Faculty Profiles - MATSUNO Takayuki

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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

Event date： 2015

Language：English

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

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

Event date： 2015

Language：English

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

Event date： 2015

Language：English

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

Event date： 2015

Language：English

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

Event date： 2015

Language：English

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

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

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

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

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

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

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

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

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

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

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

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

Event date： 2014

Language：English

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

Event date： 2014

Language：English

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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