This paper describes a localization technique for a mobile robot with unknown obstacles, such as pedestrians. It is important that a robot can run in environment freely in order to perform goods conveyance efficiently. In order to run in environment and deliver goods to a target position, self-position presumption is important. However, In real environment, robot may be unable to run to a target position, because the robot cannot localize the self-position correctly with unknown objects, such as people and goods. In this paper, this problem is solved by utilizing the robust position localization technique based on the observed space information to a delivery robot's navigation. Furthermore, by building the system which can set a robot's run path easily, flexible path creation and autonomously running are realized. we verified the validity of the proposed method by the localization experiment and the goods delivery demonstration in real environment. The system which localizes self-position with 0.1m error even in the environment where an unknown object exists, and performs goods delivery to a target position was realized.

This paper describes a localization technique for a mobile robot with unknown obstacles, such as pedestrians. Many robust localization technnique with unknown obstacles by using a particle filter and laser scanner have been propsed. In particular, Tomizawa's method(Space observation model) is effective. However, this method has problem that it does not consider the fixed object occlusion. Thus, in the environment where thin wall (this is example), the robot position cannot be localized well. In this research, we solve this problem by rebulding the space information which is observed intrinsically in predicted position by considerinmg the fixed object occlusion. From above, we realize robot position localization with more high accuracy than previous method, by solving the problem of previous method and improving the previous method. We evaluate the validity of the proposed method by a simulation and an experiment in a real environment.

We propose a multi-camera-based gaze tracking system that provides a wide observation area. In our system, multiple camera observations are used to expand the detection area by employing mosaic observations. Each facial feature and eye region image can be observed by different cameras, and in contrast to stereo-based systems, no shared observations are required. This feature relaxes the geometrical constraints in terms of head orientation and camera viewpoints and realizes wide availability of gaze tracking with a small number of cameras. In experiments, we confirmed that our implemented system can track head rotation of 120° with two cameras. The gaze estimation accuracy is 5.4° horizontally and 9.7° vertically.

Functional scenario-based test case generation is an important technique for specification-based testing and it can be fully automated. The vital first step of achieving the automation is automatic transformation from a formal specification into an equivalent functional scenario form from which all functional scenarios are derived. In this paper, we first explain the concepts of the functional scenario form and the functional scenario in the context of a VDM operation specification, and then discuss the techniques for the transformation implemented in a software tool we have built. The techniques for discussion include (1) transformation from compound expressions into predicate expressions, (2) transformation from quantified expressions into non-quantified expressions, (3) replacing implications and equivalences in predicate expressions, (4) transformation from predicate expressions into functional scenario forms, and (5) the derivation of the testing condition from a functional scenario for test case generation. Based on these transformations, the tool can also automatically produce test cases to meet required conditions.

We present a new min-cut based placement algorithm for large scale sea-of-gates arrays. In the past all such algorithms were developed based on a single local optimization function, called the sequential cut line objective function. Our algorithm incorporates global objective functions into this traditional framework of min-cut placement. In particular, we introduce a new global objective function based on the congestions for cut lines and use it for the selection of their sequence. We also use the total cut value objective function in the determination of the sizes and connectivities of clusters that are to be used in the early stages of min-cut partitioning. The incorporation of such global objective functions yields additional reductions of wire congestions in the entire as well as local chip areas. With the automatic selection and use of such clusters and a cut line sequence, our algorithm can produce, in a short time and at a low cost, final placement results that achieve the 100% completion of wiring on chips of fixed sizes. This has led to its successful production use, having generated more than 400 CMOS sea-of-gates array chips of 1.5 K to 150 K raw gates.>

We introduce a new model for over-the-cell channel routing with three layers. The model consists of two channels and the routing area over a cell row between them. Three and two layers are available for routing in the channels and the over-the-cell routing area, respectively. We formulate the problem of over-the-cell routing as that of channel routing with additional constraints. Based on this formulation, we present an efficient over-the-cell routing algorithm that attempts to minimize the sum of channel densities of the trunks that remain in the channel. The effectiveness of our model and algorithm is demonstrated by our experimental results on industrial sea-of-gates array chips and a well-known benchmark circuit.>

The authors propose an approach to an over-the-cell channel routing problem using a model that consists of two channels and the routing area over a cell row between them. Three and two layers are available for routing in the channels and the over-the-cell routing area, respectively, The problem is decomposed into two phases: over-the-cell routing and channel routing. The authors formulate the problem in the first phase as that of channel routing with additional constraints. Based on this formulation, they present an efficient over-the-cell routing algorithm. The effectiveness of the approach is demonstrated by experimental results on sea-of-gates array chips.>

This paper presents a new min-cut placement algorithm for timing assurance layout design. When critical nets are given net length constraints, the proposed algorithm can place cells so that the constraints may be met. This algorithm is built into the layout system for gate arrays called GALOP [1] and has been successfully applied to clock skew control of an ECL 12K-gate gate array.