Papers - YOKOMICHI Masahiro
-
A Study of a manipulator on a moving base Reviewed
A.Sato, O.Sato, N.Takahashi, and M.Yokomichi
Proceedings of AROB 2020 2020.1
Language：English Publishing type：Research paper (international conference proceedings)
-
Optimal control of discrete-time system with prescribed degree of stability Reviewed
N.Takahashi, S.Yayama, M.Yokomichi, and O.Sato
Proceedings of AROB 2020 2020.1
Language：English Publishing type：Research paper (international conference proceedings)
-
Discrete-time robust controller and observer for a ball and beam system Reviewed
Takahashi N., Sato O., Yokomichi M.
Artificial Life and Robotics 24 ( 2 ) 239 - 244 2019.6
Language：English Publishing type：Research paper (scientific journal) Publisher：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.
-
UAV operation support system using GIS and virtual environment Reviewed
Yoshihiko Harada, Nobuya Takahashi, Masahiro Yokomichi, and Osamu Sato
24th International Symposium on Artificial Life and Robotics 2019.1
Language：English Publishing type：Research paper (international conference proceedings)
-
Speed control of object at release by casting manipulator Reviewed
Asaji SATO, Osamu SATO, Masanori MATSUNO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Proceedings of the 24th International Symposium on Artificial Life and Robotics 2019.1
Language：English Publishing type：Research paper (international conference proceedings)
-
Emotion Classification from Smile Images Using Machine Learning Reviewed
Wataru Murozono, Masahiro Yokomichi, Osamu Sato, and Nobuya Takahashi
24th International Symposium on Artificial Life and Robotics 2019.1
Language：English Publishing type：Research paper (international conference proceedings)
-
3D adaptive flocking rule for robot swarms Reviewed
Geunho Lee, Nobuya Takahashi, and Masahiro Yokomichi
Proc. International Conference on Fuzzy Theory and Its Applications 254 - 256 2018.11
Language：English Publishing type：Research paper (international conference proceedings)
-
Modeling and Control Law Design for Rigid Body Dynamics by Conformal Geometric Algebra Reviewed
Yokomichi M., Takahashi N., Sato O.
2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 697 - 702 2018.10
Language：English Publishing type：Research paper (international conference proceedings) Publisher：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 Reviewed
Takahashi N., Sato O., Sato A., Yokomichi M.
Artificial Life and Robotics 23 ( 1 ) 67 - 72 2018.3
Language：English Publishing type：Research paper (scientific journal) Publisher：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.
-
Discrete-time Robust Controller and Observer for a Ball and Beam System Reviewed
N.Takahashi, S.Yayama, M.Yokomichi, O.Sato
Proceedings of 23rd International Symposium on Artificial Life and Robotics OS11 ( 2 ) 2018.1
Language：English Publishing type：Research paper (international conference proceedings)
-
Controller design for quadrotor based on I/O linearization Reviewed
M.Yokomichi,Y.Yamashita, N.Takahashi, O.Sato
Proceedings of 23rd International Symposium on Artificial Life and Robotics OS11 ( 5 ) 2018.1
Language：English Publishing type：Research paper (international conference proceedings)
-
Development of Pseudo Haptic Feedback in VR Environment Reviewed
I.Miyahara, M.Yokomichi,O.Sato,N.Takahashi
Proceedings of 23rd International Symposium on Artificial Life and Robotics OS11 ( 4 ) 2018.1
Language：English Publishing type：Research paper (international conference proceedings)
-
A study on obstacle avoidance trajectory of manipulator with flexible element Reviewed
A.Sato, O.Sato, T.Yagi, N.Takahashi, M.Yokomichi
Proceedings of 23rd International Symposium on Artificial Life and Robotics OS11 ( 1 ) 2018.1
Language：English Publishing type：Research paper (international conference proceedings)
-
A study on the vibration suppression of the manipulator with flexible element Reviewed
Osamu Sato, Asaji Sato, Toshiki Yagi, Nobuya Takahashi, Masahiro Yokomichi
Artificial Life and Robotics, An International Journal, Springer 22 ( 4 ) 471 - 476 2017.12
Language：English Publishing type：Research paper (scientific journal) Publisher：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.
-
Neighbor consensus based decentralized deployment for robot swarms Reviewed
Geunho Lee, Cornelis Francois van Eeden, Nobuya Takahashi, and Masahiro Yokomichi
Proc. 18th Int. Symp. Advanced Intelligent System 122 - 129 2017.10
Language：English Publishing type：Research paper (international conference proceedings)
-
Analysis of manipulator in consideration of impact absorption between link and projected object
Sato A., Sato O., Takahashi N., Yokomichi M.
Artificial Life and Robotics 22 ( 1 ) 113 - 117 2017.3
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：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 Reviewed
Nobuya Takahashi, Osamu Sato, Asazi Sato, Maasahiro Yokomichi
The Twenty-Second International Symposium on Artificial Life and Robotics 2017 (AROB 22nd 2017) OS14-1 2017.1
Language：English Publishing type：Research paper (international conference proceedings)
-
A study on the vibration suppression of the manipulator with flexible element Reviewed
Toshiki Yagi, Asaji Sato, Osamu Sato, Nobuya Takahashi, Masahiro Yokomichi
The proceedings of the Twenty-Second International Symposium on Artificial Life and Robotics 2017 (AROB 22nd 2017) OS14 ( 2 ) 2017.1
Language：English Publishing type：Research paper (international conference proceedings)
-
The development of experiment support system for junior high school science using AR technology Reviewed
Tatsuya Oishi, Masahiro Yokomichi, Osamu Sato, Nobuya Takahashi
The proceedings of the Twenty-Second International Symposium on Artificial Life and Robotics 2017 (AROB 22nd 2017) OS14 ( 4 ) 2017.1
Language：English Publishing type：Research paper (international conference proceedings)
-
Consideration for the Possibility to the Tourism by the AR Technology Reviewed
Makoto Sakamoto, Koshiro Mitsuhasi 他
Proceedings of The 2017 International Conference on Artificial Life and Robotics (ICAROB 2017) 2017.1
Language：English Publishing type：Research paper (international conference proceedings)