論文 - 高橋 伸弥
-
Emotion Classification from Smile Images Using Machine Learning
Wataru Murozono, Masahiro Yokomichi, Osamu Sato, Nobuya Takahashi
Proceedings of the 24th International Symposium on Artificial Life and Robotics 878 - 881 2019年1月
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）
-
A study of biological signal analysis using CNMF
Nobuya Takahashi, Kazufumi Kai, Hiroki Tamura
Proceedings of the 24th International Symposium on Artificial Life and Robotics 870 - 873 2019年1月
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）
-
Discrete-time Robust Controller and Observer for a Ball and Beam System 査読あり
Nobuya Takahashi, Osamu Sato, Masahiro Yokomichi
Artificial Life and Robotics 24 239 - 244 2018年11月
記述言語：英語 掲載種別：研究論文（学術雑誌）
-
Modeling and Control Law Design for Rigid Body Dynamics by Conformal Geometric Algebra
Yokomichi M., Takahashi N., Sato O.
2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 697 - 702 2018年10月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
© 2018 The Society of Instrument and Control Enginners - SICE. Conformal geometric algebra (CGA) can simplify the dynamic model of the motion of rigid bodies by introducing the motor, the extended angular velocity bivector, and the extended torque bivector. Recently, CGA-based controller design methods have been proposed for a kinematic stabilization problem for the rigid body motion with 1-D rotation by means of the Lyapunov function for the motor. In this paper, more generalized result is shown and a controller for the stabilization of the dynamics is proposed.
-
A study of robust controller and observer design method for a rolling object and beam system 査読あり
Takahashi Nobuya, Sato Osamu, Sato Asaji, Yokomichi Masahiro
Artificial Life and Robotics 23 ( 1 ) 67 - 72 2018年3月
記述言語：英語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2017, ISAROB. This paper deals with a robust control problem for a ball and beam system with an uncertainty. At first, we clarify the effect of a measurement error in the beam rotational angle and its differential value. It is expressed as additional terms in the state and input matrix of the state equation, which is called as a structured uncertainty. For this system, a robust tracking controller and a robust state observer are applied. Both components are designed based on a robust control, which is called guaranteed cost control. This is a kind of cost minimization method for designing problem of a linear feedback system. The controller is obtained as the solution of the matrix algebraic Riccati like equation, which is referred to as stochastic algebraic Riccati equation. The nominal system performance is degraded due to the influence of the uncertainty, but it is able to design a system with robustness for disturbance. Next, we consider the design problem of a state observer to estimate all state variables form the output signal easy to measure, like rotation angle of the beam. For the design problem of the state observer, we consider dual problem of the original system. Consequently, our proposed system estimates the whole state vector, and using estimated state values, it controls the ball to the desired position. Both components have robustness for the uncertainty. Numerical result shows the validity of our proposed method.
-
圧電素子から取得した生体信号データの解析
長谷川 凜、高橋 伸弥
平成29年度環境ロボティクス学科卒業論文 2018年2月
記述言語：日本語 掲載種別：学位論文（その他）
-
Discrete-time Robust Controller and Observer for a Ball and Beam System
Nobuya Takahashi, Shosei Yayama, Osamu Sato, Masahiro Yokomichi
Proceedings of the 23rd International Symposium on Artificial Life and Robotics 682 - 685 2018年1月
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）
-
A study on obstacle avoidance trajectory of manipulator with flexible element
Asaji Sato, Osamu Sato, Toshiki Yagi, Nobuya Takahashi, Masahiro Yokomichi
Proceedings of the 23rd International Symposium on Artificial Life and Robotics 677 - 681 2018年1月
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）
-
Controller design for quadrotor based on I/O linearization
Masahiro Yokomichi, Yuta Yamashita, Nobuya Takahash, Osamu Sato
Proceedings of the 23rd International Symposium on Artificial Life and Robotics 694 - 697 2018年1月
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）
-
Development of Pseudo Haptic Feedback in VR Environment
Isamu Miyahara, Masahiro Yokomichi, Osamu Sato, Nobuya Takahashi
Proceedings of the Twenty-Third International Symposium on Artificial Life and Robotics 2018 686 - 689 2018年1月
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）
-
A study on the vibration suppression of the manipulator with flexible element 査読あり
Sato Osamu, Sato Asaji, Yagi Toshiki, Takahashi Nobuya, Yokomichi Masahiro
Artificial Life and Robotics 22 ( 4 ) 471 - 476 2017年12月
記述言語：英語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2017, ISAROB. For the rapid motion and the saving energy of transport by the manipulator, it requires a study for lighter mechanisms such as flexible link. In this report, a flexible link is modeled with rigid body connected by three springs. And, the equations of motion of manipulator driven by two motors are derived in consideration of the deflection of flexible element and the characteristics of driving source. For the case to transport the object from the initial position to the desired position by the manipulator, the energy-saving trajectory influenced by vibration is calculated by the iterative dynamic programming method, and the effectiveness of the control method is evaluated by the numerical simulation. Furthermore, the effectiveness of the numerical simulation is confirmed by the experiment of a flexible link which is driven by a single motor with energy-saving trajectory.
-
Analysis of manipulator in consideration of impact absorption between link and projected object 査読あり
Asaji Sato, Osamu Sato, Nobuya Takahashi and Masahiro Yokomichi
Artificial Life and Robotics 22 ( 1 ) 113 - 117 2017年3月
記述言語：英語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2016, ISAROB.In this article, equations of motion of a manipulator are derived in consideration of the characteristics of DC servomotors, and a performance criterion for saving energy is defined in consideration of energy consumption of the driving source. When the manipulator is operated in a vertical plane, the system is highly non-linear due to gravity, and an analytical solution cannot be found. By considering for catching the object that moves parabolic, trajectories for saving energy are calculated by iterative dynamic programming method. And, the dynamic characteristics of two-link system controlled based on the trajectory for saving energy are analyzed theoretically. When the object moves parabolic, measurement method for the force of collision between link and object is examined by experiment.
-
A study of robust control for a rolling object and beam system
Nobuya Takahashi, Osamu Sato, Asaji Sato, Masahiro Yokomichi, Hidehiro Endo
Proceedings of the 22nd International Symposium on Artificial Life and Robotics 761 - 764 2017年1月
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）
-
A study on the vibration suppression of the manipulator with flexible element
Toshiki YAGI, Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Proceedings of the 22nd International Symposium on Artificial Life and Robotics 765 - 768 2017年1月
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）
-
The development of experiment support system for junior high school science using AR technology
Tatsuya OISHI, Masahiro YOKOMICHI, Osamu SATO, Nobuya TAKAHASHI
Proceedings of the 22nd International Symposium on Artificial Life and Robotics, pp.773-776, 2017, Beppu 773 - 776 2017年1月
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）
-
A study about control for rolling objects and beam system
Takahashi N., Sato O., Sato A., Yamashita Y.
Artificial Life and Robotics 21 ( 4 ) 540 - 544 2016年12月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2016, ISAROB.The ball and beam system consists of a long beam which can be tilted by a servo motor together with a ball rolling back and forth on top of the beam. In this article, an equation of motion of the rolling objects and the beam are derived in consideration of characteristics of driving source. By considering the changes in the number of rolling object, trajectories for positioning control are calculated by iterative dynamic programming method. And the dynamic characteristics of the system controlled based on the trajectory for saving energy are analyzed theoretically and investigated experimentally.
-
Guaranteed cost control of robot manipulator with prescribed degree of stability
Takahashi N., Sato O.
Artificial Life and Robotics 21 ( 4 ) 520 - 524 2016年12月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2016, ISAROB.In this paper, we propose a robust controller design method for a linear time invariant system which combines two methods. The first one is referred as guaranteed cost control, that is one kind of a robust design method for the system with structured uncertainty. It gives a robust stable feedback law, which guarantees an existence of the upper bound for the effect of a perturbation. The second one is called prescribed degree of stability. For a nominal system, by a transformation of a state and input vector, it can relocate all the poles of the closed-loop system to leftward in the complex plane, after a design procedure based on the cost minimization like the linear quadratic regulator. Thus, our proposed method is able to design a robust stable controller, and it can also adjust the system characteristics on the complex plane. At last, we show the validity of our proposed method through the numerical example.
-
Analysis of manipulator in consideration of impact absorption between link and projected object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Artif Life Robotics 22 113 - 117 2016年9月
記述言語：英語 掲載種別：研究論文（学術雑誌）
-
Analysis of the two-link manipulator in consideration of the horizontal motion about object
Sato O., Sato A., Takahashi N., Yokomichi M.
Artificial Life and Robotics 21 ( 1 ) 43 - 48 2016年3月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2015, ISAROB.In this article, equations of motion of two-link-manipulator are derived in consideration of characteristics of driving source. By considering for horizontal motion about object, trajectories for saving energy are calculated by iterative dynamic programming method. And, the dynamic characteristics of two-link system controlled based on the trajectory for saving energy are analyzed theoretically. When the object moves parabolic, measurement method for the force of collision between link and object is examined by fundamental experiment.
-
Guaranteed cost control of robot manipulator with prescribed degree of stability 査読あり
Hiroaki Shigehara, Nobuya Takahashi, Osamu Sato
The Twenty-First International Symposium on Artificial Life and Robotics 2016 631 - 634 2016年1月
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）