Find Research outputs

Search results

• Conference contribution

  Risk analysis of a subway tunnel shield based on a fuzzy synthetic approach

  Jie, W., Guo, L. J. & Li, Y. Q., Jul 7 2011, 2011 International Conference on Electric Information and Control Engineering, ICEICE 2011 - Proceedings. p. 4438-4441 4 p. 5777383. (2011 International Conference on Electric Information and Control Engineering, ICEICE 2011 - Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• Risk assessment for a gas and liquid Hydrogen fueling station

  Nakayama, J., Sakamoto, J., Kasai, N., Shibutani, T. & Miyake, A., Jan 1 2015, 49th Annual Loss Prevention Symposium 2015, LPS 2015 - Topical Conference at the 2015 AIChE Spring Meeting and 11th Global Congress on Process Safety. AIChE, p. 138-150 13 p. (49th Annual Loss Prevention Symposium 2015, LPS 2015 - Topical Conference at the 2015 AIChE Spring Meeting and 11th Global Congress on Process Safety).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  10 Citations (Scopus)

• Risk assessment system for verifying the safety guards system based on the HAZOP analysis information

  Nakai, A., Isshiki, K. & Suzuki, K., 2015, Safety and Reliability: Methodology and Applications - Proceedings of the European Safety and Reliability Conference, ESREL 2014. CRC Press/Balkema, p. 461-466 6 p. (Safety and Reliability: Methodology and Applications - Proceedings of the European Safety and Reliability Conference, ESREL 2014).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Risk evaluation and reliability-based design for improvement of earth-fill dams

  Nishimura, S. & Matsuura, K., Dec 1 2007, 10th International Conference on Applications of Statistics and Probability, ICASP10. p. 165-166 2 p. (Applications of Statistics and Probability in Civil Engineering - Proceedings of the 10th International Conference on Applications of Statistics and Probability, ICASP10).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Risk evaluation and reliability-based design of earth-fill dams

  Nishimura, S., Murakami, A. & Fujisawa, K., Dec 1 2009, Prediction and Simulation Methods for Geohazard Mitigation - Proceedings of the International Symposium on Prediction and Simulation Methods for Geohazard Mitigation, IS-KYOTO 2009. p. 547-552 6 p. (Prediction and Simulation Methods for Geohazard Mitigation - Proceedings of the International Symposium on Prediction and Simulation Methods for Geohazard Mitigation, IS-KYOTO 2009).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Risk factors of the long tail in mobile manga sales

  Sugihara, T., Kobayashi, Y. & Ikawa, Y., Nov 27 2009, PICMET 2009 - 2009 Portland International Conference on Management of Engineering and Technology - Proceedings. p. 1807-1811 5 p. 5261950. (PICMET: Portland International Center for Management of Engineering and Technology, Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• River Levees Monitoring Using Three Dimensional Laser Point Clouds with SLAM Technology

  Akiyama, N., Nishiyama, S., Sakita, K., Song, J. & Yamazaki, F., 2021, Advancements in Geotechnical Engineering - Proceedings of the 6th GeoChina International Conference on Civil and Transportation Infrastructures: From Engineering to Smart and Green Life Cycle Solutions, 2021. Weng, M-C., Kawamura, S. & Ding, J. (eds.). Springer Science and Business Media B.V., p. 14-22 9 p. (Sustainable Civil Infrastructures).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  3 Citations (Scopus)

• River-mouth dam effect on integrated management of a coastal water resource in a Seto Inland Sea watershed, Western Japan

  Saito, M., Onodera, S. I., Sawano, M., Shimizu, Y., Takahashi, H. & Fukuoka, M., 2009, Improving Integrated Surface and Groundwater Resources Management in a Vulnerable and Changing World. p. 150-153 4 p. (IAHS-AISH Publication; vol. 330).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Robot arm without using robot language and its application to machining process

  Nagata, F., Nakamura, K., Otsuka, A. & Watanabe, K., 2013, Proceeding - IEEE CYBERNETICSCOM 2013: IEEE International Conference on Computational Intelligence and Cybernetics. IEEE Computer Society, p. 97-101 5 p. 6865789. (Proceeding - IEEE CYBERNETICSCOM 2013: IEEE International Conference on Computational Intelligence and Cybernetics).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Robotic trajectory following controller with a capability for generating micro vibrational motion along curved surface

  Nagata, F., Hayashi, S., Nagatomi, T., Otsuka, A., Watanabe, K. & Habib, M. K., 2015, IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., p. 765-770 6 p. 7392191. (IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  3 Citations (Scopus)

• Robot skin with integrated micro rubber suction cups adhering rough surfaces

  Manabe, R., Suzumori, K. & Wakimoto, S., Dec 1 2013, IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 4052-4057 6 p. 6696936. (IEEE International Conference on Intelligent Robots and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  3 Citations (Scopus)

• Robust Control for a Tandem Rotor UAV Under Wind Disturbances

  Yi, S., Lin, D., Xu, X., Watanabe, K. & Nagai, I., 2022, 2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022. Institute of Electrical and Electronics Engineers Inc., p. 1744-1749 6 p. (2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Robust controller synthesis for a class of uncertain systems and application to visual feedback control

  Hirata, K., Sato, M., Hatada, K. & Masui, Y., Dec 1 2013, Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society. p. 3740-3745 6 p. 6699731. (IECON Proceedings (Industrial Electronics Conference)).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  6 Citations (Scopus)

• Robust face recognition by combining projection-based image correction and decomposed eigenface

  Shakunaga, T., Sakaue, F. & Shigenari, K., 2004, Proceedings - Sixth IEEE International Conference on Automatic Face and Gesture Recognition FGR 2004. p. 241-247 7 p. (Proceedings - Sixth IEEE International Conference on Automatic Face and Gesture Recognition).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  5 Citations (Scopus)

• Robust fault tolerant thermal control system design of an aluminum plate with Peltier device

  Deng, M., Yanou, A., Tokuda, Y. & Wang, A., Nov 27 2012, 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012. p. 223-228 6 p. 6329714. (2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  11 Citations (Scopus)

• Robustifying eye center localization by head pose cues

  Valenti, R., Yucel, Z. & Gevers, T., Jan 1 2009, 2009 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, CVPR Workshops 2009. IEEE Computer Society, p. 612-618 7 p. 5206640. (2009 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, CVPR Workshops 2009; vol. 2009 IEEE Computer Society Conference on Computer Vision and ...).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  43 Citations (Scopus)

• Robust line-based pose enumeration from A single image

  Shakunaga, T., Jan 1 1993, 1993 IEEE 4th International Conference on Computer Vision. Publ by IEEE, p. 545-550 6 p. (1993 IEEE 4th International Conference on Computer Vision).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  6 Citations (Scopus)

• Robustness of 3D pose estimation against turbidity using dual-eye cameras and active/lighting 3D marker for visual-servoing based AUV

  Lwin, K. N., Myint, M., Mukada, N., Yamada, D., Matsuno, T. & Minami, M., Dec 4 2018, 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018. Institute of Electrical and Electronics Engineers Inc., 8559085

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• Robustness of visual-servo against air bubble disturbance of underwater vehicle system using three-dimensional marker and dual-eye cameras

  Myint, M., Yonemori, K., Yanou, A., Ishiyama, S. & Minami, M., Feb 8 2016, OCEANS 2015 - MTS/IEEE Washington. Institute of Electrical and Electronics Engineers Inc., 7401882

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  25 Citations (Scopus)

• Robust seed model training for speaker adaptation using pseudo-speaker features generated by inverse CMLLR transformation

  Itoh, A., Hara, S., Kitaoka, N. & Takeda, K., Dec 1 2011, 2011 IEEE Workshop on Automatic Speech Recognition and Understanding, ASRU 2011, Proceedings. p. 169-172 4 p. 6163925. (2011 IEEE Workshop on Automatic Speech Recognition and Understanding, ASRU 2011, Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• Robust state estimation for systems with irregular sensing failure

  Nagai, K., Nakamura, Y. & Sugimoto, K., Sep 21 2009, Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. p. 43-48 6 p. 4919243. (Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• Robust tracking of appearance by sparse template adaptation

  Shakunaga, T. & Noguchi, K., Dec 1 2006, Proceedings of the 8th IASTED International Conference on Signal and Image Processing, SIP 2006. p. 85-90 6 p. (Proceedings of the 8th IASTED International Conference on Signal and Image Processing, SIP 2006).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  5 Citations (Scopus)

• Robust translational/rotational eye-vergence visual servoing under illumination varieties

  Tian, H., Kou, Y., Phyu, K. W., Yamada, D. & Minami, M., Mar 23 2018, 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Institute of Electrical and Electronics Engineers Inc., Vol. 2018-January. p. 2032-2037 6 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Robust velocity sliding mode control of mobile wheeled inverted pendulum systems

  Huang, J., Wang, H., Matsuno, T., Fukuda, T. & Sekiyama, K., 2009, 2009 IEEE International Conference on Robotics and Automation, ICRA '09. p. 2983-2988 6 p. 5152418. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  18 Citations (Scopus)

• Robust visual feedback control of inverted pendulum system against camera misalignment

  Hirata, K. & Mizuno, T., Dec 1 2008, AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings. p. 153-158 6 p. 4516058. (International Workshop on Advanced Motion Control, AMC; vol. 1).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  5 Citations (Scopus)

• Rockfall inventory map for efficient slope inspection via aerial laser survey and signal processing techniques

  Sakita, K., Nishiyama, S., Kikuchi, T., Song, J. & Ohnishi, Y., 2020, ISRM International Symposium - EUROCK 2020. Li, C. C., Odegaard, H., Hoien, A. H. & Macias, J. (eds.). International Society for Rock Mechanics, (ISRM International Symposium - EUROCK 2020).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Role of metacognition in basic electric circuit problem solving process

  Murata, A., Ohta, Y. & Hayami, T., Jan 1 2013, HCI International 2013 - Posters' Extended Abstracts - International Conference, HCI International 2013, Proceedings. PART I ed. Springer Verlag, p. 442-446 5 p. (Communications in Computer and Information Science; vol. 373, no. PART I).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• Role of SrTiO₃ seed layer on low-temperature crystallization of Pb(Zr, Ti)O₃ films prepared by metalorganic chemical vapor deposition

  Moon, J. W., Wakiya, N., Kiguchi, T., Yoshioka, T., Junzo, T. & Shinozaki, K., 2008, Ferroelectrics, Multiferroics, and Magnetoelectrics. p. 121-126 6 p. (Materials Research Society Symposium Proceedings; vol. 1034).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Rolling contact fatigue life of case-hardened steel treated by shot peenings with shot diameters of 0.05 mm and 0.30 mm

  Wang, L., Liu, G., Seki, M., Fujii, M. & Li, Q., 2011, Advances in Power Transmission Science and Technology. p. 645-648 4 p. (Applied Mechanics and Materials; vol. 86).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  2 Citations (Scopus)

• Room-temperature growth and characterization of iron-carbon nanocomposite fibers

  Wang, Z. P., Yamaguchi, K., Takeuchi, D., Hayashi, Y. & Tanemura, M., Oct 1 2008, 2008 2nd IEEE International Nanoelectronics Conference, INEC 2008. p. 154-157 4 p. 4585458. (2008 2nd IEEE International Nanoelectronics Conference, INEC 2008).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Root locus analysis of absolute displacement sensors and bandwidth expansion with hybrid detector system

  Kai, T., Nakamura, Y. & Wakui, S., Nov 27 2012, 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012. p. 603-608 6 p. 6329650. (2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Rotor Configuration Which Reduces Copper Loss of Switched Reluctance Motors with Suppression of Torque Ripple and Input Current Ripple

  Kusumi, T., Hara, T., Umetani, K. & Hiraki, E., Dec 3 2018, 2018 IEEE Energy Conversion Congress and Exposition, ECCE 2018. Institute of Electrical and Electronics Engineers Inc., p. 6097-6103 7 p. 8558173

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  7 Citations (Scopus)

• Rotor design of a 150kW 6,000rpm/25,000rpm high speed induction motor for testing equipment of EV/HEV traction motors

  Nagaoka, T., Takemoto, M. & Ogasawara, S., Jan 18 2016, 2015 18th International Conference on Electrical Machines and Systems, ICEMS 2015. Institute of Electrical and Electronics Engineers Inc., p. 163-168 6 p. 7385019. (2015 18th International Conference on Electrical Machines and Systems, ICEMS 2015).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  3 Citations (Scopus)

• Rotor structure in 50 kW spoke-type interior permanent magnet synchronous motor with ferrite permanent magnets for automotive applications

  Kakihara, W., Takemoto, M. & Ogasawara, S., 2013, 2013 IEEE Energy Conversion Congress and Exposition, ECCE 2013. p. 606-613 8 p. 6646757. (2013 IEEE Energy Conversion Congress and Exposition, ECCE 2013).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  42 Citations (Scopus)

• Rotor structure suppressing suspension force ripple in an IPM type bearingless motor with 2-pole motor windings and 4-pole suspension windings

  Matsuzaki, T., Takemoto, M., Ogasawara, S., Ota, S., Oi, K. & Matsuhashi, D., 2012, Proceedings - 2012 20th International Conference on Electrical Machines, ICEM 2012. p. 744-750 7 p. 6349957. (Proceedings - 2012 20th International Conference on Electrical Machines, ICEM 2012).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  3 Citations (Scopus)

• Rough set approximations in formal concept analysis

  Yamaguchi, D., Murata, A., Li, G. D. & Nagai, M., 2010, Transactions on Rough Sets XII. p. 226-235 10 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 6190 LNCS).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• R-R interval detection using autocorrelation on fetal magnetocardiogram

  Kandori, A., Ogata, K., Murakami, M., Miyashita, T., Tsukada, K., Hosono, T., Chiba, Y., Miyashita, S., Horigome, H. & Matsui, A., 2003, Proceedings of the IASTED International Conference on Biomedical Engineering. Hamza, M. H. (ed.). p. 6-10 5 p. (Proceedings of the IASTED International Conference on Biomedical Engineering).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• RSSI-Based Indoor Localization Using Leaky Coaxial Cable with a PNN Approach

  Zhu, J., Hou, P., Nagayama, K., Hou, Y. & Denno, S., 2021, 2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021. Institute of Electrical and Electronics Engineers Inc., p. 220-221 2 p. (2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Rule management for information extraction from title pages of academic papers

  Takasu, A. & Ohta, M., 2014, ICPRAM 2014 - Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods. SciTePress, p. 438-444 7 p. (ICPRAM 2014 - Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  2 Citations (Scopus)

• Run time transformation of concurrent processes using multi dimensional representation of linear logic

  Murakami, M., Jan 1 2000, Proceedings - International Symposium on Principles of Software Evolution, ISPSE 2000. Institute of Electrical and Electronics Engineers Inc., p. 226-230 5 p. 00913243. (International Workshop on Principles of Software Evolution (IWPSE); vol. 2000-January).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  2 Citations (Scopus)

• Run-time updating of network device drivers

  Tanaka, H., Nomura, Y. & Taniguchi, H., Dec 1 2009, NBiS 2009 - 12th International Conference on Network-Based Information Systems. p. 446-450 5 p. 5349966. (NBiS 2009 - 12th International Conference on Network-Based Information Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Safeness of a robot arm using ultrasonic motors with high responsiveness and backdrivability

  Yamashita, T., Mashimo, T., Takesue, N. & Terashima, K., Jan 30 2014, 2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc., p. 28-33 6 p. 7028006. (2014 IEEE/SICE International Symposium on System Integration, SII 2014).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• Safety and security technology in life space with IRT service network

  Fukuda, T., Matsuno, T. & Yakuda, Y., Dec 1 2005, 2005 IEEE Workshop on Advanced Robotics and its Social Impacts. p. 109-113 5 p. 1511632. (2005 IEEE Workshop on Advanced Robotics and its Social Impacts; vol. 2005).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Safety design of ore transfer facilities in steel works

  Kikuchi, J., Konishi, M. & Imai, J., Dec 1 2006, 2006 SICE-ICASE International Joint Conference. p. 516-521 6 p. 4108886. (2006 SICE-ICASE International Joint Conference).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Safety training systems using a virtual plant linked dynamic simulator

  Nakai, A. & Suzuki, K., 2015, Safety and Reliability of Complex Engineered Systems - Proceedings of the 25th European Safety and Reliability Conference, ESREL 2015. Podofillini, L., Sudret, B., Stojadinović, B., Zio, E. & Kröger, W. (eds.). CRC Press/Balkema, p. 3843-3848 6 p. (Safety and Reliability of Complex Engineered Systems - Proceedings of the 25th European Safety and Reliability Conference, ESREL 2015).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Safety vs. Privacy: User preferences from the monitored and monitoring sides of a monitoring system

  Kamada, S., Hara, S. & Abe, M., Sep 12 2016, UbiComp 2016 Adjunct - Proceedings of the 2016 ACM International Joint Conference on Pervasive and Ubiquitous Computing. Association for Computing Machinery, Inc, p. 101-104 4 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Scalability of continuation-based fine-grained multithreading in handling multiple I/O requests on FUCE

  Kusakabe, S., Aono, M., Izumi, M., Amamiya, S., Nomura, Y., Taniguchi, H. & Amamiya, M., 2007, 2007 Computing Frontiers, Conference Proceedings. p. 225-236 12 p. (2007 Computing Frontiers, Conference Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• Scalable space/time-shared stream-processing on the run-time reconfigurable PCA architecture

  Imlig, N., Shiozawa, T., Nagami, K., Nakane, Y., Konishi, R., Ito, H. & Nagoya, A., 2001, Proceedings - 15th International Parallel and Distributed Processing Symposium, IPDPS 2001. Institute of Electrical and Electronics Engineers Inc., p. 1441-1449 9 p. 925127. (Proceedings - 15th International Parallel and Distributed Processing Symposium, IPDPS 2001).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  2 Citations (Scopus)

• Scalar spatial correlations in a supersonic mixing flowfield

  Takahashi, H., Oso, H., Kouchi, T., Masuya, G. & Hirota, M., 2009, 47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition. American Institute of Aeronautics and Astronautics Inc., 2009-0023. (47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  6 Citations (Scopus)

• Scaling effects of ferroelectric nanoparticles studied by synchrotron radiation X-ray diffraction

  Kano, J., Karaki, T., Adachi, M. & Kojima, S., Dec 1 2009, 20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science. p. 104-107 4 p. 5352105. (20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution