研究者詳細 - 松野　隆幸

講演・口頭発表等 - 松野　隆幸

分割表示 186 件中 61 - 80 件目／全件表示 >>

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年 IEEE

開催年月日： 2017年

記述言語：英語

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年 IEEE

開催年月日： 2017年

記述言語：英語

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年

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年

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年 IEEE

開催年月日： 2016年

記述言語：英語

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年 IEEE

開催年月日： 2016年

記述言語：英語

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年 IEEE

開催年月日： 2016年

記述言語：英語

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年 IEEE

開催年月日： 2016年

記述言語：英語

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年

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年

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年

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年

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年

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年

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年 IEEE

開催年月日： 2016年

記述言語：英語

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年 IEEE

開催年月日： 2016年

記述言語：英語

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年

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年

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年 IEEE

開催年月日： 2015年

記述言語：英語

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年 IEEE

開催年月日： 2015年

記述言語：英語

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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<松野 隆幸>

講演・口頭発表等 - 松野 隆幸

<松野　隆幸>

講演・口頭発表等 - 松野　隆幸