operation. Two experiments were carried out, which is to determine the insertion displacement of the slave robot and to obtain the correspondent relationship between the master and the slave robot.&lt;/p&gt;

    DOI CiNii

  • Study on Vibration Control by Parametric Excitation for Sampling in Lunar Cave

    MIURA Satoshi, KUMAI Masato, PARQUE Victor, MIYASHITA Tomoyuki

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2018 ( 0 ) 2A2 - A09  2018

     View Summary

    &lt;p&gt;Lunar cave is appropriate to making the moon base because the cave has high tightness, constant temperature, and safety from meteorite and radiation. The sampling in lunar cave is necessary to understand inside so there are many approaches studied. However, there is few studies about the approach method of sampling from the ceiling of vertical hole. This paper presents a sample acquisition method from the ceiling of vertical hole. The master unit throw the handset from the outside of the vertical hole, control the handset vibration by just pulling the wire, and get the sample by colliding the handset with the ceiling. We validated to control the handset with parametric excitation theory from the experiment. As a result, the average error rate of the maximum deflection angle was 30.9%, and the average error rate of the time to reach the maximum deflection angle was 1.88%. We concluded that the winding timing of the wire is mostly consistent with the theoretical value.&lt;/p&gt;

    DOI CiNii

  • Automatic self-construction system for modular space structures

    HASEGAWA Shoichi, MIURA Satoshi, Parque Victor, MIYASHITA Tomoyuki

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2018 ( 0 ) 2A2 - B12  2018

     View Summary

    &lt;p&gt;In this paper, in order to develop a structure capable of coping with trend in large scale and the diversification of the space structure in recent years. We will propose a moving mechanism using electromagnets and permanent magnets. We make a real machine as a self-construction system that automatically joins and assembles to the target shape after dividing a large space structure into some modules and conveying them to outer space over several times. We confirmed the reliability of moving mechanism for modular space structure proposed in this paper by giving a success rate of movement completion through an experiment.&lt;/p&gt;

    DOI CiNii

  • On Path Planning using Log-Aesthetic Curves

    Parque Victor, Kobayashi Masakazu, Miyashita Tomoyuki, Higashi Masatake

    Proceedings of JSPE Semestrial Meeting   2017 ( 0 ) 19 - 20  2017

     View Summary

    Path planning with safety considerations regards the minimization of the (variation) of curvature along the curved path. We present for the first time the application of log-aesthetic curves in path planning. Our results show the feasibility and the computational efficiency compared to the conventional methods.

    DOI CiNii

  • On Route Bundling in Triangulated Space

    Parque Victor, Kobayashi Masakazu, Miyashita Tomoyuki

    Proceedings of JSPE Semestrial Meeting   2017 ( 0 ) 753 - 754  2017

     View Summary

    Route bundling consists of compounding multiple paths into a single route by finding optimal anchoring points at intermediate joints, which serve as coordinating locus for joint transport of goods/people. Route bundling is a significant construct in a number of planning scenarios where transport resource is scarce. We present the problem of route bundling and propose a new method for finding such compounded routes. Computational experiments in scenarios with/without obstacles show the feasibility and efficiency of our approach.

    DOI CiNii

  • Optimization of the upper arm cuff applied the compliant mechanism for holding the forearm artificial arm

    Victor Parque

    Transactions of Japanese Society for Medical and Biological Engineering   55 ( 3 ) 177 - 177  2017

     View Summary

    &lt;p&gt;For holding the forearm artificial arm, the patient must pull and tighten a part of the belt. However, the pressure distribution becomes heterogeneous so that the patient could become the bedsore. In this paper, our motivation is to develop the upper arm cuff that can distribute the even pressure. We optimized the upper arm cuff design applied the compliant mechanism and compare with the conventional design to validate the feasibility study of the proposed design. We optimized the upper arm cuff based on the Dr. Kanno&#039;s design as the initial shape. In experiment, we measured the displacement of the structure. As a result, we identified the consistency between the experimental value and the optimized solution. Then, we measured the internal pressure using a variation index. We concluded that the compliant mechanism design could decrease the pressure dispersion more significantly than conventional design.&lt;/p&gt;

    DOI CiNii

  • Comparative Analysis of Aesthetic Surfaces

    Parque Victor, Kobayashi Masakazu, Higashi Masatake

    Proceedings of JSPE Semestrial Meeting   2016 ( 0 ) 191 - 192  2016

     View Summary

    Continuing our work on aesthetic curves and surfaces, in this report we present novel results on the comparison between the log-aesthetic surfaces obtained by the conventional energy methods and out proposed method.

    DOI CiNii

  • Succinct Representation of Directed Graphs

    Parque Victor, Miyashita Tomoyuki

    Proceedings of JSPE Semestrial Meeting   2016 ( 0 ) 577 - 578  2016

     View Summary

    Directed graphs are useful to encode oriented dependencies among entities. We propose a new method that enables the representation of directed graphs via numbers; enabling the succinct, canonical and efficient encoding schemes. We present examples in graph encoding and its applicability to real world networks.

    DOI CiNii

  • Affordable Sensor Fusion for Wireless Control of External Devices

    Raessa Mohamed S, Parque Victor, Miyashita Tomoyuki

    The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM   2015 ( 0 ) 86 - 87  2015

     View Summary

    Developing affordable and robust human-machine interfaces is key to improve the quality of life of handicapped and amputee users in developing countries. While most of the available technologies are robust, the cost is inaccessible to large portions of the population with low-income. In this paper, we propose a compact, robust and cost-effective interface for arm pose sensing and control of external devices based on the low-cost accelerometer, gyroscope and Xbee technologies. Experiments using a prototype showed the promising results to detect and classify the robust poses.

    DOI CiNii

  • Optimization of ZigBee Networks using Bundled Routes

    Parque Victor, Seleem Ibrahim A, Raessa Mohamed S, Miyashita Tomoyuki

    The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM   2015 ( 0 ) 223 - 224  2015

     View Summary

    Designing optimal ZigBee networks is key for efficient low-cost communication of multi-agent sensors and mechatronics systems. In this paper, we report a novel approach to optimize ZigBee networks using the optimization of bundled routes. To the best of our knowledge, this is the first approach reported in the literature to find optimal ZigBee network topologies.

    DOI CiNii

  • Aesthetic B-spline Curves and Surfaces (3rd Report):Curvature of Surface and Application to Compound Curves and Surfaces

    Higashi Masatake, Kobayashi Masakazu, Parque Victor, Tsuchie Shoichi

    Proceedings of JSPE Semestrial Meeting   2015 ( 0 ) 453 - 454  2015

     View Summary

    We propose formulation and application of aesthetic B-spline curves and surfaces as a new paradigm of representation of styling design. In previous reports, we have introduced formulation of aesthetic curves by minimizing the deviation of the curvature graph from a line for the n-th power of the curvature radius, and applied it to generate space curves and surfaces from boundary conditions and to fit input data to a space curve. In this report, we apply the method to fit input data to a surface after discussing surface curvature, then derive formulation for compound curves and surfaces and show their experimental results.

    DOI CiNii

  • Homeostatic Learning Networks on Unknown Environments

    Parque Victor, Kobayashi Masakazu, Higashi Masatake

    Proceedings of JSPE Semestrial Meeting   2014 ( 0 ) 1063 - 1064  2014

     View Summary

    We introduce Homeostatic Learning Networks, a simple and effective algorithm for problems involving optimal control in unknown systems. The basic idea of the proposed method is to introduce homeostasis into the behaviour of nodes and connections of a robot controller in order to allow the more diverse and sophisticated building blocks and control rules for unknown environments.

    CiNii

  • Aesthetic B-spline Curves and Surfaces:Formulation and Experiments for Curves

    Higashi Masatake, Victor Parque, Kobayashi Masakazu, Oya Tetsuo

    Proceedings of JSPE Semestrial Meeting   2014 ( 0 ) 1125 - 1126  2014

     View Summary

    We propose formulation and application of aesthetic B-spline curves and surfaces as a new paradigm of representation of styling design. We generate aesthetic curves and surfaces from the boundary conditions or measured data by minimizing the deviation of the curvature or curvature radius graph from a line. In this report, we derive the formulation and show the result of experiments for curves.

    CiNii

  • Aesthetic B-spline Curves and Surfaces (2nd Report):Generation of Space Curves and Surfaces

    HIGASHI Masatake, PARQUE Victor, KOBAYASHI Masakazu, TSUCHIE Shoichi

    Proceedings of JSPE Semestrial Meeting   2014 ( 0 ) 519 - 520  2014

     View Summary

    We propose formulation and application of aesthetic B-spline curves and surfaces as a new paradigm of representation of styling design. In 1st report, we have introduced formulation of aesthetic curves by minimizing the deviation of the curvature graph from a line for the n-th power of the curvature radius, and applied it to generate planer curves from boundary conditions and to fit input data. In this report, we derive formulation for space curves and surfaces, and show their experimental results.

    CiNii

  • 2213 The origins of modularity in complex machines

    Parque Victor, Kobayashi Masakazu, Higashi Masatake

    The Proceedings of Design & Systems Conference   2013 ( 0 ) _2213 - 1_-_2213-7_  2013

     View Summary

    Modularity is vital to engineer complex products and machines. We assert that modularity can emerge from searching desirable machine structures constrained to life cycle costs in manufacturing, maintenance, and disassemblability. Compared to the conventional methods, computational experiments that maximize machine performance and minimize life cycle costs yield machine structures that are modular and tractable.

    CiNii

  • 3105 A Generative Approach to Wire Harness Design

    Victor Parque, Kobayashi Masakazu, Higashi Masatake

    The Proceedings of Design & Systems Conference   2013 ( 0 ) _3105 - 1_-_3105-2_  2013

     View Summary

    Designing wire harnesses is computationally complex. We use a generative approach to design the conceptual models of generic wire harnesses. Our approach is more compact and efficient compared to the conventional methods.

    CiNii

  • 1101 Optimal Design of Modular Configuration Considering Hierarchy of a Product Functional Structure

    MATSUMOTO Yuta, KOBAYASHI Masakazu, Parque Victor, HIGASHI Masatake

    The Proceedings of Design & Systems Conference   2012 ( 0 ) _1101 - 1_-_1101-10_  2012

     View Summary

    Due to rise of environmental awareness in recent years, engineering designers are required to consider not only product performance but also whole product lifecycle in order to reduce environmental burdens of their products. Especially, a product in End-of-Life (EoL) phase has great impact to environment. Because of this, design for disassembly (DfD) has attracted great attention to promote product recyclability and reusability. This paper applies modular design, originally a technique intended to short the lead time and improve assimilability, to DfD to reduce disassembly process. Although a lot of works about modular design has done, since existing methods configure modules based on similarities of components&#039; lifecycle characteristics without consideration of hierarchy of a product function structure, there is a possibility of obtaining functionality and geometrically infeasible modules. This paper proposes the method optimizing product modular structure according to hierarchy of a product functional structure to get feasible modules from the perspectives of function and geometry. The optimization is conducted by Hierarchical Genetic Algorithm (HGA) which can describe hierarchical structure of mechanical system exactly. The proposed method is applied to a design of the inkjet printer to demonstrate its effectiveness.

    CiNii

  • Variable Size Genetic Relation Algorithm for Portfolio Diversification

    Parque Victor, Mabu Shingo, Hirasawa Kotaro

    SCIS & ISIS   2010 ( 0 ) 582 - 587  2010

     View Summary

    Diversification in finance is the process of spreading investments in heterogeneous asset classes. We provide a novel approach for evolving the diversification process by variable size Genetic Relation Algorithm(vs-GRA). Simulations using assets in USA, Europe and Asia indicate that the proposed approach offers competitive advantages for the global asset allocation problem.

    CiNii

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Awards

  • Recognition as top 10%

    2019   Design Society, International Conference on Design Engineering  

    Winner: Victor Parque, Honobe Kazuhiro, Satoshi Miura, Tomoyuki Miyashita

  • Finalist Hummies Awards for Human-Competitive Results

    2018   Genetic and Evolutionary Computation Conference  

    Winner: Victor Parque

  • Honors Scholarship

    2011   Japan Student Services Organization  

    Winner: Victor Parque

  • Best Paper Presentation Award

    2010   International Conference on Soft Computing and Intelligent Systems and International Symposium on Advanced Intelligent Systems  

    Winner: Victor Parque

  • Young Doctoral Scholarship

    2009   Waseda University  

    Winner: Victor Parque

 

Syllabus

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Committee Memberships

  • 2018
    -
    Now

    International Conference on Simulation and Modeling Methodologies, Technologies and Applications (SIMULTECH)  Program Committee

  • 2018
    -
    Now

    IEEE International Conference on Control, Decision and Information Technologies (CODIT)  Program Committee

  • 2018
    -
    Now

    IEEE International Conference on Tools with Artificial Intelligence (ICTAI)  Program Committee

  • 2014
    -
    Now

    Egypt - Japan University of Science and Technology, Department of Mechatronics and Robotics  Invited Council Member

  • 2010
    -
    Now

    IEEE Systems, Man and Cybernetics  Organization Volunteer

  • 2012
    -
    2017

    Young Americas Business Trust (YABT)  Judge - Talent and Innovation Challenges of the Americas

  • 2012
    -
    2017

    The Genetic and Evolutionary Computation Conference (GECCO)  Program Committee

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