論文 - 松野　隆幸

Proposal of new topology information Face-list for manipulation planning of deformable string tying 査読

Junxiang Wang, Tomoya Shirakawa, Tomotoshi Watanabe, Yuichiro Toda, Takayuki Matsuno

16 ( 1 )   257 - 272   2023年7月

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担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1080/18824889.2023.2236367

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トポロジカルモデルと結び目不変量を用いたマニピュレーションのためのロープの形状認識

松野 隆幸, 玉置 大地, 新井 史人, 福田 敏男

計測自動制御学会論文集   41 ( 4 )   366 - 372   2005年4月

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記述言語：日本語   出版者・発行元：計測自動制御学会  

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Comparison of robotic versus manual needle insertion for CT-guided intervention: prospective randomized trial

Takao Hiraki, Yusuke Matsui, Jun Sakurai, Koji Tomita, Mayu Uka, Soichiro Kajita, Noriyuki Umakoshi, Toshihiro Iguchi, Michihiro Yoshida, Kota Sakamoto, Takayuki Matsuno, Tetsushi Kamegawa

Radiology Advances   2 ( 2 )   2025年3月

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掲載種別：研究論文（学術雑誌）   出版者・発行元：Oxford University Press (OUP)  

Abstract

Background

Robotic needle insertion under CT guidance has been developed, but data on comparison with manual insertion are still lacking.

Purpose

To compare robotic versus manual needle insertion for CT fluoroscopy-guided intervention, primarily in terms of insertion accuracy.

Materials and Methods

This was a prospective study between May 2020 and March 2023 at a single site. The cohort comprised 22 patients undergoing CT (Aquilion One or Aquilion CX; Canon Medical Systems) fluoroscopy-guided biopsy, who were randomly allocated to either the robotic or manual group. The robot used (Zerobot; Medicalnet Okayama) is not yet commercially available. A biopsy introducer needle was inserted by 1 of 3 physicians using a remote-control robot in the robotic group, versus by 1 of 3 different physicians by hand in the manual group. The primary endpoint was needle insertion accuracy, which was defined as the 3-dimensional Euclidean distance between a predetermined target point and the needle tip after insertion. The non-inferiority of robotic insertion to manual one was then tested. Adverse events were evaluated. Statistical comparisons were made between the 2 groups.

Results

Technical success and pathological findings were confirmed in all patients of the 2 groups. The mean and SD of needle insertion were 4.8 mm ± 2.6 in the robotic group and 7.0 mm ± 3.1 in the manual group (P < .001). The mean difference in accuracy between the 2 groups (robotic minus manual group) was −2.1 mm (95% CI, −4.7 to 0.4). Effective dose to physicians was zero in all cases in the robotic group, while median dose was 1.0 µSv in the manual group (P < .001). Dose length product to patients was not significantly different between the 2 groups (P = .100). No major adverse events were observed.

Conclusion

Robotic needle insertion was non-inferior to manual insertion in terms of accuracy, while it effectively eliminated radiation exposure to physicians.

Trial registration number

jRCT2062200013

DOI： 10.1093/radadv/umaf010

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その他リンク： https://academic.oup.com/radadv/article-pdf/2/2/umaf010/62871840/umaf010.pdf

Development of an Underwater Environment Analysis System Based on Neural Network Using Omnidirectional Camera

Kento Utsunomiya, Yuichiro Toda, Takayuki Matsuno

2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS&ISIS)   1 - 3   2024年11月

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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：IEEE  

DOI： 10.1109/scisisis61014.2024.10760125

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Global Path Planning Based on Rough Terrain Perception Using Growing Neural Gas

Haruka Ozaki, Yuichiro Toda, Dalin Zhou, Takayuki Matsuno

2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS&ISIS)   1 - 3   2024年11月

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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：IEEE  

DOI： 10.1109/scisisis61014.2024.10760215

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Case Study on a Navigation System using Growing Neural Gas

Koki Sakamoto, Yuichiro Toda, Makoto Tsujimoto, Kazuhiko Taniguchi, Takayuki Matsuno

2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS&ISIS)   1 - 3   2024年11月

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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：IEEE  

DOI： 10.1109/scisisis61014.2024.10760128

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Passability-Based Local Planner Using Growing Neural Gas for an Autonomous Mobile Robot

Koki Ozasa, Yuichiro Toda, Yoshimasa Nakamura, Toshiki Masuda, Hirohide Konishi, Takayuki Matsuno

IEEE Access   12   171824 - 171835   2024年

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掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/access.2024.3499364

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Robotic systems in interventional oncology: a narrative review of the current status

Yusuke Matsui, Tetsushi Kamegawa, Koji Tomita, Mayu Uka, Noriyuki Umakoshi, Takahiro Kawabata, Kazuaki Munetomo, Toshihiro Iguchi, Takayuki Matsuno, Takao Hiraki

International Journal of Clinical Oncology   2023年4月

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掲載種別：研究論文（学術雑誌）   出版者・発行元：Springer Science and Business Media LLC  

DOI： 10.1007/s10147-023-02344-8

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その他リンク： https://link.springer.com/article/10.1007/s10147-023-02344-8/fulltext.html

Contact detection algorithm for needle puncturing robot 査読

T. Matsuno, N. Kido, T. Kamegawa, T. Hiraki, T. Fukuda

Communications in Information and Systems   22 ( 4 )   477 - 497   2023年1月

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担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.4310/cis.2022.v22.n4.a3

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Growing Neural Gas based Traversability Clustering for an Autonomous Robot.

Koki Ozasa, Yuichiro Toda, Takayuki Matsuno

IJCNN   1 - 6   2023年

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掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/IJCNN54540.2023.10191416

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その他リンク： https://dblp.uni-trier.de/db/conf/ijcnn/ijcnn2023.html#OzasaTM23

Growing Neural Gasに基づく3次元空間知覚と2次元環境地図との統合

久保平 大智, 小笹 航輝, 中村 佳雅, 益田 俊樹, 小西 博英, 戸田 雄一郎, 松野 隆幸

ロボティクス・メカトロニクス講演会講演概要集   2023   2A1-G02   2023年

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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  

DOI： 10.1299/jsmermd.2023.2a1-g02

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Growing neural gas based navigation system in unknown terrain environment for an autonomous mobile robot 査読

Yuichiro Toda, Koki Ozasa, Takayuki Matsuno

Artificial Life and Robotics   2022年11月

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s10015-022-00826-y

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その他リンク： https://link.springer.com/article/10.1007/s10015-022-00826-y/fulltext.html

Automatic Puncture Needle Detection by Image Processing Using Deep Learning and CT Values 査読

Kotaro Mayumi, Takayuki Matsuno, Tetsushi Kamegawa, Ken’ichi, Morooka, Takao Hiraki, Yuichiro Toda

Proc of 33rd 2022 International Symposium on Micro-NanoMechatronics and Human Science   2022年11月

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記述言語：日本語   掲載種別：研究論文（国際会議プロシーディングス）  

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Environmental Map Learning Method based on Growing Neural Gas for a Mobile Robot 査読

Qi Li, Yuichiro Toda, Keisuke Nagao, Takayuki Matsuno

2022 International Joint Conference on Neural Networks (IJCNN)   2022年7月

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掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/ijcnn55064.2022.9892864

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Estimation of Needle Puncturing Form during Slight Needle Movement Based on Force Data for Robotic Automated Puncturing Function 査読

Takayuki Matsuno, Hikaru Murakami, Tetsushi Kamegawa, Nanako Sakai, Takao Hiraki, Yuichiro Toda

Journal of Medical Robotics Research   07 ( 02n03 )   2022年6月

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担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1142/s2424905x22410045

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Growing Neural Gas with Different Topologies for 3D Space Perception

Yuichiro Toda, Akimasa Wada, Hikari Miyase, Koki Ozasa, Takayuki Matsuno, Mamoru Minami

Applied Sciences   12 ( 3 )   1705   2022年2月

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出版者・発行元：MDPI AG  

<jats:p>Three-dimensional space perception is one of the most important capabilities for an autonomous mobile robot in order to operate a task in an unknown environment adaptively since the autonomous robot needs to detect the target object and estimate the 3D pose of the target object for performing given tasks efficiently. After the 3D point cloud is measured by an RGB-D camera, the autonomous robot needs to reconstruct a structure from the 3D point cloud with color information according to the given tasks since the point cloud is unstructured data. For reconstructing the unstructured point cloud, growing neural gas (GNG) based methods have been utilized in many research studies since GNG can learn the data distribution of the point cloud appropriately. However, the conventional GNG based methods have unsolved problems about the scalability and multi-viewpoint clustering. In this paper, therefore, we propose growing neural gas with different topologies (GNG-DT) as a new topological structure learning method for solving the problems. GNG-DT has multiple topologies of each property, while the conventional GNG method has a single topology of the input vector. In addition, the distance measurement in the winner node selection uses only the position information for preserving the environmental space of the point cloud. Next, we show several experimental results of the proposed method using simulation and RGB-D datasets measured by Kinect. In these experiments, we verified that our proposed method almost outperforms the other methods from the viewpoint of the quantization and clustering errors. Finally, we summarize our proposed method and discuss the future direction on this research.</jats:p>

DOI： 10.3390/app12031705

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その他リンク： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-20K19894/

Multilayer Batch Learning Growing Neural Gas for Learning Multiscale Topologies 査読

Yuichiro Toda, Takayuki Matsuno, Mamoru Minami

Journal of Advanced Computational Intelligence and Intelligent Informatics   25 ( 6 )   1011 - 1023   2021年11月

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掲載種別：研究論文（学術雑誌）  

DOI： 10.20965/jaciii.2021.p1011

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Estimation of Needle Puncturing Form Based on Force Data during Slight Needle Movement 査読

Takayuki Matsuno, Hikaru Murakami, Tetsushi Kamegawa, Takaaki Miyamoto, Nanako Sakai, Mamoru Minami, Takao Hiraki

proc of 2021 International Symposium on Medical Robotics   1 - 7   2021年11月

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担当区分：筆頭著者,　責任著者   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）  

DOI： 10.1109/ISMR48346.2021.9661566

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その他リンク： https://dblp.uni-trier.de/db/conf/ismr/ismr2021.html#MatsunoMKMSMH21

Collision detection calculation of robot to insert needles for interventional radiology 査読

Takayuki Matsuno, Kamegawa Tetsushi, Takao Hiraki

proc of 2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)   2021年7月

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担当区分：筆頭著者,　責任著者   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）  

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Adaptive evolution strategy sample consensus for 3D reconstruction from two cameras 査読

Yuichiro Toda, Hsu Horng Yz, Takayuki Matsuno, Mamoru Minami, Dalin Zhou

25 ( 3 )   466 - 474   2020年8月

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s10015-020-00603-9

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Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot 査読

Kento Yokouchi, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Takuya Yamaguchi, Akio Gofuku

JOURNAL OF ROBOTICS AND MECHATRONICS   32 ( 3 )   692 - 700   2020年6月

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.20965/jrm.2020.p0692

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Robotic CT-guided out-of-plane needle insertion: comparison of angle accuracy with manual insertion in phantom and measurement of distance accuracy in animals. 査読 国際誌

Toshiyuki Komaki, Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshiharu Mitsuhashi, Soichiro Okamoto, Mayu Uka, Yusuke Matsui, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

European radiology   30 ( 3 )   1342 - 1349   2020年3月

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s00330-019-06477-1

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Robotic needle insertion during computed tomography fluoroscopy-guided biopsy: prospective first-in-human feasibility trial. 査読 国際誌

Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Toshiyuki Komaki, Takuya Yamaguchi, Koji Tomita, Mayu Uka, Yusuke Matsui, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

European radiology   30 ( 2 )   927 - 933   2020年2月

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s00330-019-06409-z

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Visual Docking Against Bubble Noise With 3-D Perception Using Dual-Eye Cameras 査読

Khin Nwe Lwin, Naoki Mukada, Myo Myint, Daiki Yamada, Akira Yanou, Takayuki Matsuno, Kazuhiro Saitou, Waichiro Godou, Tatsuya Sakamoto, Mamoru Minami

IEEE JOURNAL OF OCEANIC ENGINEERING   45 ( 1 )   247 - 270   2020年1月

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/JOE.2018.2871651

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CT透視ガイド下針穿刺ロボットの自動化のための医師の手技中における針の軌道修正の調査 査読

亀川 哲志, 高山 和真, 松野 隆幸, 平木 隆夫, 櫻井 淳, 小牧 稔幸, 松浦 龍太郎, 佐々木 崇了, 五福 明夫

日本コンピュータ外科学会誌   22 ( 1 )   14 - 20   2020年

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本コンピュータ外科学会  

<p>We are developing a CT-guided needle insertion robot for the purpose of reducing physician exposure dose. Automatic needle insertion will help a physician because it is a little difficult for unskilled operators to control the robot manually. In this paper, we propose a control law to realize full automatic needle insertion for a CT-guided needle insertion robot. In the control law, speed to insert a needle is given based on the result of our observation on the animal experiment. We found that the number of corrections increases as the needle approaches the target in a robotic needle insertion controlled by a physician. We propose the idea that needle insertion velocity decreases exponentially. The effectiveness of the control law is verified by a simulation experiment in which the needle start at having offset to the target trajectory. As a result, the robot in the simulation environment achieves to reach the target point by decreasing its puncture speed as the needle approaches the target.</p>

DOI： 10.5759/jscas.22.14

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その他リンク： http://search.jamas.or.jp/link/ui/2020210402

Sea Docking by Dual-eye Pose Estimation with Optimized Genetic Algorithm Parameters 査読

Khin Nwe Lwin, Myo Myint, Naoki Mukada, Daiki Yamada, Takayuki Matsuno, Kazuhiro Saitou, Waichiro Godou, Tatsuya Sakamoto, Mamoru Minami

96 ( 2 )   245 - 266   2019年11月

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s10846-018-0970-x

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Experimental verification of turbidity tolerance of stereo-vision-based 3D pose estimation system 査読

Myo Myint, Khin Nwe Lwin, Naoki Mukada, Daiki Yamada, Takayuki Matsuno, Yuuichirou Toda, Saitou Kazuhiro, Mamoru Minami

24 ( 3 )   756 - 779   2019年9月

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s00773-018-0586-7

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Improving pose estimation accuracy and expanding of visible space of lighting 3D marker in turbid water

Horng-Yi Hsu, Naoki Mukada, Daiki Yamada, Khin Nwe Lwin, Myo Myint, Yuichiro Toda, Takayuki Matsuno, Keigo Watanabe, Mamoru Minami

2019 IEEE International Underwater Technology Symposium, UT 2019 - Proceedings   2019年4月

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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：Institute of Electrical and Electronics Engineers Inc.  

Aiming at developing underwater battery recharging system, the author developed a docking system using stereo-vision-based visual servoing and a 3D marker. The 3D marker consists of red, green, blue spheres that do not emit the light which is named as a passive marker. Real-time relative pose (position and orientation) estimation was implemented utilizing the 3D model-based matching method and real-time multi-step genetic algorithm (RM-GA). Given the situation that the docking aims for battery recharging in the deep-sea bottom, the pitch-dark and turbid environment should be considered as an inevitable condition for battery recharging. In our previous works, the docking experiments were conducted in the actual sea, having verified the effectiveness of the proposed system using the passive 3D marker in the daytime environment with turbid water condition. Since lighting passive 3D marker by light from the vehicle in turbid water environment results in a situation that the images taken by video cameras set on the vehicle were looked wholly white, some new idea seems to be required. To overcome this difficulty, the newly lighting 3D marker (active 3D maker) has LEDs inside was introduced in the previous work. The main objective of this study is to check the feasibility area of the proposed system for the docking application, comparison of recognition performance using the active and passive 3D marker that was conducted in the simulated pool with the turbid water is focused. And then, the experiment using the active 3D marker in the actual sea has been performed. The experimental results have confirmed that the new active 3D marker with no-lighting from the vehicle could be recognizable in dark and turbid environment than the passive 3D marker with the lighting from the vehicle.

DOI： 10.1109/UT.2019.8734353

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Improvement of 3D Pose Estimation Abilities by Light-Emitting-3D Marker for AUV Docking

Kohei Yamashita, Hsu Horng Yi, Daiki Yamada, Naoki Mukada, Khin New Lwin, Myo Myint, Yuichiro Toda, Takayuki Matsuno, Mamoru Minami

OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018   2019年1月

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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：Institute of Electrical and Electronics Engineers Inc.  

Disturbances of turbidity and low illuminance are problems in real sea areas when recognizing objects with cameras. Therefore, the recognition target was made to emit light so that it can be recognized correctly even in that environment. However, a suitable light intensity of the target was not decided and it is obvious that recognition results was changed by light intensity of the target. This paper presents the analysis of recognition accuracy of the Real-time 3D estimation system by changing the current value of each color LED (red, green, blue) under turbid and low illuminance. Recognition experiments were conducted at the distance 600 [mm] between the ROV and 3D marker. The turbidity level was set constant value. The current value was changing from 0 [mA] to 16 [mA] for each LED individually. The best current for each LED was optimized by the fitness value and estimation value of position and orientation. The results showed that the recognition accuracy of the proposed system was improved by using optimized lighting intensity.

DOI： 10.1109/OCEANS.2018.8604867

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Applying Lighting Marker and Stereo-vision to V-shaped-thruster Vehicle for AUV Deep Sea Docking

Yoshiki Kanda, Myo Myint, Naoki Mukada, Daiki Yamada, Khin Lwin, Takayuki Matsuno, Yuichiro Toda, Mamoru Minami

OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018   2019年1月

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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：Institute of Electrical and Electronics Engineers Inc.  

A stereo-vision-based system of autonomous under-water vehicles (AUVs) for sea-bottom docking that enables for battery recharging to extend persistence time of underwater operation has been developed. This paper presents the docking experiment using a developed V-shaped-thruster typed under-water vehicle. A real-time 3 D pose (position and orientation) estimation method using a real-time multi-step genetic algorithm (RM-GA) has been proposed by the authors in previous works and used for docking based on 3D recognition a s a feedback pose information in real-time, named as 3D Move on Sensing (3D-MoS). Sea docking experiment results have confirmed the functionality and practicality of proposed docking approach using a hovering typed ROV in previous works. Since the hovering typed underwater vehicles are limited in mobilities concerning speed and operational space, verification of the 3D-MoS system using underwater vehicle that has more mobility deem to be meaningful direction for vision-based docking system to expand the utility value of AUVs. Therefore, in this study, control system for a new V-shaped-thruster typed vehicle is developed and docking experiment is conducted. This paper presents the development of the hardware design of V-shaped-thruster typed underwater vehicle and improvement of controlling with consideration of coupled configuration of thrusters.

DOI： 10.1109/OCEANS.2018.8604730

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Development of Dual-eyes Docking System for AUV with Lighting 3D Marker

Sho Nakamura, Daiki Yamada, Naoki Mukada, Myo Myint, Khin New Lwin, Takayuki Matsuno, Yuichiro Toda, Mamoru Minami

OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018   2019年1月

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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：Institute of Electrical and Electronics Engineers Inc.  

This paper presents that our proposed docking system could apply for a new Remotely Operated Vehicle(ROV). The authors have proposed a 3D-perception based Move on Sensing (3D-MoS) system using a new 3D position and orientation (pose) estimation method with dual-eye camera that exploits the parallactic nature that enables reliable 3D pose estimation in real-time, named as 'Real-time Multi-step Genetic Algorithm (RM-GA).' We confirmed ROV have conducted docking that assumes charging battery under water by the system, having shown it effective. As a next step, docking experiment using the new ROV were conducted to verify the proposed system apply for new ROV. But, the new ROV is different from a ROV that have used previous experiments, on the point of thruster setting structure. Then, a new control system using Jacobian that shows relationship voltage and velocity was constructed. After it is confirmed the system is effective, docking experiments in the pool have been conducted. In this report, the structure and result of experiments are reported in detail.

DOI： 10.1109/OCEANS.2018.8604527

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Region of interest growing neural gas for real-time point cloud processing

Yuichiro Toda, Xiang Li, Takayuki Matsuno, Mamoru Minami

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   11742   82 - 91   2019年

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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：Springer Verlag  

This paper proposes a real-time topological structure learning method based on concentrated/distributed sensing for a 2D/3D point cloud. First of all, we explain a modified Growing Neural Gas with Utility (GNG-U2) that can learn the topological structure of 3D space environment and color information simultaneously by using a weight vector. Next, we propose a Region Of Interest Growing Neural Gas (ROI-GNG) for realizing concentrated/distributed sensing in real-time. In ROI-GNG, the discount rates of the accumulated error and utility value are variable according to the situation. We show experimental results of the proposed method and discuss the effectiveness of the proposed method.

DOI： 10.1007/978-3-030-27535-8_8

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Robustness of 3D pose estimation against turbidity using dual-eye cameras and active/lighting 3D marker for visual-servoing based AUV

Khin Nwe Lwin, Myo Myint, Naoki Mukada, Daiki Yamada, Takayuki Matsuno, Mamoru Minami

2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018   2018年12月

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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：Institute of Electrical and Electronics Engineers Inc.  

This paper presents the 3D pose estimation against turbidity under dark environment by using dual-eye cameras and an active —meaning light emitting— 3D marker for visual-servoing based underwater vehicle. The authors have proposed a 3D-perception based move on sensing (3D-MoS) system using a 3D position and orientation (pose) estimation method with dual-eye cameras that exploits the parallactic nature that enables reliable 3D pose estimation in real-time, named as "Real-time Multi-step Genetic Algorithm (RM-GA)." The active/lighting 3D marker was designed and constructed to improve the 3D pose estimation especially in turbidity and low illumination. In real-time pose estimation, not only recognition but also robustness are important. This paper focus on the robustness of 3D pose recognition performance using dual-eye cameras and 3D marker against turbidity. The experimental results have confirmed that the effectiveness and robustness of the proposed system for the real-time 3D pose estimation under turbidity and night condition.

DOI： 10.1109/OCEANSKOBE.2018.8559085

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Docking experiment in dark environments using active/lighting marker and HSV correlation

Daiki Yamada, Naoki Mukada, Myo Myint, Khin Nwe Lwin, Takayuki Matsuno, Mamoru Minami

2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018   2018年12月

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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：Institute of Electrical and Electronics Engineers Inc.  

Recharging ability with underwater docking function would be a first primal step conducted to enable the AUV to operate independently of a surface vessel for extended periods. Therefore, the role of docking operation came in picture not only for battery recharging application but also other novel applications such as sleeping under mother ship, or new mission up and down loading. Moreover, docking capacity can be extended to provide navigation for other underwater vehicles on the way of their mission too. However, there are many challenging issues in achieving these applications that request high accuracy and robustness against disturbances that are provided by the underwater environment. The most challenging and unavoidable problems in sensing sphere for sea operations are, we think, turbidity and light changing. Turbidity is denned as cloudiness in a liquid caused by the presence of suspended particles that scatter and absorb light. Since underwater battery recharging are supposed as a first step to realize a full autonomous/intelligent robot, the deep-sea docking experiments cannot avoid turbidity and low light environment. In previous studies, we had conducted sea docking experiments using a passive (not lighting) marker and image-evaluation function based on only hue information, limiting its operational environment in lower turbid sea with sunshine. Whereas in this study, to improve our system removing above defects, we newly designed an active - light emitting - 3D marker and a fitness function determined by HSV color components to improve the performance of the system especially in a more turbid environment. The advantage of using an active 3D marker and HSV-evaluated function is to be thought as being tolerable and seeable despite clipped whites and scattered light on the camera images caused by turbidity. Additionally, we conducted the docking experiments to verify the robustness of the proposed approach against turbidity and compared recognition results between the previous method and the improved method.

DOI： 10.1109/OCEANSKOBE.2018.8559303

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Zerobot®: A Remote-controlled Robot for Needle Insertion in CT-guided Interventional Radiology Developed at Okayama University.

Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Toshiyuki Komaki, Jun Sakurai, Susumu Kanazawa

Acta medica Okayama   72 ( 6 )   539 - 546   2018年12月

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記述言語：英語   出版者・発行元：OKAYAMA UNIV MED SCHOOL  

Since 2012, we have been developing a remote-controlled robotic system (Zerobot®) for needle insertion during computed tomography (CT)-guided interventional procedures, such as ablation, biopsy, and drainage. The system was designed via a collaboration between the medical and engineering departments at Okayama University, including various risk control features. It consists of a robot with 6 degrees of freedom that is manipulated using an operation interface to perform needle insertions under CT-guidance. The procedure includes robot positioning, needle targeting, and needle insertion. Phantom experiments have indicated that robotic insertion is equivalent in accuracy to manual insertion, without physician radiation exposure. Animal experiments have revealed that robotic insertion of biopsy introducer needles and various ablation needles is safe and accurate in vivo. The first in vivo human trial, therefore, began in April 2018. After its completion, a larger clinical study will be conducted for commercialization of the robot. This robotic procedure has many potential advantages over a manual procedure: 1) decreased physician fatigue; 2) stable and accurate needle posture without tremor; 3) procedure automation; 4) less experience required for proficiency in needle insertion skills; 5) decreased variance in technical skills among physicians; and 6) increased likelihood of performing the procedure at remote hospitals (i.e., telemedicine).

DOI： 10.18926/AMO/56370

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String Untying Planning Based on Knot Theory and Proposal of Algorithms to Generate the Motion of a Manipulator

Takayuki Matsuno, Tomoya Shirakawa, Tomotoshi Watanabe, Mamoru Minami

Proceedings - IEEE International Conference on Robotics and Automation   180 - 186   2018年9月

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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：Institute of Electrical and Electronics Engineers Inc.  

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. The manipulation of deformable objects, however, is more difficult than that of rigid objects, because deformable objects have diversity of shape and behavior. Therefore, our research group has been focusing on the string shape operation. This paper describes planning method of string untying operation based on knot theory and algorithms to generate the motion of a manipulator. The novel contribution of our planning method is automatic selection of optimal shape operation based on cost function. At final, the results of string untying experiments are reported.

DOI： 10.1109/ICRA.2018.8460477

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Docking at pool and sea by using active marker in turbid and day/night environment

Khin Nwe Lwin, Naoki Mukada, Myo Myint, Daiki Yamada, Mamoru Minami, Takayuki Matsuno, Kazuhiro Saitou, Waichiro Godou

ARTIFICIAL LIFE AND ROBOTICS   23 ( 3 )   409 - 419   2018年9月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：SPRINGER  

Nowadays, autonomous underwater vehicle (AUV) is playing an important role in human society in different applications such as inspection of underwater structures (dams, bridges). It has been desired to develop AUVs that can work in a sea with a long period of time for the purpose of retrieving methane hydrate, or rare metal, and so on. To achieve such AUVs, the automatic recharging capability of AUVs under the sea is indispensable and it requires AUVs to dock itself to recharging station autonomously. Therefore, we have developed a stereo-vision-based docking methodology for underwater battery recharging to enable the AUV to continue operations without returning surface vehicle for recharging. Since underwater battery recharging units are supposed to be installed in a deep sea, the deep-sea docking experiments cannot avoid turbidity and low-light environment. In this study, the proposed system with a newly designed activemeaning self-lighting3D marker has been developed to improve the visibility of the marker from an underwater vehicle, especially in turbid water. Experiments to verify the robustness of the proposed docking approach have been conducted in a simulated pool where the lighting conditions change from day to night. Furthermore, sea docking experiment has also been executed to verify the practicality of the active marker. The experimental results have confirmed the effectiveness of the proposed docking system against turbidity and illumination variation.

DOI： 10.1007/s10015-018-0442-1

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Robotic Insertion of Various Ablation Needles Under Computed Tomography Guidance: Accuracy in Animal Experiments. 国際誌

Takao Hiraki, Takayuki Matsuno, Tetsushi Kamegawa, Toshiyuki Komaki, Jun Sakurai, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshihiro Iguchi, Yusuke Matsui, Hideo Gobara, Susumu Kanazawa

European journal of radiology   105   162 - 167   2018年8月

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

OBJECTIVE: To evaluate the accuracy of robotic insertion of various ablation needles at various locations under computed tomography (CT) guidance in swine. MATERIALS AND METHODS: The robot was used for CT-guided insertion of four ablation needles, namely a single internally cooled radiofrequency ablation (RFA) needle (Cool-tip), a multi-tined expandable RFA needle (LeVeen), a cryoablation needle (IceRod), and an internally cooled microwave ablation needle (Emprint). One author remotely operated the robot with the operation interface in order to orient and insert the needles under CT guidance. Five insertions of each type of ablation needle towards 1.0-mm targets in the liver, kidney, lung, and hip muscle were attempted on the plane of an axial CT image in six swine. Accuracy of needle insertion was evaluated as the three-dimensional length between the target centre and needle tip. The accuracy of needle insertion was compared according to the type of needle used and the location using one-way analysis of variance. RESULTS: The overall mean accuracy of all four needles in all four locations was 2.8 mm. The mean accuracy of insertion of the Cool-tip needle, LeVeen needle, IceRod needle, and Emprint needle was 2.8 mm, 3.1 mm, 2.5 mm, and 2.7 mm, respectively. The mean accuracy of insertion into the liver, kidney, lung, and hip muscle was 2.7 mm, 2.9 mm, 2.9 mm, and 2.5 mm, respectively. There was no significant difference in insertion accuracy among the needles (P = .38) or the locations (P = .53). CONCLUSION: Robotic insertion of various ablation needles under CT guidance was accurate regardless of type of needle or location in swine.

DOI： 10.1016/j.ejrad.2018.06.006

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Analyses of biped walking posture by dynamical-evaluating index

Keli Shen, Xiang Li, Hongzhi Tian, Takayuki Matsuno, Mamoru Minami

ARTIFICIAL LIFE AND ROBOTICS   23 ( 2 )   261 - 270   2018年6月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：SPRINGER  

In this paper, biped walking posture and design are evaluated through dynamic reconfiguration manipulability shape index (DRMSI). DRMSI is the concept derived from dynamic manipulability and reconfiguration manipulability with remaining redundancy. DRMSI represents the ability of dynamical system of manipulators possessing shape changing acceleration in task space by normalized torque inputs, while the hand motion is assigned as the primary task. Besides, we use visual lifting approach to stabilize the walking and stop falling down. In this research, the primary task is to make the position of the head direct to the desired one as much as possible. And realizing the biped walking is the second task. This research indicates that proposed dynamical-evaluating index is effective in evaluating the biped walking motion and biped humanoid robot has the adjustable configuration to walk with higher flexibility. Flexibility represents the dynamical shape changeability of humanoid robot based on redundancy of the humanoid robot with the premise of the primary task given to keeping the head position high.

DOI： 10.1007/s10015-017-0415-9

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Improved eye-vergence visual servoing system in longitudinal direction with RM-GA

Yejun Kou, Hongzhi Tian, Mamoru Minami, Takayuki Matsuno

ARTIFICIAL LIFE AND ROBOTICS   23 ( 1 )   131 - 139   2018年3月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：SPRINGER  

Visual servoing is a control method to manipulate the motion of the robot using visual information, which aims to realize "working while watching." However, the visual servoing towards moving target with hand-eye cameras fixed at hand is inevitably affected by hand dynamical oscillation. To overcome this defect of the hand-eye fixed camera system, an eye-vergence system has been put forward, where the pose of the cameras could be rotated to observe the target object. The visual servoing controllers of hand and eye-vergence are installed independently, so that it can observe the target object at the center of camera images through eye-vergence function. In this research, genetic algorithm (GA) is used as a pose tracking method, which is called "Real-Time Multi-step GA(RM-GA)," solves online optimization problems for 3D visual servoing. The performances of real-time object tracking using eye-vergence system and "RM-GA" method have been examined, and also the pose tracking accuracy has been verified.

DOI： 10.1007/s10015-017-0408-8

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農林水産支援 自律型水中ロボの自動充電実用化へ向けて 複眼カメラによる空間立体認識で,水中の嵌合穴へのドッキングに成功

向田直樹, 山田大喜, 松野隆幸, 見浪護

画像ラボ   29 ( 2 )   2018年

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CT透視ガイド下IVR用針穿刺ロボット(Zerobot)の開発

平木隆夫, 亀川哲志, 松野隆幸, 谷本圭司, 櫻井淳, 桐田泰三, 金澤右

IVR   33 ( 1 )   2018年

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結び目理論に基づくひも解き操作の計画法とマニピュレータの動作生成アルゴリズム

松野隆幸, 白川智也, 渡部知俊, 見浪護

日本ロボット学会誌   36 ( 6 )   2018年

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担当区分：筆頭著者  

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複眼立体認識を用いた水中嵌合実験(AUVを用いた制御機能検証)

松野隆幸, 西田祐也, 米森健太, LI Xiang, 向田直樹, 加藤直輝, MYINT Myo, 山田大喜, KHIN Nwe Lwin, 見浪護

日本機械学会論文集(Web)   84 ( 858 )   2018年

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Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment. 査読

Akisato Nagao, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki

IJMA   6 ( 4 )   190 - 200   2018年

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掲載種別：研究論文（学術雑誌）  

DOI： 10.1504/IJMA.2018.10016616

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Improvement of force-sensorless grinding accuracy with resistance compensation

Atsushi Sato, Keli Shen, Mamoru Minami, Takayuki Matsuno

ARTIFICIAL LIFE AND ROBOTICS   22 ( 4 )   509 - 514   2017年12月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：SPRINGER  

This research aims to achieve a new grinding robot system that can grind an object into desired shape with force-sensorless control. In order to grind the target object into desired shape with sufficient accuracy, the hand of the robot arm has to generate desired constrained force immediately after the grindstone being contacted with the metal object to be ground. Based on the algebraic equation, we have proposed constraint-combined force controller, which has the ability to achieve the force control without time delay if the motors should ideally generate required torques without time delay. In this paper, the relation between contacting force and grinding resistance force have been derived analytically and the relation is used for grinding force control, having brought improved grinding force accuracy.

DOI： 10.1007/s10015-017-0385-y

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Robotically Driven CT-guided Needle Insertion: Preliminary Results in Phantom and Animal Experiments. 国際誌

Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Yasuzo Kirita, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshiharu Mitsuhashi, Toshiyuki Komaki, Yoshihisa Masaoka, Yusuke Matsui, Hiroyasu Fujiwara, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

Radiology   285 ( 2 )   454 - 461   2017年11月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：RADIOLOGICAL SOC NORTH AMERICA  

Purpose To evaluate the accuracy of the remote-controlled robotic computed tomography (CT)-guided needle insertion in phantom and animal experiments. Materials and Methods In a phantom experiment, 18 robotic and manual insertions each were performed with 19-gauge needles by using CT fluoroscopic guidance for the evaluation of the equivalence of accuracy of insertion between the two groups with a 1.0-mm margin. Needle insertion time, CT fluoroscopy time, and radiation exposure were compared by using the Student t test. The animal experiments were approved by the institutional animal care and use committee. In the animal experiment, five robotic insertions each were attempted toward targets in the liver, kidneys, lungs, and hip muscle of three swine by using 19-gauge or 17-gauge needles and by using conventional CT guidance. The feasibility, safety, and accuracy of robotic insertion were evaluated. Results The mean accuracies of robotic and manual insertion in phantoms were 1.6 and 1.4 mm, respectively. The 95% confidence interval of the mean difference was -0.3 to 0.6 mm. There were no significant differences in needle insertion time, CT fluoroscopy time, or radiation exposure to the phantom between the two methods. Effective dose to the physician during robotic insertion was always 0 μSv, while that during manual insertion was 5.7 μSv on average (P < .001). Robotic insertion was feasible in the animals, with an overall mean accuracy of 3.2 mm and three minor procedure-related complications. Conclusion Robotic insertion exhibited equivalent accuracy as manual insertion in phantoms, without radiation exposure to the physician. It was also found to be accurate in an in vivo procedure in animals. © RSNA, 2017 Online supplemental material is available for this article.

DOI： 10.1148/radiol.2017162856

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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-October   1 - 5   2017年10月

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掲載種別：研究論文（国際会議プロシーディングス）  

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. 1\ma-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.

DOI： 10.1109/OCEANSE.2017.8084659

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Modeling of humanoid dynamics including slipping with nonlinear floor friction

Xiang Li, Hiroki Imanishi, Mamoru Minami, Takayuki Matsuno, Yanou Akira

ARTIFICIAL LIFE AND ROBOTICS   22 ( 2 )   175 - 183   2017年6月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：SPRINGER  

Biped locomotion created by controlling methods based on zero-moment point 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 seems 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 method. To confirm the veracity of the derived dynamical 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.

DOI： 10.1007/s10015-017-0349-2

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Visual Lifting Approach for Bipedal Walking with Slippage

Xiang Li, Mamoru Minami, Takayuki Matsuno, Daiji Izawa

JOURNAL OF ROBOTICS AND MECHATRONICS   29 ( 3 )   500 - 508   2017年6月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：FUJI TECHNOLOGY PRESS LTD  

Biped locomotion generated by control methods based on Zero-Moment Point (ZMP) has been achieved and its efficacy for stable walking, where ZMP-based walking does not include the falling state, has been verified extensively. The walking control that does not depend on ZMP - we call it dynamical walking - can be used in walking that utilizes kicks by toes, which looks natural but is vulnerable to turnover. Therefore, keeping the walking of dynamicalmotion stable is indispensable to the realization of human-like natural walking - the authors perceive the human walking, which includes toe off states, as natural walking. Our research group has developed a walking model, which includes slipping, impact, surface-contacting and line-contacting of foot. This model was derived from the Newton-Euler (NE) method. The "Visual Lifting Approach" (VLA) strategy inspired from human walking motion utilizing visual perception, was used in order to enhance robust walking and prevent the robot from falling, without utilizing ZMP. The VLA consists of walking gate generation visual lifting feedback and feedforward. In this study, simulation results confirmed that bipedal walking dynamics, which include a slipping state between foot and floor, converge to a stable walking limit cycle.

DOI： 10.20965/jrm.2017.p0500

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加熱炉からのふく射を考慮した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, 和田克啓, 見浪護, 松野隆幸, 増井詠一郎

電気学会論文誌 C   137 ( 2 )   2017年

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任意形状対象物のグラインディングロボットシステムの構築

和泉 卓朗, 佐藤 篤, 見浪 護, 松野 隆幸

ロボティクス・メカトロニクス講演会講演概要集   2017   2A2 - H08   2017年

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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  

<p>Industrial robots are used for many purposes, especially as machining facilities. For example, there are welding, assembling and grinding operations. Many of grinding robots are controlled by using feedback control with force sensors. But, the force sensor used for force detection by means of strain gage may be easily damaged when a shock on big power be added. Therefore, this research has been trying to control a position and exerting force at the same time without using a force sensor by feedforward/feedback control. In addition, we aim to construction a system that recognizes the arbitrary shape object and autonomously grind it by using the recognition technology of 3D space with camera. Until last year, the grinding robot could only grind on the 2D plane. Therefore, this paper shows the construction of the new robot system enabling grinding a target with 3D shape.</p>

DOI： 10.1299/jsmermd.2017.2A2-H08

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Dynamic Reconfiguration Manipulability for Redundant Manipulators

Mamoru Minami, Xiang Li, Takayuki Matsuno, Akira Yanou

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME   8 ( 6 )   2016年12月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：ASME  

This paper analyzes the dynamics of robotic manipulator based on a concept called dynamic reconfiguration manipulability (DRM), which gauges the dynamical shape-changeability of a robot based on the redundancy of the robot and the premise that the primary task is the hand task. DRM represents how much acceleration each intermediate link can generate and in what direction the acceleration can be realized based on normalized torque inputs. This concept will aid in the optimization of the design and control of robots. The appropriateness and usefulness of DRM were confirmed by applying it to redundant manipulators and comparing it with the known concept of avoidance manipulability.

DOI： 10.1115/1.4033667

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Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control

Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Masayuki Nakamura, Akira Yanou, Mamoru Minami

JOURNAL OF ROBOTICS AND MECHATRONICS   28 ( 6 )   911 - 920   2016年12月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：FUJI TECHNOLOGY PRESS LTD  

In recent years, a medical procedure called interventional radiology (IR) has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fluoroscopic image of patients. Therefore, this surgical method is less invasive. In this surgery, computed tomography (CT) equipment is often used for precise fluoroscopy. However, doctors are exposed to strong radiation from the CT equipment. In order to overcome this problem, we have developed a remote-controlled surgical assistance robot called Zerobot. In animal puncture experiment, the operation of Zerobot was based on joint control. Therefore, during a surgery, the tip of the needle moves when a surgeon orders for a change in the direction of the needle. This makes the robot less user-friendly because the surgeon tracks the trajectory of the tip of the needle. This problem can be solved by using remote center control.

DOI： 10.20965/jrm.2016.p0911

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Dynamical Model of Walking Transition Considering Nonlinear Friction with Floor

Xiang Li, Hiroki Imanishi, Mamoru Minami, Takayuki Matsuno, Akira Yanou

JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS   20 ( 6 )   974 - 982   2016年11月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：FUJI TECHNOLOGY PRESS LTD  

Biped locomotion created by a controller based on Zero-Moment Point (ZMP) known as reliable control method looks different from human's walking on the view point that ZMP-based walking does not include falling state, and it's like monkey walking because of knee-bended walking profiles. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this research, a walking model of humanoid robot including slipping, bumping, surface-contacting and line-contacting of foot is discussed, and its dynamical equation is derived by the Extended NE method. In this paper we introduce the humanoid model which including the slipping foot and verify the model.

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On-demand type feedback controller for self-tuning generalized minimum variance control in state-space representation 査読

Akira Yanou, Mamoru Minami, Takayuki Matsuno

ICIC Express Letters   10 ( 11 )   2695 - 2702   2016年11月

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© 2016 ICIC International. This paper proposes on-demand type feedback controller for self-tuning generalized minimum variance control (GMVC) in state-space representation using coprime factorization. GMVC can be extended by using coprime factorization, and the extended controller introduces a new design parameter. The parameter can change 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 the closed-loop system and its controller are stable. So the parameter mentioned above is useful to design such a system. Moreover, focusing on feedback signal, the extended controller can adjust the magnitude of the feedback signal. It means that the proposed controller has the ability to make the magnitude of the feedback signal be zero when the control objective was achieved. In other words, the feedback signal of the proposed method emerges on demand of achieving the control objective. Therefore, this paper explores the design method of on-demand type feedback controller using self-tuning GMVC in state-space representation. A numerical example is given in order to check the characteristics of the proposed method.

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Self-Tuning Generalized Minimum Variance Control Based on On-Demand Type Feedback Controller

Akira Yanou, Mamoru Minami, Takayuki Matsuno

JOURNAL OF ROBOTICS AND MECHATRONICS   28 ( 5 )   674 - 680   2016年10月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：FUJI TECHNOLOGY PRESS LTD  

This paper proposes a design method of self-tuning generalized minimum variance control based on on-demand type feedback controller. A controller, such as generalized minimum variance control (GMVC), generalized predictive control (GPC) and so on, can be extended by using coprime factorization. Then new design parameter is introduced into the extended controller, and the parameter can re-design the characteristic of the extended controller, keeping the closed-loop characteristic that way. Although strong stability systems can be obtained by the extended controller in order to design safe systems, 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 objective was achieved. In other words the feedback signal by the proposed method can appear on demand of achieving the control objective. Therefore this paper proposes on-demand type feedback controller using self-tuning GMVC for plant with uncertainty. A numerical example is shown in order to check the characteristic of the proposed method.

DOI： 10.20965/jrm.2016.p0674

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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   7 - 12   2016年2月

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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：Institute of Electrical and Electronics Engineers Inc.  

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.

DOI： 10.1109/SII.2015.7404888

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Application of self-tuning generalized predictive control to temperature control experimental device of aluminum plate

Naoki Hosoya, Akira Yanou, Syohei Okamoto, Mamoru Minami, Takayuki Matsuno

INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS   52 ( 3-4 )   875 - 881   2016年

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IOS PRESS  

This paper considers an application of self-tuning generalized predictive control (STGPC) to a temperature control experimental device of aluminum plate. In our research, although two DOF GPC can achieve to design the output response and the disturbance response independently, model parameters such as thermal conductivity had been fixed in the experiment. Therefore this paper applies STGPC to the experimental device and verifies the validity of the proposed controller. Moreover the control result, in the case of the controller constructed by the identified parameters through parameter identification law, is shown.

DOI： 10.3233/JAE-162196

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穿刺とドレナージ~IVRの基礎と応用 CT透視下IVR用針穿刺ロボット(Zerobot)の開発

平木隆夫, 亀川哲志, 松野隆幸, 櫻井淳, 桐田泰三, 三宅徹, 谷本圭司, 金澤右

Rad Fan   14 ( 9 )   2016年

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冗長マニピュレータの動的形状変更可操作性 -7リンク冗長マニピュレータ(PA10)の評価-

見浪護, 小林洋祐, 松野隆幸, 矢納陽

日本ロボット学会誌   34 ( 4 )   2016年

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3次元マーカを用いたビジュアルサーボ型水中ロボットの気泡外乱に対する制御特性

矢納陽, 米森健太, 石山新太郎, 見浪護, 松野隆幸

計測自動制御学会論文集   52 ( 5 )   2016年

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Switching Dynamic Modeling and Driving Stability Analysis of Three-Wheeled Narrow Tilting Vehicle

Hiroki Furuichi, Jian Huang, Toshio Fukuda, Takayuki Matsuno

IEEE-ASME TRANSACTIONS ON MECHATRONICS   19 ( 4 )   1309 - 1322   2014年8月

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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 congestion is one of the main problems modern cities face, exacerbated by widespread use of normal four-wheeled transportation. A promising solution to this challenge is to develop narrow electric vehicles and apply them in daily transportation. These kinds of narrow vehicles need less parking and lane space and cause no air pollution. In this study, we developed a new conceptual narrow tilting vehicle (NTV) that has one front wheel and two rear wheels. All the three wheels can tilt to improve the stability of NTV during turning. To fully describe the dynamic behaviors, a new switching dynamic model of NTV was derived. This model considers several NTV states including normal running, temporary running with one rear wheel not on the ground, and totally falling down. Based on this model, a simulation platform is established, which is useful for testing different control methods and for investigating dangerous driving situations. A new active tilt controller is proposed based on a tilt dynamic model linearized around an equilibrium on which the lateral acceleration is zero. The controller is easily realized from the point of view of engineering and the closed-loop system stability was also investigated. The driving stability problem of NTV was discussed using peak-to-peak analysis method. Stability condition of input steering angle and angular velocity was obtained, which may be a useful tool for designing the steer-by-wire controller in the future. All the proposed model, control method, and stability conditions were verified through simulations and experiments.

DOI： 10.1109/TMECH.2013.2280147

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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

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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

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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

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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

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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

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

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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

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

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

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

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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

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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

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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

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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

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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

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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

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掲載種別：研究論文（学術雑誌）  

DOI： 10.20965/jrm.2013.p0262

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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

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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

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Modeling and Control of a New Narrow Vehicle

Toshio Fukuda, Jian Huang, Takayuki Matsuno, Kosuke Sekiyama

Advances in Intelligent Vehicles   1 - 43   2013年

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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

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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

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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.

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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

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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.

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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

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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

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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

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掲載種別：研究論文（学術雑誌）  

DOI： 10.20965/jrm.2012.p0666

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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

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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

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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

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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：IEEE  

DOI： 10.1109/MHS.2011.6102220

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その他リンク： https://dblp.uni-trier.de/db/conf/mhs/mhs2011.html#DingHMF11

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

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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

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Development of Production Robot System that can Assemble Products with Cable and Connector. 査読

Rintaro Haraguchi, Yukiyasu Domae, Koji Shiratsuchi, Yasuo Kitaaki, Haruhisa Okuda, Akio Noda, Kazuhiko Sumi, Takayuki Matsuno, Shun'ichi Kaneko, Toshio Fukuda

Journal of Robotics and Mechatronics   23 ( 6 )   939 - 950   2011年

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掲載種別：研究論文（学術雑誌）  

To realize automatic robot-based electrical and electronic product assembly, we developed the handling of cables with connectors - flexible goods which are an obstacle to automation. The element technologies we developed include 3D vision sensing for cable extraction, force control for connector insertion, error recovery for improving system stability, and task-level programming for quick system start-up. We assembled FA control equipment to verify the feasibility of our developments.

DOI： 10.20965/jrm.2011.p0939

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A robotic assembly system capable of handling flexible cables with connector 査読

Yasuo Kitaaki, Rintaro Haraguchi, Koji Shiratsuchi, Yukiyasu Domae, Haruhisa Okuda, Akio Noda, Kazuhiko Sumi, Toshio Fukuda, Shun'ichi Kaneko, Takayuki Matsuno

Proceedings of IEEE International Conference on Mechatronics and Automation, ICMA 2011   893 - 897   2011年

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掲載種別：研究論文（国際会議プロシーディングス）  

In realizing a robotic assembly system of electronic products, recognizing the connectors with flexible cables as a single component is one of the most difficult problems, which prevents from automating the system. To overcome this problem, we used our proprietary 3-D range sensor and developed three component algorithms: one is to recognize randomly-stacked connectors; another is to automatically compensate rotational and positional errors by force sensor; the other is to set up visually-guided offline developing environments. In this paper, we introduce these component algorithms and their integration into an evaluation system in detail. © 2011 IEEE.

DOI： 10.1109/ICMA.2011.5985708

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Robust Model-Based Online Fault Detection for Mating Process of Electric Connectors in Robotic Wiring Harness Assembly Systems

Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY   18 ( 5 )   1207 - 1215   2010年9月

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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  

Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design a fault detection system for this application, a set-membership approach for static PWA systems is proposed, in which parallelotopic approximation of feasible parameter sets is adopted. An online algorithm is obtained to estimate bounds of uncertain transition points of the PWA model. Based on the estimation, a robust online fault detection algorithm is proposed. The robustness and sensitivity of the algorithm are analyzed. The effectiveness of these methods is finally confirmed through experiments.

DOI： 10.1109/TCST.2009.2034735

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Sliding-Mode Velocity Control of Mobile-Wheeled Inverted-Pendulum Systems

Jian Huang, Zhi-Hong Guan, Takayuki Matsuno, Toshio Fukuda, Kosuke Sekiyama

IEEE TRANSACTIONS ON ROBOTICS   26 ( 4 )   750 - 758   2010年8月

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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  

There has been increasing interest in a type of underactuated mechanical systems, mobile-wheeled inverted-pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. Robust-velocity-tracking problem of the MWIP systems is investigated in this study. In the velocity-control problem, model uncertainties accompany uncertain equilibriums, which make the controller design become more difficult. Two sliding-mode-control (SMC) methods are proposed for the systems, both of which are capable of handling both parameter uncertainties and external disturbances. The asymptotical stabilities of the corresponding closed-loop systems are achieved through the selection of sliding-surface parameters, which are based on some rules. There is still a steady tracking error when the first SMC controller is used. By assuming a novel sliding surface, the second SMC controller is designed to solve this problem. The effectiveness of the proposed methods is finally confirmed by the numerical simulations.

DOI： 10.1109/TRO.2010.2053732

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Modeling and control of a novel narrow vehicle.

Feng Ding 0005, Jian Huang 0001, Yongji Wang 0001, Takayuki Matsuno, Toshio Fukuda, Kosuke Sekiyama

2010 IEEE International Conference on Robotics and Biomimetics(ROBIO)   1130 - 1135   2010年

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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：IEEE  

DOI： 10.1109/ROBIO.2010.5723487

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その他リンク： https://dblp.uni-trier.de/db/conf/robio/robio2010.html#DingHWMFS10

地雷探知のための低接地圧車両に関する研究 : 低接地圧タイヤ特性を考慮した車両位置・姿勢制御方法の提案

福田 敏男, 佐藤 慎祐, 長谷川 泰久, 松野 隆幸, ZYADA Zakarya

日本機械学會論文集. C編 = Transactions of the Japan Society of Mechanical Engineers. C   74 ( 744 )   2038 - 2044   2008年8月

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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 a kinematic model of the vehicle with low-ground pressure tire that enables to enter a minefield in order to scan remaining landmines by a ground penetrating radar in level III survey. The low-ground-pressure tire makes low pressure contact with a ground by deforming its shape of the tire, but the deformation deteriorates position and steering control accuracy. Therefore this paper models the kinematics of the low-ground pressure vehicle based on experimental results. Besides we experimentally confirmed that the vehicle could precisely trace the target trajectory by considering its kinematics in simulated minefield.

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動物の脚機構を模倣したリンク機構による跳躍の実現

大島徹, 百生登, 藤川智彦, 鳥海清司, 小柳健一, 松野隆幸

精密工学会誌(CD-ROM)   74 ( 4 )   416 - 420   2008年4月

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記述言語：日本語   出版者・発行元：公益社団法人精密工学会  

On a two-dimensional jumping behavior by a multi-link mechanism, a mechanism that imitated a animal&#039;s leg and a mechanism of conventional robot were compared analytically. Each joint of a conventional robot is independently controlled. On the other hand, because animal&#039;s leg has bi-articular muscle, the adjoining joints are not independent. The animal&#039;s leg mechanism was imitated by using the closed link mechanism with the rod which connects two joints. For the mechanism which imitated animal&#039;s leg and the mechanism of conventional robot, under the ideal condition, each joint torque for stabilized jump ware deduced. On the conventional robot, it is necessary to detect the center of gravity, and to be feedback. By contrast, in the mechanism which imitated the animal&#039;s leg, it does not need to feedback the position of center of gravity. Furthermore, four-legged jump robot with the mechanism which imitated animal&#039;s leg was produced, and the effectiveness of that mechanism was confirmed by an experiment.

DOI： 10.2493/jjspe.74.416

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Model-based intelligent fault detection and diagnosis for mating electric connectors in robotic wiring harness assembly systems

Jian Huang, Toshio Fukuda, Takayuki Matsuno

IEEE-ASME TRANSACTIONS ON MECHATRONICS   13 ( 1 )   86 - 94   2008年2月

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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  

Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system. A class of piecewise linear force models is proposed to describe both the successful and the faulty mating processes of connectors via an elaborate analysis of forces during different phases. The corresponding parameter estimation method of this model is also presented by adapting regular least-square estimation methods. A hierarchical fuzzy pattern matching multidensity classifier is proposed to realize fault detection and diagnosis for the mating process. This classifier shows good performance in diagnosis. A tyical type of connectors is investigated in this paper. The results. p. P can easily be extended to other types. The effectiveness of proposed methods is finally confirmed through experiments.

DOI： 10.1109/TMECH.2007.915063

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GPR signal processing with geography adaptive scanning using vector radar for antipersonal landmine detection

Toshio Fukada, Yasuhisa Hasegawa, Yasuhiro Kawai, Shinsuke Sato, Zakarya Zyada, Takayuki Matsuno

International Journal of Advanced Robotic Systems   4 ( 2 )   199 - 206   2007年6月

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

Ground Penetrating Radar (GPR) is a promising sensor for landmine detection, however there are two major problems to overcome. One is the rough ground surface. The other problem is the distance between the antennas of GPR. It remains irremovable clutters on a sub-surface image output from GPR by first problem. Geography adaptive scanning is useful to image objects beneath rough ground surface. Second problem makes larger the nonlinearity of the relationship between the time for propagation and the depth of a buried object, imaging the small objects such as an antipersonnel landmine closer to the antennas. In this paper, we modify Kirchhoff migration so as to account for not only the variation of position of the sensor head, but also the antennas alignment of the vector radar. The validity of this method is discussed through application to the signals acquired in experiments.

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ブラキエーションロボットの視覚情報を用いた軌道補正に関する研究

福田 敏男, 岩崎 慶一, 松野 隆幸, 関山 浩介

日本機械学会論文集. C編   73 ( 729 )   1508 - 1513   2007年5月

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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  

We propose a brachiation robot named Brachiator. Brachiator is able to swing like a real gibbon. The limbs of Brachiatior are designed to be actuated through the wires. However, the elongation and slack of the wires often arise and make it difficult to estimate the joint angles accurately, which has to be resolved to attain more stable brachiation behavior. In this paper we indroduce a vision system to improve brachiation behavior in real time. A stereo vision system is mounted on Brachiator that looks like a gibbon's face. We estimate errors between a model based trajectory and a real trajectory in implementation world from the images which the vision system captures during the brachiation behavior. Based on the vision-based error estimation as to the grasping position on the target branch, the trajectory of the behavior is adjusted in real time in order to realize successful brachiation behaviors. Experimental results showed that the proposed system reduced deviation of the grasping position of brachiation behavior as much as 40% compared with previous methods.

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ベクトルレーダによる地形適応走査時の地中レーダ信号処理

川合 康弘, 長谷川 泰久, 佐藤 慎祐, ZYADA Zakarya, 松野 隆幸, 福田 敏男

日本機械学会論文集. C編   73 ( 727 )   803 - 810   2007年3月

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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  

Ground Penetrating Radar (GPR) is a promissing sensor for landmine detection, however there are two major problems to overcome. One is the non-planer (e.g. rough and/or undulating) ground surface. It remains unremovable clutters on a sub-surface image output from GPR. Geography adaptive scanning is useful to image objects beneath non-planer ground surface. The other problem is the distance between the antennas of GPR. When imaging the small objects such as an antipersonnel landmine buried in shallow depth, it increases the nonlinearity of the relationship between the time for propagation and the depth of a buried object. In this paper, we modify Kirchoff migration so as to account for not only the variation of height and pose of the sensor head, but also the antennas alignment of the vector radar. The validity of this method is discussed through application to the signals acquired in experiments.

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点接触仮定に基づく関節連動型制御による四足歩行に関する研究 : 消費エネルギーによるペース歩容とクロール歩容の比較

浅野 義彦, 土井 将弘, 長谷川 泰久, 松野 隆幸, 福田 敏男

日本機械学会論文集. C編   73 ( 725 )   230 - 236   2007年1月

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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 a control algorithm for pace gait of a quadruped walking robot, using a passive dynamics autonomous control algorithm (PDAC). The PDAC realizes an efficient motion based on the intrinsic dynamics of a robot. This paper first calculates an energy consumption of the pace and a crawl gait at various walking parameters such as a stride length and a walking period. The optimal walking parameters are obtained for each gait at various walking speed in the simulation and their parameters are confirmed by applied to an experimental walking robot. The trend of the energy consumption transition measured in the experiments are similar to those in the simulation. For example the consumption energy of the pace gait becomes less than that of crawl gait when a walking speed becomes relatively high. As a result, quadruped walking parameters corresponding to the desired walking speed such as the type of gait, the stride length and the walking period are designed on the energy-consumption-basis.

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Fuzzy Sensor Fusion for Humanitarian Demining.

Zakarya Zyada, Yasuhiro Kawai, Takayuki Matsuno, Toshio Fukuda

J. Adv. Comput. Intell. Intell. Informatics   11 ( 7 )   735 - 744   2007年

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掲載種別：研究論文（学術雑誌）  

DOI： 10.20965/jaciii.2007.p0735

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変位と力を両立したテーラーメード型積層圧電アクチュエータ

元尾 幸平, 当田 直哉, 新井 史人, 福田 敏男, 松野 隆幸, 菊田 浩一, 平野 眞一

日本機械学会論文集. C編   72 ( 722 )   3302 - 3309   2006年10月

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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  

We propose tailor-made multilayer piezoelectric actuators (TAMPA) having large displacements and large forces. In existing piezoelectric actuators, production of small, low-cost actuators having large displacements and large forces is difficult to achieve. We solved this problem by combining two bimorph-type piezoelectric elements with both ends simply supported, and stacking several elements on top of each other. Moreover, TAMPA is a tailor-made actuator whose displacement to force ratio can be varied widely by adjusting the size of the bimorph-type piezoelectric elements even when the total size of the actuator is kept constant. In this study, the bimorph-type piezoelectric element was analyzed, and the relationship between the displacement and the force under fixed conditions was experimentally determined. The relationship between the displacement and the force of TAMPA was theoretically derived. The analytical results showed that a TAMPA having dimensions of approximately 10×10×10mm is capable of generating displacements of several hundred μm or the force of several N. A prototype was produced and its performance was evaluated. These results agreed well with the analytical results, confirming the validity of the analytical results. Finally, because the lead in PZT can cause environmental problems, a TAMPA was produced that used (K, Na) (Nb, Ta) O_3 piezoelectric ceramics instead of lead.

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The task selection mechanism for interactive robots: Application to the intelligent life supporting system

Seung-Min Baek, Daisuke Tachibana, Fumihito Arai, Toshio Fukuda, Takayuki Matsuno

INTERNATIONAL JOURNAL OF INTELLIGENT SYSTEMS   21 ( 9 )   973 - 1004   2006年9月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：WILEY  

The essential challenge in the future ubiquitous networks is to make information available to people not only at any time, at any place, and in any form, but with the right thing at the right time in the right way by inferring the users' situations. Several psychological experiments show that there are some associations between each user's situations including the user's emotions and each user's task selection. Utilizing those results, this article presents a situation-based task selection mechanism that enables a life-supporting robot system to perform tasks based on the user's situation. Stimulated by interactions between the robot and the user, this mechanism constructs and updates the association between the user's situation and tasks so that the robot can adapt to the user's behaviors related to the robot's tasks effectively. For the user adaptation, Radial Basis Function Networks (RBFNs) and associative learning algorithms are used. The proposed mechanism is applied to the CRF3 (Character robot face 3) system to prove its feasibility and effectiveness. (c) 2006 Wiley Periodicals, Inc.

DOI： 10.1002/int.20172

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Manipulation of deformable linear objects using knot invariants to classify the object condition based on image sensor information

Takayuki Matsuno, Daichi Tamaki, Fumihito Arai, Toshio Fukuda

IEEE-ASME TRANSACTIONS ON MECHATRONICS   11 ( 4 )   401 - 408   2006年8月

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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  

Using a topological model and knot theory, we propose a method for describing the condition of a rope. We also propose a recognition method based on the image information obtained from the charge-coupled device cameras to obtain the structure of the rope when manipulated by a robot. This method will help solve the difficulties of robots manipulating deformable objects by providing a theoretical framework of error recovery for deformable object manipulation. We confirm the effectiveness of the methods through experiments.

DOI： 10.1109/TMECH.2006.878557

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点接触の仮定に基づく2足歩行の Lateral 運動制御

土井 将弘, 松野 隆幸, 長谷川 泰久, 福田 敏男

日本機械学会論文集. C編   72 ( 718 )   1832 - 1839   2006年6月

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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 the novel control method named Passive Dynamic Autonomous Control (PDAC). PDAC is based on the following concept which Grizzle et al.^<(6)(9)> employed previously : 1) point-contact 2) Virtual constraint. Point contact means that the contact state between a robot and the ground is point. This makes it possible to generate the robot motion based on the robot inherent dynamics although it becomes difficult to control. Virtual constraint means that all robot joints are connected and interlocked. We present the new approach by means of these concepts to express the whole robot dynamics an an 1-dimensional autonomous system. Due to autonomy, this approach has two following notable points : 1) period from foot-contact to next foot contact can be obtained 2) there is a conservative quantity to make it possible to stabilize the motion. As the first step of realization of 3 D dynamic walking, this paper applies PDAC to the lateral motion and builds the controller. In addition, the stabilization and motion period control are reported. The validity of these control is confirmed by experiment and desired lateral motion is realized.

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Manipulation of Flexible Rope Using Topological Model Based on Sensor Information.

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems   2638 - 2643   2006年

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担当区分：筆頭著者   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）  

DOI： 10.1109/IROS.2006.281944

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その他リンク： https://dblp.uni-trier.de/db/conf/iros/iros2006.html#MatsunoF06

Manipulation of deformable linear objects with knot invariant to classify condition

Takayuki Matsuno, Daichi Tamaki, Fumihito Arai, Toshio Fukuda

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   2   893 - 898   2005年

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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 description method of conditions of rope using a topological model and knot theory. And, we also propose a recognition method to obtain the structure of rope from visual information obtained by the CCD cameras when a robot manipulates a rope. There are many deformable objects such as papers, clothes, and ropes in life space of a person. Robots need skills to manipulate deformable objects, in order to take active parts in such space. However, it is difficult for robots to manipulate deformable objects well and possibility of failure to operate deformable objects cannot be denied. Therefore theoretical framework of error recovery for deformable object manipulation is required. For error recovery system, it is necessary to abstract profitable data from deformable objects, which are hyper degrees of freedom structures. Finally, effectiveness of methods are confirmed by experiments. © 2005 IEEE.

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Strategy of Picking Up Thin Plate by Robot Hand Using Deformation of Soft Fingertip.

Takayuki Matsuno, Kensaku Kanada, Fumihito Arai, Hideo Matsuura, Toshio Fukuda

Proceedings of the 2005 IEEE International Conference on Robotics and Automation(ICRA)   2326 - 2331   2005年

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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：IEEE  

DOI： 10.1109/ROBOT.2005.1570460

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その他リンク： https://dblp.uni-trier.de/db/conf/icra/icra2005.html#MatsunoKAMF05

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

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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：IEEE  

DOI： 10.1109/ROBOT.2005.1570502

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その他リンク： https://dblp.uni-trier.de/db/conf/icra/icra2005.html#MotooAYFMM05

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

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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

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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

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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.

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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

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掲載種別：研究論文（学術雑誌）  

DOI： 10.20965/jrm.2004.p0031

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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

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掲載種別：研究論文（学術雑誌）  

DOI： 10.20965/jrm.2004.p0613

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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

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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：IEEE  

DOI： 10.1109/IROS.2004.1389444

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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

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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：IEEE  

DOI： 10.1109/ROBOT.2004.1307975

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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

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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

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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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