研究者詳細 - 松野　隆幸

論文 - 松野　隆幸

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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年

Artificial odor discrimination system using multiple quartz resonator sensor and FNLVQ-MSA neural network for recognizing concentration of odor

W. Jatmiko, K. Sekiyama, T. Fukuda, T. Matsuno, B. Kusumoputro

Proceedings of the SICE Annual Conference 1639 - 1644 2005年

掲載種別：研究論文（国際会議プロシーディングス）

An electronic odor discrimination system had been developed. The developed system showed high recognition probability to discriminate various single odors to its high generality properties, however the system had a limitation in recognizing the fragrances mixture. In order to improve the performance of the proposed system, development of the sensor and other neural network are being sought. This paper explains the improvement of the capability of that system. In this experiment, the improvement is conducted not only by replacing the last hardware system from 4 quartz resonator-basic resonance frequencies 10 MHz with new 16 quartz resonator-basic resonance frequencies 20 MHz, but also by replacing the pattern classifier from Back Propagation (BP) neural network with Variance of Back Propagation, Probabilistic Neural Network (PNN) and Fuzzy-Neuro Learning Vector Quantization. Matrix similarity analysis (MSA) is then proposed to increase the accuracy of the FNLVQ, become FNLVQ-MSA neural system in determining the best exemplar vector, for speeding up its convergence. The purpose of the recent study is to construct a new artificial odor discrimination system for recognizing the concentration of fragrance. The using of new sensing system and FNLVQ-MSA has produced higher capability to recognize the concentration of fragrance compared to the earlier mentioned system. © 2005 SICE.

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Distributed odor source localization in dynamic environment

W. Jatmiko, Y. Ikemoto, T. Matsuno, T. Fukuda, K. Sekiyama

Proceedings of IEEE Sensors 2005 254 - 257 2005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 addresses the problem of odor source localization in a dynamic environment, which means the odor distribution is changing over time. Modification Particle Swarm Optimization is a well-known algorithm, which can continuously track a changing optimum over time. PSO can be improved or adapted by incorporating the change detection and responding mechanisms for solving dynamic problems. Charge PSO, which is another extension of the PSO has also been applied to solve dynamic problem. Odor source localization is an interesting application in dynamic problem. We will adopt two types of PSO modification concepts to develop a new algorithm in order to control autonomous vehicles. Then we develop odor localization algorithm, and simulations to show that the new approach can solve such a kind of dynamic environment problem. © 2005 IEEE.

DOI： 10.1109/ICSENS.2005.1597684

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把持物体の位置姿勢誤差に対する持ち替え動作の適応修正手法

長谷川泰久, 東浦正樹, 松野隆幸, 福田敏男

日本機械学会論文集. C編 70 ( 700 ) 3463 - 3472 2004年12月

記述言語：日本語出版者・発行元：一般社団法人日本機械学会

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.

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

Journal of Robotics and Mechatronics Vol. 16, No. 1, pp. 31-38 ( 1 ) 31 - 38 2004年

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年

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年

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年

Sensitivity adjustment based on resonant frequency change for tactile sensing

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

Proceedings of the 2004 International Symposium on Micro-NanoMechatronics and Human Science, MHS2004; The Fourth Symposium 'Micro-NanoMechatronics for and Information-Based Society' The 21st Century 283 - 288 2004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）

We propose a novel tactile sensor, of which sensitivity and sensing range is adjustable. This sensor is a mechanical resonator sensor using a piezoelectric bimorph which measures elastic deformation of media by external force. The sensor is robust and has self-sensing capability. We derived the relationship between sensor output and spring constant at each vibration mode by the piezoelectric analysis and vibration analysis. The validity of sensor was demonstrated by experiment. As an application, a robot fingertip with tactile sensor was fabricated and evaluated. ©2004 IEEE.

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Flexible object manipulation by dual manipulator system

Toshio Fukuda, Takayuki Matsuno, Fumihito Arai

Proceedings - IEEE International Conference on Robotics and Automation 2 1955 - 1960 2000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）

In this paper we propose a flexible object manipulation system by a dual manipulator system. Flexible object like rope or paper shapes irregular form, even if the manipulator goes to the same position. We use a flexible object model and vision sensor to recognize flexible object form, and we use a force sensor and vision sensor to confirm the task execution. The dual manipulator system tied a cylinder object with rope in the experiment.

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