Kaoru Kawamura

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In our lab at the Center for Intelligent Systems, we are currently developing a dual-armed humanoid service robot called ISAC. One of our focus areas in this research is the use of humanoid robots for entertainment. One application we have developed is using ISAC to play a musical instrument called the Theremin. In this paper we present our Theremin-playing(More)
The motivation for integrating humans into a service robot system is to take advantage of human intelligence and skill. Human intelligence can be used to interpret robot sensor data, eliminating computationally expensive and possibly error-prone automated analyses. Human skill is a valuable resource for trajectory and path planning as well as for(More)
Manufacturing is currently undergoing a revolutionary transition with focus shifting from mass production to mass customization. This trend motivates a new generation of advanced manufacturing systems that can dynamically respond to customer orders and changing production environments. It is becoming increasingly important to develop control architectures(More)
In this paper we will discuss a new automatic routing method for printed circuit boards(PCBs). In the field of automatic PCB routing, several “rip-up and reroute” techniques (“dynamic routing”) have recently been proposed. Dynamic routing works by changing one or more previously routed features, and identifying unrouted connections(More)
Recently, simulation and/or formal verification in pre-silicon verification cannot accomplish the whole system-level verification with exhaustive input data and run-time because of lack of sufficient speed and logic capacities. Consequently, post-silicon validation, such as in-circuit debugging, becomes increasingly important. In this paper we propose a(More)
In this paper we propose a new breakpoint mechanism, which improves controllability of in-circuit debug. It monitors data packets transmitted on the interface port of the target hardware, and triggers a breakpoint when a specified packet is detected among them in realtime. Regarding a data packet as a series of data sequences, we employ an efficient data(More)
In this paper, we propose a new physical synthesis methodology, PDL, which relaxes the timing constraints to obtain best optimality in terms of layout quality and timing quality. It provides a common database for delay calculation, logic optimization, placement, and routing tools so that they can work and interact closely. We present results on industrial(More)
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