This paper proposed a bilateral controller of a flexible master-slave manipulator (FMSM). A FMSM consists of a conventional compact rigid master arm and a flexible slave arm, and will be used in outer space in the future. This controller realizes stable compliance control and vibration control. The key idea is that this controller has dual compliance models.

This paper presents a novel word recognition technique which allows hand-free dialing under adverse car environments. The algorithm is based on speaker dependent word spotting. The paper compared and investigated the methods of spectral subtraction, short time modified coherence, multi-microphone, dynamic and accelerated features, weighted distance measures and multi-templates by word recognition experiments. The experiments are carried out using real speech database uttered in adverse car environments. The experiments show that the method using sinusoidal weighted lifter and the method using multi-templates are robust against the adverse environments. Keywords: word spotting, distance measure, adverse environment 1. INTRODUCTION Recent technology realizes a small size mobile cellular telephone. This enables easy communication to anybody at any time on the way. However, it has a problem when we use the telephone while driving. Dialing and a telephone call while driving are very dang...

A toroidal lattice architecture (TLA) and a planar lattice architecture (PLA) are proposed as massively parallel neurocomputer architectures for large-scale simulations. The performance of these architectures is almost proportional to the number of node processors, and they adopt the most efficient two-dimensional processor connections for WSI implementation. They also give a solution to the connectivity problem, the performance degradation caused by the data transmission bottleneck, and the load balancing problem for efficient parallel processing in large-scale neural network simulations. The general neuron model is defined. Implementation of the TLA with transputers is described. A Hopfield neural network and a multilayer perceptron have been implemented and applied to the traveling salesman problem and to identity mapping, respectively. Proof that the performance increases almost in proportion to the number of node processors is given.

A speaker model using a neural network is proposed for reference speaker clustering on speaker independent speech recognition. Speaker individuality is embedded in not only a static short time spectrum and a pitch frequency, but also a dynamic spectral pattern and pitch pattern. In conventional modeling, speaker individuality is based on the former static features. The authors try to capture the latter dynamic features, of speaker by a neural speaker model. Two methods, neural prediction modeling by multilayer perceptron and learning matrix vector-quantization, are considered for the speaker modeling. Using the measures of speaker modeling, speaker clustering of the reference patterns based on mutual information is carried out for speaker independent speech recognition.>