博 士 学 位 論 文

博

Doctoral Dissertation

内容の要旨 及び 審査結果の要旨

Dissertation Abstracts and

Summaries of the Dissertation Review Results

第２７号

The Twenty-seventh Issue

平成２８年３月

March, 2016

The University of Aizu

はしがき

博士の学位を授与したので、学位規則（昭和２８年４月１日文部省令第９号）第８条の規定 に基づき、その論文の内容の要旨及び論文審査の結果の要旨をここに公表する。

学位記番号に付した｢甲｣は学位規則第４条第１項（いわゆる課程博士）によるものであるこ とを示す。

Preface

On granting the Doctoral Degree to the individuals mentioned below, abstracts of their theses and the theses review results are herewith publicly announced, in according to the provisions provided for in Article 8 of the Ruling of Degrees (Ministry Of Education Ordinance No.9, enacted on April 1, 1953)

The Chinese character, “甲”, at the beginning of the diploma number represents that an

individual has been granted the degree in accordance with the provisions provided for in

Paragraph 4-1 of the Ruling Of Degrees (what is called “Katei Hakase,” or the Doctoral

Degree granted by the University at which the grantee was enrolled.).

- 1 -

目 次

Contents

掲載順

Order

学位記番号 Diploma No.

学位

Degree

氏名

Name

論文題目

Dissertation Title

頁

Page

１ ^甲

^CI

50

博士（コンピュー タ理工学）

HEWAWASAM RA NAWEERAGE, Rasi ka Amil Ranaweera

仮想現実空間上でのナローキャスティ ングを持つグループウェアを使用した 音楽ライブラリからの検索とジェスチャ ー操作によるオーケストラコントロール 実現

Narrowcasting-Enabled Groupware Music Archive Exploration and Gestural Interfaces for Orchestral Control in Cyberworlds

2

２ ^甲

^CI

51

博士（コンピュー タ理工学）

BEN AHMED, Achraf

オンチップメニーコアシステムのための 高性能、高拡張性フォトニクスオンチッ プネットワーク

High-performance, Scalable Photonics On-chip Network for Many-core Systems-on-Chip

5

３ ^乙論博 第

3

博士（コンピュー タ理工学）

KHELCHANDRA, Thongam

静的と動的環境における新しいニューラルネ ット・ファジィ・遺伝アルゴリズムを用いたロボッ トモーションプランニング

Robot motion planning using a novel neural-fuzzy-genetic algorithm in static and dynamic environments

8

- 2 - Name

氏名

HEWAWASAM RANAWEERAGE, Rasika Amil Ranaweera ヘワワサン ラナウィラゲ ラシカ アミル ラナウィラ

The relevant degree

学位の種類

Doctoral degree (in Computer Science and Engineering)

Number of the diploma of the Doctoral Degree

甲

CI

50

The Date of Conferment

March 18, 2016

28

3

18

Requirements for Degree Conferment

学位授与の要件

Please refer to the article five of “University Regulation on University Degrees”

会津大学学位規程 第５条該当

Dissertation Title

論文題目

Narrowcasting-Enabled Groupware Music Archive Exploration and Gestural Interfaces for Orchestral Control in Cyberworlds

仮想現実空間上でのナローキャスティングを持つグル ープウェアを使用した音楽ライブラリからの検索とジェ スチャー操作によるオーケストラコントロール実現

Dissertation Review Committee Members

論文審査委員

University of Aizu, Prof. COHEN, M.

University of Aizu, Senior Associate Prof.

NISHIMURA, S.

University of Aizu, Senior Associate Prof. PAIK, I.

University of Aizu, Associate Prof. VILLEGAS, J.

会津大学教授 ﾏｲｹﾙ ｺｰｴﾝ（主査）

会津大学上級准教授 西村 憲 会津大学上級准教授 白 寅天 会津大学准教授 ｼﾞｭﾘｱﾝ ｳﾞｨｼﾞｪｶﾞｽ

- 3 -

Abstract

As immersive virtual environments and online music networks become increasingly popular, it behooves researchers to explore their convergence: for example, groupware music browsers populated by figurative avatars. Collaborative virtual environments (CVEs), offer immersive experiential network interfaces to online worlds and media. “Folkways in Wonderland”

(hereafter “FiW”) enables a place where avatar-represented users can go to browse musical databases. When audition is disturbed by cacophony of nearby tracks or avatar conversations, one’s soundscape can be refined since the system supports narrowcasting, a technique which allows information streams to be filtered. An active listener can fork self-identified avatars using a novel multipresence technique, locating represe ntatives at locations of interest, each clone capturing respective soundscapes, controlled using narrowcasting functions {self, non-self} × {select (solo), mute, deafen, attend}. Likewise one can participate in a conference and at the same time join a global tour of music. FiW music browser is architected to use mx:

IEEE 1599, a comprehensive, multilayered, music description standard. With the integration of the “Wonderland–Cve Bridge,” a user sitting on a rotary motion platform, for instance, with multiple, self-identified “multipresent” avatars to orient themselves wit h azimuth or the swivel chair rotary motion platform while maintaining separate locations across an auditioned soundscapes (such as the global music library). The effectiveness of narrowcasting when auditioning music and conferencing was evaluated using Fi W as a virtual laboratory.

Experimental results suggest that narrowcasting and multipresence techniques are use ful for collaborative music exploration and improve user experience. Participants feedback were positive regarding narrowcasting representations, variously based on colors, symbols, and icons.

Desktop virtual reality systems such as Alice, allows ordinary users can drag -and-drop objects

(cities, buildings, furniture, instruments, etc.) from galleries and arrange them to create

attractive cyberworlds. A simple virtual concert application using Alice in which musical

instruments are arranged around a virtual conductor (an avatar of the user) located at their

center. A user-conductor can use a smartphone as a simplified baton, pointing at a preferred

instrument and tapping a button to start playing. The volume and panning of a selected

instrument can be adjusted by simply tilting and steering the smartphone. When selected, an

instrument is jiggled or its components dilated and contracted, and a spotli ght illuminates it

until the instrument is muted, providing conductor and audience with visual cues about the

ensemble. Unlike other systems, ours does not require user or equipment to be placed at

specific locations (contrasted with Kinect, Wii sensors, o r camera-based tracking systems),

there is no issue regarding room lighting (such as digital camera-based tracking systems or

Kinect), nor interference with colleagues or obstacles. The goal of using different equipment

as a conductor’s baton is to allow nonexpert users to lead a realtime concert within a

cyberworld. The synchronization of gestures with music and animation has been one of the

biggest challenges in many systems we have surveyed, although ours had only minimal delays.

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We had compared user experience with a contemporary commercial game, receiving acceptable ratings from the participants. By sensing its magnetometer, the twirling of a mobile phone can be used to sequence score-following music. Synchronizing such sequencing with sound spatialization, also modulated by the azimuth of the whirled phone, as through an annular speaker array, allows interactive, multimodal interaction.

Summaries of the Dissertation Review Results

The candidate has explored the confluence of networked social media, massively multiplayer online role-playing games, virtual reality, and musical audition. Using the well-known Smithsonian Folkways Collection as a global music resource, avatar-represented users can immersively browse the Folkways collection, enjoying spatialized musical samples in the context of groupware environment.

Multimodal communication (musical audition, avatar voice-chat, text-chat) has been refined by narrowcasting, a formalization of articulated privacy control. With clever software engineering, the theoretical advances have been reified by giving them a practical instantiation, a proof-of-concept that demonstrates the efficacy of the extended user interface. Based on "Open Wonderland," a Java-based open-source toolkit for creating collaborative 3D virtual worlds, and leveraging MX IEEE 1599 for the musical database, the prototype system is a modern, distributed, hypermedia environment.

Partnerships with researchers at universities in Canada allowed broadening application scope to include ethnomusicological considerations.

The candidate also explored smartphone control of musical audition, using a modern mobile phone as a sort of conductor's baton. Users can control multitrack playback of their own songs, including intensity modulation, panning, and transport control. Subjective tests conducted with locally recruited subjects compared such experience with that of a comparable commercial game. Rigorous scientific analysis characterized performance and indicated reasonable gameplay experience.

Significance of the candidate’s research has been confirmed by a gratifying number of publications in

international conference proceedings and journals, which subject matter includes topics directly

related to the dissertation as well as contributions to tangential areas.

- 5 - Name

氏名

BEN AHMED, Achraf

The relevant degree

学位の種類

Doctoral degree (in Computer Science and Engineering)

Number of the diploma of the Doctoral Degree

甲

CI

51

The Date of Conferment

March 18, 2016

28

3

18

Requirements for Degree Conferment

学位授与の要件

Please refer to the article five of “University Regulation on University Degrees”

会津大学学位規程 第５条該当

Dissertation Title

論文題目

High-performance, Scalable Photonics On-chip Network for Many-core Systems-on-Chip

オンチップメニーコアシステムのための高性能、高拡 張性フォトニクスオンチップネットワーク

Dissertation Review Committee Members

University of Aizu, Prof. BEN, A.

University of Aizu, Prof. MIYAZAKI, T.

University of Aizu, Prof. TSUKAHARA, T.

University of Aizu, Prof. PHAM, A. T.

University of Aizu, Senior Associate Prof. KOHIRA, Y.

会津大学教授 ﾍﾞﾝ ｱﾌﾞﾃﾞﾗｾﾞｸ（主査）

会津大学教授 宮崎 敏明 会津大学教授 束原 恒夫 会津大学教授 ｱﾝ ﾄｩｱﾝ ﾌｧﾝ 会津大学上級准教授 小平 行秀

- 6 -

Abstract

The continuous increasing demand for higher performance computing systems and aggressive technology scaling has driven the trend of integrating large number of cores in a single chip. In future generations of high-performance many-core systems, the efficiency of the communication infrastructure is as important as the computation efficiency of individual cores. Conventional electrical Networks-on- Chip (NoCs) are expected to reach their limits with increasing core counts because of high power dissipation and reduced performance.

As indicated in the latest version of ITRS roadmap, photonic wiring is a promising interconnect paradigm for future system-on-chip (SoC) designs that can provide broadband data transfer rates unmatchable by the existing metal interconnects. When combined with Wavelength Division Multiplexing (WDM), multiple parallel optical streams of data are concurrently transferred through a single waveguide. This contrasts with the Electronic Networks-on-Chip (ENoCs) that require a unique metal wire per bit stream. The key to saving power in on-chip photonic communication comes from the fact that once a photonic path is established, the optical data is transmitted in an end-to-end fashion without the need for buffering, repeating, or regenerating.

The photonic switching/routing techniques, configuration and routing algorithm directly affect the performance and power characteristics of future many-core on-chip Photonic communication. In particular, the control module and the path configuration algorithm, which orchestrate the different electrical control function play a significant role on how both electrical and photonic resources are utilized. In this dissertation, a set of novel photonic routing algorithms and architectures are proposed for future on-chip optical networks.

First, a new low-latency, non-blocking photonic switch/router (NBPS) and its control module capable of handling all photonic communication configuration tasks is proposed. The proposed approach is based on a new hybrid spatial switching mechanism for the photonic data stream transfer and is done by manipulating the state of the broadband switching elements. In addition, the NBPS is based on a Wavelength-Selective-Switching (WSS) for handling all communication configuration tasks.

Second, a new contention-aware path configuration algorithm and architecture for Electro-Assisted Photonic Network-on-Chip (EA-PNoC) is proposed. In addition to the main configuration tasks, the algorithm also decouples the Electronic Control Network (ECN) from the Photonic Communication Network (PCN) in a manner that both photonic and electric domains work independently from each other. The proposed algorithm orchestrates the different path configuration packets processes and significantly alleviates the contention in the ECN.

Third, a low-complexity routing and configuration algorithm for EA-PNoC is proposed. The approach

is mainly based on photonic components augmented with a simple electronic control module and a

so-called wavelength-shifting mechanism. The main merit of this new approach is to configure the

- 7 -

path using photonic devices instead of the typical power-hungry electronic router.

The proposed architectures and algorithms were evaluated with a discrete-event simulator, which incorporates detailed physical models of the photonic components. Results show that we could achieve better energy efficiency, as well as a considerable reduction in the blocking occurrence, which is the main source of latency and bandwidth degradation in conventional EA-PNoCs.

Summaries of the Dissertation Review Results

In this dissertation, a set of novel photonic routing algorithms and architectures are proposed for future on-chip photonic networks. The dissertation has been well organized and well documented with the different necessary information about the proposed research. In addition, it included a detailed survey about the different conducted works to solve the path configuration and the energy issues in on-Chip photonic interconnects.

In the preliminary review, the candidate provided explicit and reasonable answers to the comments pointed out by the review committee that aims to improve the understanding of the proposed system and the dissertation quality. In the final review, the candidate addressed all the recommendations accordingly and improved the dissertation according to the committee’s suggestions.

In conclusion, the candidate has fulfilled all the formal requirements for the doctoral degree.

- 8 - Name

氏名

KHELCHANDRA, Thongam

The relevant degree

学位の種類

Doctoral degree (in Computer Science and Engineering)

Number of the diploma of the Doctoral Degree

乙論博第

3

The Date of Conferment

March 18, 2016

28

3

18

Requirements for Degree Conferment

学位授与の要件

Please refer to the article five of “University Regulation on University Degrees”

会津大学学位規程 第５条該当

Dissertation Title

論文題目

Robot motion planning using a novel

neural-fuzzy-genetic algorithm in static and dynamic environments

静的と動的環境における新しいニューラルネット・ファ ジィ・遺伝アルゴリズムを用いたロボットモーションプラ ンニング

Dissertation Review Committee Members

University of Aizu, Senior Associate Prof. HUANG, J.

(Chief Referee)

University of Aizu, Prof. ZHAO, Q.

University of Aizu, Senior Associate Prof. LIU, Y.

University of Aizu, Senior Associate Prof. NARUSE, K.

会津大学上級准教授 黄 捷（主査）

会津大学教授 趙 強福 会津大学上級准教授 劉 勇 会津大学上級准教授 成瀬 継太郎

- 9 -

Abstract

Developing a technique for quickly generating paths for moving a robot to an arbitrary point in its workspace while avoiding collisions with obstacles involve great deal of challenges. My thesis deals with path planning of a robot which should move safely in synthetic 3D or 2D environments.

Chapter 2 presents a new technique of path planning in synthetic 3D environment. The environment may involve any number of obstacles. The algorithm precomputes a global roadmap of the environment by using a variant of randomized motion planning algorithm. The local planner used to connect two samples is a recursive one and always finds a path between the two samples avoiding obstacles. Finally, it performs graph searching and automatically computes a collision- free shortest path between two user specified locations. The method is applied to a two-joint manipulator.

Experimental results show that the probability of finding a path is high and planning can be done in a few seconds.

The local planner has been design with a new technique to connect two samples in a recursive way and always finds a path between two samples avoiding obstacles.

The significance of my proposed method is

• The probability of finding a path is high since during local planning we always try to reach the local destination with the recursive approach.

• The collision check region is minimized as possible and there makes the local planner faster to connect path between two configurations.

Solving the problem of path planning by computational geometry seems to be unfeasible when implemented in real time. Many researchers have used neural network in solving this problem and come up with a good and effective results.

Chapter 3 presents a technique of path planning using neural network and fuzzy logic of a mobile robot. SOFM (the neural network) is used as a situation action map and also learns to choose a path from n paths for the mobile robot to move ahead towards the destination. Fuzzy logic is used to avoid collisions when all the n paths are blocked by obstacles. Besides this, Multi Dimensional Scaling (MDS) is also used for visualization task and is used after complete operation of SOFM. Backtracking is used to escape from dead-end situations. The method is applied to a mobile robot on the floor with obstacles. The use of Self-Organizing Feature Map (SOFM) as a situation action map and for path choosing along with Fuzzy System for obstacle avoidance is a new technique.

The significance of my proposed method is

• The Fuzzy System gives a new path when all the paths are blocked by obstacle thereby making the robot to reach the goal position.

• This method gives a considerable increase in performance and speed as

compared to the traditional computational geometry method.

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Chapter 4 presents a technique of path planning of a mobile robot using artificial neural network, fuzzy logic and genetic algorithm in static indoor environment. The artificial neural network (ANN) is trained to choose a path from a set of n paths for the mobile robot to move ahead towards the destination. Fuzzy logic (FL) is used to avoid collisions when all the n paths are blocked by obstacles.

Genetic Algorithm (GA) is used as optimizer to find optimal locations along the obstacle-free directions and positions by selecting a set of fuzzy rules for the fuzzy logic system from a large rule base. With these, the robot learns to make its way intelligently towards its goal position by avoiding obstacles.

The used of ANN for choosing a path along with GA tuned Fuzzy System for obstacle avoidance is a new technique.

The significance of my proposed method is

• The combination of ANN along with GA tuned Fuzzy System is computational efficient by helping each other to eliminate their individual limitations.

• GA makes the fuzzy logic system more efficient by selecting a set of optimal fuzzy rules from the rule base and by doing this; we find optimal locations from the collision free positions.

• The combined GA- fuzzy technique gives more optimal path than the fuzzy approach alone.

To find an optimal path for robots in an environment that is only partially known and continuously changing is a difficult problem. Chapter 5 presents a new method for generating a collision-free near-optimal path for a mobile robot in a dynamic indoor partially known environment containing moving and static obstacles using neural network and fuzzy logic with genetic algorithm. The mobile robot selects a collision- free local path using the neural network (ANN). A supervised learning-rule is used for the neural network using the gradient descent method. The fuzzy logic system with genetic algorithm comes into play when finding a local path by neural network becomes impossible. Fuzzy logic (FL) is used to avoid collisions when all the paths are blocked by obstacles.

Genetic Algorithm (GA) is used as optimizer to find optimal locations along the obstacle-free directions and positions by selecting a set of fuzzy rules for the fuzzy logic system from a large rule base. With these, the robot learns to make its way intelligently towards its goal position by avoiding obstacles. Experimental results show that the method is efficient and gives near-optimal path reaching the target position of the mobile robot.

The hybrid concept of using ANN along with GA tuned Fuzzy Logic System in dynamic environments is a new technique.

The significance of my proposed method is

• This hybrid method gives a considerable increase in performance and speed as compared to the traditional computational geometry method.

• GA makes the fuzzy logic system more efficient by selecting a set of optimal fuzzy rules from

the rule base and by doing this; we find optimal locations from the collision free positions.

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Summaries of the Dissertation Review Results

Main contributions of the dissertation:

The first part (chapter 2) proposed a new sampling based method for motion (path) planning in synthetic 3D environments of a two-joint manipulator. A concept of building the roadmap in a recursive approach was introduced. The local planner is designed to add some new samples when there is no free path between two samples in the roadmap and then recursively find the path in the new roadmap. Experiments results show that the probability of finding a path is higher than randomized planners using probabilistic roadmaps. The second part (chapter 3, 4) is for motion (path) planning of mobile robots in two dimensional static configuration space that is only partially known. A

neural-fuzzy genetic algorithm was introduced to improve the probability to find a free path in the

environment with obstacles. While the SOFM neural network is used to choose some initial paths,

fuzzy logic optimized by genetic algorithm is used to determine whether it should have a left or right

turn to avoid collisions when all the front paths are blocked by obstacles. A backtracking method is

used to escape from dead-end situations. Results show that the proposed method has improved the

average path length and computation time compared with the standard bug algorithm and other hybrid

genetic-fuzzy methods. In the third part (chapter 5), the proposed neural-fuzzy genetic algorithm is

applied for path planning in dynamic environments that are partially known and continuously

changing. In such environments, we only know the maximum velocity of obstacles, their precise

positions are obtained by the sensors of the robot in each time. Compared to other path planning

methods which try to solve the whole at the initial time, the proposed neural-fuzzy genetic algorithm

can treat with partially unknown environments, and is easy to adapt to dynamic environments. By

experimental results, it is shown that the proposed method out performed than conventional or hybrid

genetic-fuzzy approaches in terms of path length and computation time in the same environments.

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博 士 学 位 論 文

Doctoral Dissertation

内容の要旨 及び 審査結果の要旨

Dissertation Abstracts

and

Summaries of the Dissertation Review Results

第27号

The Twenty-seventh Issue

平成２８年３月

March, 2016

発行 会津大学

〒965-8580 福島県会津若松市一箕町鶴賀

TEL: 0242-37-2600

FAX: 0242-37-2526 THE UNIVERSITY OF AIZU Tsuruga, Ikki-machi Aizu-Wakamatsu City

Fukushima, 965-8580 Japan