arXiv subjects

Kazuki Kai

Publications and source records attributed to Kazuki Kai.

5 recordsLinked to original sources

arXiv2025

Nyldon Factorization of Thue-Morse Words and Fibonacci Words

The Nyldon factorization is a string factorization that is a non-decreasing product of Nyldon words. Nyldon words and Nyldon factorizations are recently defined combinatorial objects inspired by the well-known Lyndon words and Lyndon factorizations. In this paper, we investigate the Nyldon factorization of several words. First, we fully characterize the Nyldon factorizations of the (finite) Fibonacci and the (finite) Thue-Morse words. Moreover, we show that there exists a non-decreasing product of Nyldon words that is a factorization of the infinite Thue-Morse word.

cs.DS↗

arXiv2024

Swarm navigation of cyborg-insects in unknown obstructed soft terrain

Cyborg insects refer to hybrid robots that integrate living insects with miniature electronic controllers to enable robotic-like programmable control. These creatures exhibit advantages over conventional robots in adaption to complex terrain and sustained energy efficiency. Nevertheless, there is a lack of literature on the control of multi-cyborg systems. This research gap is due to the difficulty in coordinating the movements of a cyborg system under the presence of insects' inherent individual variability in their reactions to control input. Regarding this issue, we propose a swarm navigation algorithm and verify it under experiments. This research advances swarm robotics by integrating biological organisms with control theory to develop intelligent autonomous systems for real-world applications.

cs.RO↗

arXiv2024

Streamlined shape of cyborg cockroach promotes traversability in confined environments by gap negotiation

The centimeter-scale cyborg insects have a potential advantage for application in narrow environments where humans cannot operate. To realize such tasks, researchers have developed a small printed-circuit-board (PCB) which an insect can carry and control it. The electronic components usually remain bare on the board and the whole board is mounted on platform animals, resulting in uneven morphology of whole cyborg with sharp edges. It is well known that streamlined body shape in artificial vehicles or robots contributes to effective locomotion by reducing drag force in media. However, little is known how the entire body shape impacts on locomotor performance of cyborg insect. Here, we developed a 10 mm by 10 mm board which provided electrical stimulation via Sub-GHz communication and investigated the impact of physical arrangement of the board using Madagascar hissing cockroach. We compared the success rate of gap negotiation between the cyborg with mounted board and implanted board and found the latter outperformed the former. We demonstrated our cyborg cockroach with implanted board could follow faithfully to the locomotion command via antennal or cercal stimulation and traverse a narrow gap like air vent cover. In contrast to the conventional arrangement, our cyborg insects are suitable for application in a concealed environment.

cs.RO↗

arXiv2021

Insect-Computer Hybrid System for Autonomous Search and Rescue Mission

There is still a long way to go before artificial mini robots are really used for search and rescue missions in disaster-hit areas due to hindrance in power consumption, computation load of the locomotion, and obstacle-avoidance system. Insect-computer hybrid system, which is the fusion of living insect platform and microcontroller, emerges as an alternative solution. This study demonstrates the first-ever insect-computer hybrid system conceived for search and rescue missions, which is capable of autonomous navigation and human presence detection in an unstructured environment. Customized navigation control algorithm utilizing the insect's intrinsic navigation capability achieved exploration and negotiation of complex terrains. On-board high-accuracy human presence detection using infrared camera was achieved with a custom machine learning model. Low power consumption suggests system suitability for hour-long operations and its potential for realization in real-life missions.

cs.RO↗

arXiv2019

On Longest Common Property Preserved Substring Queries

We revisit the problem of longest common property preserving substring queries introduced by~Ayad et al. (SPIRE 2018, arXiv 2018). We consider a generalized and unified on-line setting, where we are given a set $X$ of $k$ strings of total length $n$ that can be pre-processed so that, given a query string $y$ and a positive integer $k'\leq k$, we can determine the longest substring of $y$ that satisfies some specific property and is common to at least $k'$ strings in $X$. Ayad et al. considered the longest square-free substring in an on-line setting and the longest periodic and palindromic substring in an off-line setting. In this paper, we give efficient solutions in the on-line setting for finding the longest common square, periodic, palindromic, and Lyndon substrings. More precisely, we show that $X$ can be pre-processed in $O(n)$ time resulting in a data structure of $O(n)$ size that answers queries in $O(|y|\logσ)$ time and $O(1)$ working space, where $σ$ is the size of the alphabet, and the common substring must be a square, a periodic substring, a palindrome, or a Lyndon word.

cs.DS↗