arXiv subjects

Yuki Kubo

Publications and source records attributed to Yuki Kubo.

At least 19 recordsLinked to original sources

arXiv2025

Model Evaluation of a Transformable CubeSat for Nonholonomic Attitude Reorientation Using a Drop Tower

This paper presents a design for a drop tower test to evaluate a numerical model for a structurally reconfigurable spacecraft with actuatable joints, referred to as a transformable spacecraft. A mock-up robot for a 3U-sized transformable spacecraft is designed to fit in a limited time and space of the microgravity environment available in the drop tower. The robot performs agile reorientation, referred to as nonholonomic attitude control, by actuating joints in a particular manner. To adapt to the very short duration of microgravity in the drop tower test, a successive joint actuation maneuver is optimized to maximize the amount of attitude reorientation within the time constraint. The robot records the angular velocity history of all four bodies, and the data is analyzed to evaluate the accuracy of the numerical model. We confirm that the constructed numerical model sufficiently replicates the robot's motion and show that the post-experiment model corrections further improve the accuracy of the numerical simulations. Finally, the difference between this drop tower test and the actual orbit demonstration is discussed to show the prospect.

astro-ph.IM↗

arXiv2025

An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments

This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Subterranean Challenge. Specifically, this paper presents extensions to NeBula's hardware, software, and algorithmic components that focus on increasing the range and scale of the exploration environment. From the algorithmic perspective, we discuss the following extensions to the original NeBula framework: (i) large-scale geometric and semantic environment mapping; (ii) an adaptive positioning system; (iii) probabilistic traversability analysis and local planning; (iv) large-scale POMDP-based global motion planning and exploration behavior; (v) large-scale networking and decentralized reasoning; (vi) communication-aware mission planning; and (vii) multi-modal ground-aerial exploration solutions. We demonstrate the application and deployment of the presented systems and solutions in various large-scale underground environments, including limestone mine exploration scenarios as well as deployment in the DARPA Subterranean challenge.

cs.RO↗

arXiv2023

Dialogue System of Team NTT-EASE for DRC2023

We developed a dialogue system as a team NTT-EASE in the Dialogue Robot Competition 2023 (DRC2023). We introduce a dialogue system (EASE-DRCBot) constructed for DRC2023. EASE-DRCBot incorporates a manually defined dialogue flow. The conditions for system utterances are based on keyword extraction, example-based method, and sentiment analysis. For answering a user's question, EASE-DRCBot utilizes GPT-3.5 to generate responses. We analyze the results of the preliminary round and explain future works.

cs.HC↗

arXiv2023

Optimization of body configuration and joint-driven attitude stabilization for transformable spacecrafts under solar radiation pressure

A solar sail is one of the most promising space exploration system because of its theoretically infinite specific impulse using solar radiation pressure (SRP). Recently, some researchers proposed "transformable spacecrafts" that can actively reconfigure their body configurations with actuatable joints. The transformable spacecrafts are expected to greatly enhance orbit and attitude control capability due to its high redundancy in control degree of freedom if they are used like solar sails. However, its large number of input poses difficulties in control, and therefore, previous researchers imposed strong constraints to limit its potential control capabilities. This paper addresses novel attitude control techniques for the transformable spacecrafts under SRP. The authors have constructed two proposed methods; one of those is a joint angle optimization to acquire arbitrary SRP force and torque, and the other is a momentum damping control driven by joint angle actuation. Our proposed methods are formulated in general forms and applicable to any transformable spacecraft that has front faces that can dominantly receive SRP on each body. Validity of the proposed methods are confirmed by numerical simulations. This paper contributes to making most of the high control redundancy of transformable spacecrafts without consuming any expendable propellants, which is expected to greatly enhance orbit and attitude control capability.

cs.LG↗

arXiv2022

Team OS's System for Dialogue Robot Competition 2022

This paper describes our dialogue robot system, OSbot, developed for Dialogue Robot Competition 2022. The dialogue flow is based on state transitions described manually and the transition conditions use the results of keyword extraction and sentiment analysis. The transitions can be easily viewed and edited by managing them on a spreadsheet. The keyword extraction is based on named entity extraction and our predefined keyword set. The sentiment analysis is text-based and uses SVM, which was trained with the multimodal dialogue corpus Hazumi. We quickly checked and edited a dialogue flow by using a logging function. In the competition's preliminary round, our system ended up in third place.

cs.HC↗

arXiv2021

Operational solar flare prediction model using Deep Flare Net

We developed an operational solar flare prediction model using deep neural networks, named Deep Flare Net (DeFN). DeFN can issue probabilistic forecasts of solar flares in two categories, such as >=M-class and =C-class and =M-class flares and TSS = 0.63 for >=C-class flares. For comparison, we evaluated the operationally forecast results from January 2019 to June 2020. We found that operational DeFN forecasts achieved TSS = 0.70 (0.84) for >=C-class flares with the probability threshold of 50 (40)%, although there were very few M-class flares during this period and we should continue monitoring the results for a longer time. Here, we adopted a chronological split to divide the database into two for training and testing. The chronological split appears suitable for evaluating operational models. Furthermore, we proposed the use of time-series cross-validation. The procedure achieved TSS = 0.70 for >=M-class flares and 0.59 for >=C-class flares using the datasets obtained from 2010 to 2017.

astro-ph.SR↗

arXiv2021

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge

This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved 2nd and 1st place, respectively. We also discuss CoSTAR's demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states). We discuss various components of the NeBula framework, including: (i) geometric and semantic environment mapping; (ii) a multi-modal positioning system; (iii) traversability analysis and local planning; (iv) global motion planning and exploration behavior; (i) risk-aware mission planning; (vi) networking and decentralized reasoning; and (vii) learning-enabled adaptation. We discuss the performance of NeBula on several robot types (e.g. wheeled, legged, flying), in various environments. We discuss the specific results and lessons learned from fielding this solution in the challenging courses of the DARPA Subterranean Challenge competition.

cs.RO↗

arXiv2021

STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation

Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as undeveloped wilderness, caves, and rubble pose unique and challenging problems for autonomous navigation. To tackle these problems we propose an approach for assessing traversability and planning a safe, feasible, and fast trajectory in real-time. Our approach, which we name STEP (Stochastic Traversability Evaluation and Planning), relies on: 1) rapid uncertainty-aware mapping and traversability evaluation, 2) tail risk assessment using the Conditional Value-at-Risk (CVaR), and 3) efficient risk and constraint-aware kinodynamic motion planning using sequential quadratic programming-based (SQP) model predictive control (MPC). We analyze our method in simulation and validate its efficacy on wheeled and legged robotic platforms exploring extreme terrains including an abandoned subway and an underground lava tube.

cs.RO↗

arXiv2021

Deficient Basis Estimation of Noise Spatial Covariance Matrix for Rank-Constrained Spatial Covariance Matrix Estimation Method in Blind Speech Extraction

Rank-constrained spatial covariance matrix estimation (RCSCME) is a state-of-the-art blind speech extraction method applied to cases where one directional target speech and diffuse noise are mixed. In this paper, we proposed a new algorithmic extension of RCSCME. RCSCME complements a deficient one rank of the diffuse noise spatial covariance matrix, which cannot be estimated via preprocessing such as independent low-rank matrix analysis, and estimates the source model parameters simultaneously. In the conventional RCSCME, a direction of the deficient basis is fixed in advance and only the scale is estimated; however, the candidate of this deficient basis is not unique in general. In the proposed RCSCME model, the deficient basis itself can be accurately estimated as a vector variable by solving a vector optimization problem. Also, we derive new update rules based on the EM algorithm. We confirm that the proposed method outperforms conventional methods under several noise conditions.

cs.SD↗

arXiv2020

Joint-Diagonalizability-Constrained Multichannel Nonnegative Matrix Factorization Based on Multivariate Complex Sub-Gaussian Distribution

In this paper, we address a statistical model extension of multichannel nonnegative matrix factorization (MNMF) for blind source separation, and we propose a new parameter update algorithm used in the sub-Gaussian model. MNMF employs full-rank spatial covariance matrices and can simulate situations in which the reverberation is strong and the sources are not point sources. In conventional MNMF, spectrograms of observed signals are assumed to follow a multivariate Gaussian distribution. In this paper, first, to extend the MNMF model, we introduce the multivariate generalized Gaussian distribution as the multivariate sub-Gaussian distribution. Since the cost function of MNMF based on this multivariate sub-Gaussian model is difficult to minimize, we additionally introduce the joint-diagonalizability constraint in spatial covariance matrices to MNMF similarly to FastMNMF, and transform the cost function to the form to which we can apply the auxiliary functions to derive the valid parameter update rules. Finally, from blind source separation experiments, we show that the proposed method outperforms the conventional methods in source-separation accuracy.

cs.SD↗

arXiv2020

Regularized Fast Multichannel Nonnegative Matrix Factorization with ILRMA-based Prior Distribution of Joint-Diagonalization Process

In this paper, we address a convolutive blind source separation (BSS) problem and propose a new extended framework of FastMNMF by introducing prior information for joint diagonalization of the spatial covariance matrix model. Recently, FastMNMF has been proposed as a fast version of multichannel nonnegative matrix factorization under the assumption that the spatial covariance matrices of multiple sources can be jointly diagonalized. However, its source-separation performance was not improved and the physical meaning of the joint-diagonalization process was unclear. To resolve these problems, we first reveal a close relationship between the joint-diagonalization process and the demixing system used in independent low-rank matrix analysis (ILRMA). Next, motivated by this fact, we propose a new regularized FastMNMF supported by ILRMA and derive convergence-guaranteed parameter update rules. From BSS experiments, we show that the proposed method outperforms the conventional FastMNMF in source-separation accuracy with almost the same computation time.

cs.SD↗

arXiv2020

A Comparison of Flare Forecasting Methods. IV. Evaluating Consecutive-Day Forecasting Patterns

A crucial challenge to successful flare prediction is forecasting periods that transition between "flare-quiet" and "flare-active". Building on earlier studies in this series (Barnes et al. 2016; Leka et al. 2019a,b) in which we describe methodology, details, and results of flare forecasting comparison efforts, we focus here on patterns of forecast outcomes (success and failure) over multi-day periods. A novel analysis is developed to evaluate forecasting success in the context of catching the first event of flare-active periods, and conversely, of correctly predicting declining flare activity. We demonstrate these evaluation methods graphically and quantitatively as they provide both quick comparative evaluations and options for detailed analysis. For the testing interval 2016-2017, we determine the relative frequency distribution of two-day dichotomous forecast outcomes for three different event histories (i.e., event/event, no-event/event and event/no-event), and use it to highlight performance differences between forecasting methods. A trend is identified across all forecasting methods that a high/low forecast probability on day-1 remains high/low on day-2 even though flaring activity is transitioning. For M-class and larger flares, we find that explicitly including persistence or prior flare history in computing forecasts helps to improve overall forecast performance. It is also found that using magnetic/modern data leads to improvement in catching the first-event/first-no-event transitions. Finally, 15% of major (i.e., M-class or above) flare days over the testing interval were effectively missed due to a lack of observations from instruments away from the Earth-Sun line.

astro-ph.SR↗

arXiv2019

Spectral Structures of Type II Solar Radio Bursts and Solar Energetic Particles

We investigated the relationship between the spectral structures of type II solar radio bursts in the hectometric and kilometric wavelength ranges and solar energetic particles (SEPs). To examine the statistical relationship between type II bursts and SEPs, we selected 26 coronal mass ejection (CME) events with similar characteristics (e.g., initial speed, angular width, and location) observed by the Large Angle and Spectrometric Coronagraph (LASCO), regardless of the characteristics of the corresponding type II bursts and the SEP flux. Then, we compared associated type II bursts observed by the Radio and Plasma Wave Experiment (WAVES) onboard the Wind spacecraft and the SEP flux observed by the Geostationary Operational Environmental Satellite (GOES) orbiting around the Earth. We found that the bandwidth of the hectometric type II bursts and the peak flux of the SEPs has a positive correlation (with a correlation coefficient of 0.64). This result supports the idea that the nonthermal electrons of type II bursts and the nonthermal ions of SEPs are generated by the same shock and suggests that more SEPs may be generated for a wider or stronger CME shock with a longer duration. Our result also suggests that considering the spectral structures of type II bursts can improve the forecasting accuracy for the peak flux of gradual SEPs.

astro-ph.SR↗

arXiv2019

Acceleration of rank-constrained spatial covariance matrix estimation for blind speech extraction

In this paper, we propose new accelerated update rules for rank-constrained spatial covariance model estimation, which efficiently extracts a directional target source in diffuse background noise.The naive updat e rule requires heavy computation such as matrix inversion or matrix multiplication. We resolve this problem by expanding matrix inversion to reduce computational complexity; in the parameter update step, we need neither matrix inversion nor multiplication. In an experiment, we show that the proposed accelerated update rule achieves 87 times faster calculation than the naive one.

cs.SD↗

arXiv2019

A Comparison of Flare Forecasting Methods. III. Systematic Behaviors of Operational Solar Flare Forecasting Systems

A workshop was recently held at Nagoya University (31 October - 02 November 2017), sponsored by the Center for International Collaborative Research, at the Institute for Space-Earth Environmental Research, Nagoya University, Japan, to quantitatively compare the performance of today's operational solar flare forecasting facilities. Building upon Paper I of this series (Barnes et al. 2016), in Paper II (Leka et al. 2019) we described the participating methods for this latest comparison effort, the evaluation methodology, and presented quantitative comparisons. In this paper we focus on the behavior and performance of the methods when evaluated in the context of broad implementation differences. Acknowledging the short testing interval available and the small number of methods available, we do find that forecast performance: 1) appears to improve by including persistence or prior flare activity, region evolution, and a human "forecaster in the loop"; 2) is hurt by restricting data to disk-center observations; 3) may benefit from long-term statistics, but mostly when then combined with modern data sources and statistical approaches. These trends are arguably weak and must be viewed with numerous caveats, as discussed both here and in Paper II. Following this present work, we present in Paper IV a novel analysis method to evaluate temporal patterns of forecasting errors of both types (i.e., misses and false alarms; Park et al. 2019). Hence, most importantly, with this series of papers we demonstrate the techniques for facilitating comparisons in the interest of establishing performance-positive methodologies.

astro-ph.SR↗

arXiv2019

A Comparison of Flare Forecasting Methods. II. Benchmarks, Metrics and Performance Results for Operational Solar Flare Forecasting Systems

Solar flares are extremely energetic phenomena in our Solar System. Their impulsive, often drastic radiative increases, in particular at short wavelengths, bring immediate impacts that motivate solar physics and space weather research to understand solar flares to the point of being able to forecast them. As data and algorithms improve dramatically, questions must be asked concerning how well the forecasting performs; crucially, we must ask how to rigorously measure performance in order to critically gauge any improvements. Building upon earlier-developed methodology (Barnes et al, 2016, Paper I), international representatives of regional warning centers and research facilities assembled in 2017 at the Institute for Space-Earth Environmental Research, Nagoya University, Japan to - for the first time - directly compare the performance of operational solar flare forecasting methods. Multiple quantitative evaluation metrics are employed, with focus and discussion on evaluation methodologies given the restrictions of operational forecasting. Numerous methods performed consistently above the "no skill" level, although which method scored top marks is decisively a function of flare event definition and the metric used; there was no single winner. Following in this paper series we ask why the performances differ by examining implementation details (Leka et al. 2019, Paper III), and then we present a novel analysis method to evaluate temporal patterns of forecasting errors in (Park et al. 2019, Paper IV). With these works, this team presents a well-defined and robust methodology for evaluating solar flare forecasting methods in both research and operational frameworks, and today's performance benchmarks against which improvements and new methods may be compared.

astro-ph.SR↗

arXiv2019

Efficient Full-Rank Spatial Covariance Estimation Using Independent Low-Rank Matrix Analysis for Blind Source Separation

In this paper, we propose a new algorithm that efficiently separates a directional source and diffuse background noise based on independent low-rank matrix analysis (ILRMA). ILRMA is one of the state-of-the-art techniques of blind source separation (BSS) and is based on a rank-1 spatial model. Although such a model does not hold for diffuse noise, ILRMA can accurately estimate the spatial parameters of the directional source. Motivated by this fact, we utilize these estimates to restore the lost spatial basis of diffuse noise, which can be considered as an efficient full-rank spatial covariance estimation. BSS experiments show the efficacy of the proposed method in terms of the computational cost and separation performance.

cs.SD↗

arXiv2018

Deep Flare Net (DeFN) model for solar flare prediction

We developed a solar flare prediction model using a deep neural network (DNN), named Deep Flare Net (DeFN). The model can calculate the probability of flares occurring in the following 24 h in each active region, which is used to determine the most likely maximum classes of flares via a binary classification (e.g., >=M class versus =C class versus =10^7 K) and the X-ray and 131 A intensity data 1 and 2 h before an image. For operational evaluation, we divided the database into two for training and testing: the dataset in 2010-2014 for training and the one in 2015 for testing. The DeFN model consists of deep multilayer neural networks, formed by adapting skip connections and batch normalizations. To statistically predict flares, the DeFN model was trained to optimize the skill score, i.e., the true skill statistic (TSS). As a result, we succeeded in predicting flares with TSS=0.80 for >=M-class flares and TSS=0.63 for >=C-class flares. Note that in usual DNN models, the prediction process is a black box. However, in the DeFN model, the features are manually selected, and it is possible to analyze which features are effective for prediction after evaluation.

astro-ph.SR↗