In visual servoing, most studies are concerned with robotic application with known objects. In this paper, the problem of controlling a motion by visual servoing around an unknown object is addressed. In this case, the approach is interpreted as an initial step towards a perception goal of an unmodeled object. The main goal is to perform motion with regard to the object in order to discover several viewpoint of the object. An adaptive visual servoing scheme is proposed to perform such task. The originality of our work is based on the choice and extraction of visual features in accordance with motions to be performed. The notion of invariant feature is introduced to control the navigational task around the unknown object. During experimentation, a cartesian robot connected to a real time vision system is used. A CCD camera is mounted on the end effector of the robot. The experimental results present a linkage of desired motion around different kind of objects.

Modern database systems have to support complex data objects, which appear in advanced data models such as object-oriented data models and nested relational data models. Set-valued objects are basic constructs to build complex structures in those models. Therefore, efficient processing of set-valued object retrieval (simply, set retrieval) is an important feature required of advanced database systems. Our previous work proposed a basic scheme to apply superimposed coded signature files to set retrieval and showed its potential advantages over the B-tree index based approach using a performance analysis model. Retrieval with signature files is always accompanied by mismatches called false drops, and proper control of the false drops is indispensable in the signature file design. This study intensively analyzes the false drops in set retrieval with signature files. First, schemes to use signature files are presented to process set retrieval involving "has-subset," "is-subset," "has-intersection," and "is-equal" predicates, and generic formulas estimating the false drops are derived. Then, three sets of concrete formulas are derived in three ways to estimate the false drops in the four types of set retrieval. Finally, their estimates are validated with computer simulations, and advantages and disadvantages of each set of the false drop estimation formulas are discussed. The analysis shows that proper choice of estimation formulas gives quite accurate estimates of the false drops in set retrieval with signature files.

When people watch such motion pictures as documentaries or educational-type films, it is very natural for them to be interested in moving objects in the movies and be eager to know the detailed information related to these object. Therefore, a mechanism that enables users to directly pick up object information from motion pictures is necessary to make a movie system feasible. For this reason, we are researching techniques on using objects in motion pictures as hypermedia anchors. We call a movie system that provides the above mechanism a video hypermedia system. An object in a motion picture can generally be considered as a complex object which includes many parts. To allow users to obtain information related to each part, a system must be able to provide anchors corresponding to each part in each complex object. For this, authors cannot help defining all anchors in all frames, since the visual status of each part varies from moment to moment. This paper presents our approach for managing objects in motion pictures for video hypermedia systems. The main feature of the proposed method is to apply computer graphic techniques to the defining of anchors for a complex object.

For a complex object model, a form of range restriction, called specialization constraint (SC), has been studied. On the other hand, very few models have been proposed that support selective inheritance. In this paper, the following consideration is taken into SCs for a complex object medel suppoorting selective inheritance. A polynomial-time algorithm is given for deciding if a given database schema is well-formed. A sound and complete axiomatization for SCs is presented. A polynomial-time algorithm is given that decides if an SC is a logical consequence of a set of SCs. Finally, another polynomial-time algorithm is given, which decides if there exists a database that contains a given path from a given class.

For a complex object model, a form of range restriction called specialization constraint (SC), has been proposed, which is associated not only with the properties themselves but also with property value paths. The domain and range of an SC, however, were limited to single classes. In this paper, SCs are generalized to have sets of classes as their domains and ranges. Let Σ be a set of SCs, where each SC in Σ has a set of classes as its domain and a non-empty set of classes as its range. It is proved that an SC is a logical consequence of Σ if and only if it is a finite logical consequence of Σ. Then a sound and complete axiomatization for SCs is presented. Finally, a polynomial-time algorithm is given, which decides whether or not an SC is a logical consequence of Σ.