This paper proposes a Golden Section Search (GSS) based adaptive Local Search (LS) for enhancing the performance of two kinds of Differential Evolutions (DEs), namely Synchronous DE and Asynchronous DE. GSS is used to find the minimum between two existing solutions. Therefore, GSS-based LS can be regarded as a Crossover-based LS (XLS). The aim of GSS is not only to improve solutions obtained by DE but also break the stagnation of search. In order to balance between DE and GSS, the frequency and the intensity of GSS are adaptively controlled. Performance comparison between GSS-based LS and an existing XLS is also presented. Furthermore, in order to make the best use of multi-core CPUs, which have been widely used even in personal computers, concurrent implementation techniques of the two DEs coupled with GSS-based LS are proposed.

There are many researches about mobile robot with a varied wheel. Mobile robots or mobilities with wheels such like a car or bike have non-holonomic constraint and then it is difficult to move toward wheel's axis direction. Namely, it is impossible to move toward omni-direction due to the constraints by wheel's mechanical structure. Omni-directional movement means the mobility can move toward any direction at anytime. This paper adapted link-driven spherical wheel as an omnidirectional wheel and solved singularity problem caused by mechanical structure of it. We developed omni-directional mobilities( SO(2) and SO(3)) installing link-driven spherical wheels and experimented omni-directional movement with designed controllers.

We have developed a novel automultiscopic display, CAGRA (Computer-Aided Graphical Real-world Avatar), which can provide full parallax both horizontally and vertically without imposing any other additional equipment such as goggles on users. CAGRA adopts two axes of rotation so that it can distribute reflected light all around. In our previous work, it was proved that the display can present a black and white image of a 3D object at 1 Hz with both horizontal and vertical parallax. Here, we discuss two important problems that remain unsolved in our previous work: optimal parameter setting and the rendering method. As for finding optimal parameters, the relationship among the rotation speed of two axes and the diffusion angle of the holographic diffuser is discussed. The rendering method was implemented so that accurate view is presented in spite of the unique mechanical structure of CAGRA. Furthermore, the synchronization mechanism between projection of images and rotation of the mirror, which was also a remaining problem, is also implemented. Findings obtained through solving these problems clarify the characteristics of this novel display system, CAGRA, and lead to its further development.