Faculty Profiles - MATSUNO Takayuki

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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

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

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

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

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

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

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

Event date： 2017

Language：English

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

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

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

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

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

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

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

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

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

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

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

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

Event date： 2017

Language：English

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

Event date： 2017

Language：English

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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