佐藤 治 (サトウ オサム)

SATO Osamu

写真a

職名

教授

研究分野・キーワード

機械力学、メカトロニクス分野

メールアドレス

メールアドレス

研究室電話

0985-58-7418

出身大学 【 表示 / 非表示

  •  
    -
    1978年03月

    山梨大学   工学部   機械工学科   卒業

出身大学院 【 表示 / 非表示

  •  
    -
    1980年03月

    東京工業大学  理工学研究科  機械工学専攻  博士課程  修了

取得学位 【 表示 / 非表示

  • 東京工業大学 -  工学博士

  • 東京工業大学 -  修士(工学)

 

論文 【 表示 / 非表示

  • A study of robust controller and observer design method for a rolling object and beam system

    Nobuya Takahashi, Osamu Sato, Asaji Sato, Masahiro Yokomichi

    Artificial Life and Robotics, An International Journal, Springer   23 ( 1 ) 67 - 72   2018年03月  [査読有り]

    共著

     概要を見る

    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.

    DOI

  • A study on the vibraiton suppression of the manipulator with flexible element

    Osamu Sato, Asaji Sato, Toshiki Yagi, Nobuya Takahashi, Masahiro Yokomichi

    Artificial Life and Robotics, An International Journal, Springer   22 ( 4 ) 471 - 476   2017年07月  [査読有り]

    共著

     概要を見る

    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.

    DOI

  • Analysis of manipulator in consideration of impact absorption between link and projected object

    Asaji Sato, Osamu Sato, Nobuya Takahashi, Masahiro Yokomichi

    Artificial Life and Robotics, An International Journal, Springer   22 ( 1 ) 113 - 117   2017年03月  [査読有り]

    共著

    DOI

  • A study about control for rolling objects and beam system

    Nobuya Takahashi, Osamu Sato, Asaji Sato, Yohei Yamashita

    Artificial Life and Robotics, An International Journal, Springer   21 ( 4 ) 540 - 545   2016年12月  [査読有り]

    共著

    DOI

  • Guaranteed cost control of robot manipulator with prescribed degree of stability

    Nobuya Takahashi, Osamu Sato

    Artificial Life and Robotics, An International Journal, Springer   21 ( 4 ) 520 - 524   2016年12月  [査読有り]

    共著

    DOI

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著書 【 表示 / 非表示

  • ロボット工学

    編集者:坂田 勝共著者:下嶋 浩,佐藤 治 (担当: 共著 , 担当範囲: 1- 75頁,130-138頁 )

    森北出版(東京) 全148頁(分担)1- 75頁,130-138頁  1999年07月 ISBN: 4-627-60581-1

研究発表 【 表示 / 非表示

  • Speed control of object at release by casting manipulator

    Asaji Sato,Osamu Sato,Masanori Matsuno, Nobuya Takahashi,Masahiro Yokomichi

    24th International Symposium on Artificial Life and Robotics  (B-Con Plaza, Beppu, Oita)  2019年01月  -  2019年01月    Artificial Life and Robotics Co., Ltd.

     概要を見る

    Conventionally, in order to expand the working space of a manipulator, there is a research example in which a casting manipulator including a flexible string in a link mechanism has been developed. In the case, when using a small motor driven system, energy can be stored and thrown by several swing motions. For improving work efficiency, we think that it is preferable to throw with one swing, not multiple swings. In this research, the behavior of the under-throw is considered from two viewpoints. The first is the motion from the work start to the acceleration start posture and the second is the motion from the acceleration start to the release posture. In each motions, the optimum trajectory with the driving source consumption energy as the evaluation amount is obtained by iterative dynamic programming method. And, we verify its effectiveness by basic experiment.

  • A study on obstacle avoidance trajectory of manipulator with flexible element

    A.Sato, O. Sato, T. Yagi, N.Takahashi, M.Yokomichi

    23rd International Symposium on Artificial Life and Robotics   (B-Con Plaza, Beppu, Oita )  2018年01月  -  2018年01月    Artificial Life and Robotics Co., Ltd.

     概要を見る

    For the rapid motion and the saving energy of transport by the manipulator, it requires a study for lighter mechanisms such as flexible link. And, trajectory planning of manipulator is necessary when the work space is limited. In this report, flexible links connected to the motor are modeled with rigid body connected by three springs. And, the equations of motion of manipulator are derived in consideration of the deflection of flexible elements and the characteristics of driving source. For the case to transport the object from the initial position to the desired position by the manipulator in a work space where an obstacle is present, 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 flexible links which are driven by two motors with energy-saving trajectory.

  • Emotion Classification from Smile Images Using Machine Learning

    Wataru Murozono,Masahiro Yokomichi,Osamu Sato,Nobuya Takahashi

    24th International Symposium on Artificial Life and Robotics   (B-Con Plaza, Beppu, Oita )  2019年01月  -  2019年01月    Artificial Life and Robotics Co., Ltd.

     概要を見る

    In this work, we focused on the expression of smile showing emotions such as happiness, and classified by learning smile image in machine learning whether that smile is genuine or fake. As a result, we succeeded in classifying genuine smile and fake smile with high accuracy. In addition, we further visualized classification elements using Grad-CAM, which is a visualization method of deep learning model, and tried to elucidate classification elements. As a result, it was found that the learning model used in this study is the area of attention in the site where attention is paid in the existing theory. This result suggests that the machine can estimate genuine emotion hidden in expression.

  • UAV operation support system using GIS and virtual environment

    Y.Harada, N., N.Takahashi,M.Yokomichi, O.Sato

    24th International Symposium on Artificial Life and Robotics   (B-Con Plaza, Beppu, Oita )  2019年01月  -  2019年01月    Artificial Life and Robotics Co., Ltd.

     概要を見る

    In recent years, multicopter type UAV has spread rapidly and it is used not only for hobby purposes but also been used for practical purposes, such as logistics and observation. Because, multicopter type UAV become more sophisticated with the reduction in size and weight of sensors and computers, and the price has decreased. Especially, it is remarkably widespread in the field of surveying. Traditionally, triangulation with total station and image based methods with pole camera or radio control helicopter is mainstream. To solve these problems, we propose a system that create a route that avoiding restricted areas, and provides users it with information such as prohibited airspace. In addition, it can be monitored a flying UAV and the surroundings from viewpoint according to the flight state. GIS is a system for utilizing geographical information such as topography, buildings, altitude, vegetation, densely populated areas, etc. These data are provided by various organizations. In this study, we utilized data provided by various organizations including the Geospatial Information Authority of Japan such as digital elevation model, data of airspace around airports, data of densely inhabited districts etc. for build virtual environment.

  • A study of robust control for a rolling object and beam system

    N.Takahashi, O.Sato, A.Sato, M.Yokomichi,H.Endo

    22nd International Symposium on Artificial Life and Robotics   (B-Con Plaza, Beppu, Oita )  2017年01月  -  2017年01月    Artificial Life and Robotics Co., Ltd.

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