Papers - YOKOMICHI Masahiro
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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 2016.3
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：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.
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Analysis of the two-link manipulator in consideration of the horizontal motion about object Reviewed
O.Sato, A.Sato, N.Takahashi, M.Yokomichi
Artificial Life and Robotics 21 ( 1 ) 43 - 48 2016.3
Language：English Publishing type：Research paper (scientific journal)
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Analysis of manipulator in consideration of impact absorption between link and projected object Reviewed
A.Sato,O.Sato,N.Takahashi,M.Yokomichi
Proc. of 21th International Symposium on Artificial Life and Robotics OS15-4 2016.1
Language：English Publishing type：Research paper (international conference proceedings)
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TAKAHASHI Nobuya, YOKOMICHI Masahiro, SATO Osamu
Mechanical Engineering Congress, Japan 2015 "G1000104 - 1"-"G1000104-3" 2015.9
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers
Guaranteed cost control is a method for the robust control problem of the LTI-systems with structured uncertainty. In such systems, the performance index is perturbed by the effect of uncertainty. So this method design the robust stable system to guarantee the existence of upper bound of performance index. On the other hand, the networked control system is investigated. The LTI system plant and controller are connected with communication bus. The input and output signals are transmitted by previously defined periodic pattern. The whole system characteristics is constructed as periodic system. This issue consider that the application of guaranteed cost control to the networked control system with the plant includes the uncertainty in an input matrix.
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Experimental analysis of the two-link manipulator in consideration of the relative motion between link and object Reviewed
A. Sato, O. Sato, N. Takahashi, M. Yokomichi
Artificial Life and Robotics 20 ( 2 ) 173 - 177 2015.7
Language：English Publishing type：Research paper (scientific journal)
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Sato A., Sato O., Takahashi N., Yokomichi M.
Artificial Life and Robotics 20 ( 2 ) 173 - 177 2015.7
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
© ISAROB 2015. In this article, equations of motion of two-link manipulator are derived in consideration of characteristics of driving source. By considering for different heights of falling 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 also analyzed theoretically and investigated experimentally.
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Remarks on Four-Dimensional Probabilistic Finite Automata Reviewed
M,Sakamoto, Y.Uchida,M.Nagatomo,T.Zhang
International Journal of Software Engineering and its Applications 9 ( 6 ) 91 - 100 2015.6
Language：English Publishing type：Research paper (scientific journal)
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Analysis of the two-link-manipulator in consideration of the horizontal motion about object Reviewed
A.Sato,O.Sato,N.Takahashi,M.Yokomichi
Proc. of 20th International Symposium on Artificial Life and Robotics OS13-1 2015.1
Language：English Publishing type：Research paper (international conference proceedings)
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Virtual touch panel system with 3D hand motion sensor Reviewed
T.Inoue,M.Yokomichi,T.Kai
Proc. of 20th International Symposium on Artificial Life and Robotics OS13-4 2015.1
Language：English Publishing type：Research paper (international conference proceedings)
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Remarks on four-dimensional probabilistic finite automata
Sakamoto M., Uchida Y., Nagatomo M., Zhang T., Susaki H., Ito T., Yoshinaga T., Ikeda S., Yokomichi M., Furutani H.
International Journal of Software Engineering and its Applications 9 ( 4 ) 73 - 84 2015
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：International Journal of Software Engineering and its Applications
© 2015 SERSC. This paper deals with the study of four-dimensional automata. Recently, due to the advances in many application areas such as dynamic image processing, computer animation, augmented reality (AR), and so on, it is useful for analyzing computation of four-dimensional information processing (three-dimensional pattern processing with time axis) to explicate the properties of four-dimensional automata. From this point of view, we have investigated many properties of four-dimensional automata and computational complexity. On the other hand, the class of sets accepted by probabilistic machines have been studied extensively. As far as we know, however, there is no results concerned with four-dimensional probabilistic machines. In this paper, we introduce four-dimensional probabilistic finite automata, and investigate some accepting powers of them.
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Remarks on four-dimensional probabilistic finite automata
Sakamoto M., Uchida Y., Nagatomo M., Zhang T., Susaki H., Ito T., Yoshinaga T., Ikeda S., Yokomichi M., Furutani H.
International Journal of Software Engineering and its Applications 9 ( 6 ) 91 - 100 2015
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：International Journal of Software Engineering and its Applications
© 2015 SERSC. This paper deals with the study of four-dimensional automata. Recently, due to the advances in many application areas such as dynamic image processing, computer animation, augmented reality (AR), and so on, it is useful for analyzing computation of four-dimensional information processing (three-dimensional pattern processing with time axis) to explicate the properties of four-dimensional automata. From this point of view, we have investigated many properties of four-dimensional automata and computational complexity. On the other hand, the class of sets accepted by probabilistic machines have been studied extensively. As far as we know, however, there is no results concerned with four-dimensional probabilistic machines. In this paper, we introduce four-dimensional probabilistic finite automata, and investigate some accepting powers of them.
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Guaranteed cost control of the networked control system
Takahashi N., Yokomichi M., Sato O.
Proceedings of the SICE Annual Conference 626 - 631 2014.10
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Proceedings of the SICE Annual Conference
© 2014 SICE. In this paper, we show the design method of the networked control system with structured uncertainty. In this system, the plant and the controller are connected with a communication bus. The plant and controller are denoted as LTI-system, but the communication bus has a periodic characteristic. So that the whole of the system characteristics is denoted as a periodic system. In this paper, we consider the guaranteed cost control in the case with the linear time-varying system. As this result, we derive the stochastic discrete algebraic Riccati equation of the time-varying case and apply this equation to the design problem of networked control system. In the numerical example, the plant is car-pendulum system with uncertainty. Through the numerical result, we show the effectiveness of our proposed method.
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Guaranteed Cost Control of the Networked Control System Reviewed
N.Takahashi,M.Yokomichi,O.Sato
Proc. of the SICE Annual Conf. 2014 626 - 631 2014.9
Language：English Publishing type：Research paper (international conference proceedings)
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RGB-Dカメラを用いた手先追跡アルゴリズムの改善
金子 拓未,横道 政裕,石原 誠康,甲斐 崇浩
宮崎大学工学部紀要 43 225 - 230 2014.7
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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指文字認識におけるRGB-Dカメラの精度の影響に関する実験的検討
横道 政裕,諌山 羊太,石原 誠康,甲斐 崇浩
宮崎大学工学部紀要 43 213 - 218 2014.7
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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手先認識センサを用いた仮想タッチパネルの開発
横道 政裕,井上 貴博,石原 誠康,甲斐 崇浩
宮崎大学工学部紀要 43 219 - 224 2014.7
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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Remarks on Four-Dimensional Probabilistic Finite Automata
Sakamoto M., Uchida Y., Nagatomo M., Zhang T., Susaki H., Ito T., Yoshinaga T., Ikeda S., Yokomichi M., Furutani H.
Proceedings - 7th International Conference on Signal Processing, Image Processing and Pattern Recognition, SIP 2014 11 - 14 2014.1
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Proceedings - 7th International Conference on Signal Processing, Image Processing and Pattern Recognition, SIP 2014
© 2014 IEEE. This paper is a study of four-dimensional automata. Recently, due to the advances in many application areas such as dynamic image processing, computer animation, augmented reality (AR), and so on, it is useful for analyzing computation of four-dimensional information processing (three-dimensional pattern processing with time axis) to explicate the properties of four-dimensional automata. From this point of view, we have investigated many properties of four-dimensional automata and computational complexity. On the other hand, the class of sets accepted by probabilistic machines have been studied extensively. As far as we know, however, there is no results concerned with four-dimensional probabilistic machines. In this paper, we introduce four-dimensional probabilistic finite automata, and investigate some accepting powers of them.
DOI： 10.1109/SIP.2014.9
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Robust observer design with the guaranteed cost control approach Reviewed
Yutaka Nitanda, Nobuya Takahashi, Osamu Sato, Masahiro Yokomichi
Proc. of 19th International Symposium on Artificial Life and Robotics OS14-2 2014.1
Language：English Publishing type：Research paper (international conference proceedings)
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An extension of dynamic window approach in the presence of moving obstacles Reviewed
T.Yonemura, M.Yokomichi, O.Sato
Proc. of International Symposium on Artificial Life and Robotics OS14-4 2014.1
Language：English Publishing type：Research paper (international conference proceedings)
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A RRT*-based path planning and replanning algorithm for dynamic environments Reviewed
M.Yokomichi, T.Yonemura, O.Sato
Proc. of International Symposium on Artificial Life and Robotics OS14-4 2014.1
Language：English Publishing type：Research paper (international conference proceedings)