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A method to combine a Bayesian Network (BN) and Hidden Markov Models (HMMs) is presented. This compound system is applied to robot operations. The addressed problem and presented methods are novel with the following features: (1) BN and HMMs make a total decision system by accepting evidences from HMMs to the BN. (2) The HMM-embedded BN is applied to the human motion recognition for the biped humanoid operation. (3) Besides the motion recognition, the image recognition is incorporated by adding a BN subsystem. Thus, the total HMM-embedded BN can be regarded as an integrator of heterogeneous commands. (4) The human operator and the biped humanoid can be located on the other side of the network each other. (5) The piped humanoid follows various commands of human motions without falling down by showing better sophistication and operation success than HMM-alone and BN-alone systems. In addition to the above, an information supply to the BN from brain signals is realized through a combination with a Support Vector Machine (SVM).

It paid attention to the energy absorption performance of the frail soil structure It has proceeded with the development of the reinforcement soil wall which aimed at rockfall protect which a shock load acted on.That performance is proved from a lot of experiment results Recently, execution actual results are on the increase as 1 wing of the rockfall But, as for the natural disaster which Japanese geographical features bring. Not only a rockfall but also a slope disaster such as a landslide, debriflow, snowslide appears on many. disasters are different from an intensive shock load like a falling stone. It becomes a shock load to act on the surface-shaped in the large area.It is afraid to bring about the problem said as the tumover of the soilwall and partial destruction By this research, as an initial stage of the research toward the surface-shaped loadingThe performance character which it got by the experiment research toward the rockfall until now, in the place With the purpose of confirming the effect on restraint and so on when prestress reinforced in the reinforcement soil wall. This is reported because the weight shock experiment as the falling stone was done

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