論文 - 高橋 伸弥
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Research on Path Planning for UAV based on Geometrical Method
Nobuya Takahashi and Masahiro Yokomichi
Proceedings of the 28th International Symposium on Artificial Life and Robotics 2023 1165 - 1168 2023年1月
担当区分：筆頭著者 掲載種別：研究論文（国際会議プロシーディングス）
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A Control System Design based on Automatic Differentiation
Nobuya Takahashi, Fubuki Takahashi and Masahiro Yokomichi
Proceedings of the 28th International Symposium on Artificial Life and Robotics 2023 1169 - 1172 2023年1月
担当区分：筆頭著者 掲載種別：研究論文（国際会議プロシーディングス）
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Video-based Japanese Finger-spelling Recognition using CNN
Masahiro Yokomichi and Nobuya Takahashi
Proceedings of the 27th International Symposium on Artificial Life and Robotics 2022 1478 - 1482 2022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）
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Gradient-based Redesign for the Optimal Regulator with Considering Nonlinearity
Nobuya Takahashi, Masahiro Ikeda and Masahiro Yokomichi
Proceedings of the 27th International Symposium on Artificial Life and Robotics 2022 1466 - 1469 2022年1月
担当区分：筆頭著者 記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Reproducing the haptic feedback of soft objects and fluids by particle-based simulation methods
Yuki Komatsu, Nobuya Takahashi, Masahiro Yokomichi
Proceedings of the 27th International Symposium on Artificial Life and Robotics 2022 1474 - 1477 2022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）
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Optimal control of discrete-time system with prescribed degree of stability
Nobuya TAKAHASHI, Shosei YAYAMA, Masahiro YOKOMICHI and Osamu SATO
Proceedings of the 25th International Symposium on Artificial Life and Robotics 785 - 788 2020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）
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Asymptotic model maching controller design for rigid body dynamics based on conformal geometoric algebra
Masahiro YOKOMICHI, Nobuya TAKAHASHI and Osamu SATO
Proceedings of the 25th International Symposium on Artificial Life and Robotics 789 - 794 2020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）
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A study of manipulator on a moving base
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Proceedings of the 25th International Symposium on Artificial Life and Robotics 777 - 780 2020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）
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Gunaratne P., Tamura H., Yoshida C., Sakurai K., Tanno K., Takahashi N., Nagata J.
MERCon 2019 - Proceedings, 5th International Multidisciplinary Moratuwa Engineering Research Conference 382 - 387 2019年7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：MERCon 2019 - Proceedings, 5th International Multidisciplinary Moratuwa Engineering Research Conference
© 2019 IEEE. Incorporating real time health monitoring systems in a non-restrictive way, can significantly improve an individual's quality of life in the treatment of sleep disorders. This paper suggests a novel system fornon-wearable, cost effective measurement of breathing and heart-beat during sleep state. The measurement system is composed of flexible multi-piezoelectric elements to acquire the pressure fluctuations persuade by respiratory movement and heart-beat when the subject is lying on it. By employing filters with predefined frequency bands, the breathing andheart-beat waveforms were extracted. The capturing of breathing heart-beat counts was performed by normalizing the extracted waveforms using Wavelet Transform (WT) followed by Fuzzy Logic principles. Further, in the evaluation of nonbreathing time intervals, the amplitude changes in the extracted breathing waveforms were considered over its sleep event. Several experiments were conducted in order to evaluate the performance of the system on above criteria, along with a commercially available system. The experimental results suggest that the proposed method can measure and extract the related waveforms of breathing and heart-beat successfully.
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Discrete-time robust controller and observer for a ball and beam system
Takahashi N., Sato O., Yokomichi M.
Artificial Life and Robotics 24 ( 2 ) 239 - 244 2019年6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
© 2018, ISAROB. This paper deals with a digital controller and observer design problem for the ball and beam system which is extended version of the previous investigated result. The controller is an extension of robust integral tracking controller. In the discrete-time system, it cannot perform integration and differentiation operation, so we introduce a difference system to design controller for the distance subsystem between reference and output. The observer is designed using dual system LQ design method. The observer gain is able to obtain as the result of robust control design problem of dual system. Each design problem is solved by the guaranteed cost control method. Through the numerical result, we validity and effectiveness of our proposed method.
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UAV operation support system using GIS and virtual environment
Yoshihiko Harada, Nobuya Takahashi, Masahiro Yokomichi, Osamu Sato
Proceedings of the 24th International Symposium on Artificial Life and Robotics 866 - 869 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）
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Speed control of object at release by casting manipulator
Asaji SATO, Osamu SATO, Masanori MATSUNO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Proceedings of the 24th International Symposium on Artificial Life and Robotics 882 - 885 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）
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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）
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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）
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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）
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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.
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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.
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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）
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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）
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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）