研究者詳細 - 松野　隆幸

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年2月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：TAYLOR & FRANCIS LTD

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.

DOI： 10.1080/01691864.2013.861769

CT透視下針穿刺用ロボット開発の歩み:術者被ばくゼロのIVRを目指して

既約分解表現を用いた制御系に対する強安定率の概念

矢納陽, 見浪護, 松野隆幸

計測自動制御学会論文集 50 ( 5 ) 2014年

セルフチューニング一般化最小分散制御系に対する強安定率を用いた安全性の評価

矢納陽, 見浪護, 松野隆幸

電気学会論文誌 C 134 ( 9 ) 2014年

平木隆夫, 亀川哲志, 松野隆幸, 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 29 ( 4 ) 375 - 381 2014年

記述言語：日本語出版者・発行元：The Japanese Society of Interventional Radiology

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

CiNii Article

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

その他リンク： http://search.jamas.or.jp/link/ui/2015126063

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講演論文集 57 1972 - 1977 2014年

記述言語：日本語出版者・発行元：自動制御連合講演会

本研究では，作用対象の色と形状などの属性情報（多機能センシング）を基に，ロボット側に作用対象の自動認識させた後ロボット自身による異なる環境条件においてフィルタプレス装置のろ布芯棒をモデルケースとして，芯金-ロボットハンドとの対象物同士の嵌合制御操作をMOS制御知能により実施し，達成可能な嵌合精度の技術的検証を行い，下記結論を得た．(1)ろ布交換用芯棒嵌合部を嵌合部中心軸に対向する平面範囲20mm×20mm四方以内に設定した合計9箇所に任意に設置した芯棒の嵌合実験をMOS制御知能ロボットで実施した結果,すべての設置点において芯棒嵌合部とロボット先端の嵌合部との嵌合実験に成功した．(2)芯棒嵌合部とロボットに取り付けた嵌合部とのクリアランスが1.875mmであった嵌合実験に対して，MOS制御によるx,y,z軸全方向における制御精度を作動誤差0.5mm以内に制御できることがわかった．

DOI： 10.11511/jacc.57.0_1972

CiNii Article

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講演論文集 57 333 - 337 2014年

記述言語：日本語出版者・発行元：自動制御連合講演会

本研究ではカルマンフィルタを用いた熱伝導率の推定結果について報告する．具体的には，アルミ板温度制御実験装置のモデルを離散化したものに対して，カルマンフィルタを用いたパラメータ同定を行う．そしてその結果を利用したコントローラを構成する．さらに数値シミュレーションを通して，制御系を構成しつつ熱伝導率のオンライン推定が行えることを示す．

DOI： 10.11511/jacc.57.0_333

CiNii Article

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年9月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

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.

DOI： 10.1109/TCST.2012.2214439

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年

Extended self-tuning generalized predictive control with computation reduction focused on closed-loop characteristics 査読

Akira Yanou, Mamoru Minami, Takayuki Matsuno

IFAC Proceedings Volumes (IFAC-PapersOnline) 11 51 - 56 2013年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper proposes a design method of extended self-tuning generalized predictive control (GPC) with computation reduction focused on closed-loop characteristics. The authors have extended GPC by coprime factorization and proposed the extended controller for constructing a strongly stable system. Moreover, the proposed controller is able to be designed to make the same steady state output as pre-designed system's steady state output even if feedback loop is cut. Although self-tuning controller is one of the control methods for systems with uncertainty, there is a problem that the computation of self-tuning GPC increases as design engineer takes long prediction horizon in the design parameters. Therefore this paper considers computation reduction for extended self-tuning GPC focused on closed-loop characteristics. The validity of the proposed method is shown by numerical simulation. © IFAC.

DOI： 10.3182/20130703-3-FR-4038.00112

Modeling and Control of a New Narrow Vehicle

Toshio Fukuda, Jian Huang, Takayuki Matsuno, Kosuke Sekiyama

Advances in Intelligent Vehicles 1 - 43 2013年

記述言語：英語掲載種別：論文集(書籍)内論文出版者・発行元：Elsevier Inc.

Traffic problems such as pollution and congestion are becoming ever more serious in urban areas. A potential solution to these problems may be the development of narrow vehicles, which occupy less space and produce fewer gas emissions. There has been increasing interest in these types of underactuated mechanical systems, such as Mobile Wheeled Inverted Pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent narrow vehicles. A novel structure based on an MWIP and a movable seat above called the UW-Car is investigated in this study. Dynamic models of this underactuated vehicle running on flat ground and in rough terrain are derived using Lagrange's motion equation. Based on the models and the Terminal Sliding Mode Control (TSMC) method, two terminal sliding mode controllers were designed for the velocity and braking control of a UW-Car. The first one is for heading speed to a set-point while keeping the body upright and the seat in some fixed position. The second one is a switching sliding mode controller made up of three terminal sliding mode controllers. By using the proposed controller, a UW-Car can move at a desired velocity while keeping the seat always upright. To solve the problem of obtaining quick acceleration performance in a UW-Car, a control method combining trajectory generation and dynamics canceling inputs is proposed. Using this method, the UW-Car can achieve high acceleration while keeping its body upright at all times. All the proposed theoretical results are finally demonstrated through numerical simulations. © 2014 Elsevier Inc. All rights reserved.

DOI： 10.1016/B978-0-12-397199-9.00001-X

Comparison of frequency responses with PID and two degree-of-freedom PID control for underactuated flying object

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

Proceedings of the SICE Annual Conference 1192 - 1196 2013年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：Society of Instrument and Control Engineers (SICE)

Flying object used in our research is an experimental device like a helicopter. Helicopter, which has a special characteristics such as hovering, vertical ascent and vertical dive. Therefore, it is widely used at the time of disaster. For example, manned helicopter is used for rescue work, emergency transport and fire fighting. On the contrary, unmanned helicopter is used to get precious information in a danger area for human. But there are problems that the structure is complicated, it has a high nonlinearity. And it is difficult to keep the attitude, because it is influenced by wind in flight. An experimental device in our research has an underactuated system having 2-input and 3-output that has number of input less than number of output. So, this system is able to reduce cost, but to keep the posture is difficult. Therefore, in our research, a stabilization method called two degree-of-freedom PID control has been proposed. It is the system having three degree-of-freedom. Although the effectiveness has been confirmed through the simulation and experimental results in time-domain, the characteristics of the proposed method was just explored by the result of output for step-type reference signal. Therefore, this paper confirms the effectiveness of the proposed method through the simulation and experimental result in frequency-domain in order to check the characteristics of the proposed method.

Development of an inverted pendulum cart with a sliding mechanism for posture control: Design and manufacture of a small mobility and experiment

Yuki Otsuki, Takayuki Matsuno, Akira Yanou, Mamoru Minami

Proceedings of the SICE Annual Conference 1933 - 1938 2013年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：Society of Instrument and Control Engineers (SICE)

A lot of researches on inverted pendulum cart are conducted in recent years. And it is attracted as a personal vehicle which realizes energy saving for many practical applications, such as the Segway and the P.U.M.A. The personal mobility has the advantage of energy efficiency for transportation because the cart is small and light. However, since 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 is developed as a personal mobility available for anyone. And we aim for realization of acceleration and deceleration while keeping the angle of the cart perpendicular. In this research, proposed inverted pendulum cart with a sliding mechanism for posture control was designed and manufactured, and the posture control performance was verified through experiment.

ロボットによるネジ締め作業における異常検出アルゴリズム

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年

記述言語：日本語出版者・発行元：一般社団法人日本ロボット学会

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

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年

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年2月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：PERGAMON-ELSEVIER SCIENCE LTD

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.

DOI： 10.1016/j.jfranklin.2009.02.014

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年

Basic characteristics analysis of tuning fork structured piezoelectric vibration sensor and application for robot control 査読

Takayuki Matsuno, Yasunori Shima, Tatsuo Motoyoshi, Ken'ichi Koyanagi, Toru Oshima, Toshio Fukuda

2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 1532 - 1537 2011年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

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. Through the FEM results, we developed prototype sensor which has two feasible vibration modes. And it applied for robot control in order to confirm the availability. © 2011 IEEE.

DOI： 10.1109/ICMA.2011.5985977