Recent advancements in robotics have underscored the need for effective collaboration between humans and robots. Traditional interfaces often struggle to balance robot autonomy with human oversight, limiting their practical application in complex tasks like mobile manipulation. This study aims to develop an intuitive interface that enables a mobile manipulator to autonomously interpret user-provided sketches, enhancing user experience while minimizing burden. We implemented a web-based application utilizing machine learning algorithms to process sketches, making the interface accessible on mobile devices for use anytime, anywhere, by anyone. In the first validation, we examined natural sketches drawn by users for 27 selected manipulation and navigation tasks, gaining insights into trends related to sketch instructions. The second validation involved comparative experiments with five grasping tasks, showing that the sketch interface reduces workload and enhances intuitiveness compared to conventional axis control interfaces. These findings suggest that the proposed sketch interface improves the efficiency of mobile manipulators and opens new avenues for integrating intuitive human-robot collaboration in various applications.

To use assistive robots in everyday life, a remote control system with common devices, such as 2D devices, is helpful to control the robots anytime and anywhere as intended. Hand-drawn sketches are one of the intuitive ways to control robots with 2D devices. However, since similar sketches have different intentions from scene to scene, existing work requires additional modalities to set the sketches' semantics. This requires complex operations for users and leads to decreasing usability. In this paper, we propose Sketch-MoMa, a teleoperation system using user-given hand-drawn sketches as instructions to control a robot. We use Vision-Language Models (VLMs) to understand the user-given sketches superimposed on an observation image and infer drawn shapes and low-level tasks of the robot. We utilize sketches and the generated shapes for recognition and motion planning of the generated low-level tasks for precise and intuitive operations. We validate our approach using state-of-the-art VLMs with 7 tasks and 5 sketch shapes. We also demonstrate that our approach effectively specifies more detailed intentions, such as how to grasp and how much to rotate. Moreover, we show the competitive usability of our approach compared with the existing 2D interface through a user experiment with 14 participants. Our videos and results are available at this link.

Due to reaching the nanoscale transistor size, effect of single event upset (SEU) to the memory has become conspicuous. In small device geometries, a single particle strike might affect multiple adjacent cells in a memory array resulting in a multiple bit upset (MBU). Traditional fault tolerance technologies such as triple modular redundancy (TMR) and error correcting code (ECC) occupy the large area and have vulnerability to MBU. In this research, we propose DMR based error correct circuit and employ a combination of proposed circuit and the interleaving technique to mitigate MBU. In addition, we explain soft error simulator developed to calculate bit interleaving distance. The results show that the area of proposed circuit is the smallest when we compare the proposed circuit, ECC based error correct circuit and TMR. Simulation results show that the interleaving distance which can conceal all MBU patterns is 4.

Today, CGM(Consumer Generated Media) such as blog is spread. In addition, photo and video sharing sites become popular. In this way, the amount of information in network increases drastically. Such information is usually stored into a large-scale storage which consists of many disks. In such a storage system, the larger the number of disks is, the lesser the reliability of the system. RAID is usually used to improve the reliability of storage. However, it is not enough because conventional RAID repair only either one or two faults. Therefore, we require more than 2 fault tolerant RAID. If hierarchical RAID is employed, more than 2 fault tolerance can be realized but the capacity efficiency is decreased. We have proposed Nary RAID (Nary RAID) which realizes 3-fault tolerant without hierarchical organization. The capacity efficiency of Nary RAID is larger than that of hierarchical RAID. In this paper, we describe how to improve the performance of Nary RAID and evaluate its effectiveness.

The availability of CGM (Consumer Generated Media) such as blogs, is widespread. In addition, photo and video sharing sites have become very popular. As a result, the amount of information passing through various networks has increased dramatically. Such information is usually stored in large-scale storage consisting of many disks, where the greater the number of disks, the lower is the reliability of the system. RAID is usually used to improve the reliability of storage, but it too is inadequate as conventional RAID is able to tolerate only one or two faults. Therefore, RAID with a tolerance of more than 2 faults is needed. This can be realized by using hierarchical RAID, but with a corresponding decrease in the capacity efficiency. Previously we proposed NaryRAID, which achieves 3 fault tolerance without hierarchical organization. The capacity efficiency of NaryRAID is greater than that of hierarchical RAID. In this paper, we describe an implementation of NaryRAID and evaluate its performance.