2021/04/08 更新

写真a

ナガイ イサク
永井 伊作
NAGAI Isaku
所属
自然科学学域 助教
職名
助教
外部リンク

学位

  • 修士(工学) ( 岡山大学 )

  • 博士(工学) ( 岡山大学 )

研究キーワード

  • 画像処理

  • 電子回路

  • 移動ロボット

  • 自己位置推定

  • 運動計測装置

  • 視覚装置

  • Image processing

  • Electronic circuit

  • Motion estimation

  • Mobile robot

  • Localization

  • Vision sensor

研究分野

  • 情報通信 / 知能ロボティクス

  • 情報通信 / ロボティクス、知能機械システム

  • 情報通信 / 機械力学、メカトロニクス

  • 情報通信 / 知覚情報処理

学歴

  • 岡山大学    

    - 1997年

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    国名: 日本国

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  • 岡山大学   Graduate School, Division of Engineering  

    - 1997年

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  • 岡山大学   工学部   機械工

    - 1995年

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    国名: 日本国

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  • 岡山大学   Faculty of Engineering  

    - 1995年

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経歴

  • - 岡山大学自然科学研究科 助教

    2007年

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  • - Assistant Professor,Graduate School of Natural Science and Technology,Okayama University

    2007年

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所属学協会

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論文

  • A detection method using ultrasonic sensors for avoiding a wall collision of Quadrotors 査読

    Kenjiro Niwa, Keigo Watanabe, Isaku Nagai

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017   1438 - 1443   2017年8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.  

    Unmanned aerial vehicles (UAVs) can be applied as an inspection method for infrastructures such as tunnels, bridges, etc. In particular, UAVs being capable of vertical takeoff and landing (VTOL) are suitable for photographing inspection sites using cameras, because it need not use a runway and can hover. Among such VTOL type UAVs, those having four rotors are called Quadrotors. When using a Quadrotor for infrastructure inspection, it needs to approach the inspection object in order to photograph the inspection site using the camera. However, due to the influence by wind, it is predicted that the Quadrotor will collide with the inspection object. When the airframe comes into contact with the inspection object, there are problems that the camera image, which is provided a camera mounted on the airframe, is distorted, and the airframe and the inspection objects are damaged. Thus, it is necessary for the inspection Quadrotor to avoid a contact with the inspection object. Therefore, the present research is a wall surface detection method using ultrasonic sensors, so as to realize collision avoidance between walls or piers and the camera mounted Quadrotor. In this paper, we report a wall surface detection method, wall surface detection experiments using the proposed ultrasonic sensors and their results.

    DOI: 10.1109/ICMA.2017.8016028

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  • The stabilization of attitude of a Manta robot by a mechanism for moving the center of gravity and improvement of diving ability 査読

    Takanori Nakatsuka, Keigo Watanabe, Isaku Nagai

    International Conference on Control, Automation and Systems   220 - 225   2016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:IEEE Computer Society  

    The development of underwater robots has been required for biological research in the sea. Therefore, it needs biomimetic robots because they hardly affect the behavior of creatures. We have developed a Manta robot that has propulsion mechanisms with pectoral fins, mimicking the pectoral fin of the manta. The conventional Manta robot is influenced by a righting moment varies according to the distance between the center of gravity (c.g) and the center of buoyancy. The righting moment keeps an object in the water in a certain posture. If the righting moment is large, the diving ability is reduced, so that the Manta robot is expected to not follow the movement of any organism. On the other hand, if the righting moment is small, the stability of the posture is insufficient, so that it is difficult to acquire the camera image. Therefore, we improve the diving ability of the Manta robot as well as stabilizing the posture, by changing the righting moment due to adjusting c.g. In this paper we explain the mechanism for moving c.g, and the way to adjust c.g. Furthermore, several swimming experiments are conducted, using the Manta robot equipped with the mechanism for moving c.g.

    DOI: 10.1109/ICCAS.2016.7832325

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  • Control of the Position and Attitude of a Tethered Quadrotor Considering the Influence of a Tether 査読

    Keigo Watanabe, Yusuke Ouchi, Keisuke Kinoshita, Isaku Nagai

    2015 10TH ASIAN CONTROL CONFERENCE (ASCC)   2015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:IEEE  

    An unmanned small aircraft is expected to be applied to various applications, such as aerial photography, information gathering of disaster, transport of luggage, and inspection of infrastructure, such as bridges and tunnels. It needs to control the position of the Quadrotor, if it is used for the inspection of infrastructures, such as bridges etc. Therefore, we propose a method for controlling a Quadrotor using a tether. We have suggested in previous research a control method of the relative position of a Quadrotor to the operator using the tether, and conducted an experiment. However, influences of the tether were not considered in the model of the extended Kalman filter to estimate the state of the Quadrotor. In this paper, the dynamical model of a Quadrotor is derived so as to consider the influence of a tether, and the position and attitude control simulation is conducted.

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  • The Derivation of a Dynamical Model for a Manta Robot and Its Control 査読

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   1136 - 1139   2015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:IEEE  

    In this paper, we derive a dynamical model for a manta robot by taking account of a pectoral-fin propulsion mechanism. Especially, the model is derived by considering the force generated from such a specialized propulsion mechanism, together with estimating added masses and moment due to a cubic body form used in this research. The effectiveness of the dynamical model is verified by comparing the simulation results based on the model with the measurement values using an actual robot.

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  • Fundamental control for a manta-like fish robot 査読

    Masaaki Ikeda, Keigo Watanabe, Isaku Nagai

    Handbook of Research on Advancements in Robotics and Mechatronics   153 - 167   2014年12月

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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:IGI Global  

    This chapter analyzes a propulsive force generated from pectoral fins for a manta-like fish robot, which is one of rajiform-type fish robot in a classification of swimming mechanism of fishes, from fluid dynamics aspects. The fishes of this type swim underwater with two pectoral fins. A diving method is proposed, assuming that some front fin rays are fixed with a constant angle. The usefulness of the method is demonstrated by numerical simulations and an experiment with an actual robot system.

    DOI: 10.4018/978-1-4666-7387-8.ch007

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  • The development of a 3D position measurement system for indoor aerial robots 査読

    Keigo Watanabe, Yuya Yamada, Isaku Nagai

    International Conference on Control, Automation and Systems   1185 - 1190   2014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:IEEE Computer Society  

    In this research, a position measurement system in an indoor 3D space is developed by using a stereo camera. Especially, in order to enable measurement in a dark place, the position measurement system is built by attaching an infrared LED marker to an object and using two cameras equipped with an infrared transmitting filter. The validity of such a system is clarified through a real system experiment by including it in the control system of an indoor aerial robot, and using it as a measurement system for position control in 3D space.

    DOI: 10.1109/ICCAS.2014.6987739

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  • Exponential stabilization of second-order nonholonomic chained systems 査読

    Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)8103 ( 2 ) 96 - 107   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)  

    In this paper, an underactuated control method is considered for an X4-AUV with four thrusters and 6-DOFs. A second-order chained form transformation is introduced to the dynamical model by separating a system into three parts of controller model. Then, the Astolfi's discontinuous control method is applied to realize an underactuated control method to stabilize the system. This approach is motivated by the fact that the discontinuous dynamic model without using a chained form transformation assures only a local stability (or controllability) of the dynamic based control system, instead of guaranteeing a global stability of the system. A computer simulation is presented to demonstrate the effectiveness of our approach. © 2013 Springer-Verlag Berlin Heidelberg.

    DOI: 10.1007/978-3-642-40849-6-9

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  • レーザ光源と光学センサを用いたスリップに頑強な移動ロボット用位置推定システムの構築 査読

    永井伊作, 渡辺桂吾, 永谷圭司, 吉田和哉

    日本機械学会 ロボティクス・メカトロニクス講演会 ROBOMEC20102A2-D30   2010年6月

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

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  • Development of a real-time range finder interpolating the parallax signals for surfaces 査読

    Yutaka Tanaka, Akio Gofuku, Isaku Nagai, Shigeharu Miyata

    Mechatronics12 ( 6 ) 875 - 889   2002年7月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)  

    In order to apply "eyes" to an autonomous running vehicle, a real-time range finder has been developed that can measure both the distance to every point on a plane without any pattern and its inclination. Although it seems contrary to the fact that the parallax is inversely proportional to the distance, this paper derives the mathematical ground that a plane in a real 3-D space (X,Y,Z) is mapped also into the plane in a spatial parallax (x,y, Δx). On this basis, an electronic circuit has been manufactured which can compute in video rate the interpolation value between the parallaxes at two characteristic points by using several programmable logic devices. It has also been demonstrated that this device is applicable to the measurements of the slant angles of and the directions normal to a simple plane or a slightly curved surface. © 2002 Elsevier Science Ltd. All rights reserved.

    DOI: 10.1016/S0957-4158(01)00023-X

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  • Obstacle avoidance by changing running path for an autonomous running vehicle applying visual servoing 査読

    A Gofuku, Y Tanaka, H Soda, Nagai, I

    FOURTH ANNUAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE, PROCEEDINGS   106 - 111   1997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:I E E E, COMPUTER SOC PRESS  

    This paper describes an improved running control algorithm based on the visual servoing in consideration of the turning back of a running path to avoid an obstacle on the path by changing the running path. This paper also describes an experimental autonomous running vehicle to demonstrate the algorithm. As a vision sensor, the vehicle equips with a video-rate stereo range finder which processes color images from stereo CCD cameras and is developed in the authors' laboratory. From the several basic autonomous running experiments, it is concluded that the experimental vehicle runs smoothly any planned path composed of several teaching routes by transferring routes. It is also concluded that the vehicle can turn back on a path including turning back of route transference.

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書籍等出版物

  • ロボット制御学ハンドブック

    近代科学社  2017年 

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  • 鮎、牡蠣の香りの水晶振動子を用いた定性評価に関する基礎研究

    公益財団法人 浦上食品・食文化振興財団  2016年 

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  • Fundamental Control for a Manta-Like Fish Robot

    2014年 

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MISC

  • 下向きカメラを有する自律走行車のための模様の劣化にロバストな自己位置修正法

    永井 伊作, 渡辺 桂吾

    計測自動制御学会論文集55 ( 1 )   2018年

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  • Attitude control of a camera mounted-type tethered quadrotor for infrastructure inspection

    Keigo Watanabe, Nao Moritoki, Isaku Nagai

    Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society2017-   6252 - 6257   2017年12月

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    記述言語:英語   出版者・発行元:Institute of Electrical and Electronics Engineers Inc.  

    Use of unmanned aerial vehicles is considered as one of the means which performs infrastructure inspection. Since the operation from GPS or the outside is not needed but the method by a quadrotor with a tether can perform the position control of the airframe, it can be used for the inspection of infrastructures, such as a tunnel and a bridge. In this research, it aims to develop and control a camera mounted-type tethered quadrotor as a backup system of proximity viewing by people in infrastructure inspection. Especially, the development and control of a stabilizer for stabilizing a mounted camera in 2-DOFs are described in detail here. Moreover, the flight experiment of the airframe is conducted to verify the usefulness of the proposed system.

    DOI: 10.1109/IECON.2017.8217087

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  • Development and control of tilt-wings for a tilt-type Quadrotor

    Ryuta Takeuchi, Keigo Watanabe, Isaku Nagai

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017   501 - 506   2017年8月

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    記述言語:英語   出版者・発行元:Institute of Electrical and Electronics Engineers Inc.  

    The application of unmanned aerial vehicles (UAVs) is being actively studied as one of ways for collecting of information and supporting of rescue activities etc., under a catastrophic disaster. There are roughly two types of UAVs: one is rotorcraft type UAVs that have ability for vertical takeoff and landing (VTOL) and the other is fixed-wing type UAVs that are superior in terms of flying-range and its speed. Usually, they are used properly according to the missions, but in an emergency case, it is desirable for us to complete various missions by only one UAV. To this end, it needs new UAVs which have ability for VTOL, wide flying-range and high cruising-speed. The objective of this study is to develop a Quadrotor that can switch the flight mode by mounting tilted wings. The tilt-wing can generate a thrust in any direction, and has also a function as a fixed-wing during a cruising flight mode. This paper presents the overview of a tilt-wings-mounted Quadrotor, and the design and development of a tilt-wing. In addition, some experiments are conducted to check the influence of the VTOL performance by tilt-wing.

    DOI: 10.1109/ICMA.2017.8015868

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  • Design and development of steered active wheel casters and its application

    Yutaro Ueno, Keigo Watanabe, Isaku Nagai

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017   507 - 512   2017年8月

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    記述言語:英語   出版者・発行元:Institute of Electrical and Electronics Engineers Inc.  

    Recently, omnidirectional powered-wheelchairs that have high mobility at a narrow space or a place with many obstacles are studied actively. Many of conventional omnidirectional mechanisms use special wheel mechanisms, such as a mecanum wheel etc. However, this mechanism is unsuitable for use in powered-wheelchairs, because of having problems, such as serious vibrations while moving, low loadability, etc. In previous studies, an active dualwheel caster that can use general rubber tires and an omnidirectional mobile platform using several such assemblies have been developed. However, there is a problem that omnidirectional movement becomes impossible, when one of wheels in this assembly would run aground to a level difference or idle. The objective of this study is to develop an omnidirectional mobile platform to solve this problem, where the platform uses several steered active wheel caster assemblies. Also, a rocker-bogie system that is a kind of suspension systems is used for the platform to improve traveling performance. In this paper, we give an overview of the steered active wheel caster assembly and propose a mobile platform, and describe the production process and experimental results.

    DOI: 10.1109/ICMA.2017.8015869

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  • Improvements of one-wheel driven personal mobility for use on a public road

    Takanori Sakata, Isaku Nagai, Keigo Watanabe

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017   525 - 530   2017年8月

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    記述言語:英語   出版者・発行元:Institute of Electrical and Electronics Engineers Inc.  

    As a daily means of transportation, Personal Mobility (PM) attracts attention due to its high environmental performance. One of the representative PMs is Segway. However, it is expensive and unavailable to use freely on a Japanese public road because of Road Traffic Act. Therefore, our laboratory developed a one-wheel driven and standing ride type PM for the purpose of low production cost and using on the public roads freely. However, the PM has two problems
    i.e., one is that its driving speed becomes uncontrollable by sunlight that changes DC offset of signals from a sensor for measuring speed, and the other is that the driver falls off by a sudden stop of the drive wheel due to battery exhaustion. In this paper, the speed control under the sun is made possible by introducing a signal conversion circuit with AC coupling. In addition, gentle decelerating and automatic stopping before the battery exhaustion prevent the driver from falling off.

    DOI: 10.1109/ICMA.2017.8015872

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  • Influence on the propulsive performance due to the difference in the fin shape of a robotic manta

    Masaaki Ikeda, Kota Mikuriya, Keigo Watanabe, Shigeki Hikasa, Yukito Hamano, Isaku Nagai

    Artificial Life and Robotics22 ( 2 ) 276 - 282   2017年6月

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    記述言語:英語   出版者・発行元:Springer Tokyo  

    This paper experimentally investigates the influence on the propulsive performance by the difference in the fin shape of a robotic manta. Five kinds of fin shapes, i.e., a rectangle, a triangle, a trapezoid, and two right triangles, are used in experiment to measure the forward speed of the robot, where two types of right triangle are discriminated, depending on the arrangement of the right angle part and each fin area is assumed to be approximately equal, and the number of fin rays is the same at all the fins. It is proved that a significant difference in propulsive speed arises depending on the difference in the fin shape. Some experiments are additionally conducted to examine the influence on the propulsive speed and its efficiency, due to the parameter change of a progressive wave in the fin.

    DOI: 10.1007/s10015-017-0351-8

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  • An automatic parking system using an optimized image-based fuzzy controller by genetic algorithms

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Artificial Life and Robotics22 ( 1 ) 139 - 144   2017年3月

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    記述言語:英語   出版者・発行元:Springer Tokyo  

    An automatic parking system of a car-like mobile robot is an important issue in commercial applications. An image-based fuzzy controller for an automatic parking system of a car-like mobile robot was developed in previous work, where the membership functions were tuned by experimentally. The aim of this paper is to optimize the parameters of the membership functions, which were performed in previous work, using a genetic algorithm against the complicated tuning of the controller. The details of GA implementation, such as the design parameters and choice of fitness function, are described. Simulation results illustrate the effectiveness of the developed schemes.

    DOI: 10.1007/s10015-016-0326-1

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  • Acquisition of Optical Flow Considering the Pitching Motion to Estimate the Self-position of a Manta Robot

    Masaki Ikeda, Kota Mikuriya, Keigo Watanabe, Isaku Nagai

    2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   182 - 185   2017年

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    記述言語:英語   出版者・発行元:IEEE  

    The development of underwater exploration robots is expected for the biological research of aquatic life. In particular, biomimetic robots are possible to investigate aquatic organisms without affecting them seriously. A Manta robot has been already developed by mimicking the pectoral fin of the manta ray. Note however that it is difficult to obtain the self-position data, because small AUVs like a Manta robot can't communicate underwater with radio waves. As one approach to obtain the self-position data, a method of using optical flow is constructed in this paper. The amount of movement of the robot is estimated by using the optical flow obtained from a monocular camera, when the robot moves around an underwater structure or the bottom of the sea. Furthermore, after evaluating the influence of pitch motion of a Manta robot on the detection of an optical flow, an optical flow acquisition method is proposed using a noise removal filter and a gimbal mechanism to reduce such an influence on the detection. Finally, the effectiveness of the proposed method is confirmed by actual experiments.

    DOI: 10.23919/SICE.2017.8105774

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  • Production of a Tilt Rotor System and a Speed Control of a DC Motor for Quadrotors

    Tomohiko Hasegawa, Keigo Watanabe, Isaku Nagai

    International Journal on Smart Material and Mechatronics4 ( 1 ) 278 - 281   2017年

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  • Dynamic model based control and verification for omnidirectional mobile robots with active dual-wheel caster assemblies

    Yuta Fujimoto, Keigo Watanabe, Isaku Nagai

    Proc. of the 22nd Int. Symposium on Artificial Life and Robotics (AROB 22nd '17)   580 - 584   2017年

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  • Construction of a Module for an Omnidirectional Mobile Platform with a Rocker-bogie Suspension System

    Yuki Mori, Keigo Watanabe, Isaku Nagai

    Proc. of the 22nd Int. Symposium on Artificial Life and Robotics (AROB 22nd '17)   585 - 590   2017年

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  • A Method for Calculating the Amount of Movements to Estimate the Self-position of Manta Robots

    Takuya Imahama, Keigo Watanabe, Kota Mikuriya, Isaku Nagai

    Proc. of the 4th Int. Symposium on Smart Material and Mechatronics   2017年

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  • An Intelligent Parking System for Vehicles Using an Image-based Fuzzy Controller

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    International Journal on Smart Material and Mechatronics4 ( 1 ) 252 - 256   2017年

  • Correcting Path of a Shopping Cart Using a Particle Filter and an Environment Map

    Daiki Sasakura, Isaku Nagai, Keigo Wtanabe

    International Journal on Smart Material and Mechatronics4 ( 1 ) 261 - 264   2017年

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  • System construction for distributedly controlling the thrusters of X4-AUV

    Xiongshi Xu, Keigo Watanabe, Isaku Nagai

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)10462   825 - 833   2017年

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    記述言語:英語   出版者・発行元:Springer Verlag  

    A small-sized X4-AUV is a kind of AUVs that do not use any rudders, and is driven by four thrusters arranged equally around the fuselage. In order to drive the X4-AUV more efficiently and precisely, a distributed control system of thrusters is proposed, in which the command of a main microcontroller is distributed to four sub-microcontrollers, one of which is mounted on each thruster. By utilizing the serial communication between the PC and the sub-microcontroller, the P, I and D gains of thruster can be easily adjusted on a Graphical User Interface (GUI). After the gains are adjusted, the performance of distributed control of the thrusters can be verified in real time through another designed GUI.

    DOI: 10.1007/978-3-319-65289-4_76

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  • A localization method using a dynamical model and an extended Kalman filtering for X4-AUV

    Keigo Watanabe, Takanori Yamaguchi, Isaku Nagai

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)10462   834 - 845   2017年

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    記述言語:英語   出版者・発行元:Springer Verlag  

    The self-position estimation problem of X4-AUV, which is an autonomous underwater vehicle (AUV) driven by four thrusters, is considered. Since a self-position cannot be underwater measured directly using GPS etc., we have to consider any method for realizing it by an indirect method. The AUV treated by this research has a mechanical structure that a self-position is controlled by changing the attitude from the feature of drive mechanism, and it can observe an attitude angle from an internal sensor, so that based on the dynamical model of the present AUV, a method for estimating the self-position is proposed by applying an extended Kalman filter. The usefulness of this technique is demonstrated by checking the feasibility in the simulation of the position control that used the position estimate.

    DOI: 10.1007/978-3-319-65289-4_77

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  • A method for measuring the position of quadrotors using a tether winder

    Nao Moritoki, Keigo Watanabe, Isaku Nagai

    International Conference on Control, Automation and Systems   25 - 29   2016年1月

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    記述言語:英語   出版者・発行元:IEEE Computer Society  

    Use of a Quadrotor is considered as one of the methods to inspect infrastructures such as a tunnel or a bridge. In such a case, it needs to control the position of the airframe. Note, however, that it is difficult to realize the position control using GPS in environments, such as in a tunnel or under a bridge, because there is a problem, such as the weakness of the GPS signal or the incomplete reaching. Therefore, the present research is aimed at developing position control not using GPS, and proposes a method for detecting the airframe position of a tethered Quadrotor, from the length and tension of the tether. Especially, a tether winder is produced so that the length and tension of the tether are measured. This paper describes how to detect the position of a Quadrotor, and presents some operation experiments of the produced tether winder.

    DOI: 10.1109/ICCAS.2016.7832295

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  • Attitude Control for Manta Robots Using a Fuzzy Controller

    Yukito Hamano, Keigo Watanabe, Isaku Nagai, Masaaki Ikeda

    Proc. of the 21st Int. Symposium on Artificial Life and Robotics (AROB 21th '16)   362 - 367   2016年

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  • Development of a New Manta Robot Considering the Propulsive Resistance

    Kota Mikuriya, Keigo Watanabe, Yukito Hamano, Isaku Nagai

    International Journal on Smart Material and Mechatronics3 ( 1 ) 151 - 155   2016年

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  • Image-based Fuzzy Parking Control of a Car-like Mobile Robot

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    International Journal on Smart Material and Mechatronics3 ( 1 ) 160 - 164   2016年

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  • Control of a Quadrotor Equipped with a Fixed-wing by Tilting Some of Four Rotors

    Yoshikazu Nakamura, Keigo Watanabe, Isaku Nagai

    International Journal on Smart Material and Mechatronics3 ( 1 ) 165 - 169   2016年

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  • Design of an image-based fuzzy controller for autonomous parking of four-wheeled mobile robots

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS52 ( 3-4 ) 859 - 865   2016年

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    記述言語:英語   出版者・発行元:IOS PRESS  

    This paper develops an automatic parking system for a car-like mobile robot using image-based control, where the robot equipped with a single camera detects a rectangular parking frame drawn on the floor. The desired target line to be followed by the robot is produced by using Hough transform from a captured image, together with thresholding and Canny edge detector. The fuzzy controller is designed with a reasoning mechanism composed of two inputs, which are the gradient and intercept of the target line, and one output that is the steering angle of the robot. The effectiveness of the proposed method is demonstrated through some experimental results with an actual mobile robot.

    DOI: 10.3233/JAE-162180

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  • Optimization of an image-based fuzzy controller for an automatic parking system using a genetic algorithm

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of the 21st Int. Symposium on Artificial Life and Robotics (AROB 21th '16)   354 - 357   2016年

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  • Motion Estimation of a Walking Robot Based on Laser Speckle Odometry

    Rui Saito, Isaku Nagai, Keigo Watanabe

    Proc. of the 21st Int. Symposium on Artificial Life and Robotics (AROB 21th '16)   358 - 361   2016年

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  • Speed Control of One-wheel Driven Personal Mobility for Use on a Public Road

    Hiromasa Iwasaki, Isaku Nagai, Keigo Watanabe

    Proc. of Int. Conf. on Information and Communication Technology Robotics (ICT-ROBOT 2016)FrAT1.3.pdf   2016年

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  • A Localization Method for Manta Robots Using an Optical Flow Technique

    Masaaki Ikeda, Kota Mikuriya, Keigo Watanabe, Isaku Nagai

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics   144 - 148   2016年

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  • A Localization Method for Manta Robots Using an Optical Flow Technique

    Masaaki Ikeda, Kota Mikuriya, Keigo Watanabe, Isaku Nagai

    International Journal on Smart Material and Mechatronics3 ( 2 ) 169 - 200   2016年

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  • Autonomous Parking System of a Car-like Mobile Robot Using an Image Based Fuzzy Controller

    Kyaw Thiha, Yin Yin Aye, Keigo Watanabe, Isaku Nagai

    Proc. of the Seventh Int. Conf. on Science and Engineering (ICSE 2016)   247 - 251   2016年

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  • Production of a Tilt Rotor System and a Speed Control of a DC Motor for Quadrotors

    Tomohiko Hasegawa, Keigo Watanabe, Isaku Nagai

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics   21 - 24   2016年

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  • Correcting Path of a Shopping Cart Using a Particle Filter and an Environment Map

    Daiki Sasakura, Isaku Nagai, Keigo Watanabe

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics   62 - 65   2016年

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  • An Intelligent Parking System for Vehicles Using an Image-based Fuzzy Controller

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics   66 - 70   2016年

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  • A Servo Control System for the Thruster of a Small-sized X4-AUV

    Xiongshi Xu, Keigo Watanabe, Isaku Nagai

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics   134 - 137   2016年

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  • Development of an Omnidirectional Mobile Platform with a Rocker-bogie Suspension System

    Yuki Mori, Keigo Watanabe, Isaku Nagai

    PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   6134 - 6139   2016年

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    記述言語:英語   出版者・発行元:IEEE  

    In connection with the super-aging society, there exists a growing interest in omnidirectional powered-wheelchairs that have superior mobility in a narrow space. An omnidirectional mobile robot composed of active dual-wheel caster assemblies can use general wheels such as rubber tires, so that it is easily applied to a powered wheelchair. This study is aimed at developing an omnidirectional mobile platform using active dual wheel caster assemblies in consideration of the run in a public road. An omnidirectional mobile platform using a rocker-bogie suspension system is proposed to improve the running ability, and several active dual-wheel caster modules are produced so as to be used in such a platform. In this paper, we give an overview of the active dual-wheel caster assemblies and the proposed robot, and describe the process of actual production of such modules and the associated experimental results.

    DOI: 10.1109/IECON.2016.7793808

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  • Development of a Camera-mounted Tethered Quadrotor for Inspecting Infrastructures

    Keigo Watanabe, Keisuke Kinoshita, Isakau Nagai, Maki K. Habib

    PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   6128 - 6133   2016年

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    記述言語:英語   出版者・発行元:IEEE  

    A camera-mounted tethered Quadrotor is proposed to substitute for proximity viewing check of a bridge or the wall in a tunnel. We first describe the design and manufacture of the airframe, and then manufacture a stabilizer for making the posture of the camera mounted on the airframe constant. Here, the camera can transmit its image to a smart-phone through a Wi-Fi communication system, and the stabilizer is controlled by a PID controller. To check whether the camera-mounted tethered Quadrotor manufactured is stabilized, some flight experiments are finally conducted indoors.

    DOI: 10.1109/IECON.2016.7792982

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  • Path Estimation of a Shopping Cart Using a Particle Filter and an Environment Map

    Daiki Sasakura, Keigo Watanabe, Isaku Nagai

    PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   6152 - 6157   2016年

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    記述言語:英語   出版者・発行元:IEEE  

    Understanding of consumer behavior contributes a store for improving the profitability. It is important to analyze and understand consumer trajectories in a store building for the purpose. Therefore analyses of purchasing history and consumer's movement are performed in the process. Purchasing histories is regularly obtained via a POS system. For acquiring the movement path, a measurement device using an optical sensor and a gyro sensor was proposed. However, the device has a problem of poor measurement accuracy because of the accumulated error in the sensors. In this study, we propose a method for improving the accuracy by using a particle filter and an environmental map. We describe the outline of the device and the path estimated by the method from the measured data with a map.

    DOI: 10.1109/IECON.2016.7793480

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  • Indoor Self-Localization Using a Magnetic Map

    Jun Sakai, Isakau Nagai, Keigo Watanabe

    Proc. of Int. Conf. on Information and Communication Technology Robotics (ICT-ROBOT 2016)FrAT1.4.pdf   2016年

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  • Stabilizing Control for the Attitude of a Small-sized X4-AUV

    Ge Ri Le Tu, Xiongshi Xu, Keigo Watanabe, Isaku Nagai

    2016 55TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   1185 - 1190   2016年

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    記述言語:英語   出版者・発行元:IEEE  

    In this research, an X4-AUV consisting of four thrusters is designed and manufactured to develop a small AUV which does not use any rudders. First, the construction of an X4-AUV and the motion method are described, together with the added mass. Next, for the production of the X4-AUV, we describe the selection of parts and the manufacture of a waterproofed container, and some experiments are conducted to verify the forward motion of the X4-AUV and the rotational motion in each attitude. We propose a method for stabilizing the attitude of the X4-AUV, and confirm the usefulness of the method through the experiments.

    DOI: 10.1109/SICE.2016.7749263

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  • Attitude Stabilization of a Manta Robot by Fuzzy Control

    Masaaki Ikeda, Yukito Hamano, Keigo Watanabe, Isaku Nagai

    Proc. of the SICE Annual Conference 2016   1191 - 1194   2016年

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  • The Stabilization of Attitude of a Manta Robot by a Mechanism for Moving the Center of Gravity and Improvement of Diving Ability

    Takanori Nakatsuka, Keigo Watanabe, Isaku Nagai

    2016 16TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS)   220 - 225   2016年

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    記述言語:英語   出版者・発行元:IEEE  

    The development of underwater robots has been required for biological research in the sea. Therefore, it needs biomimetic robots because they hardly affect the behavior of creatures. We have developed a Manta robot that has propulsion mechanisms with pectoral fins, mimicking the pectoral fin of the manta. The conventional Manta robot is influenced by a righting moment varies according to the distance between the center of gravity (c.g) and the center of buoyancy. The righting moment keeps an object in the water in a certain posture. If the righting moment is large, the diving ability is reduced, so that the Manta robot is expected to not follow the movement of any organism. On the other hand, if the righting moment is small, the stability of the posture is insufficient, so that it is difficult to acquire the camera image. Therefore, we improve the diving ability of the Manta robot as well as stabilizing the posture, by changing the righting moment due to adjusting c.g. In this paper we explain the mechanism for moving c.g, and the way to adjust c.g. Furthermore, several swimming experiments are conducted, using the Manta robot equipped with the mechanism for moving c.g.

    DOI: 10.1109/ICCAS.2016.7832325

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  • Image-based fuzzy control of a car-like mobile robot for parking problems

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION   502 - 507   2016年

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    記述言語:英語   出版者・発行元:IEEE  

    The image-based control method can operate a mobile robot by controlling only image information acquired from camera images without using the robot states. This paper is devoted to design a car-like mobile robot that possesses autonomous angle parking and perpendicular parking capability by using an image-based fuzzy controller. A parking frame which is drawn on the floor is detected by a robot that is equipped with a camera. For both parking types, the desired target line to be followed by the robot is generated by calculating the image features which are extracted from the captured image. The fuzzy controller is designed with a reasoning mechanism composed of two inputs, which are the slope and intercept of the target line, and one output that is the steering angle of the robot. Simulation results illustrate the effectiveness of the proposed method.

    DOI: 10.1109/ICMA.2016.7558614

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  • The Design and Production of a Tilt Rotor System for Quadrotors

    Tomohiko Hasegawa, Keigo Watanabe, Isaku Nagai, Shoichi Maeyama

    Proc. of Int. Conf. on Information and Communication Technology Robotics (ICT-ROBOT 2016)FrAT1.2.pdf   2016年

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  • Invariant manifold-based stabilizing controllers for nonholonomic mobile robots

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Artificial Life and Robotics20 ( 3 ) 276 - 284   2015年10月

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    記述言語:英語   出版者・発行元:Springer-Verlag Tokyo  

    The problem of designing a stabilizing controller for point-to-point control of a four-wheeled mobile robot is considered in this study. The stability of the proposed control system is analyzed using Lyapunov theory. Firstly, a four-wheeled mobile robot which is an under-actuated system with two inputs is considered as a controlled object. Then, the switching and non-switching control methods based on an invariant manifold theory are proposed for stabilizing it in the desired position and orientation, where a chained form model is assumed to be used as a canonical model. Finally, simulation results are given to illustrate the effectiveness of the proposed method.

    DOI: 10.1007/s10015-015-0219-8

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  • Invariant manifold-based stabilizing controllers for nonholonomic mobile robots

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Artificial Life and Robotics20 ( 3 ) 276 - 284   2015年10月

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    記述言語:英語   出版者・発行元:Springer-Verlag Tokyo  

    The problem of designing a stabilizing controller for point-to-point control of a four-wheeled mobile robot is considered in this study. The stability of the proposed control system is analyzed using Lyapunov theory. Firstly, a four-wheeled mobile robot which is an under-actuated system with two inputs is considered as a controlled object. Then, the switching and non-switching control methods based on an invariant manifold theory are proposed for stabilizing it in the desired position and orientation, where a chained form model is assumed to be used as a canonical model. Finally, simulation results are given to illustrate the effectiveness of the proposed method.

    DOI: 10.1007/s10015-015-0219-8

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  • Development of a Blimp Robot Consisting of Four-divided Envelopes with Four Propellers

    Keigo Watanabe, Naoto Okamura, Isaku Nagai

    2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS)   237 - 242   2015年

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    記述言語:英語   出版者・発行元:IEEE  

    A new blimp robot is proposed to make a rise or downward movement easy, where four partial envelopes are arranged, centering on a gondola, and four propellers are attached around the gondola. After pointing out the structural problem of a conventional X4 blimp robot, the design and manufacture of a new type body to be developed is described in detail. In order to examine the usefulness of the structure of the blimp robot developed, some experiments are conducted to visually check a translational motion, pitch motion and yaw motion in open-loop control.

    DOI: 10.1109/ICCAS.2015.7364913

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  • Development of a New Manta Robot Considering the Form Drag

    Kota Mikuriya, Shigeki Hikasa, Yukito Hamano, Keigo Watanabe, Masaki Ikeda, Isaku Nagai

    2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   1132 - 1135   2015年

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    記述言語:英語   出版者・発行元:IEEE  

    Biomimetic robots are possible to be used for investigating aquatic lives without affecting them. We have already developed a Manta robot that has propulsion mechanisms with pectoral fins, which are constructed by mimicking the pectoral fin of the manta ray. However, the swimming speed of the conventional Manta robot does not reach to those of many aquatic lives. In this paper, we improve the propulsion performance of such a Manta robot by considering a 3D shape. The propulsion performance of the Manta robot is improved by adopting a streamline shape, which has a less propulsion resistance as the body shape of the robot.

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  • An Obstacle Avoidance Method by Combing Image-based Visual Servoing and Optical Flow

    Keigo Watanabe, Toshiyuki Kageyu, Shoichi Maeyama, Isaku Nagai

    2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   677 - 682   2015年

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    記述言語:英語   出版者・発行元:IEEE  

    An obstacle avoidance method has been proposed as an application example of image-based mobile robot control with a monocular camera. However, since distance information is not obtained in this method, an avoidance priority is not given to each obstacle, so that the avoidance accuracy deteriorates. Therefore, a method is proposed for avoiding some obstacles with distance information obtained from optical flows, and then it is compared with a conventional method.

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  • Image-ased Neural Network Controllers for Mobile Robots to Track a Human

    Masaaki Ikeda, Hikaru Fujioka, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2015 10TH ASIAN CONTROL CONFERENCE (ASCC) ( 1570074973 ) 1 - 6   2015年

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    記述言語:英語   出版者・発行元:IEEE  

    This paper proposes an image-based visual servoing method for human tracking by a mobile robot. Three neural networks that determine control inputs from image features are designed as controllers, where they are learned by using the genetic algorithm. We examine the network structure that is suitable as a controller for the present objective by using simulations.

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  • Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach

    Zainah Md Zain, NurFadzillah Harun, Keigo Watanabe, Isaku Nagai

    2015 10TH ASIAN CONTROL CONFERENCE (ASCC) ( 1570087315 ) 1 - 6   2015年

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    記述言語:英語   出版者・発行元:IEEE  

    An X4-AUV is nonlinear, coupled and unstable system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the simulations to see the comparative performance result of an X4-AUV under two control schemes.

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  • Position Control for a VTOL-type UAV by Tilting Some of Four Rotors

    Yoshikazu Nakamura, Keigo Watanabe, Isaku Nagai

    2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   784 - 787   2015年

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    記述言語:英語   出版者・発行元:IEEE  

    In recent years, unmanned aerial vehicles are being expected to be used for the vegetational observation and the information collection of disaster sites into which human cannot enter. In this research, it aims at proposing a VTOL-type UAV that has a fixed-wing and four tiltable rotors and controlling it. Such a UAV has advantages, compared to both rotorcrafts with fixed rotors and fixed-wing aircrafts. This paper derives a dynamical model for the VTOL-type UAV and designs a controller from the derived model. The effectiveness of the designed controller is verified by simulations.

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  • The Design and Production of an X4-AUV

    Ge Ri Le Tu, Shinnosuke Tobita, Keigo Watanabe, Isaku Nagai

    2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   1118 - 1121   2015年

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    記述言語:英語   出版者・発行元:IEEE  

    In this research, an X4-AUV consisting of four thrusters is designed and manufactured to develop a small AUV which does not use any rudders. Especially, each thruster is arranged at equal intervals to the same plane, and the attitude motions of a roll, a pitch and a yaw, and the translational motion of forward are realizable by changing the rotational speeds of four thrusters. First, the construction of an X4-AUV and the motion method are described, together with the added mass. Next, regarding the production of the X4-AUV, the selection of parts, the structure and thrust of a thruster, the manufacture of a waterproofed container, etc. are described. Finally, some experiments are conducted to verify the forward motion of X4-AUV and the rotational motion in each attitude.

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  • Stabilization of Nonholonomic Mobile Robot Using Controllers Based on an Invariant Manifold Theory

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of the 20th Int. Symposium on Artificial Life and Robotics (AROB 20th '15)   537 - 542   2015年

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  • Comparative Experiments for a Robotic Manta by Some Different Fin Shapes

    Masaaki Ikeda, Keigo Watanabe, Kota Mikuriya, Shigeki Hikasa, Yukito Hamano, Isaku Nagai, iv. of, Sultan, Zainal Abidin

    Proc. of the 20th Int. Symposium on Artificial Life and Robotics (AROB 20th '15)   547 - 552   2015年

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  • Laser Odometry Taking Account of the Tilt on the Laser Sensor

    Rui Saito, Keigo Watanabe, Isaku Nagai

    2015 10TH ASIAN CONTROL CONFERENCE (ASCC) ( 1570074937 ) 1 - 6   2015年

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    記述言語:英語   出版者・発行元:IEEE  

    Localization under water is required for an underwater mobile robot to perform the survey autonomously. There is a conventional method using inertial navigation system as a localization under water, but it takes high costs. In this study, we propose a laser odometry technique as a localization for underwater mobile robots. Laser odometry is a method for estimating the motion by tracking laser speckle patterns. It can measure three dimensional positions and a rotation. In this paper, we introduce a principle of the laser odometry, the construction of the sensor unit, and confirm whether the inclination of the optical sensor affects on the laser odometry or not.

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  • The Design and Production of Thrusters for an AUV Without Rudders

    Ge Ri Le Tu, Keigo Watanabe, Isaku Nagai

    2015 10TH ASIAN CONTROL CONFERENCE (ASCC) ( 1570074851 ) 1 - 6   2015年

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    記述言語:英語   出版者・発行元:IEEE  

    We show a design of thruster for an X4-AUV robot, which has four thrusters. The objective in this paper is to prove the availability of this design in reality. At first, we describe the structure of underwater robots, then show the whole design of the thruster. At the last, the experimental results show us the thrust generated by one of the thrusters.

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  • The Stabilization of Position and Attitude for a Blimp by a Switching Controller

    Yoshikazu Nakamura, Keigo Watanabe, Isaku Nagai

    Int. J. of Smart Material and Mechatronics2 ( 1 ) 6 - 9   2015年

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  • Position and Attitude Control for a Quadrotor by Using a Tether

    Yusuke Ouchi, Keigo Watanabe, Keisuke Kinoshita, Isaku Nagai

    Proc. of the 20th Int. Symposium on Artificial Life and Robotics (AROB 20th '15)   531 - 536   2015年

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  • Generation of Time-varying Target Lines for an Automatic Parking System Using Image-based Processing

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)   423 - 427   2015年

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    記述言語:英語   出版者・発行元:IEEE  

    This study develops a novel method of detecting a parking space and generating time-varying target lines of an automatic parking system according to image processing technique. The aim of this research is to detect the parking frame drawn on the floor by a robot equipped with a single camera and produce the image information, the slope and intercept of the target line for the control system. The time-varying target lines to be followed by the robot are generated by using Hough transform from a captured image, together with thresholding and Canny edge detector. The proposed method is evaluated by some experimental results.

    DOI: 10.1109/ROBIO.2015.7418804

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  • Localization of a Walking Robot Using a Laser Speckle Odometry

    Rui Saito, Isaku Nagai, Keigo Watanabe

    Int. J. of Smart Material and Mechatronics2 ( 2 ) 94 - 97   2015年

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  • Development of a New Manta Robot Considering the Propulsive Resistance

    Kota Mikuriya, Keigo Watanabe, Yukito Hamano, Isaku Nagai

    Proc. of the 2nd Int. Symposium on Smart Material and Mechatronics   40 - 43   2015年

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  • Localization of a Walking Robot Using a Laser Speckle Odometry

    Rui Saito, Isaku Nagai, Keigo Watanabe

    Proc. of the 2nd Int. Symposium on Smart Material and Mechatronics   58 - 61   2015年

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  • Image-based Fuzzy Parking Control of a Car-like Mobile Robot

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of the 2nd Int. Symposium on Smart Material and Mechatronics   62 - 66   2015年

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  • Closed-loop Control Experiments for a Blimp Robot Consisting of Four-divided Envelopes

    Keigo Watanabe, Naoto Okamura, Isakau Nagai

    IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   2568 - 2573   2015年

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    記述言語:英語   出版者・発行元:IEEE  

    A new blimp robot is developed to make a rise or descent movement easy, where four partial envelopes are arranged, centering on a gondola, and four propellers are attached around the gondola. After reviewing the structure of the proposed new body, called X4-blimp, describing the motions as the X4-blimp and several parts required as an autonomous robot, the present research mainly explains on closed-loop control of the developed blimp. In particular, a PD type closed-loop controller is designed to control basic motions, such as translational motion, pitch motion, and yaw motion, as well as describing a system model and an observation model for an extended Kalman filter with a quaternion kinematics. The usefulness of the blimp robot developed is demonstrated through some experiments with an actual prototype robot.

    DOI: 10.1109/IECON.2015.7392489

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  • Design of an Image-based Fuzzy Controller for Autonomous Parking of Four-wheeled Mobile Robots

    Yin Yin Aye, Junya Ukida, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of The 17th International Symposium on Applied Electromagnetics and Mechanics (ISEM 2015)   2015年

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  • Some Methods for Controlling the Position of a Quadrotor

    Keigo Watatabe, Kimiko Motonaka, Yusuke Ouchi, Keisuke Kinoshita, Isaku Nagai

    Proc. of The 17th International Symposium on Applied Electromagnetics and Mechanics (ISEM 2015)   2015年

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  • Path Tracking by a Mobile Robot Equipped with Only a Downward Facing Camera

    Isaku Nagai, Keigo Watanabe

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   6053 - 6058   2015年

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    記述言語:英語   出版者・発行元:IEEE  

    This paper presents a practical path-tracking method for a mobile robot with only a downward camera facing the passage plane. A unique algorithm for tracking and searching ground images with natural texture is used to localize the robot without a feature-point extraction scheme commonly used in other visual odometry methods. In our tracking algorithm, groups of reference pixels are used to detect the relative translation and rotation between frames. Furthermore, a reference pixel group of another shape is registered both to record a path and to correct errors accumulated during localization. All image processing and robot control operations are carried out with low memory consumption for image registration and fast calculation times for completing the searches on a laptop PC. We also describe experimental results in which a vehicle developed by the proposed method repeatedly performed precise path tracking under indoor and outdoor environments.

    DOI: 10.1109/IROS.2015.7354239

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  • Control of a Quadrotor Equipped with a Fixed-wing by Tilting Some of Four Rotors

    Yoshikazu Nakamura, Keigo Watanabe, Isaku Nagai

    Proc. of the 2nd Int. Symposium on Smart Material and Mechatronics   31 - 35   2015年

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  • A pectoral fin analysis for diving rajiform-type fish robots by fluid dynamics

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    Artificial Life and Robotics19 ( 2 ) 136 - 141   2014年9月

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    記述言語:英語   出版者・発行元:Springer-Verlag Tokyo  

    In this paper, we analyze a propulsive force generated from pectoral fins for a rajiform-type fish robot from fluid dynamic aspects. A pectoral fin of the rajiform-type fish robot is constructed by multiple fin rays, which move independently, and a film of pushing water. Then, the propulsive force of the fish robot is analyzed from the momentum of the fluid surrounding for every fin between fin rays. The total propulsive force for one pectoral fin is the sum of these momenta. The propulsive speed of a fish robot is determined from the difference of the propulsive force generated from pectoral fins, and the resistance force that the fish robot receives from the water when moving forward. The effectiveness of the proposed method is examined through numerical simulation and actual experimental results.

    DOI: 10.1007/s10015-013-0142-9

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  • Tip-over stability enhancement for omnidirectional mobile robot

    Muhammad Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    International Journal of Intelligent Unmanned Systems2 ( 2 ) 91 - 106   2014年5月

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    記述言語:英語   出版者・発行元:Emerald Group Publishing Ltd.  

    Purpose - The purpose of this paper is to analyze the stability behavior of the omnidirectional mobile robot with active dual-wheel caster (ADWC) assemblies and provide a stable trajectory without any tip-over incident. The omnidirectional mobile robot to be developed is for transporting cuboid-shaped objects. Design/methodology/approach - The omnidirectional transport mobile robot is designed using an ADWC assemblies structure, the tip-over occurrence is estimated based on the support forces of an active footprint, the tip-over direction is predicted, the tip-over stability is enhanced to prevent the tip-over occurrence and a fast traveling motion is provided. Findings - The omnidirectional mobile robot tends to tip-over more on the sides with small ranges of tip-over angle. The proposed method for estimating the tip-over occurrence and enhancing the stability using the gyroscopic torque device was feasible as the tip-over prevention system of the omnidirectional mobile robot with ADWC assemblies. Originality/value - The research addresses the study of the tip-over stability for the omnidirectional mobile robot that possesses an active footprint. It also addresses the prediction of the tip-over occurrence using the derived dynamical model together with force-angle stability measure and the tip-over stability enhancement method using a single-gimbal control moment gyro device.

    DOI: 10.1108/IJIUS-12-2013-0024

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  • Controllers Based on an Invariant Manifold Approach for Stabilizing a Nonholonomic Mobile Robot

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2014 JOINT 7TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS (SCIS) AND 15TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS (ISIS)   134 - 139   2014年

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    記述言語:英語   出版者・発行元:IEEE  

    A system with nonholonomic constraints attracts its attention from the viewpoint of control theory because no conventional control can be applied directly to such a system. Since it cannot be stabilized by a static continuous feedback with constant gains, there are several control methods by using a chained form up to now. In this paper, a four-wheeled mobile robot which is an underactuated system with two inputs is considered as a controlled object. Then, the switching and non-switching control methods based on an invariant manifold theory are proposed for stabilizing it, where a chained form model is assumed to be used as a canonical model. The effectiveness of the proposed method is demonstrated through simulations for a four-wheeled mobile robot.

    DOI: 10.1109/SCIS-ISIS.2014.7044760

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  • Position Control of an X4-Flyer Using a Tether

    Yusuke Ouchi, Keigo Watanabe, Keisuke Kinoshita, Isaku Nagai

    Int. J. of Smart Material and Mechatronics1 ( 1 ) 20 - 24   2014年

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  • Pitch Control for a Manta Robot by Adjusting the Center of Gravity

    Yukito Hamano, Keigo Watanabe, Isaku Nagai

    Proc. of the SICE Annual Conference   748 - 751   2014年

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  • A Stabilizing Method for a Hovering Aerial Robot with Four Rotors

    Keigo Watanabe, Keisuke Kinoshita, Yusuke Ouchi, Isaku Nagai

    Proc. of the SICE Annual Conference   752 - 755   2014年

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  • Position Control of an X4-Flyer Using a Tether

    Yusuke Ouchi, Keigo Watanabe, Keisuke Kinoshita, Isaku Nagai

    Proc. of the 1st Int. Symposium on Smart Material and Mechatronics   46 - 49   2014年

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  • Propulsive control for a manta robot by a CPG based on experimental knowledge

    Masaaki Ikeda, Shigeki Hikasa, Yukito Hamano, Keigo Watanabe, Isaku Nagai

    Proc. of the 19th Int. Symposium on Artificial Life and Robotics (AROB 19th '14)   498 - 502   2014年

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  • Nonholonomic control and state estimation for an X4-Flyer with noisy measurements

    Keigo Watanabe, Yusuke Ouchi, Isaku Nagai

    Proc. of the 19th Int. Symposium on Artificial Life and Robotics (AROB 19th '14)   517 - 521   2014年

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  • Motion analysis of a manta robot for underwater exploration by propulsive experiments and the design of central pattern generator

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    International Journal of Automation Technology8 ( 2 ) 231 - 237   2014年

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    記述言語:英語   出版者・発行元:Fuji Technology Press  

    Although, Autonomous Underwater Vehicles (AUVs) used for investigating underwater ecology have attracted the attention of underwater researchers, conventional AUVs moved underwater by screw propellers generate loud noise thatmay disturb the underwater environments and inhabitants to be observed. This paper discusses the development of an AUV that mimics the manta ray. Central Pattern Generators (CPGs) are also proposed to generate the motion of pectoral fins for Manta robot. The practicality of the robot is checked in underwater propulsion experiments, and the effectiveness of the proposed motion generation method is demonstrated in numerical simulations.

    DOI: 10.20965/ijat.2014.p0231

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  • An Error Model of Chained Form with Two Inputs for a Generalized Stabilization Problem

    Keigo Watanabe, Tsuyoshi Goto, Kimiko Motonaka, Shoichi Maeyama, Isaku Nagai

    2014 JOINT 7TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS (SCIS) AND 15TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS (ISIS)   145 - 148   2014年

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    記述言語:英語   出版者・発行元:IEEE  

    This paper describes a generalized stabilization problem of nonholonomic systems to a non-zero desired point. To this end, an error model of chained form with two inputs is derived for shifting the origin to an arbitrary point. After describing the case of three and four states, their results are extended to the generalized case of n states. The effectiveness of the present method is demonstrated by showing simulations for a stabilization problem to a non-zero desired point in a nonholonomic two-wheeled mobile robot and a car-like mobile robot.

    DOI: 10.1109/SCIS-ISIS.2014.7044845

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  • Control of Position and Attitude of the Tethered X4-Flyer

    Yusuke Ouchi, Keisuke Kinoshita, Keigo Watanabe, Isaku Nagai

    2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   706 - 711   2014年

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    記述言語:英語   出版者・発行元:IEEE  

    In Japan, aging of infrastructures, such as roads, bridges, and water and sewer services, etc. poses a problem, and it is required to extend the life-span of such infrastructures by maintenance. Among infrastructures, especially bridges are periodically inspected by short-range visual observations, which check the damage and deterioration of the surface. The short-range visual observation by a human is widely used to evaluate the degree of damage and understand the damage status of concrete structures such as bridges, because it is possible to check the deterioration and damage of the surface cracks, etc. However, since there are some cases where the short-range visual observation is difficult, an alternative method is required so as to replace the short-range visual observation with it. So, "X4-Flyer" is very attractive because of realizing a movement at high altitude easily. It needs to control the position and attitude of the X4-Flyer, if it is used for the inspection of infrastructures, such as bridges etc. Although the position control using the GPS is common, it is difficult to use such a control method in environments, such as a tunnel or under a bridge, where the GPS signal does not reach to or is weak. In addition, the manual operation by a joystick etc. is difficult when affected by disturbances such as wind etc. So, we propose a method for controlling an X4-Flyer using a tether, not relying on the operation of a joystick or the use of GPS. In this study, it aims at developing the X4-Flyer with tether to replace the short-range visual observation of infrastructure. In this paper, we describe measuring and controlling the position of a tethered X4-Flyer.

    DOI: 10.1109/SII.2014.7028125

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  • The Development of a Tethered Quadrotor

    Keigo Watanabe, Yusuke Ouchi, Keisuke Kinoshita, Isaku Nagai

    Proc. of the Fifth Int. Conf. on Science and Engineering (ICSE 2014)   2014年

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  • The Stabilization of Position and Attitude for a Blimp by a Switching Controller

    Yoshikazu Nakamura, Keigo Watanabe, Isaku Nagai

    Proc. of the 1st Int. Symposium on Smart Material and Mechatronics   94 - 97   2014年

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  • The Development of a 3D Position Measurement System for Indoor Aerial Robots

    Keigo Watanabe, Yuya Yamada, Isaku Nagai

    2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014)   1185 - 1190   2014年

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    記述言語:英語   出版者・発行元:IEEE  

    In this research, a position measurement system in an indoor 3D space is developed by using a stereo camera. Especially, in order to enable measurement in a dark place, the position measurement system is built by attaching an infrared LED marker to an object and using two cameras equipped with an infrared transmitting filter. The validity of such a system is clarified through a real system experiment by including it in the control system of an indoor aerial robot, and using it as a measurement system for position control in 3D space.

    DOI: 10.1109/ICCAS.2014.6987739

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  • Positioning device for outdoor mobile robots using optical sensors and lasers

    Isaku Nagai, Genki Yamauchi, Keiji Nagatani, Keigo Watanabe, Kazuya Yoshida

    Advanced Robotics27 ( 15 ) 1147 - 1160   2013年7月

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    記述言語:英語  

    We propose a novel method for positioning a mobile robot in an outdoor environment using lasers and optical sensors. Position estimation via a noncontact optical method is useful because the information from the wheel odometer and the global positioning system in a mobile robot is unreliable in some situations. Contact optical sensors such as computer mouse are designed to be in contact with a surface and do not function well in strong ambient light conditions. To mitigate the challenges of an outdoor environment, we developed an optical device with a bandpass filter and a pipe to restrict solar light and to detect translation. The use of two devices enables sensing of the mobile robot's position, including posture. Furthermore, employing a collimated laser beam allows measurements against a surface to be invariable with the distance to the surface. In this paper, we describe motion estimation, device configurations, and several tests for performance evaluation. We also present the experimental positioning results from a vehicle equipped with our optical device on an outdoor path. Finally, we discuss an improvement in postural accuracy by combining an optical device with precise gyroscopes. © 2013 Taylor &amp
    Francis and The Robotics Society of Japan.

    DOI: 10.1080/01691864.2013.819603

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  • A CPG Design of Considering the Attitude for the Propulsion Control of a Manta Robot

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013)   6354 - 6358   2013年

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    記述言語:英語   出版者・発行元:IEEE  

    In recent years, autonomous unmanned underwater vehicles (AUVs) for underwater propulsion ecology investigation attracts attention from underwater researchers. Among these AUVs, one mimicked the fish is being developed, because of the low sound noise and the rapid turning predominance. The central pattern generators (CPGs), which is a neural circuit for a periodic motion generation of a living thing, is being applied to the control of a mobile robot. In this paper, we design a CPG in consideration of the attitude of a Manta robot for the propulsion control of it. The numerical model of the CPG uses the Matsuoka model. The effectiveness of the proposed technique is shown by numerical simulations.

    DOI: 10.1109/IECON.2013.6700181

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  • Tip-over Prevention for Holonomic Omnidirectional Mobile Robot with ADWCs

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of the SICE Annual Conference 2013   2738 - 2742   2013年

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  • Underactuated Control for an X4-AUV Using Partial Linearization and Attitude Linearization

    Keigo Watanabe, Satoru Takisawa, Isaku Nagai

    2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013)   1425 - 1430   2013年

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    記述言語:英語   出版者・発行元:IEEE  

    An autonomous underwater vehicle with four thrusters is reexamined from the viewpoints of derivation of a time-varying model. First, a bilinear model can be derived without depending on a chained form transformation, instead depending on partial linearization in inputs and on linearization of partial attitudes. Next, it can be transformed into a time-varying system that includes partially discontinuous states, and then an exponentially stabilizing method can be applied to its model to solve a stabilization problem. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed method.

    DOI: 10.1109/ICCAS.2013.6704109

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  • Tip-over Prevention for a Holonomic Omnidirectional Mobile Robot with ADWCs using SGCMG

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)   704 - 709   2013年

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    記述言語:英語   出版者・発行元:IEEE  

    In this paper, we present the tip-over prevention technique for a holonomic omnidirectional mobile robot with active dual wheel caster assemblies (ADWCs). The dynamical model is derived to estimate the reaction forces at each wheel in correlation to the existing dynamical properties. A tip-over prediction using the force-angle stability measure (FASM) is used to evaluate these forces and estimate the tip-over axis and its direction. A counter motion is applied against the estimated tip-over direction to prevent the tip-over incident. Simulation results

    DOI: 10.1109/ICMA.2013.6618002

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  • Tip-over Stability Enhancement for Omnidirectional Mobile Robot with ADWCs

    Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of 2nd International Conference on Electrical, Control and Computer Engineering (InECCE2013)   273 - 278   2013年

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  • A Brief Review of Latest Fish Robots

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    Proc. of 2nd International Conference on Electrical, Control and Computer Engineering (InECCE2013)   285 - 289   2013年

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  • Position Control of a Manta Robot for Underwater Exploration

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    Proc. of the SICE Annual Conference 2013   2718 - 2720   2013年

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  • Tip-over Stability Control for a Holonomic Omnidirectional Mobile Robot with Active Dual-wheel Caster Assemblies using SGCMG

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   4866 - 4871   2013年

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    記述言語:英語   出版者・発行元:IEEE  

    In this paper, we present the tip-over prevention technique using a control moment gyro for a holonomic omnidirectional mobile robot with active dual wheel caster assemblies. With concern to the sudden dynamic changes during maneuver, the dynamical model is derived and used together with the force-angle stability measure (FASM) to estimate the tip-over incident and the tipping direction. A single gimbal control moment gyro (SGCMG) is proposed to counter the instability by producing a precession torque in the opposite direction of the estimated tip-over direction. Simulation results are given to demonstrate the performance of this approach.

    DOI: 10.1109/IROS.2013.6697058

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  • Underactuated Control for a Blimp with Four-Propellers by a Logical Switching Method

    Yoshikazu Nakamura, Keigo Watanabe, Isaku Nagai

    Proc. of the 18th Int. Symposium on Artificial Life and Robotics (AROB 18th '13)   69 - 72   2013年

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  • Study on mobile mechanism of a climbing robot for stair cleaning: A translational locomotion mechanism and turning motion

    Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

    Artificial Life and Robotics17 ( 3-4 ) 400 - 404   2013年

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    記述言語:英語  

    In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. When a robot cleans in three-dimensional space, it needs to turn for direction in addition to climb down stairs. The proposed robot selects movement using legs or wheels depending on stairs or flat surfaces. In this paper, a mobile mechanism and a control method are described for translational locomotion. The translational mechanism is based on using two-wheel-drive type omni-directional mobile mechanism. To recognize a stair using the position-sensitive detector, the robot shifts from translational locomotion to climbing down motion or edge-following motion. It is shown that the proposed robot turns to face a stair with the accuracy of 5°. © 2012 ISAROB.

    DOI: 10.1007/s10015-012-0071-z

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  • A discontinuous exponential stabilization law for an underactuated X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

    Artificial Life and Robotics17 ( 3-4 ) 463 - 469   2013年

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    記述言語:英語  

    In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4-AUV is investigated. We present a model of the underactuated X4-AUV with six degrees of freedom (DOF) and four control inputs. Then, the system is written in a control-affine form by applying a partial linearization technique, and a dynamic controller based on Astolfi's discontinuous control is derived to stabilize all states of the system to the desired equilibrium point exponentially. The present approach does not necessitate the conversion of the system model into a "chained form", and thus does not rely on any special transformation techniques to obtain a canonical form. A simulation is conducted to demonstrate the effectiveness of the proposed controller. © 2012 ISAROB.

    DOI: 10.1007/s10015-012-0082-9

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  • Experimental Considerations on an Attitude Control System with Measurement Noises for an X4-Flyer

    Keigo Watanabe, Hirotaro Iwabe, Yusuke Ouchi, Isaku Nagai

    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)   686 - 691   2013年

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    記述言語:英語   出版者・発行元:IEEE  

    This paper investigates about the influence of sensor noises to the attitude control system of X4-Flyer, where such noises come from vibrations due to the rotation of a rotor. It is pointed out that such measurement noises are serious in the gyroscope sensor which measures an attitude, and then we consider some noise counterplans from hardware and software. The validity of the proposed vibration-proof method or noise processing is verified through actual system experiment.

    DOI: 10.1109/ICMA.2013.6617999

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  • Propulsive force analysis of a pectoral fin for rajiform type fish robots from fluid dynamic aspects

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    PROCEEDINGS OF THE EIGHTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 18TH '13)   65 - 68   2013年

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    記述言語:英語   出版者・発行元:ALIFE ROBOTICS CO, LTD  

    In this paper, we analyze the propulsive force generated from pectoral fins for a rajiform type fish robot from fluid dynamic aspects. A pectoral fin of the rajiform type fish robot is constructed by multiple fin-rays, which move independently, and a film of pushing water. Then, the propulsive force of the fish robot is analyzed from the momentum of the fluid surrounding for every fin between fin-rays. The total propulsive force for one pectoral fin is the sum of these momenta. The propulsion speed of a fish robot is determined from the difference of the propulsive force generated from pectoral fins, and the resistance force that the fish robot receives from the water when moving forward. The effectiveness of the calculated propulsive force is examined through numeric simulation results.

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  • Stabilization of an underactuated X4-AUV using a discontinuous control law

    Zainah Md Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

    INDIAN JOURNAL OF GEO-MARINE SCIENCES41 ( 6 ) 589 - 598   2012年12月

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    記述言語:英語   出版者・発行元:NATL INST SCIENCE COMMUNICATION-NISCAIR  

    Present study consists the stabilization of a class of second-order nonholonomic systems in canonical chained form is investigated. We first derive the dynamic model of an underactuated X4-AUV with six degrees-of-freedom (DOF) and four thrusters using Lagrange approach. Then the system is written in control-affine form by applying a partial linearization technique and a dynamic controller based on Astolfi's discontinuous control is derived by transformations of coordinate and input to obtain globally asymtotically stable response. A simulation is conducted to demonstrate the effectiveness of the present approach to controlling the origin of the system.

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  • Tip-over prediction for omnidirectional mobile robot

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Procedia Engineering41   1085 - 1094   2012年

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    記述言語:英語   出版者・発行元:Elsevier Ltd  

    This paper proposes a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies as a robotic transport vehicle. With concern to the sudden dynamic changes during maneuver, the tip-over stability monitoring is very important. This work presents the estimation technique of the tip-over direction and the stability measurement. The dynamical model of the omnidirectional mobile robot is derived to estimate the net force from the supporting reaction force at each wheel which is caused by the inertial and external forces. The direction of tipping and the stability metric is estimated using the force-angle stability mea- sure (FASM). The performance of the tip-over prediction for an omnidirectional mobile robot with active dual-wheel assemblies is shown by the conducted simulations. © 2012 The Authors.

    DOI: 10.1016/j.proeng.2012.07.287

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  • Tip-over Prediction for an Omnidirectional Mobile Robot with Dynamic Supporting Polygon

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)   149 - 154   2012年

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    記述言語:英語   出版者・発行元:SOC INSTRUMENT CONTROL ENGINEERS JAPAN  

    A holonomic omnidirectional mobile robot with active dual-wheel caster assemblies is proposed as a robotic transport vehicle. With concern to the existence of sudden acceleration and other dynamical effects during maneuver, the tip-over instability monitoring is very important to prevent any unexpected injuries and property damage. This work presents the preventive method of the tip-over occurrence by estimating the tipping direction and stability metrics. The dynamical model of the omnidirectional mobile robot is derived to estimate the net force from the supporting reaction force at each wheel which is caused by the inertial and external forces. The direction of tipping and the stability metric is estimated using Force-angle Stability Measure (FASM). The performance of the tip-over prediction for an omnidirectional mobile robot with active dual-wheel assemblies is shown by the conducted simulations.

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  • A Discontinuous Exponential Stabilization Law for an Underactuated X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

    PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12)   170 - 173   2012年

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    記述言語:英語   出版者・発行元:ALIFE ROBOTICS CO, LTD  

    In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4AUV is investigated. We present a model of the underactuated X4-AUV with six degrees-of-freedom (DOF) and four control inputs. Then the system is written in a control-affine form by applying a partial linearization technique and a dynamic controller based on Astolfi's discontinuous control is derived to stabilize all states of the system to the desired equilibrium point exponentially. A simulation is conducted to demostrate the effectiveness of the proposed controller.

    DOI: 10.1007/s10015-012-0082-9

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  • Study on Mobile Mechanism of a Climbing Robot for Stair Cleaning - A Translational Locomotion Mechanism and Turning Motion to be Faced to a Stair -

    Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

    PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12)   184 - 187   2012年

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    記述言語:英語   出版者・発行元:ALIFE ROBOTICS CO, LTD  

    In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. The proposed robot has a body frame of a rectangular solid, which is equipped with L-shaped legs on the both sides and drive wheels on the top and bottom sides. The present robot climbs down stairs by rotating the body using L-shaped legs and it moves on smooth surfaces using wheels. In this paper, a mobile mechanism and a control method are described for translational locomotion. The operational check of the translational mechanism was conducted by facing the robot to the edge of stairs using the position sensitive detector (PSD).

    DOI: 10.1007/s10015-012-0071-z

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  • Underactuated Control for a Fire Truck-type Mobile Robot Using an Invariant Manifold Theory

    Keigo Watanabe, Yuka Ueda, Isaku Nagai

    6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS   210 - 215   2012年

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    記述言語:英語   出版者・発行元:IEEE  

    Underactuated control for a fire truck-type mobile robot is considered using an invariant manifold theory. A kinematic model with three inputs and six outputs is first transformed into a chained form, and then invariant manifolds are derived by applying the solution form of such a chained form. The present control strategy is based on a two-step approach: i.e., the first step is to make invariant manifolds, and the second step is to stabilize all the states on the manifolds. The effectiveness of the proposed method is demonstrated by a simulation.

    DOI: 10.1109/SCIS-ISIS.2012.6505172

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  • Propulsion Movement Control Using CPG for a Manta Robot

    Masaaki Ikeda, Keigo Watanabe, Isaku Nagai

    6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS   755 - 758   2012年

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    記述言語:英語   出版者・発行元:IEEE  

    In recent years, Autonomous unmanned Underwater Vehicles (AUVs) for underwater ecology investigation attracts attention from underwater researchers. Although the conventional AUV moves underwater by some screw propellers, it generates a loud noise. Therefore, it is difficult to observe underwater ecology. In this paper, an AUV which mimics a kind of Manta of the fish is developed for underwater living body investigation. Some Central Pattern Generators (CPGs) are also proposed to generate the motion of pectoral fins for the Manta robot. The effectiveness of the proposed method is checked with numerical simulations.

    DOI: 10.1109/SCIS-ISIS.2012.6505174

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  • Tip-over Stability Prediction for a Holonomic Omnidirectional Transport Mobile Robot

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS   763 - 768   2012年

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    記述言語:英語   出版者・発行元:IEEE  

    This paper presents a study on tip-over prediction for a holonomic omnidirectional transport mobile robot with active dual-wheel caster (ADWC) assemblies. With concern to the dynamic supporting polygon and the existence of sudden dynamic changes during maneuver, the tip-over stability monitoring and its prevention becomes important. The candidate of tip-over axis and its direction is estimated by the combination of dynamical model and force-angle stability measure (FASM). In this paper, the effect of different loads and center of gravity is examined to analyze their relationship to the tip-over stability measurement. The performance of this prediction method is shown by the conducted simulations.

    DOI: 10.1109/SCIS-ISIS.2012.6505217

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  • Stabilization of a fire truck robot by an invariant manifold theory

    Keigo Watanabe, Yuka Ueda, Isaku Nagai, Shoichi Maeyama

    Procedia Engineering41   1095 - 1104   2012年

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    記述言語:英語   出版者・発行元:Elsevier Ltd  

    There exist various studies on underactuated control methods so far, but most of them are confined into the case of systems with two inputs, and therefore there are a few studies for systems with three or more inputs. In this paper, a fire truck robot that is an underactuated system with three inputs is considered as a controlled object, and a switching control method based on an invariant manifold theory is proposed for stabilizing it, where a chained form model is assumed to be used as a canonical model. It is expected that each state of the controlled object will be converged smoothly to the origin by using this type of control. The effectiveness of the proposed method is demonstrated through simulations. © 2012 The Authors.

    DOI: 10.1016/j.proeng.2012.07.288

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  • A Study of Tipping Stability for Omnidirectional Mobile Robot with Active Dual-wheel Caster Assemblies

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12)   192 - 195   2012年

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    記述言語:英語   出版者・発行元:ALIFE ROBOTICS CO, LTD  

    A holonomic omnidirectional mobile robot is well known for a high mobility and capability in maneuvering. In our approach, the holonomic omnidirectional mobile robot was developed using two active dual-wheel caster assemblies with conventional tires. In this paper, we are focusing on the stability issues in the tipping problem that may occur in the existing of static and dynamic environments. We derive the dynamic model of the omnidirectional mobile robot to estimate the supporting force at each wheel and evaluate it through simulations.

    DOI: 10.1007/s10015-012-0031-7

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  • A Study of Tipping Stability for Omnidirectional Mobile Robot with Active Dual-wheel Caster Assemblies

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12)17 ( 1 ) 192 - 195   2012年

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    記述言語:英語   出版者・発行元:ALIFE ROBOTICS CO, LTD  

    A holonomic omnidirectional mobile robot is well known for a high mobility and capability in maneuvering. In our approach, the holonomic omnidirectional mobile robot was developed using two active dual-wheel caster assemblies with conventional tires. In this paper, we are focusing on the stability issues in the tipping problem that may occur in the existing of static and dynamic environments. We derive the dynamic model of the omnidirectional mobile robot to estimate the supporting force at each wheel and evaluate it through simulations.

    DOI: 10.1007/s10015-012-0031-7

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  • Propulsion Control for a Manta Robot with Neural Oscillators

    Masaaki Ikeda, Yuya Yamamoto, Katsunori Yoshinaka, Keigo Watanabe, Isaku Nagai

    2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)   85 - 88   2012年

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    記述言語:英語   出版者・発行元:SOC INSTRUMENT CONTROL ENGINEERS JAPAN  

    In recent years, autonomous unmanned underwater vehicles (AUVs) for underwater exploration are studied and developed activity. It is important to control the position and attitude of an AUV in underwater with stream change. A conventional AUV moves underwater using screw propellers. In underwater, fishes control own fins and body more freely than an AUV using screw propellers. A kind of the neural oscillator that generates periodic movement of living thing is called a central pattern generator (CPG). In this paper, we develop an underwater exploration robot that mimics a Manta out of many fishes, where its mechanical reproduction is easy relatively. Furthermore, a CPG is proposed to control the propulsive power by the pectoral fins of the Manta robot. The effectiveness of the proposed method is verified by the experiment using the developed Manta robot.

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  • Mobile Mechanism of a Climbing Robot for Cleaning and Locomotion on Stairs

    Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

    2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)   145 - 148   2012年

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    記述言語:英語   出版者・発行元:SOC INSTRUMENT CONTROL ENGINEERS JAPAN  

    In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. When a robot cleans in three-dimensional space, it has to turn for direction in addition to climb down stairs. The proposed robot selects movement using legs or wheels depending on stair or flat surface. In this paper, a mobile mechanism and a control method are described for translational locomotion. The translational mechanism is based on a two-wheel-drive type omni-directional mobile mechanism. It is tested to recognize stair using the position sensitive detector (PSD), when shifts from translational locomotion to climbing down motion or edge-following motion.

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  • A nonholonomic control method for stabilizing an X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

    Artificial Life and Robotics16 ( 2 ) 202 - 207   2011年9月

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    記述言語:英語  

    A nonholonomic control method is considered for stabilizing all attitudes and positions (x, y, or z) of an underactuated X4 autonomous underwater vehicle (AUV) with four thrusters and six degrees of freedom (DOF), in which the positions are stabilized according to the Lyapunov stability theory. A dynamic model is first derived, and then a sequential nonlinear control strategy is implemented for the X4-AUV which is composed of translational and rotational subsystems. A controller for the translational subsystem stabilizes one position out of the x-, y-, and z-coordinates, whereas controllers for the rotational subsystems generate the desired roll, pitch, and yaw angles. Thus, the rotational controllers stabilize all the attitudes of the X4-AUV at the desired (x-, y-, or z-) position of the vehicle. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers. © 2011 International Symposium on Artificial Life and Robotics (ISAROB).

    DOI: 10.1007/s10015-011-0918-8

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  • Study on Mobile Mechanism for a Stair Cleaning Robot - Design of Translational Locomotion Mechanism

    Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

    2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS)   1213 - 1216   2011年

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    記述言語:英語   出版者・発行元:IEEE  

    An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. However, many of cleaning robots cannot clean and move on stairs, because they are not considered to move on places between floors. The proposed cleaning robot is equipped with L-shaped legs on the both sides of the body frame of a rectangular solid. The robot climbs down stairs by rotating the body so that the top and bottom sides of it may be reversed using L-shaped legs. In this paper, a mobile mechanism and a control method are described for climbing down and translational movement on stairs.

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  • A Nonholonomic Control Method for Stabilizing an X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

    PROCEEDINGS OF THE SIXTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 16TH '11)   407 - 410   2011年

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    記述言語:英語   出版者・発行元:ALIFE ROBOTICS CORP LTD  

    A nonholonomic control method is considered for stabilizing all attitudes and positions (x, y or z) of an X4-AUV with four thrusters and six degrees-of-freedom (DOF), in which the positions were stabilized according to the Lyapunov stability theory. The derived model is dynamically unstable, so a sequential nonlinear control strategy is implemented for the X4-AUV, composed of translational and rotational subsystems. A controller for the translational subsystem stabilizes one position out of x-, y-, and z-coordinates, whereas controllers for the rotational subsystems generate the desired roll, pitch and yaw angles. Thus, the rotational controllers stabilize all the attitudes of the X4-AUV at a desired (x-, y- or z-) position of the vehicle.

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  • Discontinuous Control for an Underactuated X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Isaku Nagai, Kiyotaka Izumi, Saga Uni

    Proc. of the 12th International Symposium on Advanced Intelligent Systems (ISIS 2011)   439 - 442   2011年

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  • Control of Movement on Stairs for a Cleaning Robot

    Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

    PROCEEDINGS OF THE SIXTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 16TH '11)   391 - 394   2011年

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    記述言語:英語   出版者・発行元:ALIFE ROBOTICS CORP LTD  

    An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. In human living environments, it is often the case that the cleaning area is a three-dimensional space such as a high-rise building. However, many of cleaning robots cannot clean and move on stairs, because they are not considered to move on places between floors. The proposed cleaning robot possesses L-shaped legs on the both sides of the body frame of a rectangular solid. The robot climbs down stairs by rotating the body so that the top and bottom sides of it may be reversed using L-shaped legs. In this paper, the mechanism and its control method are described for translational movement on stairs.

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  • 4点測光式スポット位置検出装置

    永井 伊作, 渡辺 桂吾

    計測自動制御学会論文集47 ( 1 ) 17 - 24   2011年

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  • Development of a Visual Odometry System for a Wheeled Robot on Loose Soil using a Telecentric Camera

    Keiji Nagatani, Ayako Ikeda, Genya Ishigami, Kazuya Yoshida, Isaku Nagai

    ADVANCED ROBOTICS24 ( 8-9 ) 1149 - 1167   2010年

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    記述言語:英語   出版者・発行元:TAYLOR & FRANCIS LTD  

    In this paper, the development of a three-dimensional (3-D) odometry system for wheeled robots on loose soil in an application of planetary exploration is described. When a wheeled robot operates in a slippery environment, visual odometry, which is used to obtain flow images of the ground with a CCD camera, is effective for the measurement of motion because it is a non-contact method. However, in the target condition, a measurement result with a conventional camera is not reliable with this method because the viewing area of the ground varies as a result of the changing distance between the camera and the ground as a result of the wheels sinking in loose soil. To solve this problem, we used a telecentric camera for visual odometry. The lens of the camera robustly maintains the same field of view, regardless of the distance between the camera and the ground. Using the camera, we developed a (3-D) odometry system for our mobile robot to enable its positioning and navigation, and we validated the system with several experiments. In this paper, a structure and a performance test of the developed system is described. After that, the results of experiments in indoor (sandbox) and outdoor (seashore) environments are introduced. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010

    DOI: 10.1163/016918610X501282

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  • The Stabilization Control of a Position and All Attitudes for an X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Isaku Nagai, Kiyotaka Izumi

    Proc. of Joint 5th Int. Conf. on Soft Computing and Intelligent Systems and 11th Int. Symposium on Advanced Intelligent Systems   2010年

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  • A CLEANING ROBOT FOR STAIRS AND THE SIMULATION OF STAIR MOVEMENT

    Takahisa Kakudou, Isaku Nagai, Keigo Watanabe

    EMERGING TRENDS IN MOBILE ROBOTICS   1306 - 1313   2010年

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    記述言語:英語   出版者・発行元:WORLD SCIENTIFIC PUBL CO PTE LTD  

    An autonomous cleaning robot is proposed so as to move between floors in a high-rise building. Presently, many of cleaning robots are not considered to move on places between floors. In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. Therefore, the cleaning robots can not clean the area such as stairs. In this paper, a mechanism and a control method are described for the robot climbing down and cleaning stairs. The usefulness of the proposed robot is demonstrated through the simulation.

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  • Noncontact Position Estimation Device with Optical Sensor and Laser Sources for Mobile Robots Traversing Slippery Terrains

    Isaku Nagai, Keigo Watanabe, Keiji Nagatani, Kazuya Yoshida

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)   3422 - 3427   2010年

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    記述言語:英語   出版者・発行元:IEEE  

    This paper describes the development of a sensing device that can be used to estimate the position of mobile robots on slippery terrains. The device consists of an optical sensor designed for a computer mouse and dual laser light sources for generating a laser speckle pattern. It detects the motion of a moving surface at a large distance from the surface, from 80 mm to 300 mm, by tracking the laser speckle pattern. The use of dual laser light sources makes the tracking robust for both large distances from the ground and different surface materials. Some fundamental experiments validated the performance of the device, which tracked surfaces of different materials with high accuracy under various height conditions. Finally, the device was mounted on our mobile robot, and simple experiments were conducted on a slippery sandy terrain to evaluate the usefulness of the device as a noncontact odometry system.

    DOI: 10.1109/IROS.2010.5650346

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  • Stabilization Control for an X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Tomomi Danjo, Kiyotaka Izumi, Isaku Nagai

    Proc. of the 3rd Int. Conf. on Underwater System Technology: Theory and Applications 2010   2010年

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  • The Locomotion Control of a Cleaning Robot for Stairs

    Takahisa Kakudou, Isaku Nagai, Keigo Watanabe

    Proc. of Joint 5th Int. Conf. on Soft Computing and Intelligent Systems and 11th Int. Symposium on Advanced Intelligent Systems   2010年

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  • Modeling an Autonomous Underwater Vehicle with Four-Thrusters

    Zainah Md. Zain, Keigo Watanabe, Tomomi Danjo, Kiyotaka Izumi, Isaku Nagai, aga U

    Proc. of the 15th Int. Symposium on Artificial Life and Robotics   2010年

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  • Mobile Robot with Floor Tracking Device for Localization and Control

    Isaku Nagai, Yutaka Tanaka

    Journal of Robotics and MechatronicsVol.19 ( No.1 ) 34 - 41   2007年

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  • Localization and error correction for mobile robot with an image sensor

    Isaku Nagai, Yutaka Tanaka

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13   3508 - +   2006年

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    記述言語:英語   出版者・発行元:IEEE  

    This paper describes localization and error correction of a mobile robot with a visual device which we have developed. The device can track floor image with natural texture and estimate the motion of a camera mounted in the robot. The robot is localized and controlled in real time according to information of position and direction estimated by the device. As a benefit of this method, accumulated errors of position and direction for a section in a path can be eliminated by finding an original floor image memorized at each target point where the robot reaches in the whole running. The robot have run a closed path repeatedly without a digression of the track by correcting the accumulated error. The method has a feature that double roles of both internal and external sensor are realized by a single image sensor.

    DOI: 10.1109/SICE.2006.315462

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  • High-Speed Motion Measurement and Crash Detection in Tracking Device for Floor Image

      711 ( 71 ) 3159 - 3166   2005年

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  • 床画像追跡装置における高速運動計測と衝突検知

    永井伊作, 田中 豊

    日本機械学会論文集(C編)711 ( 71 ) 3159 - 3166   2005年

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  • An automated sensing device for odors using quartz-crystal microbalances with multi-channel

      5 ( 1 ) 62 - 67   2004年

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  • 自律走行車のための広角およびステレオ画像の融合モジュールの開発

    五福明夫, 清力義治, 永井伊作, 田中豊

    日本機械学会論文集(C編)693 ( 70 ) 1371 - 1379   2004年

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  • 多チャンネル水晶振動子においセンサ自動計測システム

    永井伊作, 藤田慎二, 廣田和弘

    Aroma Research5 ( 1 ) 62 - 67   2004年

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  • Visual Tracking Device Measuring 2-D Motion and Rotation of Floor Image

      692 ( 70 ) 1037 - 1044   2004年

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  • 床面の回転および並進運動を計測する視覚装置の開発

    永井伊作, 田中豊

    日本機械学会論文集(C編)692 ( 70 ) 1037 - 1044   2004年

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  • Development of a Fusing Module of the Images from Wide View Field and Stereo Cameras for an Autonomous Running Vehicle

      693 ( 70 ) 1371 - 1379   2004年

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  • 水晶振動子吸着膜に用いるシクロヘキサンカルボン酸アルキルエステル誘導体のにおいセンシング能

    田中大樹, 永井伊作, 藤田慎二, 廣田和弘

    日本味と匂学会誌   2003年

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  • ベンゼン環を含むアルキルエステルを感応膜に用いる水晶振動子においセンサ

    廣田和弘, 永井伊作, 藤田慎二, 中元与織

    日本味と匂学会誌   2003年

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  • 床画像の2次元運動を計測する視覚装置の開発

    永井伊作, 田中 豊

    日本機械学会論文集(C編)68 ( 672 ) 2346 - 2353   2002年

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  • Tracking of floor image based on correlation processing

    Nagai, I, Y Tanaka

    INTELLIGENT AUTONOMOUS VEHICLES 2001   149 - 154   2002年

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    記述言語:英語   出版者・発行元:PERGAMON-ELSEVIER SCIENCE LTD  

    This paper describes a new positioning technique for mobile robots which is not effected by any slip of wheels, not require an arrangement of infrastructure. In this method, floor or road images that have a natural texture are photographed by a monocrome CCD camera and tracked through image processing to estimate the motion and the rotation of camera. A principle of correlation and updating of template image is described. The experimental results show that this technique of positioning has enough measurement accuracy to applying to the navigation of robots which move comparatively at a low speed. Copyright (C) 2001 IFAC.

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  • Visual Tracking Device Measuring 2-D Motion of Floor Image

      68 ( 672 ) 2346 - 2353   2002年

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  • Tracking of Floor Image Based on Correlation Processing

    Isaku Nagai, Yutaka Tanaka

    Proc. of the 4th IFAC Symposium on Intelligent Autonomous Vehicles   151 - 156   2001年

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  • Color constancy using the inter-reflection from a reference nose

    M Abdellatif, Y Tanaka, A Gofuku, Nagai, I

    INTERNATIONAL JOURNAL OF COMPUTER VISION39 ( 3 ) 171 - 194   2000年9月

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    記述言語:英語   出版者・発行元:KLUWER ACADEMIC PUBL  

    This paper introduces a novel camera attachment for measuring the illumination color spatially in the scene. The illumination color is then used to transform color appearance in the image into that under white light.
    The main idea is that the scene inter-reflection through a reference camera-attached surface "Nose" can, under some conditions, represent the illumination color directly. The illumination measurement principle relies on the satisfaction of the gray world assumption in a local scene area or the appearance of highlights, from dielectric surfaces. Scene inter-reflections are strongly blurred due to optical dispersion on the nose surface and defocusing of the nose surface image. Blurring smoothes the intense highlights and it thus becomes possible to measure the nose inter-reflection under conditions in which intensity variation in the main image would exceed the sensor dynamic range.
    We designed a nose surface to reflect a blurred scene version into a small image section, which is interpreted as a spatial illumination image. The nose image is then mapped to the main image for adjusting every pixel color. Experimental results showed that the nose inter-reflection color is a good measure of illumination color when the model assumptions are satisfied. The nose method performance, operating on real images, is presented and compared with the Retinex and the scene-inserted white patch methods.

    DOI: 10.1023/A:1026559628005

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  • 模様のない平面の実時間距離取得装置の開発

    田中 豊, 永井伊作, 五福明夫, 宮本寛之

    日本機械学会論文集65 ( 636 ) 3234 - 3238   1999年

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    記述言語:英語  

    DOI: 10.1299/kikaic.65.3234

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  • Development of a Real-Time Range Finder for Measuring the Depth to a Plane without Textures

    Yutaka Tanaka, Isaku Nagai, Akio Gofuku, Hiroyukl Miyamoto

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C65 ( 636 ) 3234 - 3238   1999年

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    記述言語:英語  

    In order to apply to the eyes of an autonomous running vehicle, a real-time range finder has been developed that can measure the distance to every point on the plane without any pattern and its inclination. Though it seems contrary to the fact that the parallax is inversely proportional to the distance, this paper derives the mathematical grand that the plane in a real three dimensional space (X, Y, Z) is mapped also into the plane in a parallax space (x, y, Δx). On this grand, an electronic circuit has been manufactured which can compute in video rate the interpolation value between the parallaxes at two characteristic points by using several CPLDs. It is also shown that this device is applicable to the measurements of the slant angles of and the directions normal to the simple plane. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.

    DOI: 10.1299/kikaic.65.3234

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  • Development of a Video-Rate Range Finder using Dynamic Threshold Method for Characteristic Point Detection

    Yutaka Tanaka, Akio Gofuku, Nobuo Takeda, Isaku Nagai

    Proc. 1999 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics   1999年

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  • Development of a Compact Video-Rate Range Finder Using RGB Signals from Binocular CCD Color Cameras

      62 ( 598 ) 2257 - 2264   1996年

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  • カラーCCDカメラを用いたコンパクト距離画像取得装置の開発

    田中 豊, 五福明夫, 永井伊作, Abdellatif MOHAMED

    日本機械学会論文集(C編)62 ( 598 ) 2257 - 2264   1996年

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▼全件表示

講演・口頭発表等

  • 下向きカメラを有する無人搬送車のための荷重による高さ変化を考慮した位置修正

    第36回日本ロボット学会学術講演会(RSJ2018)  2018年 

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  • チルト型2重反転ロータを用いた多機能移動モードを実現する飛行ロボットの設計と製作

    第18回計測自動制御学会(SICE)システムインテグレーション部門講演会  2017年 

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  • 移動面模様の劣化にロバストな相関演算を用いた自己位置修正法の評価

    第18回計測自動制御学会(SICE)システムインテグレーション部門講演会  2017年 

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  • オプティカルフローによる移動量算出法を用いたマンタロボットの自己位置推定実験とその精度

    第27回インテリジェント・システム・シンポジウム (FAN '17)  2017年 

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  • インフラ点検用クワッドロータの姿勢制御とカメラスタビライザの安定化制御

    第27回インテリジェント・システム・シンポジウム (FAN '17)  2017年 

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  • 全方向移動型電動車椅子のためのロッカーボギー機構を用いた移動体の開発

    第27回インテリジェント・システム・シンポジウム (FAN '17)  2017年 

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  • 移動ロボットのための磁気マップとパーティクルフィルタを用いた自己位置推定

    第27回インテリジェント・システム・シンポジウム (FAN '17)  2017年 

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  • Acquisition of Optical Flow Considering the Pitching Motion to Estimate the Self-position of a Manta Robot

    The SICE Annual Conference 2017  2017年 

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  • A Method for Calculating the Amount of Movements to Estimate the Self-position of Manta Robots

    The 4th Int. Symposium on Smart Material and Mechatronics  2017年 

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  • Attitude Control of a Camera Mounted-type Tethered Quadrotor for Infrastructure Inspection

    The 43rd Annual Conference of the IEEE Industrial Electronics Society (IECON 2017)  2017年 

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  • マンタロボットの自己位置推定のためのピッチ運動を考慮したオプティカルフローの獲得

    第27回インテリジェント・システム・シンポジウム (FAN '17)  2017年 

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  • Improvements of One-wheel Driven Personal Mobility for Use on a Public Road

    2017 IEEE Int. Conf. on Mechatronics and Automation (ICMA2017)  2017年 

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  • System Construction for Distributedly Controlling the Thrusters of X4-AUV

    The 10th Int. Conf. on Intelligent Robotics and Applications (ICIRA2017)  2017年 

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  • A Localization Method Using a Dynamical Model and an Extended Kalman Filtering for X4-AUV

    The 10th Int. Conf. on Intelligent Robotics and Applications (ICIRA2017)  2017年 

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  • 慣性航法によるマンタ型水中ロボットの自己位置推定

    ロボティクス・メカトロニクス講演会2017  2017年 

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  • 一輪駆動型パーソナルモビリティOtellerの屋外使用に向けた改良

    ロボティクス・メカトロニクス講演会2017  2017年 

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  • Development and Control of Tilt-wings for a Tilt-type Quadrotor

    2017 IEEE Int. Conf. on Mechatronics and Automation (ICMA2017)  2017年 

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  • Design and Development of Steered Active Wheel Casters and Its Application

    2017 IEEE Int. Conf. on Mechatronics and Automation (ICMA2017)  2017年 

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  • Dynamic model based control and verification for omnidirectional mobile robots with active dual-wheel caster assemblies

    The 22nd Int. Symposium on Artificial Life and Robotics (AROB 22nd '17)  2017年 

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  • Construction of a Module for an Omnidirectional Mobile Platform with a Rocker-bogie Suspension System

    The 22nd Int. Symposium on Artificial Life and Robotics (AROB 22nd '17)  2017年 

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  • X4-AUVのための動⼒学モデルを⽤いた⾃⼰位置推定について

    日本機械学会 中国四国支部 第55期総会・講演会  2017年 

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    第18回計測自動制御学会(SICE)システムインテグレーション部門講演会  2017年 

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  • The Color Image and Chemical Compositions of the Fragrance of Ayu fish (Plecoglossus altivelis)

    The Water and Environment Technology Conference 2016 (WET2016)  2016年 

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  • 画像幅の92%までの高速度に追従する路面視覚追跡

    第34回日本ロボット学会学術講演会(RSJ2016)  2016年 

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  • 一輪駆動型パーソナルモビリティOteller の公道使用に向けた改良

    ロボティクス・メカトロニクス講演会2016  2016年 

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  • テザー巻き取り装置によるクワッドロータの位置検出

    ロボティクス・メカトロニクス講演会2016  2016年 

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  • ロッカーボギー機構を用いた全方向移動プラットフォームの開発

    ロボティクス・メカトロニクス講演会2016  2016年 

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  • Image-based fuzzy control of a car-like mobile robot for parking problem

    Proc. of 2016 IEEE Int. Conf. on Mechatronics and Automation (ICMA2016)  2016年 

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  • Motion Estimation of a Walking Robot Based on Laser Speckle Odometry

    Proc. of the 21st Int. Symposium on Artificial Life and Robotics (AROB 21th '16)  2016年 

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  • Attitude Control for Manta Robots Using a Fuzzy Controller

    Proc. of the 21st Int. Symposium on Artificial Life and Robotics (AROB 21th '16)  2016年 

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  • 真牡蠣の香りの多感覚的印象評価と香り成分の関連

    第11回日本感性工学会春季大会  2016年 

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  • 移動ロボットのためのスペックルオドメータモジュールの開発

    ロボティクス・メカトロニクス講演会2016  2016年 

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  • A Localization Method for Manta Robots Using an Optical Flow Technique

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics  2016年 

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  • Autonomous Parking System of a Car-like Mobile Robot Using an Image Based Fuzzy Controller

    Proc. of the Seventh Int. Conf. on Science and Engineering (ICSE 2016)  2016年 

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  • 自動車型移動ロボットの画像に基づくファジィ車庫入れ制御

    第17回計測自動制御学会システムインテグレーション部門講演会(SI2016)  2016年 

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  • 小型X4-AUV のためのスラスタのサーボ化とその制御

    第17回計測自動制御学会システムインテグレーション部門講演会(SI2016)  2016年 

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  • Production of a Tilt Rotor System and a Speed Control of a DC Motor for Quadrotors

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics  2016年 

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  • Correcting Path of a Shopping Cart Using a Particle Filter and an Environment Map

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics  2016年 

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  • An Intelligent Parking System for Vehicles Using an Image-based Fuzzy Controller

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics  2016年 

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  • A Servo Control System for the Thruster of a Small-sized X4-AUV

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics  2016年 

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  • Path Estimation of a Shopping Cart Using Particle Filter and Environment Map

    Proc. of the 42nd Annual Conference of the IEEE Industrial Electronics Society (IECON 2016)  2016年 

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  • The measurement of the response of black sea cucumber (Holothuria atra) to acoustic stimulations

    The 87th Annual Meeting of the Zoological Society of Japan  2016年 

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  • Development of a Camera-mounted Tethered Quadrotor for Inspecting Infrastructures

    Proc. of the 42nd Annual Conference of the IEEE Industrial Electronics Society (IECON 2016)  2016年 

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  • Attitude Stabilization of a Manta Robot by Fuzzy Control

    Proc. of the SICE Annual Conference 2016  2016年 

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  • Position Detection of Quadrotors Using a Tether Winder

    Proc. of 2016 16th Int. Conf. on Control, Automation and Systems (ICCAS2016)  2016年 

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  • The Stabilization of Attitude of a Manta Robot by a Mechanism for Moving the Center of Gravity and Improvement of Diving Ability

    Proc. of 2016 16th Int. Conf. on Control, Automation and Systems (ICCAS2016), Oct. 16--19, 2016 in HICO, Gyeongju, Korea, pp. 220--225  2016年 

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  • Development of an Omnidirectional Mobile Platform with a Rocker-bogie Suspension System

    Proc. of the 42nd Annual Conference of the IEEE Industrial Electronics Society (IECON 2016)  2016年 

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  • Speed Control of One-wheel Driven Personal Mobility for Use on a Public Road

    Proc. of Int. Conf. on Information and Communication Technology Robotics (ICT-ROBOT 2016)  2016年 

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  • Indoor Self-Localization Using a Magnetic Map

    Proc. of Int. Conf. on Information and Communication Technology Robotics (ICT-ROBOT 2016)  2016年 

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  • 700Hzまでの音刺激に対するクロナマコの反応

    第18回日本感性工学会大会  2016年 

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  • Stabilizing Control for the Attitude of a Small-Sized X4-AUV

    Proc. of the SICE Annual Conference 2016  2016年 

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  • The Design and Production of a Tilt Rotor System for Quadrotors

    Proc. of Int. Conf. on Information and Communication Technology Robotics (ICT-ROBOT 2016)  2016年 

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  • Optimization of an image-based fuzzy controller for an automatic parking system using a genetic algorithm

    Proc. of the 21st Int. Symposium on Artificial Life and Robotics (AROB 21th '16)  2016年 

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  • 小型X4-AUVの製作と制御

    第25回インテリジェント・システム・シンポジウム (FAN2015)  2015年 

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  • チルトロータ方式による主翼付クワッドロータの制御

    第25回インテリジェント・システム・シンポジウム (FAN2015)  2015年 

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  • 4分割部分エンベロープを有するブリンプロボットの制御

    第33回日本ロボット学会学術講演会 (RSJ2015)  2015年 

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  • 小型X4-AUV の設計と製作

    ロボティクス・メカトロニクス講演会2015  2015年 

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  • 3 次元形状を考慮した水中探査用マンタロボットの開発

    ロボティクス・メカトロニクス講演会2015  2015年 

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  • 胸びれ推進機構を用いたマンタロボットのための動力学モデル

    日本機械学会 中国四国支部 第53期総会・講演会  2015年 

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  • 4つのプロペラを有する小型飛行船ロボットの製作

    日本機械学会 中国四国支部 第53期総会・講演会  2015年 

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  • スペックルオドメータとジャイロセンサを用いた買物カートの経路取得

    第24回計測自動制御学会中国支部学術講演会  2015年 

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  • ファジィ制御によるマンタロボットの姿勢安定化

    第16回計測自動制御学会(SICE) システムインテグレーション部門講演会  2015年 

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  • レーザスペックルオドメトリを用いた歩行ロボットの自己位置推定

    第16回計測自動制御学会(SICE) システムインテグレーション部門講演会  2015年 

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  • 水中歩行ロボットのための姿勢情報を加えたレーザオドメトリ

    ロボティクス・メカトロニクス講演会2015  2015年 

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  • Stabilization of a Four-Rotor Aerial Robot in Hovering

    2014年 

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  • 感情認識システムを利用した対話システムの構築

    計測自動制御学会システム・情報部門学術講演会2014(SSI2014)  2014年 

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  • オプティカルフローを用いた画像に基づく視覚サーボによる障害物回避

    第15回計測自動制御学会(SICE) システムインテグレーション部門講演会  2014年 

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  • 画像に基づくNN 制御器を用いた移動ロボットの人間追従

    第15回計測自動制御学会(SICE) システムインテグレーション部門講演会  2014年 

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  • 4ロータ型飛行ロボットのホバリング時における機体の安定化

    ロボティクス・メカトロニクス講演会2014  2014年 

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  • ビジュアルオドメトリ移動ロボットによる教示再生走行

    第32回日本ロボット学会学術講演会  2014年 

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  • テザーを利用したX4フライヤーの姿勢および位置の制御

    第32回日本ロボット学会学術講演会  2014年 

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  • 屋内用飛行ロボットのための3 次元位置計測システムの開発

    第24回インテリジェント・システム・シンポジウム(FAN '14)  2014年 

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  • 水中移動ロボットのためのレーザオドメトリの提案

    ロボティクス・メカトロニクス講演会2014  2014年 

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  • 一輪駆動型パーソナルモビリティの速度制御と補助輪評価

    日本機械学会 中国四国支部 第52期総会・講演会  2014年 

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  • 1自由度を実現するための羽ばたき機構の考察

    日本機械学会 中国四国支部 第52期総会・講演会  2014年 

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  • Proposal of a Laser Odometry for Underwater Mobile Robot

    2014年 

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  • Differential Visual Odometry for Correcting Automatically Accumulated Errors Using Ground Images

    2013年 

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  • 水中探査型マンタロボットの姿勢計測システム

    第31回日本ロボット学会学術講演会  2013年 

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  • 水中探査用マンタロボットの推進制御のための姿勢を考慮したCPGの設計

    第23回インテリジェント・システム・シンポジウム  2013年 

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  • カメラを用いた屋内用3次元位置計測システムの開発

    第14回計測自動制御学会システムインテグレーション部門講演会  2013年 

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  • X4-AUV の動的不連続モデルに基づく劣駆動制御

    日本機械学会中国四国支部第51 期総会・講演会  2013年 

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  • 可聴域を超えた音を含む高音質音源の心身へ与える影響

    日本音響学会2013年春季研究発表会  2013年 

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  • 路面画像を用いて累積誤差を自動修正する差動ビジュアルオドメトリ

    ロボティクス・メカトロニクス講演会2013  2013年 

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  • 省駐輪スペースを特徴とする一輪駆動パーソナルモビリティ

    ロボティクス・メカトロニクス講演会2012  2012年 

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  • 4つのロータを有するVTOL 型飛行ロボットの姿勢安定化

    第21回計測自動制御学会中国支部学術講演会  2012年 

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  • マンタ型ロボットの胸びれ推進機構による潜水方法の検討

    第21回計測自動制御学会中国支部学術講演会  2012年 

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  • 水中探査用マンタ型ロボットの推進実験による運動解析とCPGの設計

    第22回インテリジェント・システム・シンポジウム(FAN '12)  2012年 

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  • Rajiform型魚ロボットの制御のための状態観測と動的モデル作成法について

    日本ロボット学会学術講演会  2012年 

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  • 4つのプロペラを有する飛行船ロボット「X4ブリンプ」の部分劣駆動制御

    日本ロボット学会学術講演会  2012年 

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  • 光学センサを用いた位置推定装置~センサ間距離と精度の関係~

    第21回計測自動制御学会中国支部学術講演会  2012年 

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  • 非接触型の並進移動量計測装置を用いた屋外移動ロボットの自己位置推定モジュールの開発と屋外フィールドにおける性能評価

    ロボティクス・メカトロニクス講演会2012  2012年 

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  • 水中探査用マンタ型ロボットのCPGを用いた推進制御

    ロボティクス・メカトロニクス講演会2012  2012年 

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  • 不変多様体法による消防車型移動ロボット車の切換え制御

    第22回インテリジェント・システム・シンポジウム(FAN '12)  2012年 

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  • アクティブ双輪キャスタ機構を用いた全方向移動型電動車椅子の開発

    日本機械学会中国四国支部第50期総会・講演会  2012年 

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  • CPGを用いたマンタ型ロボットの研究

    日本機械学会中国四国支部第50期総会・講演会  2012年 

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  • バンドパスフィルタによる太陽光対策を施した非接触型移動量推定デバイス

    ロボティクス・メカトロニクス講演会2012  2012年 

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  • 4つのロータを有するVTOL型飛行ロボット -機体の設計,製作および飛行実験-

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011年 

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  • 小型掃除ロボットの開発(第2報:障害物に沿う走行の実現)

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011年 

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  • ビジュアルオドメトリを用いて位置決めを行う四足歩行ロボット

    日本機械学会中国四国支部第49期総会・講演会  2011年 

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  • ビジュアルオドメトリを用いた不整地移動ロボットの自己位置推定

    日本機械学会中国四国支部第49期総会・講演会  2011年 

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  • 赤外線を用いたポインティングデバイスとキー入力の機能を持つ統合型インターフェース

    日本機械学会中国四国支部第49期総会・講演会  2011年 

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  • 4つのロータを有するVTOL型飛行ロボットの設計(ロータの推力実験)

    日本機械学会中国四国支部第49期総会・講演会  2011年 

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  • 光学マウスのセンサを用いた運動計測装置 ~平面移動および高さ変化の計測~

    第29回日本ロボット学会学術講演会  2011年 

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  • 音声対話ロボットのための感情認識システムの開発研究

    第20回計測自動制御学会中国支部学術講演会  2011年 

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  • 4つのロータを有するVTOL型飛行ロボットの姿勢制御

    第20回計測自動制御学会中国支部学術講演会  2011年 

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  • 超小型ロボットに搭載可能な非接触型自己位置推定デバイスの屋外環境での性能評価

    第12回計測自動制御学会システムインテグレーション部門講演会  2011年 

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  • 階段清掃ロボットにおける移動機構の検討

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011年 

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  • 家電インタフェースのためのカメラを用いたジェスチャ認識

    日本機械学会中国四国支部第48期総会・講演会  2010年 

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  • 板ばねを用いた高重心腱駆動ロボットの開発

    日本機械学会ロボティクス・メカトロニクス講演会2010  2010年 

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  • 小型掃除ロボットの開発(第1報:不織布と回転ブラシを用いた掃除機構)

    第28回日本ロボット学会学術講演会  2010年 

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  • 4つのスラスターで駆動される水中ロボットの非ホロノミック制御

    第20回インテリジェント・システム・シンポジウム (FAN '10)  2010年 

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  • 板ばねを用いた高重心腱駆動ロボットの動作特性

    第11回計測自動制御学会システムインテグレーション部門講演会  2010年 

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  • 移動面視覚追跡の高速計算

    日本機械学会ロボティクス・メカトロニクス講演会2010  2010年 

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  • 階段清掃ロボットの開発(ODEを用いた階段移動の検証)

    日本機械学会中国四国支部第48期総会・講演会  2010年 

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  • レーザ光源と光学センサを用いたスリップに頑強な移動ロボット用位置推定システムの構築

    日本機械学会ロボティクス・メカトロニクス講演会2010  2010年 

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  • 特徴点を用いた高速かつ高精度な床画像追跡

    第10回計測自動制御学会システムインテグレーション部門講演会  2009年 

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  • 広い視野と省スペースを実現するビジュアルオドメトリ

    第10回計測自動制御学会システムインテグレーション部門講演会  2009年 

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  • 4点測光式スポット位置検出装置

    第10回計測自動制御学会システムインテグレーション部門講演会  2009年 

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  • 自動帰着機能を有する全方向移動ロボットの開発

    日本機械学会中国四国支部第47期総会・講演会  2009年 

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  • 足裏感覚フィードバックを用いたマスタ・スレーブ型2脚歩行ロボットの制御

    日本機械学会中国四国支部第47期総会・講演会  2009年 

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  • 移動ロボットのための走行面視覚追跡における誤差モデル

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008年 

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  • ステレオカメラを用いたポインティングデバイスのためのジェスチャ認識

    日本機械学会中国四国支部第46期総会・講演会  2008年 

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  • 横顔輪郭線を用いた人物の識別

    日本機械学会中国四国支部第46期総会・講演会  2008年 

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  • ビジュアルオドメトリの効率化に関する研究

    日本機械学会中国四国支部第46期総会・講演会  2008年 

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  • 床画像追跡における高精度な回転運動の計測

    日本機械学会中国四国支部第45期総会・講演会  2007年 

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  • テレセントリックカメラを用いた車輪型砂上移動ロボットのオンラインスリップ推定

    計測自動制御学会,第8回システムインテグレーション部門講演会  2007年 

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  • 反射光を考慮したロバストなビジュアルオドメトリ法の研究

    日本機械学会中国四国支部第45期総会・講演会  2007年 

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  • 横顔輪郭線を用いた人物の特徴点決定

    日本機械学会中国四国支部第45期総会・講演会  2007年 

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  • 2視点追跡による走行面模様の高精度な運動計測

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007年 

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  • 浮上移動ロボットの自己位置推定と移動制御

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007年 

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  • ステレオカメラを用いたポインティングデバイスの開発

    日本機械学会中国四国支部第44期総会・講演会  2006年 

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  • LRFを用いた環境地図作成と自律走行車制御

    第24回日本ロボット学会学術講演会 pp.2E11(1)-(4)  2006年 

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  • カメラ画像を用いたヒューマノイドロボットへの動作教示システム

    第7回計測自動制御学会(SICE)システムインテグレーション部門講演会  2006年 

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  • 六員環を含むジアルキルエステルをにおい吸着膜に用いる水晶振動子においセンサ

    日本化学会第85春季年会(講演番号1PA-163)  2005年 

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  • ステレオカメラを用いたポインティングデバイスに関する研究 -人差し指の5自由度運動計測-

    日本機械学会ロボティクス・メカトロニクス講演会2005  2005年 

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  • 走行面の視覚追跡によるクローラ型移動ロボットの制御

    日本機械学会ロボティクス・メカトロニクス講演会2005  2005年 

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  • 画像処理を用いた顧客情報獲得に関する研究

    日本機械学会ロボティクス・メカトロニクス講演会2005  2005年 

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  • 水晶振動子においセンサの開発

    第8回岡山リサーチパーク合同研究発表会  2004年 

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  • 視覚デッドレコニング移動ロボットにおける原点画像を用いた位置修正

    日本機械学会ロボティクス・メカトロニクス講演会'04  2004年 

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  • 水晶振動子吸着膜に用いるシクロヘキセンジカルボン酸アルキルジエステルのにおいセンシング能

    平成16年度化学系学協会東北大会  2004年 

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  • 水晶振動子吸着膜に用いるニトロベンゼンカルボン酸アルキルエステルのにおいセンシング能

    平成16年度化学系学協会東北大会  2004年 

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  • 平面対象物の単眼視追跡による4自由度運動計測に関する研究

    第46回自動制御連合講演会  2003年 

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  • レーザー距離計のみを搭載した移動ロボットによる環境地図の作成

    第46回自動制御連合講演会  2003年 

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  • 水晶振動子吸着膜に用いるシクロヘキサンカルボン酸アルキルエステルのにおいセンシング能

    2003年度日本味と匂学会第37回大会  2003年 

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  • 水晶振動子においセンサのための24チャンネル周波数計測システム

    2003年度日本味と匂学会第37回大会  2003年 

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  • ベンゼン環を含むアルキルエステルを感応膜に用いる水晶振動子においセンサ

    2003年度日本味と匂学会第37回大会  2003年 

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  • インテリジェント白杖の開発

    第46回自動制御連合講演会  2003年 

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  • 操舵輪を持つ移動ロボットの床面画像追跡による位置推定

    日本機械学会中国四国支部第41期総会・講演会  2003年 

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  • 視覚障害者のための歩行支援システムに関する研究

    日本機械学会 中国四国支部第40期総会・講演会  2002年 

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  • 自律走行車のための距離情報を用いた特定人物の認識に関する研究

    日本機械学会 中国四国支部第40期総会・講演会  2002年 

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  • 床面の回転および並進運動を計測する視覚装置の研究

    日本機械学会ロボティクス・メカトロニクス講演会2002(Robomec'02)  2002年 

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  • 動き予測に基づいた画像追跡の高速移動対応化に関する研究

    日本機械学会ロボティクス・メカトロニクス講演会2002(Robomec'02)  2002年 

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  • 二組のステレオカメラを用いた高速距離取得装置の開発

    日本機械学会中国四国支部第39期総会・講演会  2001年 

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  • 床面模様の2次元運動を計測する視覚装置の開発

    日本機械学会中国四国支部第39期総会・講演会  2001年 

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  • 非ホロノミックな自律走行車のオペレータ共同経路計画に関する研究

    日本機械学会中国四国支部第39期総会・講演会  2001年 

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  • 参照画像を部分更新する手法に基づく画像デッドレコニング装置の開発

    日本機械学会ロボティクス・メカトロニクス講演会'01  2001年 

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  • 環境照度の変化に追従適応するステレオ視による距離取得装置の開発

    日本機械学会中国四国支部第39期総会・講演会  2001年 

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  • エレベータを利用する自律走行車の研究(視覚センサを用いたボタン押し装置の開発)

    日本機械学会ロボティクス・メカトロニクス講演会(Robomec'00)  2000年 

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  • 色空間抽出法を用いた色判別回路をもつ実時間距離取得装置の開発

    日本機械学会ロボティクス・メカトロニクス講演会(Robomec'00)  2000年 

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  • 自律走行車のための高速視覚情報融合システムの開発

    中国四国支部第38期総会・講演会  2000年 

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  • 床面模様の画像追跡によるビジュアルデッドレコニング

    日本機械学会中国四国支部第38期総会・講演会  2000年 

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  • 床面映像を利用した画像デッドレコニングの研究

    日本機械学会ロボティクス・メカトロニクス講演会(Robomec'00)  2000年 

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  • メカナムホイールを用いた全方向移動車のナビゲーションの研究

    ロボティクス・メカトロニクス講演会(ROBOMEC ’00)  2000年 

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  • ステレオカメラを用いた自律走行車の自己位置認識と操舵に関する研究

    日本機械学会ロボティクスメカトロニクス講演会'99  1999年 

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  • 補間機能を持つ距離取得装置を用いた立体形状実時間計測

    日本機械学会ロボティクスメカトロニクス講演会'99  1999年 

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  • 色と輝度の判別能力を備えた距離取得装置の開発

    日本機械学会ロボティクスメカトロニクス講演会'99  1999年 

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  • Development of Video-Rate Range Finder Using Dynamic Threshold Method for Characteristic Point Detection

    IEEE/ASME Int. C. on Advanced Intelligent Mechatronics, AIM'99  1999年 

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  • 特徴点検出に動的しきい値法を用いた距離取得装置の開発

    日本機械学会中国四国支部第37期総会・講演会  1999年 

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Works(作品等)

  • 電子デバイス事業化フォーラム

    2018年

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  • 次世代産業に関わる大学・高専シーズ発信会

    2017年

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  • 岡山リサーチパーク研究・展示発表会

    2017年

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  • 岡山リサーチパーク研究展示・発表会

    2016年

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  • 岡山大学産学官融合センター 研究協力会 理事会・総会

    2016年

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  • 岡山大学 知恵の見本市2015

    2015年

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  • 岡山大学 知恵の見本市2014

    2014年

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  • 岡山大学 新技術説明会

    2013年

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  • 先進環境対応車に係わる技術シーズ発信会

    2012年

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  • 岡山リサーチパーク研究・展示発表会

    2012年

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  • イノベーションジャパン2010-大学見本市

    2010年

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受賞

  • SI2017優秀講演賞

    2017年  

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    受賞国:日本国

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  • 貢献賞(SCIS & ISIS 2010の運営)

    2011年  

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    受賞国:日本国

    researchmap

 

担当授業科目

  • システムCAD (2020年度) 第3学期  - 月5,月6

  • システムCAD (2020年度) 第3学期  - 木5,木6

  • システムCAD (2020年度) 第3学期  - 月5,月6

  • システムCAD (2020年度) 第3学期  - 木5,木6

  • ディジタル電子回路 (2020年度) 第4学期  - 水3,水4,木5,木6

  • ディジタル電子回路 (2020年度) 第4学期  - 水3,水4,木5,木6

  • 基本機械システム製図 (2020年度) 1・2学期  - 水5,水6,水7,水8

  • 基本機械システム製図 (2020年度) 1・2学期  - 水5,水6,水7,水8

  • 機械システム工学演習1 (2020年度) 前期  - その他

  • 機械システム工学演習2 (2020年度) 後期  - その他

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