Updated on 2023/01/05

写真a

 
MATSUNO Takayuki
 
Organization
Faculty of Natural Science and Technology Professor
Position
Professor
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Degree

  • Doctor of Engineering ( 2005.3   Nagoya University )

Research Areas

  • Informatics / Mechanics and mechatronics

  • Informatics / Robotics and intelligent system

Education

  • Nagoya University   工学研究科   マイクロシステム工学専攻 博士課程後期課程

    2000.4 - 2004.9

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    Country: Japan

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  • Nagoya University   工学研究科   マイクロシステム工学専攻 博士課程前期課程

    1998.4 - 2000.3

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    Country: Japan

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  • Nagoya University   工学部   機械 航空工学科

    1994.4 - 1998.3

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    Country: Japan

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Research History

  • Okayama University   The Graduate School of Natural Science and Technology   Professor

    2022.4

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  • Okayama University   Dept. of Natural Science and Technology   Associate Professor

    2017.4 - 2022.3

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  • Okayama University   Dept. of Natural Science and Technology   Lecturer

    2011.10 - 2017.3

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  • Toyama Prefectural University   Lecturer

    2008.4 - 2011.9

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  • Toyama Prefectural University   Assistant Professor

    2007.4 - 2008.3

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  • Toyama Prefectural University   Research Assistant

    2006.4 - 2007.3

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  • Nagoya University   Research Assistant

    2004.10 - 2006.3

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Professional Memberships

  • 計測自動制御学会

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  • 日本ロボット学会

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  • The Japan Society of Computer Aided Surgery

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  • Institute of Electrical and Electronics Engineers

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  • The Japan Society of Mechanical Engineers

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Papers

  • Rope Structure Recognition for Manipulation Using Topological Model and Knot Invariant

    MATSUNO Takayuki, TAMAKI Daichi, ARAI Fumihito, FUKUDA Toshio

    計測自動制御学会論文集   41 ( 4 )   366 - 372   2005.4

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  • Growing neural gas based navigation system in unknown terrain environment for an autonomous mobile robot Reviewed

    Yuichiro Toda, Koki Ozasa, Takayuki Matsuno

    Artificial Life and Robotics   2022.11

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Springer Science and Business Media LLC  

    DOI: 10.1007/s10015-022-00826-y

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    Other Link: https://link.springer.com/article/10.1007/s10015-022-00826-y/fulltext.html

  • Automatic Puncture Needle Detection by Image Processing Using Deep Learning and CT Values Reviewed

    Kotaro Mayumi, Takayuki Matsuno, Tetsushi Kamegawa, Ken’ichi, Morooka, Takao Hiraki, Yuichiro Toda

    Proc of 33rd 2022 International Symposium on Micro-NanoMechatronics and Human Science   2022.11

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    Language:Japanese   Publishing type:Research paper (international conference proceedings)  

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  • Environmental Map Learning Method based on Growing Neural Gas for a Mobile Robot Reviewed

    Qi Li, Yuichiro Toda, Keisuke Nagao, Takayuki Matsuno

    2022 International Joint Conference on Neural Networks (IJCNN)   2022.7

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    Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/ijcnn55064.2022.9892864

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  • Estimation of Needle Puncturing Form during Slight Needle Movement Based on Force Data for Robotic Automated Puncturing Function Reviewed

    Takayuki Matsuno, Hikaru Murakami, Tetsushi Kamegawa, Nanako Sakai, Takao Hiraki, Yuichiro Toda

    Journal of Medical Robotics Research   07 ( 02n03 )   2022.6

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:World Scientific Pub Co Pte Ltd  

    In this paper, we focused on the medical procedure to insert needles under computer tomography (CT) guidance as a target for the robotization of medical surgery, which is one of Interventional Radiology (IR). IR is a general term for treatments that use devices to visualize patients’ bodies. During surgery, our developed robot, known as Zerobot, specializes in inserting a needle into the patient under CT guidance. Its surgery is less invasive and more effective in treating small cancer tumors because the temperature of the inserted needle tip is controlled. Zerobot was originally designed to be remotely controlled by doctors, and first-in-human feasibility trials in 2018 confirmed its surgical capability. We are currently focusing on the automatic insertion function to reduce the workload of doctors. In an animal experiment, Zerobot was unable to insert the needle into the animal during IR surgery if the needle was bent. As a result, the goal of this research is to have the robot function automatically so that the needle does not bend during surgery. We propose a method for estimating the form of the needle using a force sensor. There are three different types of needle forms. Next, the proposed method distinguishes between these needle forms by measuring the difference in force sensor data when the needle root is moved slightly. In addition, we conducted tests to confirm the efficacy of the proposed method.

    DOI: 10.1142/s2424905x22410045

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  • Multilayer Batch Learning Growing Neural Gas for Learning Multiscale Topologies Reviewed

    Yuichiro Toda, Takayuki Matsuno, Mamoru Minami

    Journal of Advanced Computational Intelligence and Intelligent Informatics   25 ( 6 )   1011 - 1023   2021.11

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    Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press Ltd.  

    Hierarchical topological structure learning methods are expected to be developed in the field of data mining for extracting multiscale topological structures from an unknown dataset. However, most methods require user-defined parameters, and it is difficult for users to determine these parameters and effectively utilize the method. In this paper, we propose a new parameter-less hierarchical topological structure learning method based on growing neural gas (GNG). First, we propose batch learning GNG (BL-GNG) to improve the learning convergence and reduce the user-designed parameters in GNG. BL-GNG uses an objective function based on fuzzy C-means to improve the learning convergence. Next, we propose multilayer BL-GNG (MBL-GNG), which is a parameter-less unsupervised learning algorithm based on hierarchical topological structure learning. In MBL-GNG, the input data of each layer uses parent nodes to learn more abstract topological structures from the dataset. Furthermore, MBL-GNG can automatically determine the number of nodes and layers according to the data distribution. Finally, we conducted several experiments to evaluate our proposed method by comparing it with other hierarchical approaches and discuss the effectiveness of our proposed method.

    DOI: 10.20965/jaciii.2021.p1011

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  • Estimation of Needle Puncturing Form Based on Force Data during Slight Needle Movement Reviewed

    Takayuki Matsuno, Hikaru Murakami, Tetsushi Kamegawa, Takaaki Miyamoto, Nanako Sakai, Mamoru Minami, Takao Hiraki

    proc of 2021 International Symposium on Medical Robotics   1 - 7   2021.11

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/ISMR48346.2021.9661566

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    Other Link: https://dblp.uni-trier.de/db/conf/ismr/ismr2021.html#MatsunoMKMSMH21

  • Collision detection calculation of robot to insert needles for interventional radiology Reviewed

    Takayuki Matsuno, Kamegawa Tetsushi, Takao Hiraki

    proc of 2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)   2021.7

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)  

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  • Adaptive evolution strategy sample consensus for 3D reconstruction from two cameras Reviewed

    Yuichiro Toda, Hsu Horng Yz, Takayuki Matsuno, Mamoru Minami, Dalin Zhou

    ARTIFICIAL LIFE AND ROBOTICS   25 ( 3 )   466 - 474   2020.8

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:SPRINGER  

    RANdom SAmple Consensus (RANSAC) has been applied to many 3D image processing problems such as homography matrix estimation problems and shape detection from 3D point clouds, and is one of the most popular robust estimator methods. However, RANSAC has a problem related to the trade-off between computational cost and stability of search because RANSAC is based on random sampling. In our previous work, we proposed Adaptive Evolution Strategy SAmple Consensus (A-ESSAC) as a new robust estimator, and we applied ESSAC to the homography matrix estimation for 3D SLAM using RGB-D camera. A-ESSAC is based on Evolution Strategy to maintain the genetic diversity. Furthermore, ESSAC has two heuristic searches. One is a search range control for reducing the computational cost of RANSAC. The other is adaptive/self-adaptive mutation for changing the search strategy of A-ESSAC according to the best fitness value. In this paper, we apply A-ESSAC to 3D reconstruction method using two cameras, and we show an experimental result, and discuss the effectiveness of the proposed method.

    DOI: 10.1007/s10015-020-00603-9

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  • Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot Reviewed

    Kento Yokouchi, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Takuya Yamaguchi, Akio Gofuku

    JOURNAL OF ROBOTICS AND MECHATRONICS   32 ( 3 )   692 - 700   2020.6

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:FUJI TECHNOLOGY PRESS LTD  

    In recent years, interventional radiology (IR) as a medical procedure has attracted considerable attention. Among the various IR techniques, computed tomography (CT)-guided IR is performed by inserting a specific needle into a lesion under CT guidance, leading to this medical procedure being less invasive. However, as the procedure requires the doctor to be positioned near the CT, radiation exposure may be a major concern. To overcome this problem, we developed a remote-controlled robotic system for needle insertion during CT-guided interventional procedures. The current needle holder for the robot is risky in that it might hurt a patient since a needle is always held firmly even when the patient moves. To solve this problem, we designed and fabricated a gripper with variable stiffness through jamming transition. Subsequently, we conducted experiments to investigate the effect of elements constituting the gripper to improve its performance.

    DOI: 10.20965/jrm.2020.p0692

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  • Robotic CT-guided out-of-plane needle insertion: comparison of angle accuracy with manual insertion in phantom and measurement of distance accuracy in animals. Reviewed International journal

    Toshiyuki Komaki, Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshiharu Mitsuhashi, Soichiro Okamoto, Mayu Uka, Yusuke Matsui, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

    European radiology   30 ( 3 )   1342 - 1349   2020.3

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:SPRINGER  

    OBJECTIVES: To evaluate the accuracy of robotic CT-guided out-of-plane needle insertion in phantom and animal experiments. METHODS: A robotic system (Zerobot), developed at our institution, was used for needle insertion. In the phantom experiment, 12 robotic needle insertions into a phantom at various angles in the XY and YZ planes were performed, and the same insertions were manually performed freehand, as well as guided by a smartphone application (SmartPuncture). Angle errors were compared between the robotic and smartphone-guided manual insertions using Student's t test. In the animal experiment, 6 robotic out-of-plane needle insertions toward targets of 1.0 mm in diameter placed in the kidneys and hip muscles of swine were performed, each with and without adjustment of needle orientation based on reconstructed CT images during insertion. Distance accuracy was calculated as the distance between the needle tip and the target center. RESULTS: In the phantom experiment, the mean angle errors of the robotic, freehand manual, and smartphone-guided manual insertions were 0.4°, 7.0°, and 3.7° in the XY plane and 0.6°, 6.3°, and 0.6° in the YZ plane, respectively. Robotic insertions in the XY plane were significantly (p < 0.001) more accurate than smartphone-guided insertions. In the animal experiment, the overall mean distance accuracy of robotic insertions with and without adjustment of needle orientation was 2.5 mm and 5.0 mm, respectively. CONCLUSION: Robotic CT-guided out-of-plane needle insertions were more accurate than smartphone-guided manual insertions in the phantom and were also accurate in the in vivo procedure, particularly with adjustment during insertion. KEY POINTS: • Out-of-plane needle insertions performed using our robot were more accurate than smartphone-guided manual insertions in the phantom experiment and were also accurate in the in vivo procedure. • In the phantom experiment, the mean angle errors of the robotic and smartphone-guided manual out-of-plane needle insertions were 0.4° and 3.7° in the XY plane (p < 0.001) and 0.6° and 0.6° in the YZ plane (p = 0.65), respectively. • In the animal experiment, the overall mean distance accuracies of the robotic out-of-plane needle insertions with and without adjustments of needle orientation during insertion were 2.5 mm and 5.0 mm, respectively.

    DOI: 10.1007/s00330-019-06477-1

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  • Robotic needle insertion during computed tomography fluoroscopy-guided biopsy: prospective first-in-human feasibility trial. Reviewed International journal

    Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Toshiyuki Komaki, Takuya Yamaguchi, Koji Tomita, Mayu Uka, Yusuke Matsui, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

    European radiology   30 ( 2 )   927 - 933   2020.2

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    INTRODUCTION: This was a prospective, first-in-human trial to evaluate the feasibility and safety of insertion of biopsy introducer needles with our robot during CT fluoroscopy-guided biopsy in humans. MATERIALS AND METHODS: Eligible patients were adults with a lesion ≥ 10 mm in an extremity or the trunk requiring pathological diagnosis with CT fluoroscopy-guided biopsy. Patients in whom at-risk structures were located within 10 mm of the scheduled needle tract were excluded. Ten patients (4 females and 6 males; mean [range] age, 72 [52-87] years) with lesions (mean [range] maximum diameter, 28 [14-52] mm) in the kidney (n = 4), lung (n = 3), mediastinum (n = 1), adrenal gland (n = 1), and muscle (n = 1) were enrolled. The biopsy procedure involved robotic insertion of a biopsy introducer needle followed by manual acquisition of specimens using a biopsy needle. The patients were followed up for 14 days. Feasibility was defined as the distance of ≤ 10 mm between needle tip after insertion and the nearest lesion edge on the CT fluoroscopic images. The safety of robotic insertion was evaluated on the basis of machine-related troubles and adverse events according to the Clavien-Dindo classification. RESULTS: Robotic insertion of the introducer needle was feasible in all patients, enabling pathological diagnosis. There was no machine-related trouble. A total of 11 adverse events occurred in 8 patients, including 10 grade I events and 1 grade IIIa event. CONCLUSION: Insertion of biopsy introducer needles with our robot was feasible at several locations in the human body. KEY POINTS: • Insertion of biopsy introducer needles with our robot during CT fluoroscopy-guided biopsy was feasible at several locations in the human body.

    DOI: 10.1007/s00330-019-06409-z

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  • Visual Docking Against Bubble Noise With 3-D Perception Using Dual-Eye Cameras Reviewed

    Khin Nwe Lwin, Naoki Mukada, Myo Myint, Daiki Yamada, Akira Yanou, Takayuki Matsuno, Kazuhiro Saitou, Waichiro Godou, Tatsuya Sakamoto, Mamoru Minami

    IEEE JOURNAL OF OCEANIC ENGINEERING   45 ( 1 )   247 - 270   2020.1

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    Recently, many studies have been performed worldwide to extend the persistence of underwater operations by autonomous underwater vehicles. Underwater battery recharging technology is one of the solutions even though challenges still remain. The docking function plays an important role not only in battery recharging but also in other advanced applications, such as intervention. Visual servoing in undersea environments inevitably encounters difficulties in recognizing the environment when captured images are disturbed by noise. This study describes the effective recognition performance and robustness against air bubble disturbances in images captured by a real-time position and orientation (pose) tracking and servoing system using stereo vision for a visual-servoing-type underwater vehicle. The recognition of the vehicle pose based on dynamic images captured by dual video cameras was performed by a real-time multistep genetic algorithm (RM-GA). In previous studies, the docking performance was investigated under the condition that there were no disturbances in the captured images that address image degradation. In this paper, the robustness of the RM-GA against air bubble disturbances was verified through visual servoing and docking experiments in a pool test to confirm that the system can continue to recognize the pose of the 3-D marker and can maintain the desired pose by visual servoing. Then, the effectiveness of the proposed system against real disturbances such as turbidity that may degrade the visibility of the system in the sea was confirmed by conducting the docking experiment in a real sea, having verified the practicality of the proposed method.

    DOI: 10.1109/JOE.2018.2871651

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  • Measurement of Needle Trajectory Correction in Doctor's Procedure for Automation of CT-guided Needle Insertion Robot Reviewed

    Kamegawa Tetsushi, Takayama Kazuma, Matsuno Takayuki, Hiraki Takao, Sakurai Jun, Komaki Toshiyuki, Matsuura Ryutaro, Sasaki Takanori, Gofuku Akio

    Journal of Japan Society of Computer Aided Surgery   22 ( 1 )   14 - 20   2020

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Japan Society of Computer Aided Surgery  

    <p>We are developing a CT-guided needle insertion robot for the purpose of reducing physician exposure dose. Automatic needle insertion will help a physician because it is a little difficult for unskilled operators to control the robot manually. In this paper, we propose a control law to realize full automatic needle insertion for a CT-guided needle insertion robot. In the control law, speed to insert a needle is given based on the result of our observation on the animal experiment. We found that the number of corrections increases as the needle approaches the target in a robotic needle insertion controlled by a physician. We propose the idea that needle insertion velocity decreases exponentially. The effectiveness of the control law is verified by a simulation experiment in which the needle start at having offset to the target trajectory. As a result, the robot in the simulation environment achieves to reach the target point by decreasing its puncture speed as the needle approaches the target.</p>

    DOI: 10.5759/jscas.22.14

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    Other Link: http://search.jamas.or.jp/link/ui/2020210402

  • Sea Docking by Dual-eye Pose Estimation with Optimized Genetic Algorithm Parameters Reviewed

    Khin Nwe Lwin, Myo Myint, Naoki Mukada, Daiki Yamada, Takayuki Matsuno, Kazuhiro Saitou, Waichiro Godou, Tatsuya Sakamoto, Mamoru Minami

    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS   96 ( 2 )   245 - 266   2019.11

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:SPRINGER  

    Three-dimensional (3D) estimation of position and orientation (pose) using dynamic (successive) images input at video rates needs to be performed rapidly when the estimated pose is used for real-time feedback control. Single-camera 3D pose estimation has been studied thoroughly, but the estimated position accuracy in the camera depth of field has proven insufficient. Thus, docking systems for underwater vehicles with single-eye cameras have not reached practical application. The authors have proposed a new 3D pose estimation method with dual cameras that exploits the parallactic nature of stereoscopic vision to enable reliable 3D pose estimation in real time. We call this method the "real-time multi-step genetic algorithm (RM-GA)." However, optimization of the pose tracking performance has been left unchallenged despite the fact that improved tracking performance in the time domain would help improve performance and stability of the closed-loop feedback system, such as visual servoing of an underwater vehicle. This study focused on improving the dynamic performance of dual-eye real-time pose tracking by tuning RM-GA parameters and confirming optimization of the dynamical performance to estimate a target marker's pose in real time. Then, the effectiveness and practicality of the real-time 3D pose estimation system was confirmed by conducting a sea docking experiment using the optimum RM-GA parameters in an actual marine environment with turbidity.

    DOI: 10.1007/s10846-018-0970-x

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  • Experimental verification of turbidity tolerance of stereo-vision-based 3D pose estimation system Reviewed

    Myo Myint, Khin Nwe Lwin, Naoki Mukada, Daiki Yamada, Takayuki Matsuno, Yuuichirou Toda, Saitou Kazuhiro, Mamoru Minami

    JOURNAL OF MARINE SCIENCE AND TECHNOLOGY   24 ( 3 )   756 - 779   2019.9

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:SPRINGER JAPAN KK  

    This paper presents the verification of the turbidity tolerance of a stereo-vision-based 3D pose estimation system for underwater docking applications. To the best of the authors' knowledge, no studies have yet been conducted on 3D pose (position and orientation) estimation against turbidity for underwater vehicles. Therefore, the effect of turbidity on the 3D pose estimation performance of underwater vehicles and a method of operating under turbid conditions were studied in this work. A 3D pose estimation method using the real-time multi-step genetic algorithm (RM-GA) proposed by the authors in the previous works shows robust pose estimation performance against changing environmental conditions. This paper discusses how and why the RM-GA is well suited to effective 3D pose estimation, even when turbid conditions disturb visual servoing. The experimental results confirm the performance of the proposed 3D pose estimation system under different levels of turbidity. To demonstrate the practical usefulness of the RM-GA, docking experiments were conducted in a turbid pool and a real sea environment to verify the performance and tolerance of the proposed system under turbid conditions. The experimental results verify the robustness of the system against turbidity, presenting a possible solution to a major problem in the field of robotics.

    DOI: 10.1007/s00773-018-0586-7

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  • Zerobot®: A Remote-controlled Robot for Needle Insertion in CT-guided Interventional Radiology Developed at Okayama University.

    Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Toshiyuki Komaki, Jun Sakurai, Susumu Kanazawa

    Acta medica Okayama   72 ( 6 )   539 - 546   2018.12

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    Language:English   Publisher:OKAYAMA UNIV MED SCHOOL  

    Since 2012, we have been developing a remote-controlled robotic system (Zerobot®) for needle insertion during computed tomography (CT)-guided interventional procedures, such as ablation, biopsy, and drainage. The system was designed via a collaboration between the medical and engineering departments at Okayama University, including various risk control features. It consists of a robot with 6 degrees of freedom that is manipulated using an operation interface to perform needle insertions under CT-guidance. The procedure includes robot positioning, needle targeting, and needle insertion. Phantom experiments have indicated that robotic insertion is equivalent in accuracy to manual insertion, without physician radiation exposure. Animal experiments have revealed that robotic insertion of biopsy introducer needles and various ablation needles is safe and accurate in vivo. The first in vivo human trial, therefore, began in April 2018. After its completion, a larger clinical study will be conducted for commercialization of the robot. This robotic procedure has many potential advantages over a manual procedure: 1) decreased physician fatigue; 2) stable and accurate needle posture without tremor; 3) procedure automation; 4) less experience required for proficiency in needle insertion skills; 5) decreased variance in technical skills among physicians; and 6) increased likelihood of performing the procedure at remote hospitals (i.e., telemedicine).

    DOI: 10.18926/AMO/56370

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  • Docking at pool and sea by using active marker in turbid and day/night environment

    Khin Nwe Lwin, Naoki Mukada, Myo Myint, Daiki Yamada, Mamoru Minami, Takayuki Matsuno, Kazuhiro Saitou, Waichiro Godou

    ARTIFICIAL LIFE AND ROBOTICS   23 ( 3 )   409 - 419   2018.9

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    Nowadays, autonomous underwater vehicle (AUV) is playing an important role in human society in different applications such as inspection of underwater structures (dams, bridges). It has been desired to develop AUVs that can work in a sea with a long period of time for the purpose of retrieving methane hydrate, or rare metal, and so on. To achieve such AUVs, the automatic recharging capability of AUVs under the sea is indispensable and it requires AUVs to dock itself to recharging station autonomously. Therefore, we have developed a stereo-vision-based docking methodology for underwater battery recharging to enable the AUV to continue operations without returning surface vehicle for recharging. Since underwater battery recharging units are supposed to be installed in a deep sea, the deep-sea docking experiments cannot avoid turbidity and low-light environment. In this study, the proposed system with a newly designed activemeaning self-lighting3D marker has been developed to improve the visibility of the marker from an underwater vehicle, especially in turbid water. Experiments to verify the robustness of the proposed docking approach have been conducted in a simulated pool where the lighting conditions change from day to night. Furthermore, sea docking experiment has also been executed to verify the practicality of the active marker. The experimental results have confirmed the effectiveness of the proposed docking system against turbidity and illumination variation.

    DOI: 10.1007/s10015-018-0442-1

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  • Robotic Insertion of Various Ablation Needles Under Computed Tomography Guidance: Accuracy in Animal Experiments. International journal

    Takao Hiraki, Takayuki Matsuno, Tetsushi Kamegawa, Toshiyuki Komaki, Jun Sakurai, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshihiro Iguchi, Yusuke Matsui, Hideo Gobara, Susumu Kanazawa

    European journal of radiology   105   162 - 167   2018.8

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:ELSEVIER IRELAND LTD  

    OBJECTIVE: To evaluate the accuracy of robotic insertion of various ablation needles at various locations under computed tomography (CT) guidance in swine. MATERIALS AND METHODS: The robot was used for CT-guided insertion of four ablation needles, namely a single internally cooled radiofrequency ablation (RFA) needle (Cool-tip), a multi-tined expandable RFA needle (LeVeen), a cryoablation needle (IceRod), and an internally cooled microwave ablation needle (Emprint). One author remotely operated the robot with the operation interface in order to orient and insert the needles under CT guidance. Five insertions of each type of ablation needle towards 1.0-mm targets in the liver, kidney, lung, and hip muscle were attempted on the plane of an axial CT image in six swine. Accuracy of needle insertion was evaluated as the three-dimensional length between the target centre and needle tip. The accuracy of needle insertion was compared according to the type of needle used and the location using one-way analysis of variance. RESULTS: The overall mean accuracy of all four needles in all four locations was 2.8 mm. The mean accuracy of insertion of the Cool-tip needle, LeVeen needle, IceRod needle, and Emprint needle was 2.8 mm, 3.1 mm, 2.5 mm, and 2.7 mm, respectively. The mean accuracy of insertion into the liver, kidney, lung, and hip muscle was 2.7 mm, 2.9 mm, 2.9 mm, and 2.5 mm, respectively. There was no significant difference in insertion accuracy among the needles (P = .38) or the locations (P = .53). CONCLUSION: Robotic insertion of various ablation needles under CT guidance was accurate regardless of type of needle or location in swine.

    DOI: 10.1016/j.ejrad.2018.06.006

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  • Analyses of biped walking posture by dynamical-evaluating index

    Keli Shen, Xiang Li, Hongzhi Tian, Takayuki Matsuno, Mamoru Minami

    ARTIFICIAL LIFE AND ROBOTICS   23 ( 2 )   261 - 270   2018.6

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    In this paper, biped walking posture and design are evaluated through dynamic reconfiguration manipulability shape index (DRMSI). DRMSI is the concept derived from dynamic manipulability and reconfiguration manipulability with remaining redundancy. DRMSI represents the ability of dynamical system of manipulators possessing shape changing acceleration in task space by normalized torque inputs, while the hand motion is assigned as the primary task. Besides, we use visual lifting approach to stabilize the walking and stop falling down. In this research, the primary task is to make the position of the head direct to the desired one as much as possible. And realizing the biped walking is the second task. This research indicates that proposed dynamical-evaluating index is effective in evaluating the biped walking motion and biped humanoid robot has the adjustable configuration to walk with higher flexibility. Flexibility represents the dynamical shape changeability of humanoid robot based on redundancy of the humanoid robot with the premise of the primary task given to keeping the head position high.

    DOI: 10.1007/s10015-017-0415-9

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  • Improved eye-vergence visual servoing system in longitudinal direction with RM-GA

    Yejun Kou, Hongzhi Tian, Mamoru Minami, Takayuki Matsuno

    ARTIFICIAL LIFE AND ROBOTICS   23 ( 1 )   131 - 139   2018.3

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    Visual servoing is a control method to manipulate the motion of the robot using visual information, which aims to realize "working while watching." However, the visual servoing towards moving target with hand-eye cameras fixed at hand is inevitably affected by hand dynamical oscillation. To overcome this defect of the hand-eye fixed camera system, an eye-vergence system has been put forward, where the pose of the cameras could be rotated to observe the target object. The visual servoing controllers of hand and eye-vergence are installed independently, so that it can observe the target object at the center of camera images through eye-vergence function. In this research, genetic algorithm (GA) is used as a pose tracking method, which is called "Real-Time Multi-step GA(RM-GA)," solves online optimization problems for 3D visual servoing. The performances of real-time object tracking using eye-vergence system and "RM-GA" method have been examined, and also the pose tracking accuracy has been verified.

    DOI: 10.1007/s10015-017-0408-8

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  • 農林水産支援 自律型水中ロボの自動充電実用化へ向けて 複眼カメラによる空間立体認識で,水中の嵌合穴へのドッキングに成功

    向田直樹, 山田大喜, 松野隆幸, 見浪護

    画像ラボ   29 ( 2 )   2018

  • CT透視ガイド下IVR用針穿刺ロボット(Zerobot)の開発

    平木隆夫, 亀川哲志, 松野隆幸, 谷本圭司, 櫻井淳, 桐田泰三, 金澤右

    IVR   33 ( 1 )   2018

  • Docking experiment of underwater vehicle by dual-eye visual servoing (Control performance verification with autonomous underwater vehicle)

    松野隆幸, 西田祐也, 米森健太, LI Xiang, 向田直樹, 加藤直輝, MYINT Myo, 山田大喜, KHIN Nwe Lwin, 見浪護

    日本機械学会論文集(Web)   84 ( 858 )   2018

  • String Untying Planning Based on Knot Theory and Algorithms to Generate the Motion of a Manipulator

    松野隆幸, 白川智也, 渡部知俊, 見浪護

    日本ロボット学会誌   36 ( 6 )   2018

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  • Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment. Reviewed

    Akisato Nagao, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki

    IJMA   6 ( 4 )   190 - 200   2018

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    DOI: 10.1504/IJMA.2018.10016616

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  • Improvement of force-sensorless grinding accuracy with resistance compensation

    Atsushi Sato, Keli Shen, Mamoru Minami, Takayuki Matsuno

    ARTIFICIAL LIFE AND ROBOTICS   22 ( 4 )   509 - 514   2017.12

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    This research aims to achieve a new grinding robot system that can grind an object into desired shape with force-sensorless control. In order to grind the target object into desired shape with sufficient accuracy, the hand of the robot arm has to generate desired constrained force immediately after the grindstone being contacted with the metal object to be ground. Based on the algebraic equation, we have proposed constraint-combined force controller, which has the ability to achieve the force control without time delay if the motors should ideally generate required torques without time delay. In this paper, the relation between contacting force and grinding resistance force have been derived analytically and the relation is used for grinding force control, having brought improved grinding force accuracy.

    DOI: 10.1007/s10015-017-0385-y

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  • Robotically Driven CT-guided Needle Insertion: Preliminary Results in Phantom and Animal Experiments. International journal

    Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Yasuzo Kirita, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshiharu Mitsuhashi, Toshiyuki Komaki, Yoshihisa Masaoka, Yusuke Matsui, Hiroyasu Fujiwara, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

    Radiology   285 ( 2 )   454 - 461   2017.11

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    Purpose To evaluate the accuracy of the remote-controlled robotic computed tomography (CT)-guided needle insertion in phantom and animal experiments. Materials and Methods In a phantom experiment, 18 robotic and manual insertions each were performed with 19-gauge needles by using CT fluoroscopic guidance for the evaluation of the equivalence of accuracy of insertion between the two groups with a 1.0-mm margin. Needle insertion time, CT fluoroscopy time, and radiation exposure were compared by using the Student t test. The animal experiments were approved by the institutional animal care and use committee. In the animal experiment, five robotic insertions each were attempted toward targets in the liver, kidneys, lungs, and hip muscle of three swine by using 19-gauge or 17-gauge needles and by using conventional CT guidance. The feasibility, safety, and accuracy of robotic insertion were evaluated. Results The mean accuracies of robotic and manual insertion in phantoms were 1.6 and 1.4 mm, respectively. The 95% confidence interval of the mean difference was -0.3 to 0.6 mm. There were no significant differences in needle insertion time, CT fluoroscopy time, or radiation exposure to the phantom between the two methods. Effective dose to the physician during robotic insertion was always 0 μSv, while that during manual insertion was 5.7 μSv on average (P < .001). Robotic insertion was feasible in the animals, with an overall mean accuracy of 3.2 mm and three minor procedure-related complications. Conclusion Robotic insertion exhibited equivalent accuracy as manual insertion in phantoms, without radiation exposure to the physician. It was also found to be accurate in an in vivo procedure in animals. © RSNA, 2017 Online supplemental material is available for this article.

    DOI: 10.1148/radiol.2017162856

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  • Dual-eyes vision-based docking experiment of AUV for sea bottom battery recharging

    Xiang Li, Yuya Nishida, Myo Myint, Kenta Yonemori, Naoki Mukada, Khin Nwe Lwin, Matsuno Takayuki, Mamoru Minami

    OCEANS 2017 - Aberdeen   2017-October   1 - 5   2017.10

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    This paper presents docking experiments for AUV using stereo vision for sea bottom battery recharging application. Real-time 3D pose tracking system was installed in AUV 'Tuna-Sand 2'. Underwater battery recharging unit with unidirectional docking function was simulated in a pool. 1\ma-Sand 2 approached to the docking station using other sensors and docking operation was performed by visual servoing when a 3D marker was detected. Experimental results showed the performance of the proposed system with accurate docking accuracy in a short time.

    DOI: 10.1109/OCEANSE.2017.8084659

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  • Modeling of humanoid dynamics including slipping with nonlinear floor friction

    Xiang Li, Hiroki Imanishi, Mamoru Minami, Takayuki Matsuno, Yanou Akira

    ARTIFICIAL LIFE AND ROBOTICS   22 ( 2 )   175 - 183   2017.6

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    Biped locomotion created by controlling methods based on zero-moment point has been realized in real world and been well verified its efficacy for stable walking. However, the walking strategies that have been proposed so far seems to avoid such considerations as slipping of foot on the floor, even though there should exist the slipping large or small in real world. In this research, a dynamical model of humanoid robot including slipping of foot is proposed, which is derived by the Newton-Euler method. To confirm the veracity of the derived dynamical model, the model has been verified from the view point that when all friction coefficients are identical to zero, the total kinetic energy should be conserved to be unchanged, and when the coefficients are not zero, the total kinetic energy should decrease monotonously.

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  • Visual Lifting Approach for Bipedal Walking with Slippage

    Xiang Li, Mamoru Minami, Takayuki Matsuno, Daiji Izawa

    JOURNAL OF ROBOTICS AND MECHATRONICS   29 ( 3 )   500 - 508   2017.6

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    Biped locomotion generated by control methods based on Zero-Moment Point (ZMP) has been achieved and its efficacy for stable walking, where ZMP-based walking does not include the falling state, has been verified extensively. The walking control that does not depend on ZMP - we call it dynamical walking - can be used in walking that utilizes kicks by toes, which looks natural but is vulnerable to turnover. Therefore, keeping the walking of dynamicalmotion stable is indispensable to the realization of human-like natural walking - the authors perceive the human walking, which includes toe off states, as natural walking. Our research group has developed a walking model, which includes slipping, impact, surface-contacting and line-contacting of foot. This model was derived from the Newton-Euler (NE) method. The "Visual Lifting Approach" (VLA) strategy inspired from human walking motion utilizing visual perception, was used in order to enhance robust walking and prevent the robot from falling, without utilizing ZMP. The VLA consists of walking gate generation visual lifting feedback and feedforward. In this study, simulation results confirmed that bipedal walking dynamics, which include a slipping state between foot and floor, converge to a stable walking limit cycle.

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  • 加熱炉からのふく射を考慮した耐火断熱れんがの熱伝導率と熱膨張率の推定

    矢納陽, 内田茂樹, 細谷直紀, 和田克啓, 見浪護, 松野隆幸, 増井詠一郎

    電気学会論文誌 C   137 ( 2 )   2017

  • Construction of Robot System for Arbitrary Shape Grinding

    IZUMI Takuro, SATO Atsushi, MINAMI Mamoru, MATSUNO Takayuki

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   2A2 - H08   2017

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    <p>Industrial robots are used for many purposes, especially as machining facilities. For example, there are welding, assembling and grinding operations. Many of grinding robots are controlled by using feedback control with force sensors. But, the force sensor used for force detection by means of strain gage may be easily damaged when a shock on big power be added. Therefore, this research has been trying to control a position and exerting force at the same time without using a force sensor by feedforward/feedback control. In addition, we aim to construction a system that recognizes the arbitrary shape object and autonomously grind it by using the recognition technology of 3D space with camera. Until last year, the grinding robot could only grind on the 2D plane. Therefore, this paper shows the construction of the new robot system enabling grinding a target with 3D shape.</p>

    DOI: 10.1299/jsmermd.2017.2A2-H08

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  • Dynamic Reconfiguration Manipulability for Redundant Manipulators

    Mamoru Minami, Xiang Li, Takayuki Matsuno, Akira Yanou

    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME   8 ( 6 )   2016.12

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    This paper analyzes the dynamics of robotic manipulator based on a concept called dynamic reconfiguration manipulability (DRM), which gauges the dynamical shape-changeability of a robot based on the redundancy of the robot and the premise that the primary task is the hand task. DRM represents how much acceleration each intermediate link can generate and in what direction the acceleration can be realized based on normalized torque inputs. This concept will aid in the optimization of the design and control of robots. The appropriateness and usefulness of DRM were confirmed by applying it to redundant manipulators and comparing it with the known concept of avoidance manipulability.

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  • Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control

    Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Masayuki Nakamura, Akira Yanou, Mamoru Minami

    JOURNAL OF ROBOTICS AND MECHATRONICS   28 ( 6 )   911 - 920   2016.12

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    In recent years, a medical procedure called interventional radiology (IR) has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fluoroscopic image of patients. Therefore, this surgical method is less invasive. In this surgery, computed tomography (CT) equipment is often used for precise fluoroscopy. However, doctors are exposed to strong radiation from the CT equipment. In order to overcome this problem, we have developed a remote-controlled surgical assistance robot called Zerobot. In animal puncture experiment, the operation of Zerobot was based on joint control. Therefore, during a surgery, the tip of the needle moves when a surgeon orders for a change in the direction of the needle. This makes the robot less user-friendly because the surgeon tracks the trajectory of the tip of the needle. This problem can be solved by using remote center control.

    DOI: 10.20965/jrm.2016.p0911

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  • Dynamical Model of Walking Transition Considering Nonlinear Friction with Floor

    Xiang Li, Hiroki Imanishi, Mamoru Minami, Takayuki Matsuno, Akira Yanou

    JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS   20 ( 6 )   974 - 982   2016.11

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    Biped locomotion created by a controller based on Zero-Moment Point (ZMP) known as reliable control method looks different from human's walking on the view point that ZMP-based walking does not include falling state, and it's like monkey walking because of knee-bended walking profiles. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this research, a walking model of humanoid robot including slipping, bumping, surface-contacting and line-contacting of foot is discussed, and its dynamical equation is derived by the Extended NE method. In this paper we introduce the humanoid model which including the slipping foot and verify the model.

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  • Self-Tuning Generalized Minimum Variance Control Based on On-Demand Type Feedback Controller

    Akira Yanou, Mamoru Minami, Takayuki Matsuno

    JOURNAL OF ROBOTICS AND MECHATRONICS   28 ( 5 )   674 - 680   2016.10

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    This paper proposes a design method of self-tuning generalized minimum variance control based on on-demand type feedback controller. A controller, such as generalized minimum variance control (GMVC), generalized predictive control (GPC) and so on, can be extended by using coprime factorization. Then new design parameter is introduced into the extended controller, and the parameter can re-design the characteristic of the extended controller, keeping the closed-loop characteristic that way. Although strong stability systems can be obtained by the extended controller in order to design safe systems, focusing on feedback signal, the extended controller can adjust the magnitude of the feedback signal. That is, the proposed controller can drive the magnitude of the feedback signal to zero if the control objective was achieved. In other words the feedback signal by the proposed method can appear on demand of achieving the control objective. Therefore this paper proposes on-demand type feedback controller using self-tuning GMVC for plant with uncertainty. A numerical example is shown in order to check the characteristic of the proposed method.

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  • Application of self-tuning generalized predictive control to temperature control experimental device of aluminum plate

    Naoki Hosoya, Akira Yanou, Syohei Okamoto, Mamoru Minami, Takayuki Matsuno

    INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS   52 ( 3-4 )   875 - 881   2016

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    This paper considers an application of self-tuning generalized predictive control (STGPC) to a temperature control experimental device of aluminum plate. In our research, although two DOF GPC can achieve to design the output response and the disturbance response independently, model parameters such as thermal conductivity had been fixed in the experiment. Therefore this paper applies STGPC to the experimental device and verifies the validity of the proposed controller. Moreover the control result, in the case of the controller constructed by the identified parameters through parameter identification law, is shown.

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  • 穿刺とドレナージ~IVRの基礎と応用 CT透視下IVR用針穿刺ロボット(Zerobot)の開発

    平木隆夫, 亀川哲志, 松野隆幸, 櫻井淳, 桐田泰三, 三宅徹, 谷本圭司, 金澤右

    Rad Fan   14 ( 9 )   2016

  • 冗長マニピュレータの動的形状変更可操作性 -7リンク冗長マニピュレータ(PA10)の評価-

    見浪護, 小林洋祐, 松野隆幸, 矢納陽

    日本ロボット学会誌   34 ( 4 )   2016

  • 3次元マーカを用いたビジュアルサーボ型水中ロボットの気泡外乱に対する制御特性

    矢納陽, 米森健太, 石山新太郎, 見浪護, 松野隆幸

    計測自動制御学会論文集   52 ( 5 )   2016

  • Switching Dynamic Modeling and Driving Stability Analysis of Three-Wheeled Narrow Tilting Vehicle

    Hiroki Furuichi, Jian Huang, Toshio Fukuda, Takayuki Matsuno

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   19 ( 4 )   1309 - 1322   2014.8

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    Traffic congestion is one of the main problems modern cities face, exacerbated by widespread use of normal four-wheeled transportation. A promising solution to this challenge is to develop narrow electric vehicles and apply them in daily transportation. These kinds of narrow vehicles need less parking and lane space and cause no air pollution. In this study, we developed a new conceptual narrow tilting vehicle (NTV) that has one front wheel and two rear wheels. All the three wheels can tilt to improve the stability of NTV during turning. To fully describe the dynamic behaviors, a new switching dynamic model of NTV was derived. This model considers several NTV states including normal running, temporary running with one rear wheel not on the ground, and totally falling down. Based on this model, a simulation platform is established, which is useful for testing different control methods and for investigating dangerous driving situations. A new active tilt controller is proposed based on a tilt dynamic model linearized around an equilibrium on which the lateral acceleration is zero. The controller is easily realized from the point of view of engineering and the closed-loop system stability was also investigated. The driving stability problem of NTV was discussed using peak-to-peak analysis method. Stability condition of input steering angle and angular velocity was obtained, which may be a useful tool for designing the steer-by-wire controller in the future. All the proposed model, control method, and stability conditions were verified through simulations and experiments.

    DOI: 10.1109/TMECH.2013.2280147

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  • Vibration damping in manipulation of deformable linear objects using sliding mode control

    Feng Ding, Jian Huang, Yongji Wang, Takayuki Matsuno, Toshio Fukuda

    ADVANCED ROBOTICS   28 ( 3 )   157 - 172   2014.2

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    In this paper, we proposed a position-based control strategy for eliminating the vibration at the end of deformable linear objects (DLOs) during its manipulation. Using Schur decomposition of matrices and linear transform of variables, actuated and underactuated parts of the DLO dynamic model are separated. Based on the decoupled dynamic model of a DLO system, a sliding mode control with exponential approach law is designed to force the state variables to converge to an equilibrium and to allow vibration at the end of the DLO to be damped quickly. The DLO system, subjected to control input saturation, is further studied to solve the input saturation problem. An adaptive sliding mode control law is designed to suppress the damping at the end of the DLO. Proposed control strategies are verified by numerical simulations. The simulation results show that proposed methods can effectively damp the vibration at the end of the DLO.

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  • Strong Stability Rate for Control Systems Using Coprime Factorization

    矢納陽, 見浪護, 松野隆幸

    計測自動制御学会論文集   50 ( 5 )   2014

  • Safety Assessment of Self-tuning Generalized Minimum Variance Control by Strong Stability Rate

    矢納陽, 見浪護, 松野隆幸

    電気学会論文誌 C   134 ( 9 )   2014

  • Development of a Robot for CT Fluoroscopy-guided Intervention:Free Physicians from Radiation

    Hiraki Takao, Kamegawa Tetsushi, Matsuno Takayuki, Kanazawa Susumu

    Jpn Intervent Radiol   29 ( 4 )   375 - 381   2014

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    Computed tomography (CT) fluoroscopy is a useful imaging modality for guiding various interventional procedures (e.g., ablation, biopsy, and drainage). However, radiation exposure is a major disadvantage of CT fluoroscopy guidance. Even if a physician uses 17-cm forceps, radiation exposure to their hand is 7.0 µGy/s (120 kV; 30 mA). The average activation time for CT fluoroscopy in a lung biopsy has been reported to be approximately 90 s. It is expected that the activation time would be longer for more complex procedures such as ablation for large tumors. Therefore, radiation exposure during CT fluoroscopy is a serious concern for physicians.<BR>Robotic surgery, which is the preferred surgical method for 80% of prostate cancer surgeries in the United States, has been shown to reduce procedural complications. We hypothesized that robotic technology might be more easily applied to CT-guided interventions. If physicians performed CT-guided interventions using a robot that they controlled from a location far from the CT gantry, radiation exposure to physicians could be minimized. However, issues such as metal artifacts and the limited workspace may hinder the development of a robot for CT-guided interventions. More specifically, the robot must be constructed of non-metal materials and it must fit in a small space within the CT gantry. Despite these limitations, we have developed a prototype model of the robot.<BR>The prototype has 5 degrees of freedom and can be remotely operated with a joystick controller. Phantom experiments using the prototype showed no radiation exposure to the operating physician during the procedure. In this article, we will provide an overview of the development of this prototype model, present the limitations of the prototype, and discuss future prospects.

    DOI: 10.11407/ivr.29.375

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  • Estimation of Thermal Conductivity for Temperature Control Model of an Aluminum Plate

    Yanou Akira, Uchida Shigeki, Hosoya Naoki, Minami Mamoru, Matsuno Takayuki

    Proceedings of the Japan Joint Automatic Control Conference   57   333 - 337   2014

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    DOI: 10.11511/jacc.57.0_333

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  • Accuracy Validation Test of Interdigitation by Move on Sensing Controlled Manipulation

    Nishimura Kenta, Sumami Tadasuke, Yanou Akira, Matsuno Takayuki, Yamashita Manabu, Ishiyama Shintaro, Minami Mamoru

    Proceedings of the Japan Joint Automatic Control Conference   57   1972 - 1977   2014

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  • Modeling and Velocity Control for a Novel Narrow Vehicle Based on Mobile Wheeled Inverted Pendulum

    Jian Huang, Feng Ding, Toshio Fukuda, Takayuki Matsuno

    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY   21 ( 5 )   1607 - 1617   2013.9

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    Traffic problems such as pollution and congestion are becoming more and more serious in urban areas. A potential solution to these problems is to develop narrow vehicles that occupy less space and have lower emissions. There has been increasing interest in underactuated mechanical systems, i.e., mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent narrow vehicles. A novel narrow vehicle based on an MWIP and a movable seat, called UW-Car, is investigated in this paper. The dynamic model of the underactuated vehicle system running on flat ground is derived by Lagrange's equation of motion. Based on the dynamic model and terminal sliding mode control method, two terminal sliding mode controllers are designed to control velocity and braking of the UW-Car. The first one is used to control the forward speed to a desired value while keeping the body upright and the seat on some fixed position. The second one is a switching sliding mode controller, composed of three terminal sliding mode controllers that quickly brakes the system according to an optimal braking scheme. All the control algorithms are tested in both MATLAB simulation and a UW-Car experiment. The simulation and experimental results demonstrate the efficiency of the model and controllers.

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  • Stabilization of an Inverted Pendulum Cart with a Balancing Mechanism by Consistent Trajectories in Acceleration Behavior.

    Takayuki Matsuno, Jian Huang 0001, Toshio Fukuda, Katsunori Doi

    J. Robotics Mechatronics   25 ( 1 )   262 - 270   2013

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  • Fault Detection Algorithm for Thread Fastening by Robotic Manipulator

    松野隆幸, 白土浩司, 黄剣, 福田敏男

    日本ロボット学会誌   30 ( 8 )   804 - 812   2012

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    Fault detection functions of a robotic manipulator are very useful for factory automation. All production has the possibility to fail due to unexpected accidents. To reduce the fatigue of human workers, small errors automatically should be corrected by a robot system. In this paper, an external thread fastening task by a robotic manipulator is investigated. To discriminate the four states of a task, linear support vector machine methods with two feature parameters are introduced. One is the estimated insertion length, and the other is the maximum reaction force. The effectiveness of the proposed algorithm is confirmed through an experiment and recognition examination.

    DOI: 10.7210/jrsj.30.804

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  • Vision-Force Guided Monitoring for Mating Connectors in Wiring Harness Assembly Systems.

    Pei Di, Fei Chen 0007, Hironobu Sasaki, Jian Huang 0001, Toshio Fukuda, Takayuki Matsuno

    J. Robotics Mechatronics   24 ( 4 )   666 - 676   2012

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  • Advances in GPR-based landmine automatic detection

    Zakarya Zyada, Takayuki Matsuno, Yasuhisa Hasegawa, Shinsuke Sato, Toshio Fukuda

    JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS   348 ( 1 )   66 - 78   2011.2

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    As an application of mechatronics, this paper presents the advances in surface-adaptive ground penetrating radar (GPR)-based anti-personnel landmine detection project in Nagoya University. These advances can be summarized in three items: (1) GPR manipulation where a low-pressure-tire vehicle capable of moving inside a mine field, to facilitate machine-based sensing in place of manual sensing, is applied; (2) enhancement of underground landmine suspects' images through geography adaptive scanning and measurements signal processing of a vector frequency modulated continuous wave (FMCW) GPR; (3) GPR fusion with metal detector (MD) for automatic decision making through experimental-based fuzzy learnt fusion rules. The state-of-art of these advances as well as directions for future research work is to be presented. (C) 2009 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

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  • Skill-based vibration suppression in manipulation of deformable linear objects.

    Feng Ding 0005, Jian Huang 0001, Takayuki Matsuno, Toshio Fukuda

    International Symposium on Micro-NanoMechatronics and Human Science(MHS)   421 - 426   2011

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    DOI: 10.1109/MHS.2011.6102220

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  • Robust Model-Based Online Fault Detection for Mating Process of Electric Connectors in Robotic Wiring Harness Assembly Systems

    Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY   18 ( 5 )   1207 - 1215   2010.9

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    Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design a fault detection system for this application, a set-membership approach for static PWA systems is proposed, in which parallelotopic approximation of feasible parameter sets is adopted. An online algorithm is obtained to estimate bounds of uncertain transition points of the PWA model. Based on the estimation, a robust online fault detection algorithm is proposed. The robustness and sensitivity of the algorithm are analyzed. The effectiveness of these methods is finally confirmed through experiments.

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  • Sliding-Mode Velocity Control of Mobile-Wheeled Inverted-Pendulum Systems

    Jian Huang, Zhi-Hong Guan, Takayuki Matsuno, Toshio Fukuda, Kosuke Sekiyama

    IEEE TRANSACTIONS ON ROBOTICS   26 ( 4 )   750 - 758   2010.8

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    There has been increasing interest in a type of underactuated mechanical systems, mobile-wheeled inverted-pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. Robust-velocity-tracking problem of the MWIP systems is investigated in this study. In the velocity-control problem, model uncertainties accompany uncertain equilibriums, which make the controller design become more difficult. Two sliding-mode-control (SMC) methods are proposed for the systems, both of which are capable of handling both parameter uncertainties and external disturbances. The asymptotical stabilities of the corresponding closed-loop systems are achieved through the selection of sliding-surface parameters, which are based on some rules. There is still a steady tracking error when the first SMC controller is used. By assuming a novel sliding surface, the second SMC controller is designed to solve this problem. The effectiveness of the proposed methods is finally confirmed by the numerical simulations.

    DOI: 10.1109/TRO.2010.2053732

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  • Modeling and control of a novel narrow vehicle.

    Feng Ding 0005, Jian Huang 0001, Yongji Wang 0001, Takayuki Matsuno, Toshio Fukuda, Kosuke Sekiyama

    2010 IEEE International Conference on Robotics and Biomimetics(ROBIO)   1130 - 1135   2010

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    DOI: 10.1109/ROBIO.2010.5723487

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    Other Link: https://dblp.uni-trier.de/db/conf/robio/robio2010.html#DingHWMFS10

  • Low-Ground-Pressure Vehicle for Landmine Detection : Characteristic of Low-Ground-Pressure Tire and Proposal of Position and Posture Control Technique

    FUKUDA Toshio, SATO Shinsuke, HASEGAWA Yasuhisa, MATSUNO Takayuki, ZYADA Zakarya

    Transactions of the Japan Society of Mechanical Engineers C   74 ( 744 )   2038 - 2044   2008.8

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    This paper proposes a kinematic model of the vehicle with low-ground pressure tire that enables to enter a minefield in order to scan remaining landmines by a ground penetrating radar in level III survey. The low-ground-pressure tire makes low pressure contact with a ground by deforming its shape of the tire, but the deformation deteriorates position and steering control accuracy. Therefore this paper models the kinematics of the low-ground pressure vehicle based on experimental results. Besides we experimentally confirmed that the vehicle could precisely trace the target trajectory by considering its kinematics in simulated minefield.

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  • Model-based intelligent fault detection and diagnosis for mating electric connectors in robotic wiring harness assembly systems

    Jian Huang, Toshio Fukuda, Takayuki Matsuno

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   13 ( 1 )   86 - 94   2008.2

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    Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system. A class of piecewise linear force models is proposed to describe both the successful and the faulty mating processes of connectors via an elaborate analysis of forces during different phases. The corresponding parameter estimation method of this model is also presented by adapting regular least-square estimation methods. A hierarchical fuzzy pattern matching multidensity classifier is proposed to realize fault detection and diagnosis for the mating process. This classifier shows good performance in diagnosis. A tyical type of connectors is investigated in this paper. The results. p. P can easily be extended to other types. The effectiveness of proposed methods is finally confirmed through experiments.

    DOI: 10.1109/TMECH.2007.915063

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  • Vision-Based Real Time Trajectory Adjustment for Brachiation Robot

    FUKUDA Toshio, IWASAKI Keiichi, MATSUNO Takayuki, SEKIYAMA Kosuke

    Transactions of the Japan Society of Mechanical Engineers C   73 ( 729 )   1508 - 1513   2007.5

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    We propose a brachiation robot named Brachiator. Brachiator is able to swing like a real gibbon. The limbs of Brachiatior are designed to be actuated through the wires. However, the elongation and slack of the wires often arise and make it difficult to estimate the joint angles accurately, which has to be resolved to attain more stable brachiation behavior. In this paper we indroduce a vision system to improve brachiation behavior in real time. A stereo vision system is mounted on Brachiator that looks like a gibbon's face. We estimate errors between a model based trajectory and a real trajectory in implementation world from the images which the vision system captures during the brachiation behavior. Based on the vision-based error estimation as to the grasping position on the target branch, the trajectory of the behavior is adjusted in real time in order to realize successful brachiation behaviors. Experimental results showed that the proposed system reduced deviation of the grasping position of brachiation behavior as much as 40% compared with previous methods.

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  • GPR Signal Processing on Geography Adaptive Scanning with Vector Radar

    KAWAI Yasuhiro, HASEGAWA Yasuhisa, SATO Shinsuke, ZYADA Zakarya, MATSUMOTO Takayuki, FUKUDA Toshio

    Transactions of the Japan Society of Mechanical Engineers C   73 ( 727 )   803 - 810   2007.3

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    Ground Penetrating Radar (GPR) is a promissing sensor for landmine detection, however there are two major problems to overcome. One is the non-planer (e.g. rough and/or undulating) ground surface. It remains unremovable clutters on a sub-surface image output from GPR. Geography adaptive scanning is useful to image objects beneath non-planer ground surface. The other problem is the distance between the antennas of GPR. When imaging the small objects such as an antipersonnel landmine buried in shallow depth, it increases the nonlinearity of the relationship between the time for propagation and the depth of a buried object. In this paper, we modify Kirchoff migration so as to account for not only the variation of height and pose of the sensor head, but also the antennas alignment of the vector radar. The validity of this method is discussed through application to the signals acquired in experiments.

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  • Quadruped Walking by Joint-interlocking Control Based on the Assumption of Point-contact : Comparison between Pace Gait and Crawl Gait Based on the Energy Consumption

    ASANO Yoshihiko, DOI Masahiro, HASEGAWA Yasuhisa, MATSUNO Takayuki, FUKUDA Toshio

    Transactions of the Japan Society of Mechanical Engineers C   73 ( 725 )   230 - 236   2007.1

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    This paper proposes a control algorithm for pace gait of a quadruped walking robot, using a passive dynamics autonomous control algorithm (PDAC). The PDAC realizes an efficient motion based on the intrinsic dynamics of a robot. This paper first calculates an energy consumption of the pace and a crawl gait at various walking parameters such as a stride length and a walking period. The optimal walking parameters are obtained for each gait at various walking speed in the simulation and their parameters are confirmed by applied to an experimental walking robot. The trend of the energy consumption transition measured in the experiments are similar to those in the simulation. For example the consumption energy of the pace gait becomes less than that of crawl gait when a walking speed becomes relatively high. As a result, quadruped walking parameters corresponding to the desired walking speed such as the type of gait, the stride length and the walking period are designed on the energy-consumption-basis.

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  • Fuzzy Sensor Fusion for Humanitarian Demining.

    Zakarya Zyada, Yasuhiro Kawai, Takayuki Matsuno, Toshio Fukuda

    J. Adv. Comput. Intell. Intell. Informatics   11 ( 7 )   735 - 744   2007

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    DOI: 10.20965/jaciii.2007.p0735

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  • Tailor-made Multilayer Piezoelectric Actuator Having Large Displacements and Forces

    MOTOO Kohei, TODA Naoya, ARAI Fumihito, FUKUDA Toshio, MATSUNO Takayuki, KIKUTA Koichi, HIRANO Shin-ichi

    Transactions of the Japan Society of Mechanical Engineers C   72 ( 722 )   3302 - 3309   2006.10

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    We propose tailor-made multilayer piezoelectric actuators (TAMPA) having large displacements and large forces. In existing piezoelectric actuators, production of small, low-cost actuators having large displacements and large forces is difficult to achieve. We solved this problem by combining two bimorph-type piezoelectric elements with both ends simply supported, and stacking several elements on top of each other. Moreover, TAMPA is a tailor-made actuator whose displacement to force ratio can be varied widely by adjusting the size of the bimorph-type piezoelectric elements even when the total size of the actuator is kept constant. In this study, the bimorph-type piezoelectric element was analyzed, and the relationship between the displacement and the force under fixed conditions was experimentally determined. The relationship between the displacement and the force of TAMPA was theoretically derived. The analytical results showed that a TAMPA having dimensions of approximately 10×10×10mm is capable of generating displacements of several hundred μm or the force of several N. A prototype was produced and its performance was evaluated. These results agreed well with the analytical results, confirming the validity of the analytical results. Finally, because the lead in PZT can cause environmental problems, a TAMPA was produced that used (K, Na) (Nb, Ta) O_3 piezoelectric ceramics instead of lead.

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  • The task selection mechanism for interactive robots: Application to the intelligent life supporting system

    Seung-Min Baek, Daisuke Tachibana, Fumihito Arai, Toshio Fukuda, Takayuki Matsuno

    INTERNATIONAL JOURNAL OF INTELLIGENT SYSTEMS   21 ( 9 )   973 - 1004   2006.9

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    The essential challenge in the future ubiquitous networks is to make information available to people not only at any time, at any place, and in any form, but with the right thing at the right time in the right way by inferring the users' situations. Several psychological experiments show that there are some associations between each user's situations including the user's emotions and each user's task selection. Utilizing those results, this article presents a situation-based task selection mechanism that enables a life-supporting robot system to perform tasks based on the user's situation. Stimulated by interactions between the robot and the user, this mechanism constructs and updates the association between the user's situation and tasks so that the robot can adapt to the user's behaviors related to the robot's tasks effectively. For the user adaptation, Radial Basis Function Networks (RBFNs) and associative learning algorithms are used. The proposed mechanism is applied to the CRF3 (Character robot face 3) system to prove its feasibility and effectiveness. (c) 2006 Wiley Periodicals, Inc.

    DOI: 10.1002/int.20172

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  • Manipulation of deformable linear objects using knot invariants to classify the object condition based on image sensor information

    Takayuki Matsuno, Daichi Tamaki, Fumihito Arai, Toshio Fukuda

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   11 ( 4 )   401 - 408   2006.8

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    Using a topological model and knot theory, we propose a method for describing the condition of a rope. We also propose a recognition method based on the image information obtained from the charge-coupled device cameras to obtain the structure of the rope when manipulated by a robot. This method will help solve the difficulties of robots manipulating deformable objects by providing a theoretical framework of error recovery for deformable object manipulation. We confirm the effectiveness of the methods through experiments.

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  • Control of the Lateral Motion in Biped Walking Based on the Assumption of Point-contact

    DOI Masahiro, MATSUNO Takayuki, HASEGAWA Yasuhisa, FUKUDA Toshio

    Transactions of the Japan Society of Mechanical Engineers C   72 ( 718 )   1832 - 1839   2006.6

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    This paper proposes the novel control method named Passive Dynamic Autonomous Control (PDAC). PDAC is based on the following concept which Grizzle et al.^<(6)(9)> employed previously : 1) point-contact 2) Virtual constraint. Point contact means that the contact state between a robot and the ground is point. This makes it possible to generate the robot motion based on the robot inherent dynamics although it becomes difficult to control. Virtual constraint means that all robot joints are connected and interlocked. We present the new approach by means of these concepts to express the whole robot dynamics an an 1-dimensional autonomous system. Due to autonomy, this approach has two following notable points : 1) period from foot-contact to next foot contact can be obtained 2) there is a conservative quantity to make it possible to stabilize the motion. As the first step of realization of 3 D dynamic walking, this paper applies PDAC to the lateral motion and builds the controller. In addition, the stabilization and motion period control are reported. The validity of these control is confirmed by experiment and desired lateral motion is realized.

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  • Manipulation of Flexible Rope Using Topological Model Based on Sensor Information.

    Takayuki Matsuno, Toshio Fukuda

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12   2638 - 2643   2006

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    There are many deformable objects such as papers, clothes, and ropes in life space of a person. Robots need skills to manipulate deformable objects, in order to take active parts in such space. However, it is difficult for robots to manipulate deformable objects well and possibility of failure to operate deformable objects cannot be denied. Therefore, shape recognition method for deformabte object manipulation is required, that has hyper degrees of freedom structures. Thus in this paper, we propose a description method of conditions of rope using a topological model and knot theory. And, we also propose a recognition method to obtain the structure of rope from sensor information through the CCD cameras when a robot manipulates a rope. The effectiveness of recognition method against a method using three-demensional data is verified through an experiment.

    DOI: 10.1109/IROS.2006.281944

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    Other Link: https://dblp.uni-trier.de/db/conf/iros/iros2006.html#MatsunoF06

  • Strategy of Picking Up Thin Plate by Robot Hand Using Deformation of Soft Fingertip.

    Takayuki Matsuno, Kensaku Kanada, Fumihito Arai, Hideo Matsuura, Toshio Fukuda

    Proceedings of the 2005 IEEE International Conference on Robotics and Automation(ICRA)   2326 - 2331   2005

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    DOI: 10.1109/ROBOT.2005.1570460

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    Other Link: https://dblp.uni-trier.de/db/conf/icra/icra2005.html#MatsunoKAMF05

  • Novel Force Sensor Using Vibrating Piezoelectric Element.

    Kouhei Motoo, Fumihito Arai, Yuji Yamada, Toshio Fukuda, Takayuki Matsuno, Hideo Matsuura

    Proceedings of the 2005 IEEE International Conference on Robotics and Automation(ICRA)   2582 - 2587   2005

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    DOI: 10.1109/ROBOT.2005.1570502

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    Other Link: https://dblp.uni-trier.de/db/conf/icra/icra2005.html#MotooAYFMM05

  • Adaptive Adjustment of Regrasping for Object's Posture Error

    HASEGAWA Yasuhisa, HIGASHIURA Masaki, MATSUNO Takayuki, FUKUDA Toshio

    Transactions of the Japan Society of Mechanical Engineers. Series C.   70 ( 700 )   3463 - 3472   2004.12

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    This paper proposes adaptive adjustment methods of a preplanned regrasping strategy according to position and orientation errors of a grasping object. We had already derived a generation algorithm for the regrasping strategy by evolutionary programming. However position and orientation errors of a grasping object from those in numerical simulation are experimentally inevitable since there are many indeterminable factors such as slip contact between a fingertip and an object surface, imbalance of grasping forces, and so on. Those errors are getting bigger according to the task progress, and it is finally difficult to recover those errors due to a limitation of hand's work space and so on. We therefore propose some adaptive adjustment methods that can change an grasping point or intermediate posture of a grasping object so that it could continue to manipulate an object against larger errors. We investigate the allowable error range of the proposed methods in numerical simulations and confirm its reality by experiment.

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  • Flexible Rope Manipulation Using Elastic Deformation Modeling by Dual Manipulator System with Vision Sensor

    Takayuki Matsuno, Toshio Fukuda, Fumihito Arai, Yasuhisa Hasegawa

    J. Robotics Mechatronics   Vol. 16, No. 1, pp. 31-38 ( 1 )   31 - 38   2004

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    DOI: 10.20965/jrm.2004.p0031

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  • Insertion of Long Peg into Tandem Shallow Hole Using Search Trajectory Generation.

    Takayuki Matsuno, Toshio Fukuda, Yasuhisa Hasegawa

    J. Robotics Mechatronics   16 ( 6 )   613 - 621   2004

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    DOI: 10.20965/jrm.2004.p0613

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  • Preview posture control and impact load control of rough terrain vehicle with interconnected suspension.

    Toshio Fukuda, Xu Zhang, Yasuhisa Hasegawa, Takayuki Matsuno, Haruo Hoshino

    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS)   761 - 766   2004

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    DOI: 10.1109/IROS.2004.1389444

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    Other Link: https://dblp.uni-trier.de/db/conf/iros/iros2004.html#FukudaZHMH04

  • Insertion of Long Peg into Tandem Shallow Hole Using Search Trajectory Generation without Force Feedback.

    Takayuki Matsuno, Toshio Fukuda, Yasuhisa Hasegawa

    Proceedings of the 2004 IEEE International Conference on Robotics and Automation(ICRA)   1123 - 1128   2004

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    DOI: 10.1109/ROBOT.2004.1307975

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    Other Link: https://dblp.uni-trier.de/db/conf/icra/icra2004-2.html#MatsunoFH04

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Books

  • Advances in Intelligent Vehicles

    Toshio Fukuda, Jian Huang, Takayuki Matsuno, Kosuke Sekiyama( Role: Joint author ,  Chapter 1 - Modeling and Control of a New Narrow Vehicle,)

    Academic Press  2014 

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  • Growing Neural Gas based Traversability Analysis for Autonomous Driving

    小笹航輝, 室本達也, 戸田雄一郎, 松野隆幸

    ファジィシステムシンポジウム講演論文集(CD-ROM)   38th   2022

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  • Development of a crawler robot capable of traveling on uneven terrain and construction of a control system based on fuzzy control

    室本達也, 小笹航輝, 戸田雄一郎, 松野隆幸

    インテリジェント・システム・シンポジウム(CD-ROM)   30th   2022

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  • Study of Contour Detection for Growing Neural Gas based 3D Shape Recognition

    古田優泰, 戸田雄一郎, 松野隆幸

    ファジィシステムシンポジウム講演論文集(CD-ROM)   38th   2022

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  • Growing Neural Gas based Learning of 3D Terrain Environment and Path Planning in Unknown Environment Reviewed

    小笹航輝, 戸田雄一郎, 松野隆幸, 見浪護

    ロボティクスシンポジア予稿集   27th   2022

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  • Preface to Special Issue on the 20th SICE System Integration Division Annual Conference

    MATSUNO Takayuki, TAKAHASHI Satoru, KAMEGAWA Tetsushi, INOUE Koh

    Transactions of the Society of Instrument and Control Engineers   57 ( 1 )   1 - 1   2021

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    DOI: 10.9746/sicetr.57.1

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  • Needle Shape Estimation Using Force Sensor Information during Small Movements in IVR Robot

    松野隆幸, 村上輝, 亀川哲志, 酒井菜々子, 眞弓虎太郎, 戸田雄一郎, 平木隆夫, 見浪護

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   22nd   2021

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  • Topological Mapping based Path Planning in Unknown Environment and Semi-autonomous Teleoperation System

    長尾圭介, LI Qi, 小笹航輝, 戸田雄一郎, 松野隆幸, 見浪護

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   22nd   2021

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  • Node Density Adjusting Method of Growing Neural Gas

    戸田雄一郎, 和田亮雅, 宮瀬光梨, 松野隆幸, 見浪護

    ファジィシステムシンポジウム講演論文集(CD-ROM)   37th   2021

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  • Path Planning and Behavior Control of Mobile Robot using Topological Map

    宮瀬光梨, LI Qi, 和田亮雅, 戸田雄一郎, 松野隆幸, 見浪護

    ファジィシステムシンポジウム講演論文集(CD-ROM)   37th   2021

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  • Utilizing a robot teaching kit to develop a new experiment menu for students

    亀川哲志, 松野隆幸, 脇元修一, 戸田雄一郎, 岡野訓尚, 山口大介

    システム制御情報学会研究発表講演会講演論文集(CD-ROM)   65th   2021

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  • Study of Cluster Tracking Method using Growing Neural Gas with Different Topologies

    戸田雄一郎, 和田亮雅, 宮瀬光梨, 松野隆幸, 見浪護

    インテリジェント・システム・シンポジウム(CD-ROM)   2021   2021

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  • Area Identification Simulator for Real-time Contact Judgment in IVR Robot

    酒井菜々子, 松野隆幸, 城戸脩希, 門田成司, 亀川哲志, 平木隆夫, 戸田雄一郎, 見浪護

    日本コンピュータ外科学会誌   23 ( 4 (Web) )   2021

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  • CTガイド下IVR用針穿刺ロボット(Zerobot)の開発 現況と将来展望 Invited Reviewed

    平木 隆夫, 亀川 哲志, 松野 隆幸, 櫻井 淳, 小牧 稔幸, 金澤 右

    日本インターベンショナルラジオロジー学会雑誌   34 ( Suppl. )   155 - 155   2019.5

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  • CTガイド下針穿刺ロボット(Zerobot)の現状と今後の展望

    平木隆夫, 亀川哲志, 松野隆幸, 櫻井淳, 金澤右

    Bio Clinica   34 ( 3 )   303‐307 - 307   2019.3

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    CTガイド下に行うIVRには、がんの治療であるアブレーションや生検、ドレナージなど様々な手技がある。針を穿刺するのみで実施可能であるため低侵襲であり、超高齢化社会におけるがん医療として需要が高まっている。我々は、2012年からCTガイド下IVR用の針穿刺ロボット(Zerobot)を開発している。様々な非臨床試験によりロボットの安全性と性能を評価した後、2018年にはFirst-in-Humanの臨床試験を特定臨床研究として実施した。今後は治験を実施し、ロボットの薬事承認すなわち製品化を目指す予定である。(著者抄録)

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  • Fish’s Motion Intelligence Measurement based on Antagonistic Relationship of Robot and Fish and Trial of Intelligence Creation Using Chaos

    見浪護, 戸田雄一郎, 松野隆幸, 矢納陽

    計測と制御   58 ( 1 )   2019

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  • Special Issue on Recent Advancements on Industrial Robot Technology Preface

    Kensuke Harada, Katja Mombaur, Takayuki Matsuno, Dinesh Manocha

    ADVANCED ROBOTICS   30 ( 17-18 )   1087 - 1087   2016

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    DOI: 10.1080/01691864.2016.1206680

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  • 1A1-D04 Development of a puncture robot for computed tomography-guided interventional radiology : Evaluation of positioning performance of a puncture robot

    ISHII Hajime, KAMEGAWA Tetsushi, MATSUNO Takayuki, HIRAKI Takao, GOFUKU Akio

    2015   "1A1 - D04(1)"-"1A1-D04(4)"   2015.5

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    Interventional radiology is a minimally invasive image-guided procedure that can be performed percutaneously. When computed tomography (CT) is used as an image-guidance for interventional radiology, the radiation exposure is a major problem to an operator who stands close to a CT gantry. To solve this problem, we are developing a remote control needle puncture robot which has five degrees of freedom. However, evaluation of the positioning performance of the robot was not conducted. In this paper, evaluation criteria of positioning performance required for a needle puncture robot is determined, and the performance of the robot is evaluated.

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  • 2A2-G08 Adaptive Predictive Control System for Underactuated Flying Object Experimental Device

    MIZOKAMI Syouya, YOSHIKAWA Kohei, YANOU Akira, MINAMI Mamoru, MATSUNO Takayuki

    2015   "2A2 - G08(1)"-"2A2-G08(4)"   2015.5

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Helicopter has a unique performance such as vertical ascent, decent and hovering. So, it is applied to large field because of that performance. On the other hand, there is a disadvantage that its structure is complex, and it is difficult to stabilize the posture under a windy environment. In the previous research, although we have considered the stabilization of the posture of underactuated flying object experimental device, the control result of the experimental device has been affected by the conducting wire of electrical supply and encoder. Therefore an experimental device is newly manufactured aiming to eliminate the influence of conducting wire by unwiring and wireless communication. And we have explored the control performance for new experimental device by switching the controller gain adaptively based on the predicted value of the posture of underactuated flying object.

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  • 2A1-R01 Form Modeling of a String And Recognition Using Distance Sensor

    SHIRAKAWA Tomoya, MUKAI Keisuke, MATSUNO Takayuki, YANOU Akira, MINAMI Mamoru

    2015   "2A1 - R01(1)"-"2A1-R01(4)"   2015.5

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    The deformable object such as string, cloth or paper, is soft and can change its form easily. It is difficult for a robot to manipulate deformable object, because it needs to deal with various form. The demand is growing in industry and domestic work. On manipulating deformable objects using robot manipulator, it is important to recognize their form. In this research, distance camera is used to get point cloud data of string. In addition, point chain model is adapted to describe form of string. To create point chain model from point cloud data, vector sequence that describes center line of string needs to be made. Therefore string form recognition algorithm is suggested. This algorithm estimates center line of string using surface normal vectors evaluated by normal estimation algorithm, and creates point chain model by matching method. In addition, experiment to evaluate the effectiveness of this method is conducted.

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Presentations

  • IVR ロボットにおけるリアルタイム接触判定のための領域特定用シミュレータ

    酒井菜々子, 松野隆幸, 城戸脩希, 門田成司, 亀川哲志, 平木隆夫, 戸田雄一郎, 見浪 護

    第30回日本コンピュータ外科学会大会  2021.11.22 

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    Event date: 2021.11.21 - 2021.11.23

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • Estimation of Needle Puncturing Form Based on Force Data during Slight Needle Movement

    Takayuki Matsuno, Hikaru Murakami, Tetsushi Kamegawa, Takaaki Miyamoto, Nanako Sakai, Mamoru Minami, Takao Hiraki

    2021 International Symposium on Medical Robotics  2021.11.18 

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    Event date: 2021.11.17 - 2021.11.19

    Language:English   Presentation type:Oral presentation (general)  

    File: ismr2021.pdf

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  • Collision detection calculation of robot to insert needles for interventional radiology

    Takayuki MatsunoKamegawa, TetsushiTakao Hiraki

    2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)  2021.7.9 

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    Event date: 2021.7.8 - 2021.7.10

    Language:English   Presentation type:Poster presentation  

    File: arso2021_ivr.pdf

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  • CT画像内の穿刺針のディープラーニングによる検出と姿勢決定アルゴリズム

    眞弓虎太郎, 松野隆幸, 亀川哲志, 平木隆夫, 戸田雄一郎, 見浪護

    ロボティクス・メカトロニクス講演会2021  2021.6.7 

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    Event date: 2021.6.6 - 2021.6.8

    Language:Japanese   Presentation type:Poster presentation  

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  • 穿刺ロボットにおける針のたわみ推定シミュレーション

    宮本 隆晃, 松野 隆幸, 村上 輝, 亀川 哲志, 平木 隆夫, 戸田 雄一郎, 見浪 護

    第65回システム制御情報学会研究発表講演会(SCI’21)  2021.5.28 

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    Event date: 2021.5.27 - 2021.5.28

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • Topological Structure Learning of Point Cloud data using Modified Region of Interest Growing Neural Gas

    戸田雄一郎, 松野隆幸, 見浪護

    ロボティクスシンポジア予稿集  2020 

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    Event date: 2020

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  • Region of Interest Growing Neural Gas for Real-Time Point Cloud Processing

    Yuichiro Toda, Xiang Li, Takayuki Matsuno, Mamoru Minami

    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT III  2019  SPRINGER INTERNATIONAL PUBLISHING AG

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    Event date: 2019

    Language:English  

    This paper proposes a real-time topological structure learning method based on concentrated/distributed sensing for a 2D/3D point cloud. First of all, we explain a modified Growing Neural Gas with Utility (GNG-U2) that can learn the topological structure of 3D space environment and color information simultaneously by using a weight vector. Next, we propose a Region Of Interest Growing Neural Gas (ROI-GNG) for realizing concentrated/distributed sensing in real-time. In ROI-GNG, the discount rates of the accumulated error and utility value are variable according to the situation. We show experimental results of the proposed method and discuss the effectiveness of the proposed method.

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  • Improving pose estimation accuracy and expanding of visible space of lighting 3D marker in turbid water

    Horng-Yi Hsu, Naoki Mukada, Daiki Yamada, Khin Nwe Lwin, Myo Myint, Yuichiro Toda, Takayuki Matsuno, Keigo Watanabe, Mamoru Minami

    2019 IEEE UNDERWATER TECHNOLOGY (UT)  2019  IEEE

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    Event date: 2019

    Language:English  

    Aiming at developing underwater battery recharging system, the author developed a docking system using stereo-vision-based visual servoing and a 3D marker. The 3D marker consists of red, green, blue spheres that do not emit the light which is named as a passive marker. Real-time relative pose (position and orientation) estimation was implemented utilizing the 3D model-based matching method and real-time multistep genetic algorithm (RM-GA). Given the situation that the docking aims for battery recharging in the deep-sea bottom, the pitch-dark and turbid environment should be considered as an inevitable condition for battery recharging. In our previous works, the docking experiments were conducted in the actual sea, having verified the effectiveness of the proposed system using the passive 3D marker in the daytime environment with turbid water condition. Since lighting passive 3D marker by light from the vehicle in turbid water environment results in a situation that the images taken by video cameras set on the vehicle were looked wholly white, some new idea seems to be required. To overcome this difficulty, the newly lighting 3D marker (active 3D maker) has LEDs inside was introduced in the previous work. The main objective of this study is to check the feasibility area of the proposed system for the docking application, comparison of recognition performance using the active and passive 3D marker that was conducted in the simulated pool with the turbid water is focused. And then, the experiment using the active 3D marker in the actual sea has been performed. The experimental results have confirmed that the new active 3D marker with no-lighting from the vehicle could be recognizable in dark and turbid environment than the passive 3D marker with the lighting from the vehicle.

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  • Region of Interest Growing Neural Gasに関する検討

    戸田雄一郎, 松野隆幸, 見浪護

    インテリジェント・システム・シンポジウム(CD-ROM)  2019 

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    Event date: 2019

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  • 発光3Dマーカーによる混濁深海模擬環境下での認識性能評価

    岡田優也, 山田大喜, LI Xiang, HSU Horng-Yi, 神田佳希, 山下耕平, 中村翔, 門田拓也, 戸田雄一郎, 松野隆幸, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019 

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  • Visual-lifting Approachによるアイススケート歩行の実現と腕振り運動の発見-動力学的干渉による自発的腕振りの考察-

    WANG Ying, 井澤大時, 張則奕, LI Xiang, 見浪護, 松野隆幸

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019 

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  • 水中ロボットのための完全自律式回転型充電システムの構築

    門田拓也, 山下耕平, 神田佳希, 中村翔, 山田大喜, 岡田優也, 松野隆幸, 戸田雄一郎, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019 

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  • ステレオビジョンによる新しい空間認識手法の提案

    川上拓朗, 山本太郎, KOU Yejun, TIAN Hongzhi, LI Xiang, 戸田雄一郎, 松野隆幸, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019 

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  • 改良型Growing Neural Gas with Utilityを用いた時系列3次元点群からの特徴量抽出と領域分割

    戸田雄一郎, 松野隆幸, 見浪護

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2019 

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    Event date: 2019

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  • ロボティックIVRにおけるマニピュレータと周辺環境との接触判定アルゴリズム

    城戸脩希, 松野隆幸, 亀川哲志, 平木隆夫, 見浪護

    日本ロボット学会学術講演会予稿集(CD-ROM)  2019 

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  • CT透視ガイド下針穿刺ロボツトの臨床試験により得られた穿刺力データの解析

    亀川哲志, 松野隆幸, 平木隆夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2019 

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  • ステレオビジョンを用いた信号機の位置姿勢実時間認識

    WANG Lujie, TIAN Hongzhi, KOU Yejun, WANG Junxiang, LI Xiang, 山本太郎, 戸田雄一郎, 松野隆幸, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019 

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  • 遺伝的アルゴリズムを用いたヒューマノイドの歩行解析

    和田亮雅, 戸田雄一郎, 松野隆幸, 見浪護

    インテリジェント・システム・シンポジウム(CD-ROM)  2019 

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  • Improvement of 3D Pose Estimation Abilities by Light-Emitting-3D Marker for AUV Docking

    Kohei Yamashita, Hsu Horng Yi, Daiki Yamada, Naoki Mukada, Khin New Lwin, Myo Myint, Yuichiro Toda, Takayuki Matsuno, Mamoru Minami

    OCEANS 2018 MTS/IEEE CHARLESTON  2018  IEEE

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    Event date: 2018

    Language:English  

    Disturbances of turbidity and low illuminance are problems in real sea areas when recognizing objects with cameras. Therefore, the recognition target was made to emit light so that it can be recognized correctly even in that environment. However, a suitable light intensity of the target was not decided and it is obvious that recognition results was changed by light intensity of the target. This paper presents the analysis of recognition accuracy of the Real-time 3D estimation system by changing the current value of each color LED (red, green, blue) under turbid and low illuminance. Recognition experiments were conducted at the distance 600 [mm] between the ROV and 3D marker. The turbidity level was set constant value. The current value was changing from 0 [mA] to 16 [mA] for each LED individually. The best current for each LED was optimized by the fitness value and estimation value of position and orientation. The results showed that the recognition accuracy of the proposed system was improved by using optimized lighting intensity.

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  • Applying Lighting Marker and Stereo-vision to V-shaped-thruster Vehicle for AUV Deep Sea Docking

    Yoshiki Kanda, Myo Myint, Naoki Mukada, Daiki Yamada, Khin Lwin, Takayuki Matsuno, Yuichiro Toda, Mamoru Minami

    OCEANS 2018 MTS/IEEE CHARLESTON  2018  IEEE

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    Event date: 2018

    Language:English  

    A stereo-vision-based system of autonomous under-water vehicles (AUVs) for sea-bottom docking that enables for battery recharging to extend persistence time of underwater operation has been developed. This paper presents the docking experiment using a developed V-shaped-thruster typed under-water vehicle. A real-time 3D pose (position and orientation) estimation method using a real-time multi-step genetic algorithm (RM-GA) has been proposed by the authors in previous works and used for docking based on 3D recognition as a feedback pose information in real-time, named as 3D Move on Sensing (3D-MoS). Sea docking experiment results have confirmed the functionality and practicality of proposed docking approach using a hovering typed ROV in previous works. Since the hovering typed underwater vehicles are limited in mobilities concerning speed and operational space, verification of the 3D-MoS system using underwater vehicle that has more mobility deem to be meaningful direction for vision-based docking system to expand the utility value of AUVs. Therefore, in this study, control system for a new V-shaped-thruster typed vehicle is developed and docking experiment is conducted. This paper presents the development of the hardware design of V-shaped-thruster typed underwater vehicle and improvement of controlling with consideration of coupled configuration of thrusters.

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  • String Untying Planning Based on Knot Theory and Proposal of Algorithms to Generate the Motion of a Manipulator

    Takayuki Matsuno, Tomoya Shirakawa, Tomotoshi Watanabe, Mamoru Minami

    2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)  2018  IEEE COMPUTER SOC

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    Event date: 2018

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    Recently, the demand to manipulate deformable objects such as a string and cloth by robots is growing. The reason is that it has the possibility of making our lives more convenient in many domains. The manipulation of deformable objects, however, is more difficult than that of rigid objects, because deformable objects have diversity of shape and behavior. Therefore, our research group has been focusing on the string shape operation. This paper describes planning method of string untying operation based on knot theory and algorithms to generate the motion of a manipulator. The novel contribution of our planning method is automatic selection of optimal shape operation based on cost function. At final, the results of string untying experiments are reported.

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  • Development of Dual-eyes Docking System for AUV with Lighting 3D Marker

    Sho Nakamura, Daiki Yamada, Naoki Mukada, Myo Myint, Khin New Lwin, Takayuki Matsuno, Yuichiro Toda, Mamoru Minami

    OCEANS 2018 MTS/IEEE CHARLESTON  2018  IEEE

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    Event date: 2018

    Language:English  

    This paper presents that our proposed docking system could apply for a new Remotely Operated Vehicle(ROV). The authors have proposed a 3D-perception based Move on Sensing (3D-MoS) system using a new 3D position and orientation (pose) estimation method with dual-eye camera that exploits the parallactic nature that enables reliable 3D pose estimation in real-time, named as "Real-time Multi-step Genetic Algorithm (RM-GA)." We confirmed ROV have conducted docking that assumes charging battery under water by the system, having shown it effective. As a next step, docking experiment using the new ROV were conducted to verify the proposed system apply for new ROV. But, the new ROV is different from a ROV that have used previous experiments, on the point of thruster setting structure. Then, a new control system using Jacobian that shows relationship voltage and velocity was constructed. After it is confirmed the system is effective, docking experiments In the pool have been conducted. In this report, the structure and result of experiments are reported in detail.

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  • Development and Evaluation of Active/Lighting Marker in Turbidity and Illumination Variation Environments

    Yoshiki Kanda, Naoki Mukada, Daiki Yamada, Khin Lwin, Myo Myint, Kohei Yamashita, Sho Nakamura, Takayuki Matsuno, Mamoru Minami

    2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO)  2018  IEEE

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    Event date: 2018

    Language:English  

    To extend the persistence time of an underwater operation of AUVs in the sea, many studies have been performed worldwide. The docking function takes place as an important role not only for battery recharging but also for other advanced applications. Therefore, we developed the visual-servoing-based underwater vehicle using 3D perception based move on sensing (3D-MoS) system with dual-eye cameras and 3D marker for the docking operation. The vision-based underwater vehicle cannot avoid the turbidity and low illumination in the deep sea. In the present study, the active/lighting marker was newly designed and constructed to improve the recognizing ability of the proposed system for the real-time 3D pose estimation. The experiments were conducted in a simulated pool against different turbidity levels and illumination variations by adjusting the LED's brightness of the active marker in both day and night environments. This paper presents the analyses on the relations of the currents of LED installed inside each ball of the 3D marker and recognition results under turbidity and changing illumination conditions. According to the experimental results, the optimum current was chosen for the docking.

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  • Robustness of 3D Pose Estimation against Turbidity Using Dual-eye Cameras And Active/Lighting 3D Marker for Visual-servoing Based AUV

    Khin Nwe Lwin, Myo Myint, Naoki Mukada, Daiki Yamada, Takayuki Matsuno, Mamoru Minami

    2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO)  2018  IEEE

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    Event date: 2018

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    This paper presents the 3D pose estimation against turbidity under dark environment by using dual-eye cameras and an active meaning light emitting 3D marker for visualservoing based underwater vehicle. The authors have proposed a 3D-perception based move on sensing (3D-MoS) system using a 3D position and orientation (pose) estimation method with dual eye cameras that exploits the parallactic nature that enables reliable 3D pose estimation in real-time, named as "Real-time Multi-step Genetic Algorithm (RM-GA)." The active/lighting 3D marker was designed and constructed to improve the 3D pose estimation especially in turbidity and low illumination. In realtime pose estimation, not only recognition but also robustness are important. This paper focus on the robustness of 3D pose recognition performance using dual-eye cameras and 3D marker against turbidity. The experimental results have confirmed that the effectiveness and robustness of the proposed system for the real-time 3D pose estimation under turbidity and night condition.

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  • Needle Posture Compensation Using CT Image for Needle Puncture Robot

    松野隆幸, 長尾明哲, 亀川哲志, 平木隆夫, 木村和志, 城戸脩希, 見浪護

    システム制御情報学会研究発表講演会講演論文集(CD-ROM)  2018 

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  • ロボットマニピュレータによるひも結びの動作計画のための位相情報Face-Listの提案

    松野隆幸, 渡部知俊, 見浪護

    ロボティクスシンポジア予稿集  2018 

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  • Docking Experiment in Dark Environments Using Active/Lighting Marker and HSV Correlation

    Daiki Yamada, Naoki Mukada, Myo Myint, Khin Nwe Lwin, Takayuki Matsuno, Mamoru Minami

    2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO)  2018  IEEE

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    Event date: 2018

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    Recharging ability with underwater docking function would be a first primal step conducted to enable the AUV to operate independently of a surface vessel for extended periods. Therefore, the role of docking operation came in picture not only for battery recharging application but also other novel applications such as sleeping under mother ship, or new mission up and down loading. Moreover, docking capacity can be extended to provide navigation for other underwater vehicles on the way of their mission too. However, there are many challenging issues in achieving these applications that request high accuracy and robustness against disturbances that are provided by the underwater environment. The most challenging and unavoidable problems in sensing sphere for sea operations are, we think, turbidity and light changing. Turbidity is defined as cloudiness in a liquid caused by the presence of suspended particles that scatter and absorb light. Since underwater battery recharging are supposed as a first step to realize a full autonomous/intelligent robot, the deep-sea docking experiments cannot avoid turbidity and low light environment. In previous studies, we had conducted sea docking experiments using a passive (not lighting) marker and image-evaluation function based on only hue information, limiting its operational environment in lower turbid sea with sunshine. Whereas in this study, to improve our system removing above defects, we newly designed an active- light emitting 3D marker and a fitness function determined by HSV color components to improve the performance of the system especially in a more turbid environment. The advantage of using an active 3D marker and HSV-evaluated function is to be thought as being tolerable and seeable despite clipped whites and scattered light on the camera images caused by turbidity. Additionally, we conducted the docking experiments to verify the robustness of the proposed approach against turbidity and compared recognition results between the previous method and the improved method.

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  • 複眼カメラを搭載したDELTA-150のビジュアルサーボ系構築

    中村翔, 山田大喜, 神田佳希, 山下耕平, 向田直樹, 松野隆幸, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • ベジエ曲面を用いた任意研削対象物の形状推定

    山本一真, 佐藤篤, 和泉卓朗, 見浪護, 松野隆幸

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • 射影ベース認識法を用いたビジュアルサーボによる対象物追従

    WANG Junxiang, TIAN Hongzhi, KOU Yejun, 舟久保龍希, LI Xiang, 山本太郎, 松野隆幸, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • ひも形状操作におけるセグメント長の比率を考慮したマニピュレータ動作生成

    松野隆幸, 渡部知俊, 見浪護

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2018 

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  • 静/動摩擦を考慮したヒューマノイドのアイススケート歩行

    LI Xiang, 井澤大時, 見浪護, 松野隆幸

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • Development of preoperative collision confirmation software for needle puncturing robot-Visualization of needle holder collision-

    松野隆幸, 亀川哲志, 平木隆夫

    日本コンピュータ外科学会誌  2018 

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  • 穿刺ロボットアームのCTガントリ内壁との衝突防止システムの提案

    城戸脩希, 松野隆幸, 木村和志, 亀川哲志, 平木隆夫, 見浪護

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2018 

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  • ボリュームCT画像情報を用いた針穿刺ロボットの姿勢修正に関する研究

    松野隆幸, 亀川哲志, 平木隆夫, 木村和志, 城戸脩希, 見浪護

    日本ロボット学会学術講演会予稿集(CD-ROM)  2018 

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  • CT透視ガイド下針穿刺ロボットのためのジャミング転移現象を利用した剛性可変グリッパの試作

    横内健人, 亀川哲志, 松野隆幸, 平木隆夫, 五福明夫, 多田隈建二郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • 逆射影変換を用いた対象物位置姿勢認識法の認識精度の検証

    山本太郎, 舟久保龍希, KOU Yejun, TIAN Hongzhi, LI Xiang, 松野隆幸, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • Dual-eyesカメラと射影変換によるビジュアルサーボの性能

    KOU Yejun, TIAN Hongzhi, LI Xiang, 舟久保龍希, 松野隆幸, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • 水中嵌合実験に用いる発光3次元マーカーの光量と位置姿勢推定の関係

    山下耕平, 山田大喜, 神田佳希, 中村翔, 向田直樹, 松野隆幸, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • 様々な濁度/照度環境における発光3Dマーカーの改良と評価

    神田佳希, 山田大喜, 中村翔, 山下耕平, 向田尚樹, 松野隆幸, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • 写真ベース認識法を用いたビジュアルサーボシステム

    椿伊吹, 舟久保龍希, TIAN Hongzhi, KOU Yejun, 見浪護, 松野隆幸

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • CT透視ガイド下針穿刺ロボットの自動ターゲティングの実現

    斎藤奎介, 亀川哲志, 松野隆幸, 平木隆夫, 五福明夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • CTガイド下針穿刺ロボットの術前レジストレーション機能の実現 3次元画像による穿刺経路の確認

    松野隆幸, 亀川哲志, 平木隆夫, 木村和志, 城戸脩希, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • Strong Stability System Regulating Safety for Generalized Minimum Variance Control

    Akira Yanou, Mamoru Minami, Takayuki Matsuno

    2017 22ND IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA)  2017  IEEE

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    This paper explores a strong stability system, which regulates safety for generalized minimum variance control (GMVC). GMVC is one of the control methods for application in industry and the controller is designed by generalized output to make the closed-loop system stable. Once the generalized output is designed, the derived controller cannot be re-designed without changing the closed-loop characteristic. For safe applications in industry, it is desirable that both of the closed-loop system and the controller are stable. That is, the strong stability system, which means that both of the closed-loop system and the controller are stable, is desirable to develop the applications. Although authors have proposed the extended GMVC design methods and the strong stability systems by using coprime factorization, there is a problem that the degree of controller may be higher than the conventional method because stable polynomial is needed in order to obtain coprime factorization. Therefore this paper directly extends GMVC without coprime factoriz ation, and a strong stability system regulating safety is studied from the view point of the quantity of feedback signal. Some numerical examples are shown in order to check the characteristic of the proposed method.

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  • Planning of flexible rope manipulation based on topoloby

    松野隆幸, 渡部知俊, 見浪護

    インテリジェント・システム・シンポジウム(CD-ROM)  2017 

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  • An Application of Strong Stability Systems Regulating Safety

    矢納陽, 見浪護, 松野隆幸

    インテリジェント・システム・シンポジウム(CD-ROM)  2017 

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  • Assistance functions for needle puncture of Zerobot under CT fluoroscopy-guided interventional procedures-Needle deflection reduction occurred during puncture treatment-

    松野隆幸, 亀川哲史, 平木隆夫, 杉山晃平, 見浪護

    日本コンピュータ外科学会誌  2017 

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  • Registration of coordinate system using needle CT imaging and automate targeting for a needle puncturing robot under CT fluoroscopy guide

    亀川哲志, 石井創, 松野隆幸, 平木隆夫, 五福明夫

    日本コンピュータ外科学会誌  2017 

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  • 複眼立体認識システムを搭載させたTuna-Sand2の嵌合実験

    向田直樹, 西田祐也, 李想, 米森健太, MYINT Myo, LWIN Khin Nwe, 松野隆幸, 見浪護

    日本ロボット学会学術講演会予稿集(CD-ROM)  2017 

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  • 瀬戸内海牛窓濁度環境下での連続嵌合実験

    山田大喜, 向田直樹, MYINT Myo, 松野隆幸, 見浪護, 齊藤和裕, 坂本竜哉, 牛堂和一郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2017 

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  • 臨床試験に向けたCTガイド下針穿刺ロボットの開発

    久保亮太, 亀川哲志, 松野隆幸, 平木隆夫, 谷本圭司, 石井創, 杉山晃平, 長尾明哲, 高山和真, 池上雄太, 木村和志, 五福明夫

    電磁力関連のダイナミクスシンポジウム講演論文集  2017 

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  • CTガイド下針穿刺ロボットの自動化に関する研究

    高山和真, 亀川哲志, 松野隆幸, 平木隆夫, 五福明夫

    電磁力関連のダイナミクスシンポジウム講演論文集  2017 

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  • 産業用マニピュレータによるひも結び作業の実現-形状抽象化データを用いた操作計画法-

    松野隆幸, 白川智也, 渡部知俊, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017 

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  • 穿刺ロボットにおける針のたわみ力を用いた軌道生成

    木村和志, 松野隆幸, 杉山晃平, 亀川哲志, 平木隆夫, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017 

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  • 楕円体近似モデルを用いた複眼立体ビジュアルサーボによる対象物追従

    山田大喜, 向田直樹, 米森健太, 松野隆幸, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017 

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  • Needle pose adjustment based on force information with needle puncturing robot

    Kazushi Kimura, Takayuki Matsuno, Kohei Sugiyama, Akisato Nagao, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki

    2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)  2017  IEEE

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    In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fluoroscopic image, such as CT and MRI images, of patients. Therefore, this surgical method is less invasive. However, doctors are exposed to strong radiation in the case of CT-guidance. In order to overcome this problem, we have developed remote-controlled IR assistance robot. The phenomena that the needle tip deviates from target tissue at the end sometimes occur, even if the needle is aligned with target tissue before puncturing. In this research a method to adjust pose of a needle in lateral direction based on information of force sensor for reducing deflection of needle is proposed. First, deflection of needle was modeled as a simply cantilever beam. Next, pose of needle gripper of robot to reduce the force is calculated. Finally, validity of the proposed method was verified based on the result of phantom puncture experiment.

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  • Dual-eyes Vision-based Docking Experiment of AUV for Sea Bottom Battery Recharging

    Xiang Li, Yuya Nishida, Myo Myint, Kenta Yonemori, Naoki Mukada, Khin Nwe Lwin, Matsuno Takayuki, Mamoru Minami

    OCEANS 2017 - ABERDEEN  2017  IEEE

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    This paper presents docking experiments for AUV using stereo vision for sea bottom battery recharging application. Real-time 3D pose tracking system was installed in AUV ''Tuna-Sand 2". Underwater battery recharging unit with unidirectional docking function was simulated in a pool. Thna-Sand 2 approached to the docking station using other sensors and docking operation was performed by visual servoing when a 3D marker was detected. Experimental results showed the performance of the proposed system with accurate docking accuracy in a short time.

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  • Installation Angle Offset Compensation of Puncture Robot Based on Measurement of Needle by CT Equipment

    Akisato Nagao, Takayuki Matsuno, Kazusi Kimura, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki

    2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)  2017  IEEE

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    A medical procedure called Interventional Radiology(IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient' s fluoroscopic image. Therefore this surgical method is low-invasiveness method. In this surgery, computed tomography (CT) equipment is often used. But a doctor is exposed to strong radiation from CT. Thus, we have developed a remote-controlled surgery support robot called "Zerobot". Because Zerobot is placed front of CT equipment by human, an angle offset from installation target position occurs. If a doctor punctures without noticing that Zerobot has an installation angle offset, there is danger of hurting the part that should not be hurt around a target cancer. In order to solve this problem, we propose an angle offset compensation method and the installation angle offset derivation method using a CT equipment is proposed. Then, effectiveness of proposed method is confirmed through experiments.

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  • String Tying Operation by Industrial Manipulator Based on Shape Abstracted Data

    Tomotoshi Watanabe, Takayuki Matsuno, Tomoya Shirakawa, Mamoru Minami

    2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)  2017  IEEE

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    Recently, the demand to manipulate deformable objects such as a string and cloth by robots is growing. The reason is that it has the possibility of making our lives more convenient in many domains such as housework, manufacturing and medical field. However, manipulation of deformable objects is more difficult than that of rigid objects, because deformable objects have variety of shape and variety of appearance. Therefore, our research group has been focusing on the string shape operation by a robot. This paper describes planning method of string tying operation based on knot theory and algorithms to generate the motion of a manipulator. Face List is proposed as shape abstraction data of string projection. Face List is data in which a plurality of faces included in the string projection are listed in a list form. Finally, the result of string tying experiment is reported.

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  • ひもの形状操作を目的としたロボットマニピュレーション-結び目理論に基づくロボットの動作計画と軌道生成法の提案-

    渡部知俊, 白川智也, 向井啓祐, 松野隆幸, 矢納陽, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016 

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  • 降下法による時変肘付き位置最適化制御

    時末直, LI Xiang, 見浪護, 松野隆幸, 矢納陽

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016 

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  • Development of a Prototype of Puncturing Robot for CT-guided Intervention

    Hajime Ishii, Tetsushi Kamegawa, Hiroki Kitamura, Takayuki Matsuno, Takao Hiraki, Akio Gofuku

    PROCEEDINGS OF THE 2016 IEEE 11TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA)  2016  IEEE

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    Interventional radiology is a minimally invasive image-guided procedure. In the case of using computed tomography (CT) as an image-guidance for interventional radiology, the radiation exposure is a major problem to an operator who stands close to a CT gantry. To solve this problem, we are developing a remote-controlled puncturing robot which has five degrees of freedom. In this paper, we describe the details of the prototype robot and show experimental results to evaluate the robot's repeatability and a result of puncturing to a phantom.

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  • Development of Instantaneously Puncture System for CT Fluoroscopy-guided Interventional Radiology

    Akira Heya, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Akio Gofuku

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)  2016  IEEE

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    There is minimally invasive method called Interventional Radiology (IR) that achieves an operation by using diagnostic imaging equipment such as Computed Tomography (CT). IR has advantages that it is a minimally invasive method and it is applied widely such as lung cancer treatment, liver cancer treatment, biopsy, and so on. However, it has a problem that doctors are exposed by X-ray due to a procedure in the vicinity of the CT gantry. To solve this problem, we have developed a robot so we calling "Zerobot". Zerobot has six DOF and controlled remotely. We previously conducted animal experiment using a rabbit to evaluate Zerobot. As a result, percutaneous puncture was impossible without epidermis cutting. Therefore, we developed a new function called instantaneously puncture that can achieve high speed and short stroke puncture like a human operator. In this paper, overview of Zerobot is described first. Then, measurement of puncture speed of a human operator is described. Furthermore, design and system structure of instantaneously puncture system is described. Finally, we present results of animal experiment using the instantaneously puncture system.

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  • Estimation of Thermal Conductivity for Model with Radiative Heat Transfer by Extended Kalman Filter

    Akira Yanou, Naoki Hosoya, Katsuhiro Wada, Mamoru Minami, Takayuki Matsuno

    2016 IEEE 21ST INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA)  2016  IEEE

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    This paper deals with estimation of thermal conductivity for temperature control of an aluminum plate considering radiative heat transfer. Aiming at accurate control results, model-based control method needs true values of plant parameters. In our previous research, the nominal values of plant parameters have been used for temperature control experiment. However, for the actual environment in industrial field, physical parameters such as thermal conductivity will change. Therefore this paper reports the estimation result of thermal conductivity of aluminum plate considering radiative heat transfer through experimental data.

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  • Application and Analyses of Dynamic Reconfiguration Manipulability Shape Index into Humanoid Biped Walking

    Keli Shen, Xiang Li, Hongzhi Tian, Daiji Izawa, Mamoru Minami, Takayuki Matsuno

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)  2016  IEEE

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    In this paper, we define a new index of dynamic manipulability for humanoid biped walking to measure dynamic flexibility of changing mechanics by using residual redundancy, when primary work is being assigned, such as face and eyes being targeted to certain object. Although some measurements have been arranged so far to evaluate statical or dynamical flexibility of hand manipulator. This paper displays a new measurement of Dynamic Reconfiguration Manipulability Shape Index (DRMSI) which is the combination of dynamic manipulability and reconfiguration manipulability, and we have applied the DRMSI into humanoid robot experiments to evaluate its dynamical reconfiguration ability during walking. According to the value of DRMSI in our experiments, we have verified our humanoid robot model is reliable and effective since the results have indicated that the kinematic and dynamic characteristics of our model are similar to human-being.

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  • フィードフォワード制御を用いた2リンクマニピュレータによる研削実験

    佐藤篤, 西彩那, 見浪護, 松野隆幸

    日本ロボット学会学術講演会予稿集(CD-ROM)  2016 

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  • 耐火断熱れんがの熱伝導率と熱膨張率の推定

    矢納陽, 内田茂樹, 細谷直紀, 見浪護, 松野隆幸, 増井詠一郎

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)  2016 

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  • 足と地面の非線形摩擦を考慮したヒューマノイド動力学モデル

    李想, 井澤大時, 見浪護, 松野隆幸, 矢納陽

    日本ロボット学会学術講演会予稿集(CD-ROM)  2016 

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  • 静/動摩擦力を受ける足の滑りを考慮したヒューマノイドによる歩行のための歩容モデル

    井澤大時, 季想, 見浪護, 松野隆幸, 矢納陽

    日本ロボット学会学術講演会予稿集(CD-ROM)  2016 

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  • ロボットと魚の敵対的関係における相対的知能評価-カオスを用いたロボットによる魚捕獲実験-

    長尾明哲, 犬飼陽裕, 見浪護, 矢納陽, 松野隆幸

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016 

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  • IVRロボットのリモートセンタに基づく軌道生成法による操作性の改良

    中村優之, 杉山晃平, 松野隆幸, 亀川哲志, 平木隆夫, 矢納陽, 見浪護, 五福明夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016 

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  • Performance Analyses and Optimization of Real-time Multi-step GA for Visual-servoing Based Underwater Vehicle

    Khin Nwe Lwin, Kenta Yonemori, Myo Myint, Mukada Naoki, Mamoru Minami, Akira Yanou, Takayuki Matsuno

    TECHNO-OCEAN 2016: RETURN TO THE OCEANS  2016  IEEE

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    Genetic algorithm (GA) has been applied for real-time pose estimation in this research because of its simplicity, global perspective and repeatable ability. In many of these different situations or problems, optimum selection parameters are a critical factors in the performance of GA. We have developed visual-servo type underwater vehicle using dual-eye camera and 3D marker using real-time pose tracking, named as Real-time Multi-step GA. The relative pose between a vehicle and a 3D-marker can be estimated by Model-based matching method. To recognize the pose of the marker with respect to the vehicle, it is needed to utilize the optimum searching in real-time, and the real-time pose estimation problem can be converted into an optimization problem over a time-varying distribution function with multiple variables. Therefore, analyses the convergence performance of real-time multi-step GA for 3D model-based recognition for underwater vehicle was conducted and reported in this paper. The main aim of this paper is to choose the best parameters for GA that are optimized over population size, selection rate, mutation rate based on their relative fitness value to improve the performance of searching in time domain. The experimental results show that the proposed system effectively improved the searching performance of Real-time multi-step GA for real time pose tracking, having enable an automatic docking of underwater vehicle by dual-eyes visual servoing.

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  • Dynamical Model of Humanoid Considering Slipping with Nonlinear Floor Friction and Internal Force During Free-fall Motion

    Xiang Li, Daiji Izawa, Mamoru Minami, Takayuki Matsuno, Akira Yanou

    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)  2016  IEEE

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    Event date: 2016

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    Biped locomotion created by controlling me-thods based on Zero-Moment Point (ZMP) has been realized in real world and been well verified its efficacy for stable walking. However the walking strategies that have been proposed so far seem to avoid such considerations as slipping of foot on the floor, even though there should exist the slipping large or small in real world. In this research, a dynamical model of humanoid robot including slipping of foot is proposed, which is derived by the Newton-Euler (NE) method. To confirm the veracity of the derived dynamicl model, the model has been verified from the view point that when all friction coefficients are identical to zero, the total kinetic energy should be conserved to be unchanged, and when the coefficients are not zero, the total kinetic energy should decrease monotonously.

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  • 組立作業のためのパラレルリンク機構を有するエンドエフェクタの提案 第2報 リンク長に対するヤコビアンの影響検証

    松野隆幸, 矢納陽, 見浪護, 福田敏男, 福田敏男

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2015 

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  • 劣駆動型飛翔体実験装置に対する適応予測制御系の設計

    溝上翔也, 吉川浩平, 矢納陽, 見浪護, 松野隆幸

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2015 

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  • Temperature Control of a Mold Model using Multiple-input Multiple-output Two Degree-of-freedom Generalized Predictive Control

    Naoki Hosoya, Akira Yanou, Mamoru Minami, Takayuki Matsuno

    2015 10TH ASIAN CONTROL CONFERENCE (ASCC)  2015  IEEE

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    This paper considers an application of two degree of-freedom generalized predictive control (Two DOF GPC) to an aluminum mold model of temperature control experimental device. In our research, Two DOF GPC can achieve to design the output response for the aluminum plate model independently of modeling error or disturbance. The present study aims at controlling the temperature for various mold models in order to develop the proposed method for application to industry. Therefore, this paper shows an aluminum mold model, which we newly constructed, for temperature control by extending the conventional model. And we increased the number of input and output to examine the interference of heat with temperature control of the derived model by using two DOF GPC. The numerical examples are shown to verify the validity of the model and the proposed method.

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  • On-Demand Type Feedback Controller for State Space Based Generalized Minimum Variance Control Using Coprime Factorization

    Akira Yanou, Mamoru Minami, Takayuki Matsuno

    2015 INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS)  2015  IEEE

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    This paper proposes on-demand type feedback controller for state space based generalized minimum variance control (GMVC) using coprime factorization. GMVC can be extended by using coprime factorization, and a new design parameter is introduced to the extended controller. Then the parameter can determine the characteristics of the extended controller without changing the closed-loop characteristics. In order to design safe systems, strong stability systems are effective because both closed-loop system and the controller are stable. So the parameter mentioned above is seemed to be useful to design safe systems. Moreover, focusing on feedback signal, the extended controller can adjust the magnitude of the feedback signal. It means that the proposed controller has the possibility to make the magnitude of the feedback signal be zero when the control objective is achieved. In other words the proposed method has the ability that the feedback signal emerges on demand of achieving the control objective. Therefore this paper explores the design method of on-demand type feedback controller using state space based GMVC and coprime factorization. A numerical example is given in order to check the characteristics of the proposed method.

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  • A Design Method of On-Demand Type Feedback Controller Using Coprime Factorization

    Akira Yanou, Mamoru Minami, Takayuki Matsuno

    2015 10TH ASIAN CONTROL CONFERENCE (ASCC)  2015  IEEE

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    This paper proposes a design method of on-demand type feedback controller using coprime factorization. A controller, such as generalized minimum variance control (GMVC), generalized predictive control (CPC) and so on, can be extended by using coprime factorization. Then the extended controller has a new design parameter, and the parameter can select the characteristic of the extended controller without changing the closed-loop characteristic. Considering to design safe systems, strong stability systems can be obtained by the extended controller. Moreover, focusing on feedback signal, the extended controller can adjust the magnitude of the feedback signal. That is, the proposed controller can drive the magnitude of the feedback signal to zero if the control object was achieved. In other words the feedback signal by the proposed method can appear on demand of achieving the control object. At first step, this paper proposes on-demand type feedback controller using GMVC and coprime factorization. A numerical example is given in order to check the characteristic of the proposed method.

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  • Shape Modeling of A String And Recognition Using Distance Sensor

    Keisuke Mukai, Takayuki Matsuno, Akira Yanou, Mamoru Minami

    2015 24TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN)  2015  IEEE

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    Event date: 2015

    Language:English  

    The demand is growing that a robot manipulates a deformable object. Scenarios for both of a grasping point and transfer of grasped point are required, in order to manipulate a deformable object by a robot. Therefore, it is important for a robot to recognize its form by using image information. In this paper, three-dimensional points groups of a string are obtained by a camera that has distance measure equipment. A shape model called "point chain model" is obtained from points group based on proposed algorithm. In this algorithm, first, points which are estimated to be outside of target object are removed from obtained points groups. Secondly, points groups obtained from various viewpoints are combined to reconstruct three-dimensional shape of a string. Thirdly, central axes of a string are abstracted from combined points groups. Finally, central axes are chained to construct the point chain model. Effectiveness of proposed algorithm is confirmed by experiment.

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  • Iterative Calculation Method for Constraint Motion by Extended Newton-Euler Method and Application for Forward Dynamics

    Xiang Li, Jumpei Nishiguchi, Mamoru Minami, Takayuki Matsuno, Akira Yanou

    2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)  2015  IEEE

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    Event date: 2015

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    There are two principal methods to derivate motion of equation of robot manipulator, which are Newton-Euler (NE) method and Lagrange method. The NE method enables to make a dynamical model of robots and it is possible to calculate internal force and torque not generating real motion of robot manipulator, seemed to be an advantage of the NE method that Lagrange method does not have. This merit can be applicable for propagations of constraint and impact force/torque when discussing humanoids walking based on strict dynamical models. So far, the NE method has been applied to a robot of open-loop serial-linkage structure. However, the NE method has been limited to a motion without contacting with environment. Although robot task to the hand contact with environment, for example assembly task, grinding task is important, it has not been formulated in the way of the NE method. So, this paper proposes iterative calculation method for representing constraint dynamical motion of robot manipulator utilizing inverse dynamic calculation the NE method, leading and enabling the forward dynamics calculation of constraint motions to be dealt recursively through proposed the extended NE method for constraint motions, with no use of explicit representation of equation of motions. We applied this method to 2-linkage and 3-linkage manipulators and evaluated its validity by numerical simulations.

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  • Reaction Force Analysis of Puncture Robot for CT-guided Interventional Radiology in Animal Experiment

    Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Akira Yanou, Mamoru Minami

    2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)  2015  IEEE

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    Event date: 2015

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    A medical procedure called Interventional Radiology (IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. It has advantage that invasiveness is low compared with conventional surgery. In order to take patient's fluoroscopic image, computed tomography (CT) equipment is often used. In this case, it is problem that the doctor is exposed to radiation because the doctor should conduct the procedure close to CT equipment. Thus, we have developed a robot called "Zerobot" which has six DOF and remote-control feature with dedicated input device. In this paper, first, overview of Robotic IR is described. Then, we describes about animal puncture experiment of Zerobot, and discuss the result of puncture reaction force analysis in the experiment.

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  • String Shape Recognition Using Enhanced Matching Method From 3D Point Cloud Data

    Tomoya Shirakawa, Takayuki Matsuno, Akira Yanou, Mamoru Minami

    2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)  2015  IEEE

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    Event date: 2015

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    The deformable object such as string, cloth and paper, is soft and can change its shape easily. It is difficult for a robot to manipulate deformable object because it needs to deal with various shape. For the operation of deformable object, it is important to recognize the shape of them. In our previous research, point chain model and the string shape recognition method were proposed. Point chain model is a structure to describe a string shape by a series of connections of points. And the string shape recognition method are algorithms to recognize a string shape from 3D point cloud data and output point chain model. However, the previous method sometimes occurred misrecognition of segments. Therefore, enhanced matching method is proposed to improve recognition performance.

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  • Switching PID Control for an Underactuated Flying Object Through Model-Based Prediction

    Akira Yanou, Kohci Yoshikawa, Syouya Mizokami, Mamoru Minami, Takayuki Matsuno

    2015 10TH ASIAN CONTROL CONFERENCE (ASCC)  2015  IEEE

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    Event date: 2015

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    This paper explores switching PID controller for an underactuated flying object through model-based prediction. Helicopter is applied in large field because of flight ability such as vertical ascent, vertical descent and hovering. However the helicopter, which is one of the underactuated flight objects, is complex and has nonlinear dynamics. In this research, controlled target is an underactuated flight object with two inputs and three outputs. The proposed method predicts the system outputs using the model of controlled target, and the control inputs are calculated by using their values. That is, PID gains arc switched at each sampling tune by the model-based controlled result with time passing virtually. A numerical example is shown to verify the validity of the proposed method.

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  • CT-IVRロボットの穿刺速度に関する検証

    松野隆幸, 亀川哲志, 平木隆夫, 中家寛貴, 難波孝文, 杉山晃平, 石井創, 見浪護, 矢納陽, 五福明夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2015 

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  • 術者の放射線被ばくを低減するCT-IVRロボットの提案

    松野隆幸, 亀川哲志, 平木隆夫

    日本コンピュータ外科学会誌  2015 

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  • セルフチューニング一般化予測制御則のアルミニウム板温度制御装置への適用

    細谷直紀, 岡本庄平, 矢納陽, 見浪護, 松野隆幸

    システム制御情報学会研究発表講演会講演論文集(CD-ROM)  2015 

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  • 路面の静・動摩擦および滑りを考慮したヒューマノイド二足歩行モデル

    LI Xiang, 今西裕紀, 見浪護, 松野隆幸, 矢納陽

    計測自動制御学会中国支部学術講演会論文集  2015 

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  • 熱伝導率のオンライン推定を目指した耐火断熱れんがのモデル化

    和田克啓, 細谷直紀, 矢納陽, 内田茂樹, 見浪護, 松野隆幸

    計測自動制御学会中国支部学術講演会論文集  2015 

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  • 分岐式マッチング法による3次元点群からのひも形状認識

    白川智也, 向井啓祐, 松野隆幸, 矢納陽, 見浪護

    計測自動制御学会中国支部学術講演会論文集  2015 

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  • 耐火断熱れんがの熱伝導率の推定

    矢納陽, 内田茂樹, 細谷直紀, 見浪護, 松野隆幸

    自動制御連合講演会(CD-ROM)  2015 

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  • 静/動摩擦を考慮したヒューマノイドの定式化と二足歩行

    今西裕紀, LI Xiang, 見浪護, 矢納陽, 松野隆幸

    インテリジェント・システム・シンポジウム(CD-ROM)  2015 

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  • IVRロボットの逆運動学を用いた操作性の改良

    杉山晃平, 井上卓也, 松野隆幸, 亀川哲志, 平木隆夫, 矢納陽, 見浪護, 五福明夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2015 

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  • ひもの形状モデリングと距離カメラを用いた認識

    白川智也, 向井啓祐, 松野隆幸, 矢納陽, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2015 

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  • A Proposal of Temperature Control Model for Two Dimensional Aluminum Plate Using Two Degree-of-Freedom Generalized Predictive Control

    Naoki Hosoya, Akira Yanou, Mamoru Minami, Takayuki Matsuno

    2014 Proceedings of the SICE Annual Conference (SICE)  2014  IEEE

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    Event date: 2014

    Language:English  

    This paper considers an application of two degree-of-freedom generalized predictive control (Two DOF GPC) to the model of temperature control experimental device of two dimensional aluminum plate. In our research, Two DOF GPC can achieve to design the output response for the aluminum plate model with modeling error or disturbance, and without them independently. The present study aims at three dimensional temperature control by expanding the model of the one dimensional aluminum plate into two dimensional one.

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  • CT Phantom for Development of Robotic Interventional Radiology

    Hirotaka Nakaya, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Takuya Inoue, Akira Yanou, Mamoru Minami, Akio Gofuku

    2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)  2014  IEEE

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    Event date: 2014

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    There is a surgical method called Interventional Radiology (IVR) as one of lung cancer treatments. It has a problem that doctors are exposed to radiation because IVR is conducted in CT apparatus. In order to avoid the problem, a robotic IVR system that doctors conduct the puncture with a robot is developed. An operation test is necessary to develop the robotic IVR system, however, an experiment with real patients is rejected based on ethic regulation. Therefore, a phantom is used for experiments instead of patients. A phantom is a model of human used for both evaluation and adjustment of medical imaging equipments such as CT and MRI. However, ready-made phantoms can not be punctured, because they are only aimed to radiography and their surface are hard. Therefore a phantom for CT-IVR which can be punctured is developed.

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  • Posture Control of Inverted Pendulum Cart with Balancing Mechanism Using Full-Order State Observer

    Yuji Hashimoto, Yuki Otsuki, Takayuki Matsuno, Akira Yanou, Mamoru Minami

    2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)  2014  IEEE

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    Event date: 2014

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    A lot of researches on inverted pendulum cart are conducted in recent years. And it attracts as a personal vehicle that realizes energy saving for many practical applications. However, because most conventional personal vehicles require a certain level of physical ability from the driver, it is not suitable for elderly and disabled people to drive.Therefore, an inverted pendulum cart with a sliding mechanism for posture control that could be ridden by anyone has been developed. In this paper, we propose that inverted pendulum cart runs keeping posture perpendicularly. First, algorithm to estimate the lean angle, that is calculated based on the center of gravity of the cart, using the full-order state observer is proposed. Secondly, algorithm to keep the posture of cart perpendicular against the change of the center of gravity is proposed. Then, desired position of slider is calculated based on the estimated lean angle. Finally, the effectiveness of algorithm is confirmed through a simulation.

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  • 動的形状変更可操作性および4リンクマニピュレータへの適用

    李想, 馮陶然, 松野隆幸, 矢納陽, 見浪護

    計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM)  2014 

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  • MOS制御知能を搭載した放射能汚染土壌固化・減容化仕様フィルタプレス装置のろ布取外検証試験

    西村健太, 須浪唯介, 矢納陽, 松野隆幸, 山下学, 石山新太郎, 見浪護

    自動制御連合講演会(CD-ROM)  2014 

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  • アルミ板温度制御モデルに対する熱伝導率の推定

    矢納陽, 内田茂樹, 細谷直紀, 見浪護, 松野隆幸

    自動制御連合講演会(CD-ROM)  2014 

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  • 同一次元オブザーバを用いた倒立振子型車両の姿勢制御

    橋本雄侍, 松野隆幸, 矢納陽, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2014 

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  • Move on Sensingを用いた高濃度放射残土模擬回収実験

    前田耕市, 須浪唯介, 西村健太, 見浪護, 松野隆幸, 矢納陽, 石山新太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2014 

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  • 画像認識による濾布芯棒認識精度の確認

    須浪唯介, 西村健太, 松野隆幸, 矢納陽, 見浪護, 石山新太郎, 山下学

    日本ロボット学会学術講演会予稿集(CD-ROM)  2014 

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  • 平面型アルミ板温度制御実験モデルに対する2自由度一般化予測制御法の適用

    細谷直紀, 矢納陽, 見浪護, 松野隆幸

    システム制御情報学会研究発表講演会講演論文集(CD-ROM)  2014 

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  • ジャイロセンサを用いたイメージモザイキングに基づくカメラの姿勢推定-第2報 姿勢角推定の精度検証-

    松野隆幸, 飯島敏也, 本吉達郎, 小柳健一, 大島徹

    日本ロボット学会学術講演会予稿集(CD-ROM)  2014 

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  • カメラ奥行方向に移動する3D対象物の実時間ポーズトラッキング解析とビジュアルサーボ性能

    西村健太, 須浪唯介, 前田耕市, 見浪護, 矢納陽, 松野隆幸

    日本ロボット学会学術講演会予稿集(CD-ROM)  2014 

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  • MOS制御を用いたろ布芯棒認識における嵌合精度の検証

    西村健太, 須浪唯介, 矢納陽, 松野隆幸, 山下学, 石山新太郎, 見浪護

    計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM)  2014 

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  • オプティカルフローを用いた不定形物体の三次元形状判別 空間占有率を用いた線状物体と面状物体の形状判別実験

    向井啓祐, 松野隆幸, 見浪護, 矢納陽

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2014 

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  • 多機能センシング環境対応制御(MOS制御)による嵌合精度検証試験

    西村健太, 須浪唯介, 矢納陽, 松野隆幸, 山下学, 石山新太郎, 見浪護

    自動制御連合講演会(CD-ROM)  2014 

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  • 劣駆動型飛翔体の重心位置における特性変動実験

    溝上翔也, 平井貴久, 矢納陽, 見浪護, 松野隆幸

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2014 

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  • Development of a Minimally Invasive Robotic Interventional Radiology for Treatment of Lung Cancer -Manufacture of a Basic Mechanism and Verification Experiment-

    Takuya Inoue, Takayuki Matsuno, Akira Yanou, Mamoru Minami, Takao Hiraki

    2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)  2013  IEEE

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    Event date: 2013

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    There are surgical methods called Interventional Radiology (IVR) using CT equipments in medical treatments of lung cancers, a blood vessels, and so on. IVR has an advantage that invasiveness is low and medical treatments with local anesthesia are possible as compare with the fact that laparotomy surgeries require general one. Therefore the number of IVR surgery has been increasing in recent years. However, radiation exposure to doctors has been concerned in the current IVR, since medical doctors conduct the treatment using CT equipment. Thus, the IVR robot should be developed in order to avoid the radioactive exposure to doctors. In this research, a robot using a parallel link mechanism is developed from the viewpoints that hand accuracy and hand rigidity are high and motors can be arranged far from CT scanning plane. The dual delta-type parallel link is proposed. It has the structure which is arranged the delta-type parallel link mechanism with three degrees of freedom (DOF). First, the arm which has offset of the axis in consideration of interference was designed. Secondly, inverse kinematics of parallel link was analyzed. Next, Delta-type parallel link mechanism with three DOF was manufactured. Finally, basic motion of parallel link robot was confirmed.

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  • Fault Detection Algorithm for External Thread Fastening by Robotic Manipulator Using Linear Support Vector Machine Classifier

    Takayuki Matsuno, Jian Huang, Toshio Fukuda

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)  2013  IEEE

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    Event date: 2013

    Language:English  

    Fault detection functions with learning method of a robotic manipulator are very useful for factory automation. All production has the possibility to fail due to unexpected accidents. To reduce the fatigue of human workers, small errors automatically should be corrected by a robot system. Also a learning method is important for fault detection, because labor of system integrator should be reduced. In this paper, an external thread fastening task by a robotic manipulator is investigated. To discriminate the four states of a task, linear support vector machine methods with two feature parameters are introduced. The effectiveness of the proposed algorithm is confirmed through an experiment and recognition examination. Finally, the ability of linear SVM is compared with artificial neural network method.

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  • ジャイロセンサを用いたイメージモザイキングに基づくカメラの姿勢推定

    飯島敏也, 松野隆幸, 小柳健一, 本吉達郎, 大島徹

    日本ロボット学会学術講演会予稿集(CD-ROM)  2013 

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  • 強安定率を用いたセルフチューニングコントローラの一設計法

    矢納陽, 見浪護, 松野隆幸

    計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM)  2013 

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  • パラレルリンク機構を用いた低侵襲ロボティックIVRの提案-基礎機構の製作と手先位置精度検証実験-

    井上卓也, 松野隆幸, 矢納陽, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2013 

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  • モデル予測制御の劣駆動型飛翔体への適用

    吉川浩平, 矢納陽, 見浪護, 松野隆幸

    計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM)  2013 

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  • ハンドアイカメラの移動動作とオプティカルフローを用いた柔軟物体の形状認識

    松野隆幸, 上山由希, 矢納陽, 見浪護, 福田敏男, 福田敏男

    日本ロボット学会学術講演会予稿集(CD-ROM)  2013 

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  • スライド式重心制御機構を有する倒立振子型車両の開発-小型車両の設計製作および姿勢制御実験-

    大槻有輝, 松野隆幸, 矢納陽, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2013 

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  • 入出力データに基づくアルミ板温度制御実験装置への2自由度一般化予測制御系の構成

    吉川浩平, 荒木翔, 矢納陽, 見浪護, 松野隆幸

    システム制御情報学会研究発表講演会講演論文集(CD-ROM)  2013 

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  • ワインドアップを考慮した2自由度一般化予測制御法によるアルミ板温度制御実験

    矢納陽, 西崎純基, 見浪護, 松野隆幸

    計測自動制御学会制御部門大会(CD-ROM)  2013 

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  • 1A2-H06 Modeling and Stable Motion Control of Three Wheeled Vehicle(Wheeled Robot/Tracked Vehicle(2))

    Furuichi Hiroki, Huang Jian, Matsuno Takayuki, Fukuda Toshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2012.5.27  The Japan Society of Mechanical Engineers

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    Event date: 2012.5.27

    Language:Japanese  

    This paper proposes a dynamic model of general behavior using a new concept Narrow Tilting Vehicle (NTV). Our NTV has one wheel on the front and two wheels on the rear. Also, it is very narrow and all three wheels will tilt to make stable during turn. We derive three types of dynamic model. One is the model when all three wheels are on the ground. Other two are the model when each right and left rear wheel floats. These dynamic models are useful to control the real vehicle. Then, we made simulations to indicate the availability of our dynamic model. We also made some simulations to validate our three dynamic models.

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  • 入出力データに基づくアルミ板温度制御モデルへの2自由度一般化予測制御法の適用

    荒木翔, 西崎純基, 矢納陽, 見浪護, 松野隆幸

    計測自動制御学会中国支部学術講演会論文集  2012 

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  • 2自由度構成した状態空間法による一般化予測制御則のアルミ板温度制御

    矢納陽, 西崎純基, 見浪護, 松野隆幸, 斎藤誠二

    計測自動制御学会制御部門大会(CD-ROM)  2012 

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  • Fault Detection Algorithm for Thread Fastening by Robotic Manipulator

    松野隆幸, 白土浩司, 黄剣, 福田敏男

    日本ロボット学会誌  2012  The Robotics Society of Japan

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    Event date: 2012

    Language:Japanese  

    Fault detection functions of a robotic manipulator are very useful for factory automation. All production has the possibility to fail due to unexpected accidents. To reduce the fatigue of human workers, small errors automatically should be corrected by a robot system. In this paper, an external thread fastening task by a robotic manipulator is investigated. To discriminate the four states of a task, linear support vector machine methods with two feature parameters are introduced. One is the estimated insertion length, and the other is the maximum reaction force. The effectiveness of the proposed algorithm is confirmed through an experiment and recognition examination.

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  • Hand-Trajectory Tracking Control with Bracing Utilization of Mobile Redundant Manipulator

    Yuto Washino, Mamoru Minami, Hidemi Kataoka, Takayuki Matsuno, Akira Yanou, Michiyuki Itoshima, Yosuke Kobayashi

    2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)  2012  SOC INSTRUMENT CONTROL ENGINEERS JAPAN

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    Event date: 2012

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    This paper shows effectiveness of bracing for precise and low electrical energy consumption of the end-effector in the case with and without the constraint of the joint of mobile manipulator. Considering that human can do accurate task with less power by bracing elbow on the table, we believe that manipulators can save energy and do a task more precisely like human by bracing itself. Therefore this paper first discuss the motion equation of robot with constraint condition, and robots dynamics including motor's dynamics also. Then the effects of bracing are analyzed and displayed.

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  • Analyses of Jumping Motion of Humanoid Robot Using Arms' Swinging

    Jumpei Nishiguchi, Mamoru Minami, Akira Yanou, Takayuki Matsuno, Tomohide Maeba

    2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)  2012  SOC INSTRUMENT CONTROL ENGINEERS JAPAN

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    Event date: 2012

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    The objective of this research is to analyze humanoid's jumping and landing motions on a view point of arms' dynamical coupling onto jumping. Humans seem to use arms' swinging for walking or running effectively and jump highly by swinging up arms high. So, we gave input torques to arms in such a way as to swing arms similar to humans, and changed timing to start swinging them, comparing them with humanoid's motion that does not swing the arms through numerical simulation. Then we have confirmed that appropriate swinging motions of arms help the jumping to be higher than those without arms' swinging.

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  • 回避可操作性形状値に基づく移動型冗長マニピュレータの走行軌跡最適化

    木下祐樹, 植田浩介, 見浪護, 矢納陽, 松野隆幸

    インテリジェント・システム・シンポジウム(CD-ROM)  2012 

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  • 慣性センサと単眼カメラを用いたマニピュレータの動作指令に関する研究

    大島康太, 松野隆幸, 大島徹, 小柳健一, 本吉達郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2012 

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  • Dynamic Model of Three Wheeled Narrow Tilting Vehicle and Corresponding Experiment Verification

    Hiroki Furuichi, Jian Huang, Takayuki Matsuno, Toshio Fukuda

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)  2012  IEEE

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    Event date: 2012

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    The traffic congestion is growing in urban area these days due to the rapidly increasing number of automobiles. One of the traffic problem solutions is to increase the flow rate of a particular traffic artery. To make the vehicle smaller and narrower might be a good idea. We developed a new conceptual Narrow Tilting Vehicle (NTV) that has one front wheel and two rear wheels. The proposed NTV is very narrow and all three wheels can tilt to improve the stability during turning. We also derive a new switching dynamical model of the NTV. This model considers several states including normal running, temporary running with one rear wheel not on the ground and totally falling down. Based on this model, a simulation platform is established, which is useful to test different control methods and to investigate dangerous driving situations in case hurt drivers in real experiments. The effectiveness of proposed dynamical model is verified through comparison study of simulations and corresponding experiments.

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  • Dynamic Model of Three Wheeled Narrow Tilting Vehicle and Optimal Tilt Controller Design

    Hiroki Furuichi, Jian Huang, Takayuki Matsuno, Toshio Fukuda

    2012 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)  2012  IEEE

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    Event date: 2012

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    The traffic congestion is growing in urban area these days. This is because the number of the automobiles is increasing rapidly. To solve this problem, there are many solutions. One of them is to increase the flow rate of a particular traffic artery. A converse approach to increase the flow rate is to make the vehicle smaller and narrower. We developed a new conceptual Narrow Tilting Vehicle (NTV) that has one front wheel and two rear wheels. Also, it is very narrow and all three wheels can tilt to improve the stability during turning. In this paper, we derive a new switching dynamical model of NTV. This model considers several NTV states including normal running, temporary running with one rear wheel not on the ground and totally falling down. Based on this model, a simulation platform is established, which is useful to test different control methods and to investigate dangerous driving situations in case hurt drivers in real experiments. The effectiveness of proposed dynamical model is verified through comparison study of simulations and corresponding experiments.

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  • Dynamical Analyses of Humanoid's Walking by Visual Lifting Stabilization Based on Event-driven State Transition

    Tomohide Maeba, Mamoru Minami, Akira Yanou, Takayuki Matsuno, Jumpei Nishiguchi

    2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)  2012  IEEE

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    Event date: 2012

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    Biped locomotion created by a controller based on Zero-Moment Point [ZMP] known as reliable control method looks different from human's walking on the view point that ZMP-based walking does not include falling state. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this paper, walking model of humanoid including slipping, bumping, surface-contacting and point-contacting of foot is discussed, and its dynamical equation is derived by Newton-Euler method. Then, we propose walking stabilizer named "Visual Lifting Stabilization" strategy to enhance standing robustness and prevent the robot from falling down. Simulation results indicate that this strategy helps stabilize pose and bipedal walking even though ZMP is not kept inside convex hull of supporting area.

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  • Comparison between First and Second Order Prediction for On-line Configuration Control of Redundant Manipulator based on AMSIP

    Yang Hou, Akira Yanou, Mamoru Minami, Takayuki Matsuno, Yosuke Kobayashi

    2012 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA)  2012  IEEE

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    Event date: 2012

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    This paper proposes and analyses an approach named predictive control of redundant manipulators based on avoidance manipulability to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses manipulators' future configurations to control current configuration aiming at completing tasks of trajectory tracking and obstacle avoidance on-line and simultaneously with higher avoidance manipulability. We compare first order prediction with second order prediction and show the results through simulation. Moreover, we validate the effectiveness of predictive control through Avoidance Manipulability Shape Index with Potential (AMSIP) distribution.

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  • Nonlinear SVM Based Anomaly Detection for Manipulator Assembly Task

    Takayuki Matsuno, Jian Huang, Toshio Fukuda

    2012 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)  2012  IEEE

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    Event date: 2012

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    There is much attraction of automation of difficult assembly by robotic manipulator. However, robots in factory should be overseen by human workers in order to check whether task condition is anomaly or not. In order to reduce human cost, anomaly detection for assembly task is important. A task to tighten a screw as one of assembly tasks is focused on. In this paper, we propose a method to generate high confidence area in the map of features based on nonlinear support vector machine with Gaussian kernel. By proposed method, a robot system can reduce occasions to make mistake in recognition of task conditions.

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  • Modeling and Control for UW-Car in Rough Terrain

    Lifei Mao, Jian Huang, Feng Ding, Toshio Fukuda, Takayuki Matsuno

    PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012)  2012  IEEE

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    Event date: 2012

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    There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel transportation system, UW-Car, which is composed of an MWIP system and a movable seat is proposed. The reduced-order dynamic model of a UW-Car system running in a rough terrain is obtained by applying Lagrangian motion equations. A sliding mode control approach is proposed based on the dynamic model. Comparing with the linear quadratic regulator (LQR) approach, the new method guarantees that a UW-Car system can run in a rough terrain while keeping the body upright and the seat on some fixed position. The theoretical results are finally demonstrated through numerical simulations.

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  • 1A1-E01 Error recovery Strategies for Electric Connectors Assembly System by using Force sensor(Robots for Works)

    MATSUNO Takayuki, SASAKi Hironobu, SUN Baiqing, FUKUDA Toshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2011.5.26  The Japan Society of Mechanical Engineers

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    Event date: 2011.5.26

    Language:Japanese  

    To obtain a secured mating of electric connectors is one of the most important steps in a robotic wiring harness assembly system. Although there are plentiful results about complex peg-in-hole assembly problems, little work has been done with respect to this special issue. In many cases, mating connectors can be regarded as a hole search process of a multiple hole-in-peg problem. Because various faults might occur during the search, a reliable error recovery strategy is necessary in the mating task. In the paper, the error detection algorithm and the error recovery algorithm for various connectors are mainly realized by using force/torque sensor. The experiment results show the proposed system can detect and diagnose the position errors, and realize error recovery and mating successfully. It shows the fault-tolerable capability of the system is improved evidently.

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  • Fault Detection Algorithm for Thread Fastening by Robotic Manipulator

    松野隆幸, 白土浩司, 黄剣, 福田敏男

    日本ロボット学会誌  2011 

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  • 1B3-5 Development of Tuning Fork Structured Piezoelectric Vibration Sensor

    MATSUNO Takayuki, SHIMA Yasunori, OSHIMA Toru, KOYANAGI Ken'ichi, MOTOYOSHI Tatsuo, FUKUDA Toshio

    2011 

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    Event date: 2011

    Language:Japanese  

    Recently, industrial robots have engaged in various works. In the near future, robots will be required to work out some difficult assemblies instead of human. Even though high sensitivity of force sensor is needed for difficult assemblies, it is inferior to that of human. Therefore, a force sensor should be developed so that sensitivity can catch up with that of human. In conventional research, some researches concerned with force sensors are conducted. However, they do not have both wide range and high durability. In this paper, we propose a tuning fork structured piezoelectric vibration sensor. It is possible to realize both of high sensitivity and high durability due to multi vibration mode. And, it applied for robot control in order to confirm the availability.

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  • コネクタケーブルを取り扱う生産用ロボットシステムの開発

    白土浩司, 堂前幸康, 永谷達也, 北明靖雄, 原口林太郎, 奥田晴久, 野田哲男, 鷲見和彦, 松野隆幸, 金子俊一, 福田敏男

    日本ロボット学会学術講演会予稿集(CD-ROM)  2011 

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  • Three-Dimensional Modeling and Simualtion of Manipulating Deformable Linear Objects

    Ding Feng, Huang Jian, Wang Yongji, Fukuda Toshio, Matsuno Takayuki

    2011 30TH CHINESE CONTROL CONFERENCE (CCC)  2011  IEEE

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    Event date: 2011

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    Three-dimensional dynamic modeling and numerical simulation of manipulating deformable linear objects (DLOs) such as hoses, wire and cables are studied in this paper. Several coordinate systems are introduced first to describe the deformation of DLOs. The dynamic three-dimensional deformation of an inextensible linear object is formulated using finite element method (FEM) and lagrange motion equations. The proposed method provides more efficient simulation of dynamic manipulating DLOs with faster computation speed. Two simulation examples are illustrated to confirm the effectiveness of our methods. One is a comparison simulation study and the other shows the three-dimensional dynamic character of the DLO.

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  • 慣性航法を用いたマニピュレータの手先操作に関する研究-画像情報のデータ統合-

    大島康太, 松野隆幸, 大島徹, 小柳健一, 本吉達郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2011 

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  • Robust Velocity Sliding Mode Control of Mobile Wheeled Inverted Pendulum Systems

    Jian Huang, Hongwei Wang, Takayuki Matsuno, Toshio Fukuda, Kousuke Sekiyama

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7  2009  IEEE

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    Event date: 2009

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    There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. Robust velocity tracking problem of MWIP systems is investigated in this study. In the velocity control problem, model uncertainties accompany uncertain equilibriums, which make the controller design become more difficult A sliding mode control (SMC) method based on a novel sliding surface is proposed for the systems, which are capable of handling both parameter uncertainties and external disturbances. By assuming the specially designed sliding surface, the proposed SMC controller is capable of eliminating the steady velocity tracking error. The asyrnptotical stability of the closed-loop system is achieved through selecting sliding surface parameters in terms of some rules. The effectiveness of the proposed methods is finally confirmed by numerical simulations.

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  • Optimal Braking Control for UW-Car Using Sliding Mode

    Feng Ding, Jian Huang, Yongji Wang, Xueshan Gao, Takayuki Matsuno, Toshio Fukuda, Kosuke Sekiyama

    2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4  2009  IEEE

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    Event date: 2009

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    There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying Lagrange's motion equation. A sliding mode control (SMC) method is proposed for the dynamic model, which is capable of both handling the mismatched perturbation and keeping the body upright. An optimal braking scheme is introduced which reduces the velocity of UW-Car to zero first and adjusts the displacement of seat to the centre position. Genetic Algorithm (GA) is adopted to search the optimal parameters for sliding mode controller. The optimal braking scheme is implemented by on-line switching three sliding mode controllers. The effectiveness of the proposed methods is finally confirmed by numerical simulation.

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  • ヒト四肢の力出力と剛性の計測手法の提案

    中西英介, 大島徹, 小柳健一, 松野隆幸, 田島孝光

    生活支援工学系学会連合大会講演予稿集  2008 

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    Event date: 2008

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  • Dynamic Modeling and Simulation of Manipulating Deformable Linear Objects

    Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

    2008 INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION: (ICMA), VOLS 1 AND 2  2008  IEEE

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    Event date: 2008

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    Deformable linear objects (DLOs) such as cables, hoses and wires are widely used in the real life, electric industries and medical operations. In this paper, we propose a new approach to simulate manipulating DLOs in the robotic assembly. The dynamic 2D deformation of an inextensible linear object is formulated using FEM approach. Based on the model, simulation can be efficiently implemented by matrix computation and numerical solvers for differential equations. The proposed method provides faster computation speed than methods based on differential geometry coordinate systems. Some simulation examples are illustrated to confirm the effectiveness of our methods.

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  • Fault-tolerant Mating Process of Electric Connectors in Robotic Wiring Harness Assembly Systems

    Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

    2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23  2008  IEEE

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    Event date: 2008

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    To obtain a secured mating of electric connectors is one of the most important steps in a robotic wiring harness assembly system. Although there are plentiful results about complex peg-in-hole assembly problems, little work has been done with respect to this special issue. In many cases, mating connectors can be regarded as a hole search process of a multiple hole-in-peg problem. Because various faults might occur during the search, a reliable error recovery strategy is necessary in the mating task. In this paper, we model possible faults as "trap regions" in the configure space (C-space) of the assembly. Fault isolation methods are obtained from elaborated force analyses as well. Based on these fault isolation results, error recovery strategies are proposed according to the fault models. A fault-tolerant mating of electric connectors can then be achieved. The effectiveness of the methods is finally confirmed by experiments.

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  • Motion Control of Omni-Directional Type Cane Robot Based on Human Intention

    Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS  2008  IEEE

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    Event date: 2008

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    A three-wheeled omni-directional cane robot is designed for aiding the elderly walking. Possible move modes are analyzed and a corresponding hybrid model is constructed to describe walking behavior. A concept called intentional direction is presented to denote the moving intention of a human. Based on experiments and some assumptions, dynamic model of intentional direction is obtained as well as its online estimation method. A new admittance control scheme is presented based on intentional direction, which provides natural and intuitive human machine interface. Experiment results show the effectiveness of the design.

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  • 二関節筋機能を有するリハビリ教育訓練用ロボットの開発

    清水真也, 大島徹, 小柳健一, 松野隆幸, 百生登

    生活支援工学系学会連合大会講演予稿集  2008 

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  • Realization of Jumping behavior by the Link Mechanism which Imitated an Animal Leg

    大島徹, 百生登, 藤川智彦, 鳥海清司, 小柳健一, 松野隆幸

    精密工学会誌(CD-ROM)  2008 

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  • サーボモータを利用した筋の運動制御特性の構築

    沖佑輔, 大島徹, 松野隆幸, 小柳健一

    生活支援工学系学会連合大会講演予稿集  2008 

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  • Model-based robust online fault detection for mating process of electric connectors in robotic wiring harness assembly systems

    Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

    2007 INTERNATIONAL SYMPOSIUM ON MICRO-NANO MECHATRONICS AND HUMAN SCIENCE, VOLS 1 AND 2  2007  IEEE

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    Event date: 2007

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    Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design a fault detection system for this application, a set-membership approach for static PWA systems is proposed, in which parallelotopic approximation of feasible parameter sets (FPS) is adopted. An online algorithm is obtained to estimate bounds of uncertain transition points of the PWA model. Based on the estimation, a robust online fault detection algorithm is proposed. The effectiveness of these methods is finally confirmed through experiments.

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  • Development of passive force display glove system and its improved mechanism*

    Wataru Nozaki, Ken'ichi Koyanagi, Toru Oshima, Takayuki Matsuno, Noboru Momose

    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS  2007  IEEE

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    Event date: 2007

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    The purpose of this study is development of a passive type virtual reality glove, which represents force sensations of grasping virtual objects and rather enhances immersive feelings in virtual space. VR technologies are recently actively researched for application or practical use, and actually some sensor gloves were commercialized. Though, force display gloves have not become popular. One of the major reasons would be safety of the device. We aim to develop a passive force display glove which consists of only passive elements like brakes, have no danger of hurting operator even if the controller runs away, and is to have characteristics of safety, high performance and inexpensive. This paper reports the prototype glove and its improved type.

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  • Basic structure and prototype of novel linear actuator with electro-rheological gel

    Ken'ichi Koyanagi, Yasuhiro Kakinuma, Hidenobu Anzai, Koji Sakurai, Tomoya Yamaguchi, Toru Oshima, Noboru Momose, Takayuki Matsuno

    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS  2007  IEEE

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    Event date: 2007

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    Nowadays, robots manipluated by human are aggressively researched and developed. Such robots need large generative force, high speed response, good controllability, high safety, low friction, backdriveability and so on. We have put emphasis on the backdriveability and created a novel prototype linear actuator with new structure applying an ER (Electro-Rheological) gel, a recent functional material. It is an all-purpose actuator satisfying characteristics for human-coexistence welfare robot.

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  • Development of Passive Force Display Glove System Using Electromagnetic Brakes

    野崎航, 小柳健一, 大島徹, 松野隆幸, 百生登

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2007 

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  • Jumping mechanism imitating vertebrate by the mechanical function of bi-articular muscle

    Toru Oshima, Noboru Momose, Ken'ichi Koyanagi, Takayuki Matsuno, Tomohiko Fujikawa

    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS  2007  IEEE

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    Event date: 2007

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    In proposing the jumping mechanism imitating the leg of vertebrate, unique mechanical function of bi-articular muscle was analyzed. The bi-articular muscle is an actuator which exists only in vertebrate. The ground reaction force and/or jumping motion were examined using the following three jumping mechanisms, 1) the mechanism which arranged two actuators on the knee and ankle joint independently (Mechanism-A), 2) the mechanism which arranged two actuators on the knee and ankle joint, and connected two joints by a wire (Mechanism-B), 3) the mechanism which arranged one actuator only on the knee joint, and connected two joints by a wire (Mechanism-C). It became clear that the Mechanism-C is excellent as the result of analyses in this study. A pantograph mechanism is constituted by the wire equivalent to the biarticular muscle which transmits the joint torque between two joints. And, ideal ground reaction force for jumping motion is generated. Furthermore, the jumping mechanism or robot which has the function of bi-articular muscle was made and the vertebrate like jumping motion was realized. In this study, it is said that the muscular arrangement of vertebrate is ideal arrangement. It is also an answer to the general question why is the crus very thinner than the femur of vertebrate which makes a jump elated.

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  • Modeling for mating process of electric connectors in robotic wiring harness assembly systems

    Jian Huang, Toshio Fukuda, Takayuki Matsuno

    IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS  2007  IEEE

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    Event date: 2007

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    Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system. A piece-wise linear force model is reported to describe the successful mating process of connectors via elaborate analysis of force during different phases. The corresponding parameter estimation method of this model is also presented by adapting regular least square estimation methods. A typical type of connectors are investigated in this paper. The results can be extended to other types easily. Experiments show that the presented model has good prospects in fault diagnostic tasks.

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  • Stability proof of biped walking control based on point-contact

    Masahiro Doi, Yasuhisa Hasegawa, Takayuki Matsuno, Toshio Fukuda

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10  2007  IEEE

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    Event date: 2007

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    As one of dynamics-based control of biped walking, some researchers presented the control method to take advantage of robot dynamics directly by use of point-contact state between a robot and the ground. We proposed Passive Dynamic Autonomous Control (PDAC) previously[13] as one of point-contact methods. PDAC expresses the robot dynamics as an 1-dimensional autonomous system based on the two concepts: 1) point-contact 2) Virtual Constraint (proposed by Grizzle and Westervelt et al[8], [10]). We actually realized 3D dynamic walking by means of proposed method, however stability is not proved and the convergence domain is not clear. Thus, this paper finds the convergence domain of the previously proposed controller and proves the stability by the Liapunov Theory. Finally, the correctness of stability proof is confirmed by the numerical simulation.

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  • Sensor fusion based fuzzy rules learning for humanitarian mine detection

    Zakarya Zyada, Yasuhiro Kawai, Takayuki Matsuno, Toshio Fukuda

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13  2006  IEEE

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    Event date: 2006

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    In this paper, a sensor fusion based fuzzy rules for humanitarian demining are presented. A fuzzy learning algorithm for extracting fuzzy fusion rules from experimental data of robot-manipulated ground penetrating radar (GPR) and metal detector (MD) is presented. The inputs to the fuzzy learning algorithm are features extracted from both a GPR and an MD while its output is a set of fuzzy rules. Applying the learnt fuzzy fusion rules and knowing GPR and the MD features of a given scan, it is possible to decide if there is a land mine and its approximate depth underground. The features chosen for this fusion algorithm are the peak amplitude of a processed GPR output signal and the peak value of the cumulative sum of amplitudes of MD output signal for the same scanned area. Experimental test results are presented for verifying the validity of the proposed learnt fuzzy fusion rule base.

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  • Tailor-made multilayer piezoelectric actuator having large displacements and forces produced from lead-free piezoelectric ceramics

    Kohei Motoo, Naoya Toda, Toshio Fukuda, Fumihito Arai, Koichi Kikuta, Shin-ichi Hirano, Takayuki Matsuno

    2006 IEEE INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE  2006  IEEE

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    Event date: 2006

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    We propose tailor-made multilayer piezoelectric actuators (TAMPA) having large displacements and large forces. In existing piezoelectric actuators, production of small, low-cost actuators having large displacements and large forces is difficult to achieve. We solved this problem by combining two bimorph-type piezoelectric elements with both ends simply supported, and stacking several elements on top of each other. Moreover, TAMPA is a tailor-made actuator whose displacement to force ratio can be varied widely by adjusting the size of the bimorph-type piezoelectric elements even when the total size of the actuator is kept constant. In this study, the bimorph-type piezoelectric element was analyzed, and the relationship between the displacement and the force under fixed conditions was experimentally determined. The relationship between the displacement and the force of TAMPA was theoretically derived. The analytical results showed that a TAMPA having dimensions of approximately 10x10x10 mm is capable of generating displacements of several hundred mu m or the force of several N. A prototype was produced and its performance was evaluated. These results agreed well with the analytical results, confirming the validity of the analytical results. Finally, because the lead in PZT can cause environmental problems, a TAMPA was produced that used (K,Na)(Nb,Ta)O-3 piezoelectric ceramics instead of PZT.

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  • Piezoelectric vibration-type tactile sensor with wide measurement range using elasticity and viscosity change

    Kohei Motoo, Toshio Fukuda, Fumihito Arai, Takayuki Matsuno

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12  2006  IEEE

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    Event date: 2006

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    We propose a new tactile sensor utilizing piezoelectric vibration. This tactile sensor has a high sensitivity, wide measurement range, pressure resistance, flexibility, and self-sensing function. This tactile sensor comprises two piezoelectric materials. One is used for the vibration of the sensor element and the other is used for the measurement of the change in mechanical impedance induced by an external force. We achieved the wide measurement range by implementing two ideas. One was to apply the external force to the sensor element through an elastic body and the other was to use two or more modes of vibration. Moreover, for the elastic body, it is preferable to use a material whose elasticity and viscosity are easily changed by an external force, such as a gel. In this study, first, this tactile sensor was analyzed, and then its characteristics were derived. The analytical results qualitatively corresponded to the experimental results. Next, a prototype tactile sensor was fabricated and evaluated. The evaluation results showed that this tactile sensor can measure a pressure of 2.5 Pa or less and a pressure of 10 kPa or more and its pressure resistance is 1 MPa or more.

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  • バイオメカニカルな跳躍メカニズムの提案

    坂井康樹, 百生登, 大島徹, 小柳健一, 松野隆幸, 藤川智彦

    生活支援工学系学会連合大会講演予稿集  2006 

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    Event date: 2006

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  • 2A1-D34 Analytical Design Method of Bracgiation Controller on the Irregular Ladder

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006  The Japan Society of Mechanical Engineers

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    Event date: 2006

    Language:Japanese  

    In this paper, we present the control method to achieve the continuous brachiation on the irregular ladder. The uniform ladder problem was solved by means of symmetric property previously. However, as for the irregular ladder problem, it's impossible to build the controller based on symmetric property since the motion cannot be designed symmetrically. Therefore, it is necessary to estimate the energy difference caused by symmetry breaking.We apply Passive Dynamic Autonomous Control (PDAC), which was proposed previously, to the locomotion action and evaluate the energy difference. Swing motion is adjusted so as to satisfy the desired energy calculated from the energy difference. The validity of proposed method is tested by the experiment of Gorilla Robot III and the irregular ladder brachiation is realized.

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  • Tillage Depth Control for Rotary Implements on a Tractor by using Ground Level Estimation and Orientation Control of Transmitting and Receiving Antennae

    福田敏男, 菅沼直孝, 松野隆幸, 丹生秀和

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2006  The Japan Society of Mechanical Engineers

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    Event date: 2006

    Language:Japanese  

    In this papar, we proposed a new method of rotary height control. Our method can estimate absolute height of ground level only using pitching sensor. But this ground level estimation method has a error caused by unknown ground height between front wheel rear wheels, we solved this problem by observing the difference between a rear cover angle of an internal model and an actual rear cover angle. In additon, we proposed hybrid control system of preview control and rotary height control. Finally, the effectiveness of proposed methods was confirmed.

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  • 2P1-B31 Control of smooth biped walking by means of heel-off motion

    Doi Masahiro, Mastuno Takayuki, Hasegawa Yasuhisa, Fukuda Toshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006  The Japan Society of Mechanical Engineers

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    Event date: 2006

    Language:Japanese  

    This paper proposes the control method of biped walking with heel-off motion. Heel-off motion made it possible to avoid the problem for the impact shock at foot-contact to break the stabilization of walking. The 3D motion is separated into lateral and sagittal motion and the approximate 1-mass model in both planes is employed. In the sagittal plane, there are two phases: 1) the center of rotation (contact point) is ankle joint. 2) the center of rotation is toe. In phase 2), heel-off motion is designed to diminish the impact shock at foot-contact. The phase of dynamics derived by means of PDAC makes it possible to inspect heel-off motion analytically. We design the stabilizing controller for each plane and confirm the convergency of dynamics with the numerical simulation.

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  • 2P2-B05 Integration of piezoelectric vibration-type tactile sensor with high sensitivity and wide measurement range

    MOTOO Kohei, YAMADA Yuji, MATSUNO Takayuki, FUKUDA Toshio, ARAI Fumihito

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006  The Japan Society of Mechanical Engineers

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    Event date: 2006

    Language:Japanese  

    We integrated the piezoelectric vibration-type tactile sensor with high sensitivity and wide measurement range. It was a problem that the vibration of a certain sensor element influenced other sensor elements when this tactile sensor was integrated. In this paper, first, we solved this problem by placing the vibration absorption material between sensor elements. Next, the structure of the integrated piezoelectric vibration-type tactile sensor was proposed and produced. As a result, we succeeded in integrating 18 sensor elements in the area of 20×20 mm. However, the vibration was not absorbed enough by the vibration absorption material with the acrylic resin and the conductive epoxy resin. This problem was solved by using a flexible conductive tape as the vibration absorption material, and the integrated tactile sensor with high sensitivity and wide measurement range was realized.

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  • 2P1-C37 GPR Signal Processing for Geography Adaptive Scanning with Vector Radar

    KAWAI Yasuhiro, SATO Shinsuke, MATSUNO Takayuki, HASEGAWA Yasuhisa, FUKUDA Toshio, Zyada Zakarya

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006  The Japan Society of Mechanical Engineers

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    Event date: 2006

    Language:Japanese  

    Ground Penetrating Radar (GPR) is a promising sensor for landmine detection, however there are several problems to overcome. One is adaptability to non-planer(e.g. rough and/or undulating) ground surface. It remains unremovable clutters on a sub-surface image output from GPR. Geography adaptive scanning is useful to image objects beneath non-planer ground surface. The other problem is the distance between the antennas of GPR. When imaging a small object such as an anti-personnel landmine close to antennas, it increases the nonlinearity of the relationship between the time for propagation and the depth of a buried object. In this paper, we modify Kirchoff migration so as to account for not only the variation of height and pose of the sensor head, but also the antennas alignment of the vector radar. The validity of this method is discussed through application to the signals acquired in experiments.

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  • Grasping of Objects with Piezoelectric Vibration-Type Tactile Sensor

    元尾幸平, 山田祐司, 福田敏男, 新井史人, 松野隆幸

    日本ロボット学会学術講演会予稿集(CD-ROM)  2006 

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  • Modeling of landmine detection vehicle with low-ground-pressure tire

    佐藤慎祐, 福田敏男, 長谷川泰久, 松野隆幸, ZAKARYA Zyada

    日本ロボット学会学術講演会予稿集(CD-ROM)  2006 

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  • 1A1-C15 New Multilayer Piezoelectric Actuator with Large Displacement and Large Force

    MOTOO Kohei, TODA Naoya, FUKUDA Toshio, ARAI Fumihito, MATSUNO Takayuki

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006  The Japan Society of Mechanical Engineers

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    Event date: 2006

    Language:Japanese  

    We propose the tailor-made multilayer piezoelectric actuator with large displacement and large force. In a past piezoelectric actuator, the achievement of a small, low-cost actuator with large displacement and large force was difficult. We solved these problems by combining two bimorph type piezoelectric elements by the both ends being supported, and accumulating it. Moreover, the ratio of displacement and force of this multilayer piezoelectric actuator can be widely changed by changing the size of bimorph type piezoelectric element. In this study, first, we show the structure of this multilayer piezoelectric actuator. Next, displacement and force of this multilayer piezoelectric actuator were theoretically derived. The analytical results almost corresponded to the experimental results. Next, prototype multilayer piezoelectric actuators were fabricated and evaluated. The evaluation results showed that this multilayer piezoelectric actuator can generate a displacement of several 100 μm or a force of several N within the size of 10×10×10 mm.

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  • 1A1-A23 Wearable Sleep Control System Based on Human Biological Rhythm

    WAKUDA Yuki, NODA Akiko, HASEGAWA Yasuhisa, MATSUNO Takayuki, ARAI Fumihito, FUKUDA Toshio, KAWAGUCHI Mitsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006  The Japan Society of Mechanical Engineers

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    Event date: 2006

    Language:Japanese  

    In this paper, we propose the wearable sleep control system and estimation method of the sleep state using pulse wave. We are trying to make an adaptive human interface of sleep control system above mentioned. There are 3 steps for realize the system. At first, the system could be estimate human sleep state. Secondly, system must be an adaptive system for differences among individuals. At last, the system must be able to do something to human to control user's state. We are considering about most simple way to control human's sleep cycle phase is to control awakening timing and sleep time. Now, the ordinary alarm clock operates according to the time. And we have to set the "time" in advance. But human has a rhythms in one's sleep cycle. The cycle affects one's sleep depth and wake-up timing.

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  • Motion control of landmine detection vehicle equipped with low-ground-pressure tires

    Toshio Fukuda, Shinsuke Sato, Yasuhisa Hasegawa, Takayuki Matsuno, Zakarya Zyada

    2006 IEEE INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE  2006  IEEE

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    Event date: 2006

    Language:English  

    Most of landmine detection robots proposed before have been strongly restricted to locomote because they have not been able to enter the minefield. So we have proposed a mine detection vehicle which can enter minefield with low-ground-pressure tires and scan landmines directly using GPR. Low-ground-pressure tire decrease ground contact pressure. And we are intended to make accurate map that point out the position where landmines are buried. The position of the vehicle is able to be observed with internal sensors (for the posture measurement) and external sensors (for the position measurement). However, when controlling the vehicle, the sampling time of external sensors and communication time from external sensors to the vehicle cannot be disregarded. Exact position of the vehicle must be predicted with dynandcal model of the vehicle. We therefore propose dynamical model of the vehicle for low-ground-pressure vehicle. Based on experimental results, the dynamical model for low-ground-pressure vehicle is in consistency with acutual behavior of it.

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  • Automatic land-mine detection system using adaptive sensing with vector CPR

    Toshio Fukuda, Yasuhisa Hasegawa, Yasuhiro Kawai, Shinsuke Sato, Zyada Zakariya, Takayuki Matsuno

    IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11  2006  IEEE

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    Event date: 2006

    Language:English  

    Ground Penetrating Radar (GPR) is a promising sensor for landmine detection, but there are two major problems to overcome. One is the non-planer(e.g. rough and/or undulating) ground surface. It remains irremovable clutters on a sub-surface image output from GPR. Geography adaptive scanning is useful to image objects beneath non-planer ground surface. The other problem is the distance between the antennas of GPR. When imaging the small objects such as an anti-personnel landmine close to antennas, it increases the nonlinearity of the relationship between the time for propagation and the depth of a buried object. In this paper, we modify Kirchhoff migration so as to account for not only the variation of height and pose of the sensor head, but also the antennas alignment of the vector radar. The validity of this method is discussed through application to the signals acquired in experiments.

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  • Proposal of smooth biped walking control by means of heel-off motion

    Masahiro Doi, Takayuki Matsuno, Yasuhisa Hasegawa, Toshio Fukuda

    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10  2006  IEEE

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    Event date: 2006

    Language:English  

    This paper proposes the control method of biped walking with heel-off motion. Heel-off motion made it possible to avoid the problem for the impact shock at foot-contact to break the stabilization of walking. The 3D motion is separated into lateral and sagittal motion and each motion is designed individually under the assumption that each motion is possible to be treated independently each other. We adopt the approximate 1-mass model in both planes and derive the dynamics based on these models. It is assumed that the lateral motion is relevant to heel-off motion. On the other hand, in the sagittal plane, there are two phases: 1) the center of rotation (contact point) is ankle joint. 2) the center of rotation is toe. In phase 2), heel-off motion is designed to diminish the impact shock at foot-contact. By applying PDAC to the dynamics, phase around the contact point can be derived. By means of this phase of dynamics, it is possible to inspect heel-off motion analytically. We design the stabilizing controller for each plane and confirm the convergency of dynamics with the numerical simulation.

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  • Mechanical design and optimization of ubiquitous power generator

    新井史人, 高橋淳二, 元尾幸平, 松野隆幸, 松浦英雄, 福田敏男, 糸魚川貢一, 塚原靖典

    日本ロボット学会学術講演会予稿集(CD-ROM)  2005 

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    Event date: 2005

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  • Biped Walking Based on the 3D Inverted Pendulum Model Under the Assumption of Point-contact

    土井将弘, 松野隆幸, 長谷川泰久, 福田敏男

    日本ロボット学会学術講演会予稿集(CD-ROM)  2005 

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  • Quadruped Walking Control Based on Passive Joint

    福田敏男, 浅野義彦, 土井将弘, 松野隆幸, 長谷川泰久

    日本ロボット学会学術講演会予稿集(CD-ROM)  2005 

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  • 1P1-S-043 Control of 3D dynamic biped walking based on the assumption of point-contact(Biped Robot 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Doi Masahiro, Matsuno Takayuki, Hasegawa Yasuhisa, Fukuda Toshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2005  The Japan Society of Mechanical Engineers

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    Event date: 2005

    Language:Japanese  

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  • 2A1-N-104 Integration of tactile sensor using vibrating piezoelectric element and application to robot finger(Tactile and Force Sense 4,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Arai Fumihito, Yamada Yuji, Motoo Kouhei, Matsuno Takayuki, Fukuda Toshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2005  The Japan Society of Mechanical Engineers

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    Event date: 2005

    Language:Japanese  

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  • 2A1-S-046 Quadruped Walking Control Based on Passive Joint in Pace Gait(Walking Robot 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Fukuda Toshio, Asano Yoshihiko, Doi Masahiro, Matsuno Takayuki, Hasegawa Yasuhisa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2005  The Japan Society of Mechanical Engineers

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  • Grasping Thin Plate by Robot Hand Using Sensor Embedded Soft Finger

    松野隆幸, 金田健作, 福田敏男, 新井史人, 松浦英雄

    日本ロボット学会学術講演会予稿集(CD-ROM)  2004 

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  • Shape Recognition Method of Rope Using Topological Model and Knot Invariant Based on Image Information for Manipulation(Vision and Recognition 2,Session: MP1-D)

    MATSUNO Takayuki, TAMAKI Daichi, ARAI Fumihito, FUKUDA Toshio

    The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM  2004  The Japan Society of Mechanical Engineers

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    Event date: 2004

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  • Novel Tactile Sensor Using Elastic Deformation of Gel for Robot

    元尾幸平, 新井史人, 山田祐司, 松野隆幸, 福田敏男, 松浦英雄

    日本ロボット学会学術講演会予稿集(CD-ROM)  2004 

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  • Tandem Hole Insertion Using Search

    松野隆幸, 福田敏男, 長谷川泰久

    日本ロボット学会学術講演会予稿集(CD-ROM)  2003 

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  • Flexible Rope Manipulation by Dual Manipulator System with Vision Sensor.

    松野隆幸, 福田敏男, 新井史人

    日本ロボット学会学術講演会予稿集  2000 

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    Event date: 2000

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  • Flexible Object Manipulation by Dual Arm System.

    福田敏男, 松野隆幸, 新井史人

    日本ロボット学会学術講演会予稿集  1999 

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    Event date: 1999

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Industrial property rights

  • 穿刺ロボットシステム

    亀川 哲志, 松野 隆幸, 平木 隆夫, 谷本 圭司

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    Applicant:国立大学法人 岡山大学

    Application no:特願2021-061795  Date applied:2021.3.31

    Patent/Registration no:特許第6951811号  Date registered:2021.9.29 

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  • 穿刺ロボットの制御装置

    亀川 哲志, 松野 隆幸, 平木 隆夫, 谷本 圭司

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    Applicant:国立大学法人 岡山大学

    Application no:特願2021-061796  Date applied:2021.3.31

    Patent/Registration no:特許第6951812号  Date registered:2021.9.29 

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  • 穿刺ロボット及び穿刺制御用プログラム

    平木 隆夫, 小牧 稔幸, 亀川 哲志, 松野 隆幸

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    Applicant:国立大学法人 岡山大学

    Application no:特願2019-068038  Date applied:2019.3.29

    Announcement no:特開2020-162969  Date announced:2020.10.8

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  • 穿刺ロボット

    北村 浩基, 部矢 明, 難波 孝文, 亀川 哲志, 松野 隆幸, 平木 隆夫

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    Applicant:国立大学法人 岡山大学

    Application no:JP2016078920  Date applied:2016.9.29

    Publication no:WO2017-065016  Date published:2017420

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  • ワークの組み立て手順演算方法、組み立て手順演算プログラム、部品の製造方法及び自動組立ロボット

    永井 政行, 佐々木 裕宣, 中杉 幹夫, 松野 隆幸, 福田 敏男

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    Applicant:キヤノン株式会社

    Application no:特願2012-018445  Date applied:2012.1.31

    Announcement no:特開2013-154446  Date announced:2013.8.15

    Patent/Registration no:特許第6026746号  Date registered:2016.10.21 

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  • ロボットのねじ締め作業異常検知方法

    松野 隆幸, 前川 清石, 白土 浩司

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    Applicant:富山県

    Application no:特願2011-037520  Date applied:2011.2.23

    Announcement no:特開2012-171071  Date announced:2012.9.10

    Patent/Registration no:特許第5496129号  Date registered:2014.3.14 

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  • 車両

    土井 克則, 福田 敏男, 松野 隆幸, 黄 剣

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    Applicant:株式会社エクォス・リサーチ

    Application no:特願2008-212239  Date applied:2008.8.20

    Announcement no:特開2010-047095  Date announced:2010.3.4

    Patent/Registration no:特許第5181923号  Date registered:2013.1.25 

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Awards

  • 論文賞(優秀症例賞)

    2021.11   日本コンピュータ外科学会   CT透視ガイド下針穿刺ロボットの自動化のための医師の手技中における針の軌道修正の調査

    亀川哲志, 高山和真, 松野隆幸, 平木隆夫, 櫻井淳, 小牧稔幸, 松浦龍太郎, 佐々木崇了, 五福明夫

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  • 部門貢献表彰

    2020.12   計測自動制御学会SI部門   SI2019プログラム委員長

    松野隆幸

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  • 第15回村川・難波技術奨励賞

    2020.5   公益社団法人 山陽技術振興会   CT透視下IVR用穿刺ロボット「Zerobot」

    平木隆夫:亀川哲志:松野隆幸:谷本圭司

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  • SI2019 優秀講演賞

    2019.12   計測自動制御学会SI部門   CT透視下IVRロボットの自動穿刺に関する研究

    松野隆幸, 城戸修希, 村上輝, 亀川哲志, 平木隆夫, 戸田雄一郎, 見浪護

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Research Projects

  • 岡山発の革新的医療用針穿刺ロボットの開発:IVRロボットの適用対象を拡張する機能開発

    2022.06 - 2023.02

    文部科学省  特別電源所在県科学技術振興事業  医療・福祉・健康分野

    松野 隆幸,亀川 哲志, 諸岡 健一, 平木隆夫

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\8300000 ( Indirect expense:\754545 )

  • 岡山発の革新的医療用針穿刺ロボットの開発:次世代ロボットのための基盤技術の開発

    2021.06 - 2022.02

    文部科学省  特別電源所在県科学技術振興事業  医療・福祉・健康分野

    亀川 哲志, 諸岡 健一, 松野 隆幸, 平木隆夫

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    Authorship:Coinvestigator(s) 

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  • 岡山発の革新的医療用針穿刺ロボットの開発:手技計画の簡便化と安全機能の強化

    2020.06 - 2021.02

    文部科学省  特別電源所在県科学技術振興事業 

    松野隆幸, 亀川哲志, 平木隆夫

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  • 岡山発の革新的医療用針穿刺ロボットの開発:治験のための新たな安全機構およびインタ フェースの開発

    2019.06 - 2020.02

    亀川哲志, 松野隆幸, 平木隆夫

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    Authorship:Coinvestigator(s) 

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  • CT透視下IVR用針穿刺ロボットにおける半自動穿刺システムの開発

    Grant number:19K08174  2019.04 - 2022.03

    日本学術振興会  科学研究費助成事業 基盤研究(C)  基盤研究(C)

    小牧 稔幸, 平木 隆夫, 亀川 哲志, 松野 隆幸, 金澤 右, 櫻井 淳, 松井 裕輔

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    Grant amount:\4290000 ( Direct expense: \3300000 、 Indirect expense:\990000 )

    我々はCT透視ガイド下針穿刺ロボットを研究開発している。本ロボットはこれまで、術者がコントローラを操作してロボットの動きをすべて遠隔操作していた。術者による遠隔操作では、精度良く標的に穿刺できることをファントム試験、動物試験など非臨床試験で実証した。2018年度にはFirst-in-human臨床試験を実施し、本ロボットは臨床での使用も可能であることを確認した。
    我々はロボットを段階的に自動化することを目指している。これまでの研究により、医師が用手で針穿刺を行う際にどのように軌道修正を行っているのかについてのデータ解析を行い、適切なフィードバックを実施するための指針を得た。また、ロボットを用いた穿刺手技のうち、針先を刺入点へと移動させるターゲティング行程、および狙った標的へ向け針を挿入する穿刺行程において、一部を自動化する半自動化穿刺システムを開発した。
    半自動化のシステムでは、 CT 画像上の腫瘍、刺入点、および針先位置の認識とポインティング操作や、ロボットを動作させるタイミングを送る操作は術者の判断により行う。一方で、刺入点へ針先を移動させる制御や、標的の方向に対する現在の針先方向のずれの算出、ずれを補正するための針姿勢修正動作ならびに穿刺動作、これらに伴う逆運動学計算は、ロボット内部の計算機および操作インタフェースのソフトウェアとして実装されている。
    開発したシステムの有効性や妥当性は、岡山大学病院のIVRセンターにてファントム実験を実施することで検証している。

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  • Shape abstraction and operation planning method to realize flexible object handling by robot manipulator

    Grant number:18K04051  2018.04 - 2021.03

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)  Grant-in-Aid for Scientific Research (C)

    松野 隆幸

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    Grant amount:\4290000 ( Direct expense: \3300000 、 Indirect expense:\990000 )

    我々の身の回りに存在するひもや布,紙といった物体は柔らかく形状が一定に定まりにくいため不定形物体とも呼ばれる.近年,この不定形物体をロボットで操作する需要が増大している.例えば生産ラインでは産業用ロボットによって多くの作業が自動化されているが,柔軟なケーブルの配線作業やバラ積みされた部品のピックアップ等は現在も手作業で行なわれている.少子高齢化に伴う労働力の減少が危惧されている日本の生産現場ではこうした作業の自動化が求められている.人間の生活空間には食品や衣服,紙などの柔軟物が数多く存在するが,ロボットによるこれらの自在な把持操作が可能になれば,近い将来家庭用ロボットが普及するかもしれない.このようにロボットによる不定形物体の操作が実現されれば我々の生活はより豊かで便利になると期待される.しかし不定形物体の自在なマニピュレーションは困難である.その大きな要因は不定形物体の形状が様々に変化する事にあり,ティーチングプレイバック等による画一的な動作では操作することができない.そこで本研究グループでは不定形物体であるひもに着目し,ひもの結びや解きといった形状操作をロボットで実現することを目標として研究を行った.
    マニピュレータを用いたひも解き操作実験に成功した.本年度の研究では操作の成功率向上のために,目標形状におけるひものセグメント長の比率を考慮したロボット操作軌道の生成法を提案した.目標形状の形状抽象化データ及び計画された操作群をもとに一回操作後の形状におけるセグメント長の比率を算出しロボットの操作軌道を生成する.本年度はスカラ型双腕マニピュレータロボットにおけるひも操作の基本機能を確認した.

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  • 遠隔操作型針穿刺ロボットを用いたCT透視ガイド下生検の臨床試験(FIH試験)

    Grant number:18K07677  2018.04 - 2021.03

    日本学術振興会  科学研究費助成事業 基盤研究(C)  基盤研究(C)

    平木 隆夫, 金澤 右, 櫻井 淳, 小牧 稔幸, 松野 隆幸, 松井 裕輔, 亀川 哲志

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    Grant amount:\4420000 ( Direct expense: \3400000 、 Indirect expense:\1020000 )

    本研究の目的は、我々が開発したCTガイド下IVR用針穿刺ロボット(Zerobot)を用いたCT透視ガイド下生検の臨床試験(First-in-Human試験)を実施することである。まず、試験を特定臨床研究としてjRCTに登録し(登録番号:jRCTs0621800)、その後、昨年度上旬に臨床試験を開始し、昨年度中に予定症例数10例(女性4例、男性6例;平均年齢72歳)の試験プロトコル手技を実施した。10例の病変の内訳は、腎腫瘍4例、肺腫瘍3例、副腎腫瘍1例、縦隔腫瘍1例、筋腫瘍1例であった。全例でZerobotを用いた生検導入針穿刺は実行可能であった。Zerobotの不具合はみられなかった。有害事象は8例で計11個生じた(グレードIIIa 1個、グレードI10個)。よって、Zerobotを用いた生検導入針穿刺は、人における様々な部位で安全に実行可能であることが示された。
    今年度は、臨床試験の成果発表を主に行った。まず4月には横浜で開催された第78回日本医学放射線学会にて発表を行い、Gold medalを受賞した。次に欧州放射線学会の機関誌であるEuropean Radiologyに論文として発表を行った。それ以外にも多くの研究会や展示会等で本臨床試験の結果を講演内で発表してした。また、jRCTには本年1月付で終了届書を提出し、3月には実施医療機関の長である病院長に終了の報告を行った。

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  • CTガイド下針穿刺ロボットを用いた3次元穿刺技術の開発

    Grant number:17K10439  2017.04 - 2021.03

    日本学術振興会  科学研究費助成事業 基盤研究(C)  基盤研究(C)

    櫻井 淳, 平木 隆夫, 亀川 哲志, 松野 隆幸, 金澤 右, 松井 裕輔, 小牧 稔幸

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    Grant amount:\4550000 ( Direct expense: \3500000 、 Indirect expense:\1050000 )

    2019年度には、岡山大学で開発したCT透視ガイド下穿刺ロボット(Zerobot)によって高精度な3次元穿刺が可能であることを証明した非臨床ファントム試験、動物試験の結果の解析と論文投稿を行った。研究結果の概略としては、ファントム試験において、平均の穿刺誤差角度はロボットにおいてXY平面上で0.4度、YZ平面上で0.6度、穿刺補助装置を用いた用手法においてXY平面上で3.7度、YZ平面上で0.6度であり、ロボットの方がより高精度であった。動物試験において、平均の穿刺誤差距離は穿刺中の針軸調整を加えた群で2.5mm、調整を加えない群で5.0mmであり、調整を加えない群でも高精度な結果が得られ、さらに調整を加えることで精度は向上した。本研究論文はEuropean Radiology誌に掲載された。
    上記、非臨床試験の結果をうけて、さらにシステムの改良、開発を進めた。高精度ターゲティングに関して開発した、ロボットの構造的なパラメータを補正するキャリブレーションの手法を用いた運動学パラメータの補正、CTガントリー平面に対するロボット設置の垂直度を取得し補正する手法、CT画像の針姿勢情報を基にロボットの初期関節角度を補正するアルゴルリズムなどの調整、改良を行った。さらに、穿刺中に生じた針のズレ修正のために開発した方法論(特許出願済み)に関しても、システム面での改良を進めた。
    すでに非臨床試験で十分に高精度な穿刺精度を実現できることが示されたが、ロボット自体の機能改良などに合わせて、三次元穿刺に関わるシステムの修正や改良も合わせて実施した。

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  • Establishment of Docking Control by Stereo-vision Real-time Space Perception for Autonomous Underwater Vehicle and Real-sea Verification Experiments

    Grant number:16K06183  2016.04 - 2019.03

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)  Grant-in-Aid for Scientific Research (C)

    Minami Mamoru

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    Grant amount:\4810000 ( Direct expense: \3700000 、 Indirect expense:\1110000 )

    Through conducting continuous repeated docking in pool and real sea -Setouchi Inland Sea-, nearly ninety-times dockings with the stroke of 600[mm] have been verified to be executable, should the following prerequisite conditions be satisfied. The prerequisite conditions are (1)turbidity level is lower than 5[FTU], (2)lighting environment is daytime condition, (3)docking hole direction is kept to be parallel to the current orientation. Furthermore, by making the 3D-marker for detecting relative pose between the marker and the underwater vehicle being able to light-emitting, the restricting prerequisite condition on how much extent the vehicle can dock, has been expanded. The expanded abilities are (a)the turbidity could be successful up to 12[FTU], (b)pitch-dark lighting environment does not pose any problem for docking, which has been enabled by lighting-3D-marker.

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  • Mechanical properties analysis of parallel link mechanism and its application to new end-effector of robotic manipulator

    Grant number:26820088  2014.04 - 2017.03

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B)  Grant-in-Aid for Young Scientists (B)

    Matsuno Takayuki, WATANABE Tomotoshi

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    Grant amount:\2080000 ( Direct expense: \1600000 、 Indirect expense:\480000 )

    The purpose of this research is to develop an end-effector of a new mechanism that realizes the assembling work involving the contact between small parts with a robot. Automation is important in the improvement work of assembling small part. In order to develop an end-effector using the delta-type parallel link mechanism, we considered the link length of the parallel link mechanism based on both kinematics of the end-effector and Jacobian of it.

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  • Development of CT-fluoroscopy-guided needle insertion robot: Free physicians from radiation

    Grant number:25461882  2013.04 - 2016.03

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)  Grant-in-Aid for Scientific Research (C)

    Hiraki Takao, GOBARA Hideo, KANAZAWA Susumu, MATSUNO Takayuki, FUJIWARA Hiroyasu, KAMEGAWA Tetsushi

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    Grant amount:\4940000 ( Direct expense: \3800000 、 Indirect expense:\1140000 )

    In 2013, a prototype robot was developed and phantom studies were performed. Robot was remotely controlled with controller and a needle was successfully inserted into a target 2 cm in size without radation exposure to a physician. In 2014 and 2015, the prototype robot was improved. In 2014, backlash during motion was improved. More needle insertion strength and faster insertion speed were applied. Usability of interface was also improved, and presentation of force sense to a physician was acheived. In 2015, hand section of the robot was made smaller and lighter. Further, mechanism of needle attachment and removal was simplified.

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  • 不定形物体マニピュレーションのためのマルチモデルを用いた異常検出に関する研究

    Grant number:17760203  2005 - 2006

    日本学術振興会  科学研究費助成事業 若手研究(B)  若手研究(B)

    松野 隆幸

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    Grant amount:\1900000 ( Direct expense: \1900000 )

    人間が身の回りに所有する変形の大きい定まった形を持たない不定形物体は紙,布,ロープなど数限りない.その不定形物体をロボットで自由に操る要求は大きい.しかし,ロボットでこれらの不定形物体を自在に操るのは容易ではない.その理由として変形と応力の関係にヒステリシスが含まれ正確なモデル化が困難であることが挙げられる.ゆえに不定形物体の操作を誤る可能性は否定できない.それゆえ不定形物体の操作にはエラーリカバリ動作が必要となる.まず,複雑な形状に変形するロープをハンドリングするために,ロープの形状をトポロジカルなモデルを用いて記述する方法を提案し,ブラケット多項式およびジョーンズ多項式の2つの結び目不変量を組み合わせて利用することにより,ロープの構造を判別するアルゴリズムを提案した.また,トポロジカルなモデルを取得するために必要な,交点付近の輝度分布の不偏分散を用いて交点におけるロープの重なりの上下判別を行うアルゴリズムを提案し,その有効性を確認した.次に柔軟物体がマニピュレータによって与えられる外力や加速度によってどのような変形を起こすかという予測を実現するために挙動を再現するための線状柔軟物体のシミュレーションプログラムを作成した.これはワイヤーやロープのような線状の物体を小さい要素同士がバネで結合していると仮定し,それぞれの要素間で変形による反力と外力が釣り合う形状になることを計算したものである.重力や移動に伴う加速度によってどのように変形するかを再現できた.

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  • 無鉛圧電セラミックスを用いたスマートアクチュエーターとその応用

    Grant number:17040018  2005 - 2006

    日本学術振興会  科学研究費助成事業 特定領域研究  特定領域研究

    福田 敏男, 松野 隆幸, 加藤 一実

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    Grant amount:\11600000 ( Direct expense: \11600000 )

    圧電アクチュエータは,小型,高出力,高精度,高応答性を有するため,自動車,家電製品,マイクロ・ナノデバイス等の様々な部品へ応用されている.しかしながら,既存の圧電アクチュエータでは,小型,低コスト,かつ変位と力を両立したアクチュエータは実現困難であった.我々は,2枚のバイモルフ型圧電素子を両端支持で組み合わせ,それらを積層することにより,これらの要件を満たす新たな積層圧電アクチュエータを開発し,TAMPA(Tailor-made Multilayer Piezoelectric Actuator)と名付けた.本年度は,前年度に引き続きTAMPAの改良を行い,特に,現在問題となっている圧電セラミックス(PZT)中の鉛による環境問題に取り組むため,無鉛圧電セラミックスを用いたTAMPAの無鉛化アクチュエータを作製し,動作・特性と解析を実験的に確認した.さらに,作製したTAMPAをマイクロデバイスへ応用を試みた.本年度の成果として,下記の通り,積層圧電アクチュエータのデバイス応用および積層圧電アクチュエータの無鉛化としてまとめる.
    ・積層圧電アクチュエータのデバイス応用
    本アクチュエータは,小型,低コスト,かつ変位と力を両立したアクチュエータであるので,マイクロバルブやマイクロステージ等の様々なデバイスへ応用可能である.今年度は,マイクロバルブへの応用を行い,マイクロチャネル内のマイクロ二層流の混合用デバイスとして応用を試みた結果,マイクロ二層流の混合及びマイクロチャネル内の濃度勾配の生成に成功した.
    ・積層圧電アクチュエータの無鉛化
    圧電セラミックス(PZT)中の鉛が環境問題となっているので,無鉛圧電セラミックスの調査を行った.実際に,無鉛圧電セラミックス((K,Na)(Nb,Ta)O_3)を用いてアクチュエータを作製し,特性評価・解析を行った.(776字)

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Class subject in charge

  • Vector and Complex Analyses (2022academic year) Second semester  - 月3~4,木1~2

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  • Vector and Complex Analyses (2020academic year) Second semester  - 月3,月4,木1,木2

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  • Construction Methodology of Robot System (2020academic year) Prophase  - その他

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Social Activities

  • ロボット紹介(ロボット研究会 小学生向けイベント)

    Role(s):Presenter, Lecturer, Demonstrator

    岡山市中央図書館  ロボット博士になろう  2021.7.23

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    Type:University open house

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Academic Activities

  • 第20回計測自動制御学会システムインテグレーション部門講演会 プログラム委員長

    Role(s):Planning, management, etc.

    計測自動制御学会システムインテグレーション部門  2019.12.12 - 2019.12.14

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    Type:Academic society, research group, etc. 

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