Noriaki Mitsunaga

マイコンは身近な家電を含め多くの工業製品で活用されるだけでなく,計算機と実世界との接点であるセンサやアクチュエータとの接続が容易なものが多く,インタラクションデザインの教育・研究や中学校の技術科といった工学系以外の分野の教育での利用が拡大している。一方で,タブレット端末やスマートフォンなど小型で安価な端末が普及しつつある。そういった端末でマイコンのプログラミングが容易に出来れば,より利用の敷居が下がると考えられる。ところで,そういった端末は計算機資源が限られている。しかし,インタプリタをマイコンへ載せ,端末側にはコンパイラを持たず,エディタやデバッグに必要なもののみとすれば,計算機資源が限られていても問題がない。そこで本研究では,マイコン上で動作し対話的にプログラミングができるインタプリタ言語iArduino,プログラムの動作と入出力を可視化するプログラミング環境としてPC上で動作するiArduinoTerminalとタブレット端末で動作するiArduinoTermianl for Androidを開発したので報告する。We have developed an interpreted language for a beginner to use understanding programming and electronic circuits and making his/her creation. Its interpreter runs on Arduino's micro controller and its grammar resembles to Arduino language(C/C++ programming language). It also has built in debugging interface to visualize pin values and variables. In this paper, we report the implementation of the language and a development environment on PC(iArduinoTermianl)and Android Tablet(iArduinoTerminal for Android). The language and the tool could be used in education course for micro controller programming to help students.

近年，タブレット端末が広く普及してきており，パソコンではなくタブレット端末のみを保有する層も増加している．したがって，マイコンのプログラムを作成できるタブレット端末用ビジュアルプログラミング環境があれば，マイコンを使った電子工作を始めやすくなる場合も増えると考える．しかし，そのような環境は見当たらない．また，マイコンにインタプリタを載せると，タブレット端末のような資源の限られたコンピュータでも，プログラミング環境を実現しやすい．そこで，iArduino インタプリタの動作するマイコンのプログラムを作成する，タブレット端末用ビジュアルプログラミング環境 aiBlocks を開発したので報告し，製作例としてライントレースカーを紹介する．

子どもたちのプログラミング経験はコンピュータを理解し活用するだけでなく,他の学びにもつながると期待されている。またロボットを操縦するのではなく,コンピュータに動作を決めさせるロボカップジュニアの大会が開催され,多くの子どもたちが参加している。そこで,読者がロボカップジュニアサッカーチャレンジに参加することを目標とし,ロボットのプログラミングを通して外界への関心を高められるように配慮した,ロボットプログラミングのテキストを試作したので報告する。まずテキストの製作方針と構成を紹介し,ロボットスクール受講生による評価を示す。受講生からは後輩のために「あるといい」という回答を得ている。It is expected that children learn a lot of stuffs when they accomplish their own goals through programming. RoboCupJunior is an educational activity for students up through age 19. In RoboCupJunior events, children compete with their own robots which are prepared and programmed by themselves. Then we developed a prototype of a programming text. The aim of the text is to help children to prepare for participating RoboCupJunior soccer competitions in programming side. We report how we developed the text and its evaluation by children who participate in a robot school. They assessed that the book is beneficial for their junior fellows.

マイコンは身近な家電を含め多くの工業製品で活用されるだけでなく，計算機と実世界との接点であるセンサやアクチュエータとの接続が容易なものが多く，インタラクションデザインの教育・研究や中学校の技術科といった工学系以外の分野の教育での利用が拡大している．一方で，タブレット端末やスマートフォンなど小型で安価な端末が普及しつつある．そういった端末でマイコンのプログラミングが容易に出来れば，より利用の敷居が下がると考えられる．ところで，そういった端末は計算機資源が限られている．しかし，インタプリタをマイコンへ載せ，端末側にはコンパイラを持たず，エディタやデバッグに必要なもののみとすれば，計算機資源が限られていても問題がない．そこで本研究では，タブレット端末で動作する，インタプリタ型言語搭載マイコンのプログラミング環境を開発したので報告する．

This paper reports an implementation of an interpreter "iArduino" which runs on a micro-controller and visualization tool "iArduinoTerminal" for it. We develop iArduino and iArduinoTerminal to help beginners understand programming and electronic circuits.

We propose a new RoboCup league called "SSL-Humanoid". In the SSL-Humanoid league, the global vision system used in the RoboCup soccer Small Size Robot League (SSL) is also employed, and two teams of up to five humanoid robots play on a field whose size is half of the SSL field. This league aims to advance AI research for humanoid robots such as cooperation among robots, tactics and strategies. This contribution is possible due to the substitution of local to a global vision system. This is expected to attract new participants who have been interested in RoboCup but did not attend so far. We propose to organize this league as a sub-league of the original SSL. In this paper, we describe background of the proposal, research topics, road map toward 2014 and a summary of games played in 2009. Finally, we introduce team ODENS' system as an example of an SSL-Humanoid team. © 2011 Springer-Verlag.

Now car and pedestrian navigation systems are becoming popular and widely used by people. While a car or a mobile phone navigates a person using images and speeches, a guide robot that moves along with a person has been proposed. In a situation that a robot guides a person, the person follows the robot. Meanwhile, personal vehicles that a person rides in standing posture have been proposed and released recently. When such vehicles become much more popular, it will be natural that such vehicles automatically navigate and guide a person. In this paper, we introduce a prototype of such vehicle, that is, a guiding robot that a human rides in standing posture. Then, we discuss its issues.

What is the key feature of a humanoid which communicates daily with people? Previous work showed that a communication robot in an office can acquire familiarity with daily chats. However, the robot could not give familiarity to all the people in the office. Then we have come to conclusion that the robot needs to adapt its behavior appropriately to current situation, have a suitable role for the environment, and give friendly impression. In this paper, we investigate how people change their impressions of the robot if it changes its behaviors depending on the situation or has a role (or a job) in an office.

In this paper, we propose natural reflexive behaviors for wheeled inverted pendulum type humanoid robots and show that such behaviors change human impressions of the robot. To achieve human-like communication between humans and robots, the latter need to be recognized by the former as communication partners. We believe that the natural reflexive behaviors of robots play an important role in being human partners. To validate the evidence, we generate four types of reflexive robot behaviors when pushed by someone and conducted preliminary experiments with subjects. We verified that people change their impressions of extroversion, agreeableness, intellect, and neuroticism for the robot by changing the reflexive behaviors. ©2006 IEEE.

People establish and enhance their social relationships through sharing experiences with others. Among media used to promote such experiences, a human-size humanoid is the most promising medium. In addition to capabilities of other media, such as the ability to collect and provide information from the Internet and via ubiquitous sensors connected through a network, a human-size humanoid has the potential to help people share experiences or information among them owing to its shape. It enables people to accept a sense of humanlike expressions or emotions, wishes, and so forth. We have recently developed a human-size humanoid, called "Robovie-IV, " as a ubiquitous medium to enhance co-experience. This paper discusses the design requirements of Robovie-IV and introduces an overview of its hardware and software architectures. There is also a brief description and preliminary results of an experiment that we are currently conducting with Robovie-IV, in addition to conclusions.