Author name cluster

Hiroaki Kitano

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44 papers

2 author rows

IROS Conference 2003 Conference Paper

Applying scattering theory to robot audition system: robust sound source localization and extraction

Kazuhiro Nakadai
Daisuke Matsuura
Hiroshi G. Okuno
Hiroaki Kitano

Robot audition by its own ears (microphones) is essential for natural human-robot communication and interface. Since a microphone is embedded in the head of a robot, the head-related transfer function (HRTF) plays an important role in sound source localization and extraction. Usually, from binaural input, the interaural phase difference (IPD) and interaural intensity difference (IID) are calculated, and then the direction is determined by using IPD and IID with HRTF. The problem of HRTF-based sound source localization is that a HRTF should be measured for each robot in an anechoic chamber, because it depends on the shape of robot's head; HRTF should be interpolated to manipulate a moving talker, because it is available only for discrete azimuth and elevation. To cope with these problems of HRTF, we proposed the auditory epipolar geometry as a continuous function of IPD and IID to dispense with HRTF and have developed a real-time multiple-talker tracking system. This auditory epipolar geometry, however, does not give a good approximation to IID of all range and IPD of peripheral areas. In this paper, the scattering theory in physics is employed to take into consideration the diffraction of sounds around robot's head for better approximation of IID and IPD. The resulting system shows that it is efficient for localization and extraction of sound at higher frequency and from side directions.

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IROS Conference 2003 Conference Paper

Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation - evolutionary designing method and its evaluation

Ken Endo
Takashi Maeno
Hiroaki Kitano

In this paper, evolutionary designing method of a biped walking robot is proposed and evaluated in comparison with traditional manner. Usually, the structure and control system of robot have been designed separately. Therefore, the structure is given in advance when the control system is developed. This results in a great deal of trial-and-errors. On the other hand, evolutionary designing method carries out these operations simultaneously. Two calculations are conducted of which morphologies are changed (evolutionary designing method) and not changed (traditional manner) during the evolution. As a result, almost the same number of pareto optimal solutions are emerged. However, solutions generated with evolutionary designing method obtain higher fitnesses than the others. This means that evolutionary designing method could be powerful and efficient method for the real robot.

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ICRA Conference 2003 Conference Paper

Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation -designing the real robo

Ken Endo
Takashi Maeno
Hiroaki Kitano

In this paper, a method for co-evolving morphology and controller of a real biped walking robot is proposed using evolutionary computation. Although certain control theories exist, such as zero moment point (ZMP) compensation, these theories assume humanoid robot morphology is given in advance. Thus, engineers have to design a control program for a priori designed morphology. If morphology and locomotion are considered simultaneously, we do not have to spend time with trial-and-error. The detailed model of morphology is used for morphology in which the characteristics of the servo module are considered. As the controller, pattern generators are used. The biped walking robot which can walk the longest distance are designed with a two step genetic algorithm. As a result, the detailed model of the robot which can walk the longest distance is generated from limited size of chromosomes.

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ICRA Conference 2003 Conference Paper

Realizing personality in audio-visually triggered non-verbal behaviors

Hiroshi G. Okuno
Kazuhiro Nakadai
Hiroaki Kitano

Controlling robot behaviors becomes more important recently as active perception for robot, in particular active audition in addition to active vision, has made remarkable progress. We are studying how to create social humanoids that perform actions empowered by real-time audio-visual tracking of multiple talkers. In this paper, we present personality as means of controlling on-verbal behaviors. It consists of two dimensions, dominance vs. submissiveness and friendliness vs. hostility, based on the interpersonal theory in psychology. The upper-torso humanoid SIG equipped with real-time audio-visual multiple-talker tracking system is used as a testbed for social interaction. As a companion robot, with friendly personality, it turns toward new sound source in order to show its attention, while with hostile personality, it turns away a new sound source. As a receptionist robot with dominant personality, it focuses its attention on the current customer, while with submissive personality, its attention to the current customer is interrupted by a new one.

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ICRA Conference 2003 Conference Paper

Robot recognizes three simultaneous speech by active audition

Kazuhiro Nakadai
Hiroshi G. Okuno
Hiroaki Kitano

Robots should listen to and recognize speeches with their own ears under noisy environments and simultaneous speeches to attain smooth communications with people in a real world. This paper presents three simultaneous speech recognition based on active audition which integrates audition with motion. Our robot audition system consists of three modules - a real-time human tracking system, an active direction-pass filter (ADPF) and a speech recognition system using multiple acoustic models. The real-time human tracking realizes robust and accurate sound source localization and tracking by audio-visual integration. The performance of localization shows that the resolution of the center of the robot is much higher than that of the peripheral. We call this phenomenon "auditory fovea" because it is similar to visual fovea (high resolution in the center of the human eye). Active motions such as being directed at the sound source improve localization because of making the best use if the auditory fovea. The ADPF realizes accurate and fast sound separation by using a pair of microphones. The ADPF separates sounds originating from the specified direction obtained by the real-time human tracking system. Because the performance of separation depends on the accuracy of localization, the extraction of sound from the front direction is more accurate than that of sound from the periphery. This means that the pass range of ADPF should be narrower in the front direction than in periphery. In other words, such active pass range control improves sound separation. The separated speech is recognized by the speech recognition using multiple acoustic models that integrates multiple results to output the result with the maximum likelihood. Active motions such as being directed at a sound source improve speech recognition because it realizes not only improvement of sound extraction but also easier integration of the results using face ID by face recognition. The robot audition system improved by active audition is implemented on an upper-torso humanoid. The system attains localization, separation and recognition of three simultaneous speeches and the results proves the efficiency of active audition.

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ICRA Conference 2002 Conference Paper

A Method for Co-Evolving Morphology and Walking Pattern of Biped Humanoid Robot

Ken Endo
Fuminori Yamasaki
Takashi Maeno
Hiroaki Kitano

We present a method for co-evolving structures and a controller of biped walking robots. Currently, biped walking humanoid robots are designed manually on trial-and-error basis. Although a certain control theory exists, such as zero moment point compensation, these theories assume humanoid robot morphology is given in advance. Thus, engineers have to design a control program for a priori designed morphology. It is very time consuming if both morphology and locomotion are considered simultaneously. Therefore, a method useful for designing the robot is proposed. First, simple models for both morphology and controller are used for the dynamic simulation, which are multi-link models as morphology and two kinds of controllers. One is a layered neural network and the other is a neural oscillator. Robots with optimal energy efficiency of walking are designed with the genetic algorithm. As a result, various combinations of morphologies and gaits are generated, and the relationship between the length of each link and moving distance is obtained, which gives an optimal energy efficiency. Moreover, the robots are encoded from the limited size of chromosomes.

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ICRA Conference 2002 Conference Paper

Acquisition of Humanoid Walking Motion using Genetic Algorithm - Considering Characteristics of Servo Modules

Fuminori Yamasaki
Ken Endo
Hiroaki Kitano
Minoru Asada

This paper presents a method for humanoid walking acquisition with less energy consumption based on a two-stage genetic algorithm. In the first phase of genetic algorithm, in order to acquire the continuous walking motion, the fitness function consists of a walking distance (longer is better). In the second phase, the fitness function consists of a walking distance (longer) and energy consumption (less) for acquisition of highly energy-efficient walking. Further, we restrain the relationship among some joints and keep knee joint straight on supporting leg in order to ensure the less energy consumption. We apply the method to our platform PINO which has low-torque actuators owing to the servo modules. In order to realize a genetic process, we encode the scaling parameter of the joint movements and the phase difference between the joints into the computational simulation which considers the characteristics of the servo module used in our platform, PINO. The evolved results are applied to a real PINO and its smooth and stable walking with less energy consumption is verified.

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IROS Conference 2002 Conference Paper

Auditory fovea based speech separation and its application to dialog system

Kazuhiro Nakadai
Hiroshi G. Okuno
Hiroaki Kitano

This paper presents an active direction-pass filter (ADPF) that separates sounds originating from the specified direction by using a pair of microphones. Its application to front-end processing for speech recognition is also reported. Since the performance of sound source separation by the ADPF depends on the accuracy of sound source localization (direction), various localization modules including the interaural phase difference, interaural intensity difference for each sub-band, and other visual and auditory processing are integrated hierarchically. The resulting performance of auditory localization varies according to the relative position of the sound source. The resolution of the center of the robot is much higher than that of peripherals, indicating similar property of visual fovea. To make the best use of this property, the ADPF controls the direction of a head by motor movement. In order to recognize sound streams separated by the ADPF, a hidden Markov model based automatic speech recognition is built with multiple acoustic models trained by the output of the ADPF under different conditions. A preliminary dialog system is thus implemented on an upper-torso humanoid. The experimental results prove that it works well even when two speakers speak simultaneously.

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IROS Conference 2002 Conference Paper

Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation. Consideration of characteristic of the servomotors

Ken Endo
Takashi Maeno
Hiroaki Kitano

In this paper, we present a method for co-evolving morphology and controller of bi-ped humanoid robots. Currently, bi-ped walking humanoid robots are designed manually on trial-and-error basis. Thus, engineers have to design control program for apriori designed morphology, neither of them shown to be optimal within a large design space. We propose evolutionary approach that co-evolves the morphology and controller. Two steps of co-evolutions were achieved in a precision dynamics simulator. One is for obtaining the optimal lengths of links using simple multi-link model and the other is for obtaining the optimal geometry of servomotor which is often used for radio control car. Finally, unexpected optimal solutions were discovered. This indicates that a complex design task of biped humanoid can be performed automatically using evolution-based approach, thus varieties of humanoid robots can be designed in speedy manner.

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ICRA Conference 2002 Conference Paper

Real-Time Speaker Localization and Speech Separation by Audio-Visual Integration

Kazuhiro Nakadai
Ken-ichi Hidai
Hiroshi G. Okuno
Hiroaki Kitano

Robot audition in real-world should cope with motor and other noises caused by the robot's own movements in addition to environmental noises and reverberation. This paper reports how auditory processing is improved by audio-visual integration with active movements. The key idea resides in hierarchical integration of auditory and visual streams to disambiguate auditory or visual processing. The system runs in real-time by using distributed processing on 4 PCs connected by a Gigabit Ethernet. The system implemented in a upper-torso humanoid tracks multiple talkers and extracts speech from a mixture of sounds. The performance of epipolar geometry based sound source localization and sound source separation by active and adaptive direction-pass filtering is also reported.

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IROS Conference 2001 Conference Paper

Epipolar geometry based sound localization and extraction for humanoid audition

Kazuhiro Nakadai
Hiroshi G. Okuno
Hiroaki Kitano

Sound localization for a robot or an embedded system is usually solved by using inter-aural phase difference (IPD) and inter-aural intensity difference (IID). These values are calculated by using head-related transfer function (HRTF). However, the HRTF depends on the shape of the head and also on changes of the environments. Therefore, sound localization without HRTF is needed for real-world applications. In this paper, we present a new sound localization method based on auditory epipolar geometry with motion control. The auditory epipolar geometry is an extension of an epipolar geometry in stereo vision to audition, and auditory and visual epipolar geometries can share the sound source direction. The key idea is to exploit additional inputs obtained by the motor control in order to compensate damages in the IPD and IID caused by reverberation of the room and the body of the robot. The proposed system can localize and extract simultaneously two sound sources in a real-world room.

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IROS Conference 2001 Conference Paper

Human-robot interaction through real-time auditory and visual multiple-talker tracking

Hiroshi G. Okuno
Kazuhiro Nakadai
Ken-ichi Hidai
Hiroshi Mizoguchi
Hiroaki Kitano

Nakadai et al. (2001) have developed a real-time auditory and visual multiple-talker tracking technique. In this paper, this technique is applied to human-robot interaction including a receptionist robot and a companion robot at a party. The system includes face identification, speech recognition, focus-of-attention control, and sensorimotor task in tracking multiple talkers. The system is implemented on a upper-torso humanoid and the talker tracking is attained by distributed processing on three nodes connected by 100Base-TX network. The delay of tracking is 200 msec. Focus-of-attention is controlled by associating auditory and visual streams by using the sound source direction and talker position as a clue. Once an association is established, the humanoid keeps its face to the direction of the associated talker.

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IROS Conference 2000 Conference Paper

A framework for integrating sensory information in a humanoid robot

Iris Fermin
Hiroshi G. Okuno
Hiroshi Ishiguro
Hiroaki Kitano

We propose a framework towards the integration of information sensors based on the idea that the stimulus perceived through different sensors are spatial-time correlated for a short time period. Applications in robotics need to be able to process information from multiple sensors, for instance, in the case of a visible talking person. How can we relate this kind of information in a simple way, without making use of high level representation? This is the question that we want to address. A new framework based on a correlation measure of low level data information is proposed. This low level correlation measure can be used as an integration data engine to support high level task description. In the paper a coherent approach from sensor level to task level for developing a robot which can handle a large number of sensors and actuators is developed. An example how this approach can be used for a visual-sound integration task is also presented.

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IROS Conference 2000 Conference Paper

Active audition system and humanoid exterior design

Kazuhiro Nakadai
Tatsuya Matsui
Hiroshi G. Okuno
Hiroaki Kitano

We present a humanoid active audition system with improved noise cancellation using humanoid cover acoustics and the cover design for an industrial exterior design. For active audition, it is an important problem to distinguish between the internal sounds like motor noises and sounds which originate from the outer world. It is important that inevitable motor noise is cancelled while the humanoid is in motion. Therefore, humanoids require the exterior to cancel such internal noises because it separates humanoid inner world from the outer world. We report an active audition system focused on the sound source tracking by integrating audition, vision and motor movements using sound separation of the humanoid cover. The experiments show that the humanoid can track and localize sound sources more accurately, the noise cannot always be cancelled out optimally and further improvements are required.

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IROS Conference 2000 Conference Paper

Design and architecture of SIG the humanoid: an experimental platform for integrated perception in RoboCup humanoid challenge

Hiroaki Kitano
Hiroshi G. Okuno
Kazuhiro Nakadai
Theo Sabisch
Tatsuya Matsui

In this paper, we report an initial design of humanoid head platform for RoboCup humanoid challenge. While many researches in RoboCup humanoid challenge naturally focus on walking and running behaviors, we focus on perception and high-level behavior issues using an upper-torso humanoid. We have designed a head/neck part of the humanoid with aesthetically designed appearance, and various processing for early perception and associated reflex. The goal of this paper is to illustrate issues in designing humanoid head platform for high-level cognition research, and provide some of initial insights obtained during the early stage of implementations. With regards to perception, the emphasis will be placed on how interaction between different perception channel and motor control can complement each other to improve processing.

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ICRA Conference 2000 Conference Paper

RoboCup Jr. : RoboCup for Edutainment

Hiroaki Kitano
Sho'ji Suzuki
Junichi Akita

The Robot World Cup Initiative (RoboCup) is an international joint project to promote science and technology in intelligent robotics, AI and related fields with the specific goal of building a fully humanoid robot that can be the human world cup champion by 2050, and to apply technologies developed in this activity to socially significant issues such as rescue, and for next generation industries. This idea inspired the imagination of people and it has grown to be one of the largest research areas in multi-agent robotics. The paper discusses extension of RoboCup activity for education and edutainment. Specifically, RoboCup has initiated a new project called RoboCup Jr. that aims at promotion of engineering education and popularization of robotics using RoboCup. A RoboCup Jr. league will be created to meet diverse needs of the education field, and a series of organizational frameworks are proposed to develop a network of social, personal, educational, and technical infrastructures to assist those who are interested in RoboCup Jr. activity.

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IROS Conference 2000 Conference Paper

RoboCup Rescue project: challenges and benchmark

Hiroaki Kitano
Satoshi Tadokoro
Koichi Osuka

Disaster rescue is one of the most serious social issues which involves very large numbers of heterogenous agents in the hostile environment. The intention of the RoboCup Rescue project is to promote research and development in this socially significant domain by creating a standard simulator and forum for researchers and practitioners. While the rescue domain is intuitively appealing as a large scale multi-agent domain, it has not yet been given thorough analysis of its domain characteristics. We present detailed analysis of the task domain, challenges, and outline benchmark evaluations.

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ICRA Conference 2000 Conference Paper

Robotics in Edutainment

Minoru Asada
Raffaello D'Andrea
Andreas Birk 0002
Hiroaki Kitano
Manuela Veloso

Describes the issues in robotics from a viewpoint of edutainment through a series of activities in the Robot World Cup Initiative and related events, such as the International Robot Games Festival (Robofesta) supported by the Japanese government to promote creative and imaginative education programs, RoboCup Jr. which is designed for kids and the younger generation to play RoboCup games with easily constructible platforms, development of small legged robots for pets in the house or games, and education projects in system engineering. Finally, concluding remarks for future activities are given.

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ICRA Conference 2000 Conference Paper

The Outline of the International Robot Games Festival

Eiji Nakano
Minoru Asada
Satoshi Tadokoro
Koichi Osuka
Kiyoshi Nagai
Yasuhiro Masutani
Hiroaki Kitano

The Japanese Government plans to hold the International Robot Games Festival in 2001, which is called "RoboFesta 2001". The RoboFesta 2001 will be held both in the Osaka area and Kanagawa Prefecture in Japan, and will consist of several authoritative robot games, an international forum, and lots of robot-related exhibitions during the summer and autumn in 2001. The article describes the aims and organisation of the festival, then describes the various games.

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ICRA Conference 2000 Conference Paper

The RoboCup-Rescue Project: A Robotic Approach to the Disaster Mitigation Problem

Satoshi Tadokoro
Hiroaki Kitano
Tomoichi Takahashi
Itsuki Noda
Hitoshi Matsubara
Atsushi Shinjoh
Tetsuhiko Koto
Ikuo Takeuchi

This paper introduces the RoboCup-Rescue Simulation Project, a contribution to the disaster mitigation, search and rescue problem. A comprehensive urban disaster simulator is constructed on distributed computers. Heterogeneous intelligent agents such as fire fighters, victims and volunteers conduct search and rescue activities in this virtual disaster world. A real world interface integrates various sensor systems and controllers of infrastructures in the real cities with the virtual world. Real-time simulation is synchronized with actual disasters, computing complex relationship between various damage factors and agent behaviors. A mission-critical man-machine interface provides portability and robustness of disaster mitigation centers, and augmented-reality interfaces for rescue parties in real disasters. It also provides a virtual reality training function for the public. This diverse spectrum of RoboCup-Rescue contributes to the creation of the safer social system.

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AIJ Journal 1999 Journal Article

Preface

Hiroaki Kitano

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AIJ Journal 1999 Journal Article

RoboCup: Today and tomorrow—What we have learned

Minoru Asada
Hiroaki Kitano
Itsuki Noda
Manuela Veloso

RoboCup is an increasingly successful attempt to promote the full integration of AI and robotics research. The most prominent feature of RoboCup is that it provides the researchers with the opportunity to demonstrate their research results as a form of competition in a dynamically changing hostile environment, defined as the international standard game definition, which the gamut of intelligent robotics research issues are naturally involved. This article describes what we have learned from the past RoboCup activities, mainly the first and the second RoboCups, and overviews the future perspectives of RoboCup in the next century. First, the issue on what and why RoboCup is addressed, and a wide range of research issues are explained. Next, the current leagues are introduced and the research achievements are reviewed from a viewpoint of system architecture. Some of these achievements are included in this special issue. Finally, prospects for future activities are discussed.

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IROS Conference 1999 Conference Paper

Syntactic-semantic analysis of reconfigurable robot

Masahiro Fujita 0002
Hiroaki Kitano
Toshitada Doi

We propose a concept for reconfigurable robotics, which is to analyze a robot configuration in syntax and to give semantics to robot components. We call it "syntactic-semantic analysis of robot configuration". The motivation for this concept arises when we consider a reconfigurable robot platform, which allows us to build various styles of robots. We would like to establish a method which enables us to develop a portable application software on various styles of robots. Making an analogy to syntactic theory of natural language processing, we propose a syntactic analysis of the robot configuration, which also gives semantics to robot components. We implement the proposed method on a reconfigurable robot platform, which allow us to configure a quadruped robot and a wheel-based robot.

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IROS Conference 1999 Conference Paper

What we learned from RoboCup-97 and RoboCup-98

Minoru Asada
Sho'ji Suzuki
Manuela Veloso
Gerhard K. Kraetzschmar
Hiroaki Kitano

RoboCup is an increasingly successful attempt to promote the full integration of robotics and AI research. The most prominent feature of RoboCup is that it provides the researchers with the opportunity to demonstrate their research results as a form of competition in a dynamically changing hostile environment, defined as the international standard game definition, in which the gamut of intelligent robotics research issues are naturally involved. The article describes what we have learned from the past RoboCup activities, and overview the future perspectives of RoboCup in the next century, mainly focusing on the real robot leagues. Finally, we introduce the new leagues, one of which will have been held at RoboCup-99 in Stockholm.

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IROS Conference 1998 Conference Paper

Playing soccer with legged robots

Manuela Veloso
William T. B. Uther
Masahiro Fujita 0002
Minoru Asada
Hiroaki Kitano

Sony has provided a remarkable platform for research and development in robotic agents, namely fully autonomous legged robots. In this paper, we describe our work using Sony's legged robots to participate at the RoboCup'98 legged robot demonstration and competition. Robotic soccer represents a very challenging environment for research into systems with multiple robots that need to achieve concrete objectives, particularly in the presence of an adversary. Furthermore RoboCup'98 offers an excellent opportunity for robot entertainment. We introduce the RoboCup context and briefly present Sony's legged robot. We developed a vision-based navigation and a Bayesian localization algorithm. Team strategy is achieved through pre-defined behaviors and learning by instruction.

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IROS Conference 1998 Conference Paper

RoboCup humanoid challenge: that's one small step for a robot, one giant leap for mankind

Hiroaki Kitano
Minoru Asada

The ultimate goal of the RoboCup Initiative is to build a humanoid soccer team which beats a human World Cup Champion team. In this paper, we presents reasons why this goal should be pursued, and analyze technical issues involved in, humanoid to play soccer game. The analysis demonstrates the breadth of technologies that need to be developed through the course of the Challenge, which has major impacts to industries in general.

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ICRA Conference 1998 Conference Paper

Sony Legged Robot for RoboCup Challenge

Hiroaki Kitano
Masahiro Fujita 0002
Stéphane Zrehen
Koji Kageyama

One of the ultimate dreams in robotics is to create life-like robotics systems, such as a humanoid robot and an animal-like legged robot. We choose to build a pet-type legged robot because we believe that dog-like and cat-like legged robots have major potential for future entertainment robotics markets for personal robots. However, a number of challenges exist before any such robot can be fielded in the real world. Robots have to be reasonably intelligent, maintain a certain level of agility, and be able to engage in some collaborative behaviors. RoboCup is an ideal challenge to foster robotics technologies for small personal and mobile robotics system. In this paper, we present Sony's legged robots system which entered RoboCup-98 Paris as a special exhibition game.

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IROS Conference 1997 Conference Paper

RoboCup as a research program

Hiroaki Kitano

An overview of RoboCup (The World Cup Robot Soccer), which offers opportunities for AI and robotics research by providing an attractive but formidable challenge. It also provides a range of challenge programs which is designed to evaluate specific technical issues. The challenge program will be up-dated and new challenges will be offered as technology progresses. Along with other programs such as an education program, RoboCup offers a comprehensive research program which promotes AI and robotics.

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IJCAI Conference 1997 Conference Paper

The Next Big Thing: Position Statements

Munindar P Singh
Daniel G. Bobrow
Michael N. Huhns
Margaret King
Hiroaki Kitano
Ray Reiter

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IJCAI Conference 1997 Conference Paper

The RoboCup Synthetic Agent Challenge

Hiroaki Kitano
Milind Tambe
Peter Stone
Manuela Veloso
Silvia Coradeschi
Eiichi Osawa
Hitoshi Matsubara
ltsuki Noda

RoboCup Challenge offers a set of challenges for intelligent agent researchers using a friendly competition in a dynamic, real-time, multiagent domain. While RoboCup in general envisions longer range challenges over the next few decades, RoboCup Challenge presents three specific challenges for the next two years: (i) learning of individual agents and teams; (ii) multi-agent team planning and plan-execution in service of teamwork; and (iii) opponent modeling. RoboCup Challenge provides a novel opportunity for machine learning, planning, and multi-agent researchers it not only supplies a concrete domain to evalute their techniques, but also challenges researchers to evolve these techniques to face key constraints fundamental to this domain: real-time, uncertainty, and teamwork.

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IJCAI Conference 1995 Conference Paper

A Model for Hormonal Modulation of Learning

Hiroaki Kitano

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AAAI Conference 1993 Conference Paper

Case-Method: A Methodology for Building Large-Scale Case-Based Systems

Hiroaki Kitano

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IJCAI Conference 1993 Conference Paper

Computers and Thought Award Challenges of Massive Parallelism

Hiroaki Kitano
NEC Corporation andCarnegie Mellon University

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IJCAI Conference 1993 Conference Paper

Retrieving Cases from Relational Data-Bases: Another Stride Towards Corporate-Wide Case-Base Systems

Hideo Shimazu
Hiroaki Kitano
Akihiro Shibata

Vital information for corporate activities is generally stored in large databases. While conventional data-base management systems offer limited query flexibility, systems capable of generating similarity-based queries, such as those seen in case-based reasoning research, would certainly enhance the utility of data resources. This paper describes a method for building case-based systems using a conventional relational data-base (RDB). The core of the algorithm is a novel approach to similarity computing in which database query form similarities, rather than similarities of individual cases, are computed. The method uses Standard Query Language (SQL) to achieve nearest neighbor matching, thus allowing similarity-based database retrieval. It has been implemented as a part of the CARET case retrieval tool and evaluated through the use of a newly developed corporate-wide case-based system for a software quality control domain. Experiments have shown the proposed method to provide retrieval results equivalent to those of non-RDB implementation at a sufficiently fast response time.

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