Papers - YOKOMICHI Masahiro
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SGLDOMP-Stochastic Gradient Langevin Dynamics Optimization-based Motion Planning Reviewed
M.Yokomichi, N.Takahashi
Proceedings of AROB 2025 OS17-1 2025.1
Authorship：Lead author Language：English Publishing type：Research paper (international conference proceedings)
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Reinforcement learning and LiDAR-SLAM based obstacle avoidance of drone with depth camera Reviewed
R.Shigenaga, M.Yokomichi, N.Takahashi
Proceedings of AROB 2025 OS17-3 2025.1
Authorship：Corresponding author Language：English Publishing type：Research paper (international conference proceedings)
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Gradient-based Multiplicative Update Rules for Non-negative Matrix Factorization Reviewed
N.Takahashi, M.Yokomichi
Proceedings of AROB 2025 OS17-2 2025.1
Language：English Publishing type：Research paper (international conference proceedings)
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CAD Development of Moving Hula Costumes Reviewed
Ikeda Satoshi, Kamasaka Taketo, Ohe Kaoru, Sakamoto Makoto, Takei Amane, Yokomichi Masahiro, Aoki Kenji, Ito Tsutomu, Ito Takao
Journal of Robotics, Networking and Artificial Life 10 ( 4 ) 308 - 312 2024.3
Language：English Publishing type：Research paper (scientific journal) Publisher：ALife Robotics Corporation Ltd.
In recent years, three-dimensional computer graphics (3DCG) technology has been applied in various fields. One problem with this technique is the problem of contact between clothing and other objects (such as the body). In this paper, we verified simple animations concerning of hula costumes using three calculation methods, and found that we were able to create simple and stable animations using the FB Euler method. This paper reports that we were able to create a simple animation.
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HMC-PSO : Hamiltonian Monte Carlo-embedded Particle Swarm Optimization Reviewed
M.Yokomichi, N.Takahashi
Proceedings of AROB 2024 OS13-1 2024.1
Authorship：Lead author Language：English Publishing type：Research paper (international conference proceedings)
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Fundamental study focusing on structural similarity of street based on geographic information using graph neural network Reviewed
H. Hoshihara, N.Takahashi, M.Yokomichi,
Proceedings of AROB 2024 OS13-3 2024.1
Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings)
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UAV flight path planning based on deep reinforcement learning Reviewed
M. Hisayama, N.Takahashi, M.Yokomichi,
Proceedings of AROB 2024 OS13-2 2024.1
Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings)
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Basic Study on Museum Exhibition Support Using AR Technology
Takemura Kakeru, Ikeda Satoshi, Takei Amane, Yokomichi Masahiro, Sakamoto Makoto, Kurogi Shuichi, Ito Tsutomu, Ito Takao
人工生命とロボットに関する国際会議予稿集 28 438 - 442 2023.2
Language：English Publishing type：Research paper (scientific journal) Publisher：株式会社ALife Robotics
There are many bioluminescent fungi in Miyazaki Prefecture. All of these bioluminescent fungi glow in the dark and are attracting attention as a new tourist resource in Miyazaki. However, they are small and not easily observed in museums. The purpose of this study was to facilitate observation of such small mushrooms exhibited in museums by using AR technology to display a 3DCG model of the mushroom body in AR to aid observation.
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The method for reproducing the haptic feedback of fluid in a virtual space using multiple stimuli Reviewed
M.Yokomichi, Y.Komatsu, N.Takahashi
Proceedings of AROB 2023 OS9-4 2023.1
Authorship：Lead author Language：English Publishing type：Research paper (international conference proceedings)
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A Control System Design based on Automatic Differentiation Reviewed
N.Takahashi, F.Takahashi, M.Yokomichi
Proceedings of AROB 2023 OS9-3 2023.1
Authorship：Lead author Language：English Publishing type：Research paper (international conference proceedings)
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Research on Path Planning for UAV based on Geometrical Method Reviewed
N.Takahashi, M.Yokomichi
Proceedings of AROB 2023 OS9-2 2023.1
Authorship：Lead author Language：English Publishing type：Research paper (international conference proceedings)
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Basic Study on Museum Exhibition Support Using AR Technology Reviewed
Takemura K., Ikeda S., Takei A., Yokomichi M., Sakamoto M., Kurogi S., Ito T., Ito T.
Proceedings of International Conference on Artificial Life and Robotics 442 - 446 2023.1
Language：Japanese Publishing type：Research paper (international conference proceedings) Publisher：Proceedings of International Conference on Artificial Life and Robotics
There are many bioluminescent fungi in Miyazaki Prefecture. All of these bioluminescent fungi glow in the dark and are attracting attention as a new tourist resource in Miyazaki. However, they are small and not easily observed in museums. The purpose of this study was to facilitate observation of such small mushrooms exhibited in museums by using AR technology to display a 3DCG model of the mushroom body in AR to aid observation.
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Basic Research on Virtual Technology for Educational Support Video Production Reviewed
Ikeda Satoshi, Miyamoto Kodai, Ohe Kaoru, Sakamoto Makoto, Takei Amane, Yokomichi Masahiro, Aoki Kenji, Ito Tsutomu, Ito Takao
Journal of Robotics, Networking and Artificial Life 10 ( 3 ) 270 - 274 2023
Language：English Publishing type：Research paper (scientific journal) Publisher：ALife Robotics Corporation Ltd.
In 2016, we conducted a survey of high school students regarding science classes, and found that the percentage of high school students who answered that they "like science" or "science is important" was lower than for other subjects. However, more than 80% of elementary and junior high school students answered that they ``like experiments and observations.'' Additionally, a 2019 smartphone penetration rate survey found that approximately 90% of students use smartphones. Additionally, recent advances in VR technology have been remarkable. Based on the above, I thought that creating a simulation app using VR technology using smartphones could change the way high school students think about science classes. In this paper, we developed a new simulation application for science experiments. The subjects were asked to experience the newly created app and answer a questionnaire. The average score was 4 out of 5, which was poor. However, a problem was also discovered at the same time. The problem is that this app is a simulation app, so the user experience is not very good, so I would like to develop an app that is a little more user-friendly in the future. I would like to create apps for other fields while improving the problem.
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Reproducing the haptic feedback of soft objects and fluids by particle-based simulation methods Reviewed
Y.Komatsu, N.Takahashi, M.Yokomichi
Proceedings of AROB 2022 OS24-3 2022.1
Authorship：Corresponding author Language：English Publishing type：Research paper (international conference proceedings)
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Gradient-based Redesign for the Optimal Regulator with Considering Nonlinearity Reviewed
N.Takahashi, M.Ikeda, M.Yokomichi
Proceedings of AROB 2022 OS24-1 2022.1
Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings)
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Video-based Japanese Finger-spelling Recognition using CNN Reviewed
M.Yokomichi, N.Takahashi
Proceedings of AROB 2022 OS24-4 2022.1
Authorship：Lead author, Corresponding author Language：English Publishing type：Research paper (international conference proceedings)
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Basic Study on the Use of XR Technology to Support Science Education
Miyamoto Kodai, Kamasaka Taketo, Sakamoto Makoto, Yokomichi Masahiro, Ikeda Satoshi, Takei Amane, Ito Tsutomu, Ito Takao
人工生命とロボットに関する国際会議予稿集 27 392 - 397 2022.1
Language：English Publishing type：Research paper (scientific journal) Publisher：株式会社ALife Robotics
According to the results of a survey on science teaching in 2016, the percentage of students who answered that they like science is lower than other subjects. However, more than 80% of students said that they like experiments and observations. In addition, a 2019 survey on smartphone penetration showed that about 90% of students are familiar with the technology. Also, XR technology has made remarkable progress in recent years. Based on the above, I conducted this research because I thought that creating a simulation application using XR technology with smartphones would change the way we think about science classes. In this paper, we have developed a simulation application for science experiments. The subjects were asked to experience the created application and answer a questionnaire. As a result, the average score was 4 out of 5, which was not a bad result. At the same time, however, we found a problem. The problem was that since this was a simulation application, the user experience was not very good. So we wanted to make it a little easier to use. While improving the problems, I would like to create applications for other fields as well.
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Basic Study on the Use of XR Technology to Support Science Education
Miyamoto K., Kamasaka T., Sakamoto M., Yokomichi M., Ikeda S., Takei A., Ito T., Ito T.
Proceedings of International Conference on Artificial Life and Robotics 392 - 397 2022.1
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Proceedings of International Conference on Artificial Life and Robotics
According to the results of a survey on science teaching in 2016, the percentage of students who answered that they like science is lower than other subjects. However, more than 80% of students said that they like experiments and observations. In addition, a 2019 survey on smartphone penetration showed that about 90% of students are familiar with the technology. Also, XR technology has made remarkable progress in recent years. Based on the above, I conducted this research because I thought that creating a simulation application using XR technology with smartphones would change the way we think about science classes. In this paper, we have developed a simulation application for science experiments. The subjects were asked to experience the created application and answer a questionnaire. As a result, the average score was 4 out of 5, which was not a bad result. At the same time, however, we found a problem. The problem was that since this was a simulation application, the user experience was not very good. So we wanted to make it a little easier to use. While improving the problems, I would like to create applications for other fields as well.
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A Language Which is not Accepted by Any Space-Bounded N-Dimensional Alternating Turing Machines Reviewed
Makoto Sakamoto, Takahiro Ishizu, Kenji Sakoma, Satoshi Ikeda, Amane Takei, Kenji Aoki, Masahiro Yokomichi
Proceedings of International workshop of ICAROB 2019 2020.6
Language：English Publishing type：Research paper (international conference proceedings)
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Asymptotic Model Matching Controller Design for Rigid Body Dynamics Based on Conformal Geometric Algebra Reviewed
M.Yokomichi, N.Takahashi, and O.Sato
Proceedings of AROB 2020 2020.1
Language：English Publishing type：Research paper (international conference proceedings)
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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)
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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)
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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.
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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)
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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)
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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)
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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)
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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.
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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.
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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)
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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)
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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)
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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)
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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.
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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)
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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.
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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)
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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)
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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)
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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)
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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)
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Obstacle avoidance for a non-Holonomic snake robot in a narrow space
Hitaka Y., Yokomichi M., Hamamatsu H.
International Journal of Mechatronics and Automation 4 ( 2 ) 73 - 83 2014
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：International Journal of Mechatronics and Automation
In this paper, we propose a strategy of obstacle avoidance for a non-Holonomic snake robot in a narrow space. In our strategy, the motion of the snake robot is restricted to a gliding curve and the curve is designed such that the snake robot does not come into contact with both obstacles and walls. To generate a desired gliding curve, we use some kind of serpenoid curve which is like a trace of natural snakes and tune its shape. By our strategy, the obstacle avoidance is simplified to designing the gliding curve in two-dimensional field. In this paper, we denote details of our strategy and demonstrate the effectiveness of our strategy by numerical simulations. ©2014 Inderscience Enterprises Ltd.
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Obstacle avoidance of a non-holonomic snake robot by tracking a desired gliding curve
Hitaka Y., Yokomichi M.
2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 463 - 468 2013.11
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Snake robots move by undulating their slender body. From the fact, it is expected that a snake robot can pass through a narrow hallway even if there are some obstacles by adjusting its gliding form not to contact with both obstacles and walls. In this paper, we present a tracking control method for the obstacle avoidance. It is based on feedback linearization and imposes a holonomic control constraint on the snake robot possessing a nonholonomic property. By our method, the snake robot moves along the desired gliding curve designed to achieve the obstacle avoidance even if there are initial errors or impulse disturbances. In this paper, we demonstrate the effectiveness of our idea for the obstacle avoidance by numerical simulations. © 2013 IEEE.
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4) Stabilization of LTI Systems with Periodic Communication Constraints by Using LQR Method Reviewed
N. Takahashi, T.Suzuki, M. Yokomichi, O.Sato
Proc. of SICE 2013 Annual Conference 2013 2013.9
Language：English Publishing type：Research paper (international conference proceedings)
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RRTを用いた動的環境における移動ロボットのリアルタイム経路計画
松川翔太, 横道政裕, 甲斐崇浩
宮崎大学工学部紀要 42 251 - 256 2013.8
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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重なり文字を含む手書き文字画像からの文字切り出し
西大地, 横道政裕
宮崎大学工学部紀要 42 257 - 262 2013.8
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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Obstacle avoidance of a non-holonomic snake robot by tracking a desired gliding curve Reviewed
Y.Hitaka, M.Yokomichi
Proc. Of IEEE Int. Conf. on Mechatronics and Automation 463 - 468 2013.8
Language：English Publishing type：Research paper (international conference proceedings)
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Remarks on Recognizability of Four-Dimensional Topological Components Reviewed
M.Sakamoto, M.Nagatomo, T.Kurogi, T.Ito, Y.Uchida, T.Yoshinaga, S.Ikeda,M.Yokomichi, H.Furutani
Proceedings of the 18th International Symposium on Artificial Life and Robotics, Daejeon Convention Center, Daejeon, Korea ( OS2-3 ) 45 - 48 2013.1
Language：English Publishing type：Research paper (international conference proceedings)
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Homogeneous Systolic Pyramid Automata with n-Dimensional Layers Reviewed
M.Sakamoto, T.Ito, T.Kurogi, M.Nagatomo, Y.Uchida, T.Yoshinaga, S.Ikeda, M.Yokomichi, H.Furutan
Proceedings of the 18th International Symposium on Artificial Life and Robotics, Daejeon Convention Center, Daejeon, Korea ( OS14-1 ) 300 - 303 2013.1
Language：English Publishing type：Research paper (international conference proceedings)
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Stabilization of LTI systems with periodic communication constraints by using LQR method
Takahashi N., Suzuki T., Yokomichi M., Sato O.
Proceedings of the SICE Annual Conference 1217 - 1222 2013
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Proceedings of the SICE Annual Conference
This paper deals with the stabilization of a networked control system (NCS) whose sensors and actuators exchange information with a controller through a shared communication medium. To control a linear time-invariant (LTI) discrete-time plant via a bus with limited capacity, we introduce a holder and a communication sequence which follows a given w-periodic pattern. In the previous paper, we have shown that controllability and stabilizability of the plant are preserved in NCS. Moreover, we have shown that reconstructibility and detectability of the plant are preserved in NCS. In this paper, on the basis of reconstructibility and detectability, we design a middle order periodic observer and periodic state feedback by the periodic LQR method and show the validity of our proposed method by simulation.
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Hierarchies Based on the Number of Cooperating Systems of Finite Automata on Four-Dimensional Input Tapes Reviewed
M.Sakamoto,Y.Uchida,M.Nagatomo,T.Ito,T.Yoshinaga,S.keda,M.Yokomichi,H.Furutani
Proceedings of the International Conference onComputer and InformationEngineering,WASET2012, Phuket, Thailand 123 - 128 2012.12
Language：English Publishing type：Research paper (international conference proceedings)
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Hierarchies Based on the Number of Cooperating Systems of Finite Automata on Four-Dimensional Input Tapes Reviewed
M.Sakamoto,Y.Uchida,M.Nagatomo,T.Ito,T..Yoshinaga,S.keda,M..Yokomichi,H.Furutani
World Academy of Science, Engineering and Technology 72 1068 - 1073 2012.12
Language：English Publishing type：Research paper (scientific journal)
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Analysis of manipulator in consideration of impact absorption between link and object
Sato O., Sato A., Takahashi N., Yokomichi M.
Artificial Life and Robotics 17 ( 2 ) 211 - 215 2012.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
In this article, equations of motion of a manipulator are derived in consideration of characteristics of driving source. By considering impact force absorption between a link and an object, trajectories for saving energy are calculated by the iterative dynamic programming method. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally. © 2012 ISAROB.
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Obstacle avoidance of snake robot by switching control constraint
Hitaka Y., Yoshitake T., Yokomichi M.
Artificial Life and Robotics 17 ( 2 ) 180 - 185 2012.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
In this paper, we propose an obstacle avoidance method for autonomous locomotion control of a snake robot. The snake robot consists of rigid links, active joints and passive wheels, and can move only by varying its shape. The pass planning for the obstacle avoidance is a complicated problem because the snake robot has many states, control inputs and the under-actuated property. In our proposed method, the snake motion is restricted to a periodic undulate curve (called a serpenoid curve) by an additional control constraint and the undulate curve is tuned by switching the control constraint in order that the snake robot avoids the obstacle. Therefore, the path planning is simplified and the snake robot will achieve the obstacle avoidance with an efficient path. In this paper, we denote the details of our method and investigate the effectiveness of our strategy by numerical simulations. © 2012 ISAROB.
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Multimodal MSEPF for visual tracking
Yokomichi M., Nakagama Y.
Artificial Life and Robotics 17 ( 2 ) 257 - 262 2012.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
Recently, particle filter has been applied to many visual tracking problems and it has been modified in order to reduce the computation time or memory usage. One of them is the Mean-Shift embedded particle filter (MSEPF, for short) and it is further modified as Randomized MSEPF. These methods can decrease the number of the particles without the loss of tracking accuracy. However, the accuracy may depend on the definition of the likelihood function (observation model) and of the prediction model. In this paper, the authors propose an extension of these models in order to increase the tracking accuracy. Furthermore, the expansion resetting method, which was proposed for mobile robot localization, and the changing the size of the window in Mean-Shift search are also selectively applied in order to treat the occlusion or rapid change of the movement. © 2012 ISAROB.
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Obstacle avoidance of a snake robot in narrow hallway
Hitaka Y., Yokomichi M.
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 214 - 219 2012.10
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
In this paper, we propose a method of obstacle avoidance in narrow hallway for a snake robot which consists of rigid links, active joints and passive wheels. This type of snake robot can move with a periodic undulate gliding form. Therefore, if the gliding form can be tuned to an appropriate shape for width of the hallway, size or placement of the obstacle, the snake robot will pass through the hallway without any collisions with the obstacle or the side walls. In our method, motion of the snake robot is restricted to some kind of a serpenoid curve which is like a trace of natural snake, and the serpenoid curve is tuned to avoid contact between the body and the obstacle or the walls. In this paper, we denote the detail of our method and investigate the effectiveness of our method by numerical simulations. © 2012 IEEE.
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Multimodal MSEPF for visual tracking Reviewed
M.Yokomichi, Y.Nakagama
Artificial Life and Robotics 17 2012.8
Language：English Publishing type：Research paper (scientific journal)
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RGB-D SLAMにおける画像特徴抽出方法の比較・検討
横道政裕，佐々木駿，甲斐崇浩
宮崎大学工学部紀要 41 307 - 310 2012.8
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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ステレオ視を用いた3次元ユーザーインターフェイスの実現
作前亮次，横道政裕，甲斐崇浩，高橋伸弥
宮崎大学工学部紀要 41 311 - 316 2012.8
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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Obstacle Avoidance of a Snake Robot in a narrow Hallway Reviewed
Y.Hitaka, M.Yokomichi
Proceedings of 2012 IEEE International Conference on Mechatronics and Automation 2012.8
Language：English Publishing type：Research paper (international conference proceedings)
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Analysis of Manipulator in Consideration of Impact Absorption between Link and Object Reviewed
A.Sato, O.Sato, N.Takahashi, M.Yokomichi
Artificial Life and Robotics 17 2012.7
Language：English Publishing type：Research paper (scientific journal)
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Obstacle avoidance of snake robot by switching control constraint Reviewed
Yasunobu Hitaka, Toshikazu Yoshitake, Masahiro Yokomichi
Artificial Life and Robotics 17 2012.7
Language：English Publishing type：Research paper (scientific journal)
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曲面鏡の制度判定検査に関する研究 –有理関数曲線によるドアミラーの製品良否検査システム- Reviewed
外山 真也，横道 政裕，北添 徹郎，杉田 武親，野田 雄一郎，榎木 敏寿
精密工学会誌 78 ( 5 ) 406 - 409 2012.5
Language：Japanese Publishing type：Research paper (scientific journal)
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SAKAMOTO Makoto, UCHIDA Yasuo, HAMADA Takashi, ITO Takao, YOSHINAGA Tsunehiro, YOKOMICHI Masahiro, IKEDA Satoshi, FURUTANI Hiroshi
電子情報通信学会総合大会講演論文集 2012 ( 1 ) 2012.3
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：一般社団法人電子情報通信学会
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Analysis of manipulator in consideration of impact absorption between link and object(共著) Reviewed
A.Sato, O.Sato, N. Takahashi, M.Yokomichi
Proc. 17th Int. Symp. on Artificial Life and Robotics OS11-2 2012.1
Language：English Publishing type：Research paper (international conference proceedings)
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Dynamic Window-based obstacle avoidance in the presence of moving obstacles(共著) Reviewed
H.Harada, M.Yokomichi, O.Sato
Proc. 17th Int. Symp. on Artificial Life and Robotics OS12-3 2012.1
Language：English Publishing type：Research paper (international conference proceedings)
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Multimodal MSEPF for visual tracking(共著) Reviewed
M.Yokomichi, Y.Nakagama
Proc. 17th Int. Symp. on Artificial Life and Robotics OS12-4 2012.1
Language：English Publishing type：Research paper (international conference proceedings)
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Analysis of manipulator in consideration of collision between link and object
Sato A., Sato O., Takahashi N., Yokomichi M.
Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 95 - 98 2011.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
In this paper, equations of motion of a manipulator are derived in consideration of characteristics of driving source. Considering the collision between the link and object, and considering the active motion to absorb kinetic energy of the object, trajectories for saving energy are calculated by iterative dynamic programming. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are analyzed theoretically and investigated experimentally. © 2011 ISAROB.
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Observer-based control of a manipulator system with structured uncertainty Reviewed
N.Takahashi, M.Yokomichi, O.Sato, and M.Kono
Artificial Life and Robotics 16 ( 2 ) 234 - 238 2011.9
Language：English Publishing type：Research paper (scientific journal)
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Analysis of Manipulator in relation to collision between link and object Reviewed
A.Sato, O.Sato, N.Takahashi, M.Yokomichi
Artificial Life and Robotics 16 ( 2 ) 169 - 173 2011.9
Language：English Publishing type：Research paper (scientific journal)
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Analysis of a manipulator in relation to collision between a link and an object
Sato A., Sato O., Takahashi N., Yokomichi M.
Artificial Life and Robotics 16 ( 2 ) 169 - 173 2011.9
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
In this article, equations of motion of a manipulator are derived after consideration of the characteristics of the driving source. By considering a collision between a link and an object, and considering the active motion to absorb the kinetic energy of the object, the trajectories for saving energy are calculated by the iterative dynamic programming (IDP) method. The dynamic characteristics of manipulator control based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally. © 2011 International Symposium on Artificial Life and Robotics (ISAROB).
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Observer-based control of a manipulator system with structured uncertainty
Takahashi N., Yokomichi M., Sato O., Kono M.
Artificial Life and Robotics 16 ( 2 ) 234 - 238 2011.9
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
In this article, we show a derivation of an uncertain system of a two-link RR manipulator with uncertainties in the two rotation angles of each joint. For this system, we apply a guaranteed cost control based on a linear upper bound. In our method, uncertainties are included in the state, input, and also output matrices. Parameter tuning of γ i in the linear upper bound is effective in designing a feedback gain which has appropriate characteristics. In the numerical simulation, we show that the state observer is effective at reducing the influence of signal noise in a state vector. © 2011 International Symposium on Artificial Life and Robotics (ISAROB).
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Estimation of Number of Sound Sources in Multi-Pitch Extraction by Power Decay Model in Fundamental Frequancy
40 251 - 256 2011.7
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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Modeling of a small mobile robot with compass sensor
40 257 - 261 2011.7
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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SUZUKI Tatsuo, TAKAHASHI Nobuya, YOKOMICHI Masahiro, KONO Michio
Transactions of the Institute of Systems, Control and Information Engineers 24 ( 3 ) 73 - 75 2011.3
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
DOI： 10.5687/iscie.24.73
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Analysis of Manipulator in consideration of collision between link and object Reviewed
A.Sato, O.Sato, N.Takahashi, M.Yokomichi
Proc. 16th conference on artificial life and robotics 95 - 98 2011.1
Language：English Publishing type：Research paper (international conference proceedings)
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An improvement in MSEPF for visual tracking（共著） Reviewed
Y.Nakagama,M.Yokomichi
International Journal of Artificial Life and Robotics 2010.12
Language：English Publishing type：Research paper (scientific journal)
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Reachability of Networked Control Systems with Periodic Communication Constraints --- No Output Holder Case"jointly worked" Reviewed
24 ( 3 ) 2010.12
Language：Japanese Publishing type：Research paper (scientific journal)
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An improvement in MSEPF for visual tracking
Nakagama Y., Yokomichi M.
Artificial Life and Robotics 15 ( 4 ) 534 - 538 2010.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
Recently, many approaches to applying a particle filter to a visual tracking problem have been proposed. However, it is hard to implement such a filter in a real-time system because it requires a great deal of computation time and considerable resources to achieve a high accuracy. In order to overcome this difficulty, especially the computation time, Shan and other workers have proposed combining a particle filter and mean shift in order to maintain the accuracy with a small number of particles. In their approach, the state of each particle moves to the point in the window with the highest likelihood value. It is known that the accuracy of an estimation depends on the size of the window, but a larger window size makes the computation slower. In this article, we propose a method for exploring the highest likelihood more quickly by means of random sampling. Moreover, the likelihood is also modified in terms not only of color cues, but also of motion cues for a greater accuracy in object tracking. The effectiveness of the proposed method is evaluated by real image sequence experiments. © 2010 International Symposium on Artificial Life and Robotics (ISAROB).
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An improvement of MSEPF for visual tracking
Nakagama Y., Yokomichi M.
Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10 1038 - 1041 2010.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
Recently, many approaches on applying particle filter to visual tracking problem have been proposed. However, it is hard to implement it to the real-time system because it requires a lot of computation and resources in order to achieve higher accuracy. As a method for reduce the computation time, Shan and coworkers proposed combining particle filter and Mean-Shift in order to keep the accuracy with small number of particles. In their approach, the state of each particle moves to the point in the window with the highest likelihood value. It is known that the accuracy of estimation depends on the size of the window, but the larger window size make the computation slower. In this paper, the authors propose method for exploring the highest likelihood more quickly by means of random sampling. Moreover, our approach defines likelihood in terms of not only color cue but also motion cue for higher-accuracy object tracking. The effectiveness of the proposed method is evaluated by real image sequence experiments. © 2010 ISAROB.
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Development of experiment system for autonomous wheelchair robot
39 287 - 292 2010.9
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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Visual tracking by modified MSEPF
39 293 - 300 2010.9
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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An improvement of MSEPF for visual tracking Reviewed
Y.Nakagama,M.Yokomichi
Proceedings of AROB 2010 OS6-1 2010.2
Language：English Publishing type：Research paper (international conference proceedings)
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TAB譜と左手運指の自動生成アルゴリズムの開発
横道政裕, 岩野公保
宮崎大学工学部紀要 38 367 - 372 2009.9
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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屋外環境を考慮した自律移動車椅子ロボットの行動ルールの拡張
横道政裕, 光来出 尚樹, 甲斐 崇浩
宮崎大学工学部紀要 38 373 - 379 2009.9
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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μ制御器に対する周波数重み付きブロック平衡実現による制御器低次元化 Reviewed
臼井昇太, 河野通夫, 長堂勤, 横道政裕
電気学会論文誌C 129 ( 6 ) 1101 - 1107 2009.6
Language：Japanese Publishing type：Research paper (scientific journal)
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Development of the Simulation Program for Curve Mirror Reflection
TOYAMA Masaya, YOKOMICHI Masahiro, KITAZOE Tetsuro, SUGITA Takechika, ENOKI Toshihisa, NODA Yuichiro
2009 ( 1 ) 39 - 43 2009.2
Language：Japanese Publishing type：Research paper (scientific journal)
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Controller reduction by the block balanced realization with frequency-weightings for μ-controllers
Usui S., Kono M., Nagado T., Yokomichi M.
IEEJ Transactions on Electronics, Information and Systems 129 ( 6 ) 2009
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：IEEJ Transactions on Electronics, Information and Systems
The robust controller has good characteristic which can deal with disturbances and model errors. Especially μ-synthesis is a design method for the tradeoff between performance and robust stability, removing conservativeness due to unstructured singular values. We called the controller obtained by this method a μ-controller. However, it has the higher order generally. From a standpoint of cost and reliability, it is preferred that its order is reduced, which causes the degradation of the closed-loop performance. In order to decrease the degradation, it is necessary to take account the closed-loop configuration in the reduction process. For it, the authors developed the block balanced realization method in H∞ control. In this paper, we use the scaling matrix D obtained by the D-K iteration as frequency weights for the block balanced realization method. A numerical example is given to illustrate the effectiveness of our method. © 2009 The Institute of Electrical Engineers of Japan.
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Design of nonlinear controllers tor active vehicle suspension with state constraints
Makihara G., Yokomichi M., Kono M.
Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08 751 - 754 2008.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
Design of active vehicle suspension has tradeoffs between three main performance metrics (passenger comfort, suspension deflection and road holding ability). It has been known that each performance can be achieved by H ∞ . controller and they can be gathered by LPV (Linear Parameter Varying) method. However, because the suspension deflection limit was not explicitly considered, this limit may be exceeded. In this paper, the authors propose a "reference shaping" based method in order to improve the control performance. In this approach, a "virtual reference signal" is imposed to the system such that the suspension deflection is kept small. The effectiveness of the approach is examined by numerical simulations. ©ISAROB 2008.
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Design of nonlinear controllers for active vehicle suspension with state constraints
Makihara G., Yokomichi M., Kono M.
Artificial Life and Robotics 13 ( 1 ) 41 - 44 2008.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
Design of active vehicle suspension has tradeoffs between three main performance metrics (passenger comfort, suspension deflection and road holding ability). It has been known that each performance can be achieved by H ∞ controller and they can be gathered by LPV (Linear Parameter Varying) method. However, because the suspension deflection limit was not explicitly considered, this limit may be exceeded. In this paper, the authors propose a "reference shaping" based method in order to improve the control performance. In this approach, a "virtual reference" signal is imposed to the system such that the suspension deflection is kept small. The effectiveness of the approach is examined by numerical simulations. © International Symposium on Artificial Life and Robotics (ISAROB). 2008.
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Design of nonlinear controllers for active vehicle suspension with state constraints(共著) Reviewed
G.Makihara, M.Yokomichi, M.Kono
Artificial Life and Robotics 13 ( 1 ) 41 - 44 2008.11
Language：English Publishing type：Research paper (scientific journal)
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Dereverberation Control via State Space Model
37 339 - 342 2008.9
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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Dereverberation Control via State Space Model
Hatoyama Tomonori, Yokomichi Masahiro
Memoirs of the Faculty of Engineering, Miyazaki University 37 339 - 342 2008.8
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Miyazaki University
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Design of nonlinear controllers for active vehicle suspension with state constraints Reviewed
G.Makihara, M.Yokomichi, M.Kono
Proceedings of AROB 2008 2008.2
Language：English Publishing type：Research paper (international conference proceedings)
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YOKOMICHI Masahiro, HATSUKADE Isamu, SATO Osamu
18 544 - 545 2006.7
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Japanese Society for Engineering Education
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Flowering Analysis based on Image Segmentation Reviewed
上国料 裕子，横道政裕
Proceedings of AROB 2006 （CD-ROM） OS8-1 2006.1
Language：English Publishing type：Research paper (international conference proceedings)
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Orbit control for the KEK 12GeV PS-MR by using NN algorithm Reviewed
日高康展，佐藤皓，白方政司, 河野通夫，横道政裕
Proceedings of AROB 2006 （CD-ROM） OS8-5 2006.1
Language：English Publishing type：Research paper (international conference proceedings)
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Stereo correspondence using color based on competitive-cooperative neural networks Reviewed
X.Hua, M.Yokomichi, M.Kono
Proc. Parallel and Distributed Computing, Applications and Technologies 856 - 859 2005.12
Language：English Publishing type：Research paper (international conference proceedings)
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Stereo correspondence using color based on competitive-cooperative neural networks
Hua X., Yokomichi M., Kono M.
Parallel and Distributed Computing, Applications and Technologies, PDCAT Proceedings 2005 856 - 859 2005.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Parallel and Distributed Computing, Applications and Technologies, PDCAT Proceedings
In the literature, most of the stereo matching methods have been limited to gray level images, only few authors have dealt with color images straightly. In this paper, we propose a novel area-based color stereo matching method based on competitive-cooperative neural networks. Seven kinds of color spaces are tested in order to evaluate their suitability to stereo matching. The experimental results show that the matching precision is increased efficiently, when using adaptive color features instead of gray values.According to the experimental results, Ohta, Opponent and YCbCr color spaces can offer good color features for stereo matching. © 2005 IEEE.
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Stereo Vision by Active Surface Model Reviewed
横道政裕，杉山裕樹，河野通夫
Proceedings of ICCAS 2005 1990 - 1993 2005.6
Language：English Publishing type：Research paper (international conference proceedings)
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Simulation study for Intelligent Wheelchair Vehicle with Ultrasonic and Infrared Sensors
上村公一，甲斐崇浩，北添徹郎，横道政裕
Proceedings of 10thConference on Artificial Life and Robotics (AROB) 2005.1
Language：English Publishing type：Research paper (international conference proceedings)
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Color stereo matching based on self-organization neural networks
Hua X., Yokomichi M., Kono M.
Midwest Symposium on Circuits and Systems 1 2004.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Midwest Symposium on Circuits and Systems
Stereo matching is the key issue of stereo vision. In the literature, most of the stereo matching algorithms have been limited to gray level images. In this paper, we propose a new color stereo matching approach based on self-organization neural networks. For the real images we propose a segmentation method to deal with the initial similarity map. The final similarity map is established by taking logical AND calculation of different color feature similarities so as to make full use of the color information. Experimental results have shown that the quality of the stereo matching can be considerably improved by using appropriate color matching algorithm comparing with the conventional gray value algorithm.
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HITAKA Yasunobu, YOKOMICHI Masahiro, KONO Michio
40 ( 10 ) 1024 - 1029 2004.10
Language：Japanese Publishing type：Research paper (scientific journal)
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Stereo Vision from Color Images Based on Competitive and Cooperative Neural Networks
HUA Xijun, YOKOMICHI Masahiro, KONO Michio
17 ( 10 ) 435 - 443 2004.10
Language：Japanese Publishing type：Research paper (scientific journal)
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競合・協調型神経回路によるカラー画像の立体認識に関する研究 Reviewed
華希俊，横道政裕，河野通夫
システム制御情報学会論文集 17 ( 10 ) 435 - 443 2004.10
Language：Japanese Publishing type：Research paper (scientific journal)
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あるクラスのflat systemに対する滑らかでない実行可能軌道生成 Reviewed
日高康展，横道政裕，河野通夫
計測自動制御学会論文集 40 1024 - 1029 2004.10
Language：Japanese Publishing type：Research paper (scientific journal)
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Color Stereo Matching Based on Self-organization Neural Networks Reviewed
華希俊，横道政裕，河野通夫
Proceedings of the 47thIEEE International Midwest Symposium on Circuits and Systems 1 213 - 216 2004.7
Language：English Publishing type：Research paper (international conference proceedings)
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Numerical Methods for the Orbit Control at the KEK 12GeV-PS Reviewed
日高康展，白方政司，佐藤皓，横道政裕，河野通夫
Proceedings of European paticle accelerator conference 2004.7
Language：English Publishing type：Research paper (international conference proceedings)
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Stereo disparity perception for monochromatic flat slope based on neural net dynamical model Reviewed
華希俊，三樹忠司，横道政裕，唐一兵，北添徹郎
International Journal of Artificial Life and Robotics 7 63 - 68 2004.1
Language：English Publishing type：Research paper (scientific journal)
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Stereo correspondence by SVM regression Reviewed
杉山裕樹，華希俊，河野通夫，横道政裕
Proceedings of 9thConference on Artificial Life and Robotics (AROB) 182 - 185 2004.1
Language：English Publishing type：Research paper (international conference proceedings)
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Stereo matching from color images based on self-organization neural networks Reviewed
華希俊，河野通夫，横道政裕
Proceedings of 9thConference on Artificial Life and Robotics (AROB) 178 - 181 2004.1
Language：English Publishing type：Research paper (international conference proceedings)
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Autonomous mobile cars on a highway controlled with neural networks Reviewed
上村剛，新地達郎，甲斐崇浩，北添徹郎，横道政裕
Proceedings of 9thConference on Artificial Life and Robotics (AROB) 174 - 177 2004.1
Language：English Publishing type：Research paper (international conference proceedings)
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HITAKA Yasunobu, YOKOMICHI Masahiro, KONO Michio
Transactions of the Society of Instrument and Control Engineers 40 ( 10 ) 1024 - 1029 2004
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Society of Instrument and Control Engineers
The feasible trajectory generation method for the systems with flat outputs by using low order polynominal may result the degradation of the control performance. In this paper, we propose a method of generating the flat outputs trajectories by using the piecewise smooth functions. Moreover, we optimize these trajectories to improve the control performance of the system. We apply our method to the attitude control of the underactuated axisymmetric spacecraft and examine the effectiveness by numerical simulation.
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華 希俊, 横道 政裕, 河野 通夫
システム制御情報学会論文誌 17 ( 10 ) 435 - 443 2004
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：一般社団法人 システム制御情報学会
Stereo vision is a passive method of obtaining depth information of visible surface by measuring disparity of corresponding points in left and right stereo images. Stereo matching, which belongs to ill-posed problems, is the key issue of stereo vision. In the literature, almost all matching techniques only use gray-scale images. The color information is usually neglected, but undoubtedly it may be of great use in helping robot stereo systems perform better. In this paper, we use two layered self-organization neural network model to simulate the competitive and cooperative interaction of binocular neurons. We propose a special similarity function as initial input to make full use of the color information. In RGB color space, the similarity map is established by taking logical AND calculation of red, green and blue color value similarity. In stereo matching experiment, we first consider color random-dot stereogram for stereo correspondence. Then we take real image experiments by means of different color stereo matching approaches. Experiments results have shown that the quality and convergence speed of the stereo matching can be efficiently improved by using appropriate color matching algorithm comparing with the conventional grey value algorithm.
DOI： 10.5687/iscie.17.435
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3D-perception via support vector machine regression Reviewed
杉山裕樹，華希俊，河野通夫，横道政裕
Proceedings of The 7th World Multiconference on Systemics, Cybernetics and Informatics, volume VII 7 265 - 270 2003.7
Language：English Publishing type：Research paper (international conference proceedings)
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Trajectory tuning for tracking problem of underactuated mechanical systems Reviewed
日高康展，横道政裕，河野通夫
International Journal of Artificial Life and Robotics 7 69 - 77 2003.4
Language：English Publishing type：Research paper (scientific journal)
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3-D perception for monochromatic surface by self-organization neural network Reviewed
華希俊，唐一兵，横道政裕，北添徹郎
Proceedings of 8thConference on Artificial Life and Robotics (AROB) 479 - 483 2003.1
Language：English Publishing type：Research paper (international conference proceedings)
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Stereo disparity perception for monochromatic surface by self-organization neural network Reviewed
唐一兵，華希俊，横道政裕，北添徹郎，河野通夫
Proceedings of 9th International Conference on Neural Information Processing #1423 2002.11
Language：English Publishing type：Research paper (international conference proceedings)
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Stereo disparity perception for monochromatic surface by self-organization neural network Reviewed
華希俊，唐一兵，横道政裕，北添徹郎，河野通夫
Proceedings of International Conference on Control, Automation, and Systems 2002 259 - 263 2002.10
Language：English Publishing type：Research paper (international conference proceedings)
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Feedback stabilization of driftless systems by norm-bounded inputs Reviewed
Masahiro Yokomichi
Proceedings of 4th Asian Control Conference 1085 - 1088 2002.9
Language：English Publishing type：Research paper (international conference proceedings)
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Regular trajectory generation for axisynmetric underactuated spacecraft Reviewed
日高康展，横道政裕，河野通夫
Proceedings of the sixth International Conference on Motion and Vibration Control 289 - 294 2002.8
Language：English Publishing type：Research paper (international conference proceedings)
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Performance improvement of time-periodic stabilizer for nonholonomic vehicle via time-scale transformation Reviewed
Masahiro Yokomichi
Proceedings of 7th Conference on Artificial Life and Robotics (AROB) 598 - 601 2002.1
Language：English Publishing type：Research paper (international conference proceedings)
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Stereo disparity perception for monochromatic flat slope based on neural net dynamical model Reviewed
華希俊，三樹忠司，横道政裕，唐一兵，北添徹郎
Proceedings of 7th Conference on Artificial Life and Robotics (AROB) 606 - 609 2002.1
Language：English Publishing type：Research paper (international conference proceedings)
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Trajectory tuning for tracking problem of underactuated mechanical systems Reviewed
日高康展，横道政裕，河野通夫
Proceedings of 7th Conference on Artificial Life and Robotics (AROB) 602 - 605 2002.1
Language：English Publishing type：Research paper (international conference proceedings)
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Regular Trajectory Generation for Axisymmetric Underactuated Spacecraft
HITAKA Y., Yokomichi Masahiro, Kono Michio
Proceedings The sixth International Conference on Motion and Vibration Control, 2002 1 289 - 294 2002
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：一般社団法人日本機械学会
We consider the attitude tracking problem of the axisymmetric underactuated spacecraft. It is known that the asymptotic stabilization of the system to any state is possible, and that the system admits flat output. Thus, the asymptotic model matching problem to itself is solvable. However, its flat output given in [6] include a singularity so that the control input which generates the state trajectory may not be unbounded. Tsiotras et al proposed a third order polynominal-type parametarization of the output trajectory which avoids the singularity. In this paper, the authors give a condition such that the given analytic output trajectory can avoid the singularity. Based on the result, we can use the broader class of output trajectories.
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Stereo disparity perception for monochromatic surface by self-organization neural network
Tang Y., Hua X., Yokomichi M., Kitazoe T., Kono M.
ICONIP 2002 - Proceedings of the 9th International Conference on Neural Information Processing: Computational Intelligence for the E-Age 4 1623 - 1628 2002
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：ICONIP 2002 - Proceedings of the 9th International Conference on Neural Information Processing: Computational Intelligence for the E-Age
© 2002 Nanyang Technological University. The stereo correspondence of two retinal images is one of the most difficult problems in stereo vision because the reconstruction of a 3-D scene is a typical visual ill-posed problem. So far there still have been many unsolved problems, one of which is to reconstruct a 3-D scene for a monochromatic surface. We consider this problem with a two layered self-organization neural network to simulate the competitive and cooperative interaction of binocular neurons. A refined pretreatment approach of a similarity map is proposed in order to carry out computation efficiently. We extend our previous neural network model by expanding the cooperation effect from the neighboring region. We are successful in obtaining stereo disparity perception for a monochromatic surface enclosed by random dot region and two vertical stripes. The experimental results with real scenes show that the monochromatic surface between two black vertical stripes is recognized efficiently through our neural network model.
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Risk-sensitive control for hybrid systems.
Nagatomo Koichiro, Yokomichi Masahiro, Kono Michio
SICE Division Conference Program and Abstracts 17 ( 0 ) 8 - 8 2001
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Society of Instrument and Control Engineers
The Liner Quadratic Gaussian Poisson(LQGP) problem denotes an optimal control problem with linear dynamics and quadratic costs with Gaussian and Poisson noise disturbances. This paper applies risk-sensitive control to LQGP problem in order to consider influence of large noise(amplitude). The problem is examined with an application to a single stage manufacturing system in an uncertain environment.
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A Numerical Method for Solving a Stochastic Algebraic Riccati Equation
KONO Michio, NAKAI Masaki, YOKOMICHI Masahiro
36 ( 12 ) 1178 - 1179 2000.12
Language：Japanese Publishing type：Research paper (scientific journal)
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確率Riccati方程式の数値解法 Reviewed
中井政樹，河野通夫，横道政裕
計測自動制御学会論文集 36 ( 12 ) 1178 - 1179 2000.12
Language：Japanese Publishing type：Research paper (scientific journal)
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An Approximate Solution of Regulator Equation for Nonlinear Systems by RBF Network
YOKOMICHI Masahiro, SHIMA Masasuke
36 ( 10 ) 819 - 825 2000.10
Language：Japanese Publishing type：Research paper (scientific journal)
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RBFネットワークを用いた非線形出力レギュレーション問題の近似解法 Reviewed
横道政裕，島公脩
計測自動制御学会論文集 36 ( 10 ) 819 - 825 2000.10
Language：Japanese Publishing type：Research paper (scientific journal)
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An Approximate Solution of Regulator Equation for Nonlinear Systems by RBF Network
YOKOMICHI Masahiro, SHIMA Masasuke
Transactions of the Society of Instrument and Control Engineers 36 ( 10 ) 819 - 825 2000
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Society of Instrument and Control Engineers
In this paper, the output regulation problem for nonlinear systems is considered. It is known that, this problem is solvable iff there exists a solution of partial differential-algebraic equation (PDAE) associated with the dynamics and the output equation of the systems. In general, it is difficult to solve such PDAE and several approximate solutions have been proposed. The radial basis function (RBF) network is adopted in order to solve the PDE approximately. The effectiveness of the approach is examined by numerical experiment for the well-known <i>ball and beam system</i>.
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A Numerical Method for Solving a Stochastic Algebraic Riccati Equation
KONO Michio, NAKAI Masaki, YOKOMICHI Masahiro
Transactions of the Society of Instrument and Control Engineers 36 ( 12 ) 1178 - 1179 2000
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Society of Instrument and Control Engineers
This paper gives a computational method for solving a stochastic continuous algebraic Riccati equation, which arises in stochastic optimal control and in guaranteed cost control. Our algorithm is a generalized version of the Kleinman's one and to solve a sequence of standard Lyapunov equations. It is shown that the iterations are monotonically convergent. To show that our method is efficient, a numerical example is given.
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Another approach to asymptotic model matching problem for nonlinear systems Reviewed
横道政裕，島公脩
International Journal of Robust and Nonlinear Control 8 ( 13 ) 1119 - 1131 1998.11
Language：English Publishing type：Research paper (scientific journal)
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Another approach to asymptotic model matching problem for nonlinear systems
Yokomichi M., Shima M.
International Journal of Robust and Nonlinear Control 8 ( 13 ) 1119 - 1131 1998
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：International Journal of Robust and Nonlinear Control
This paper deals with the asymptotic model matching problem for square nonlinear systems. This problem has been studied by Di Benedetto and Grizzle 1 via geometric approach. We adopt another approach. It is based on an idea that this problem is similar to the nonlinear servomechanism (output regulation) problem. By means of slight modification of the problem statement, a sufficient condition is given. It is described as the solvability of a certain partial differential equation. Its reduction and approximation methods are proposed. © 1998 John Wiley & Sons, Ltd.
DOI： 10.1002/(SICI)1099-1239(1998110)8:13<1119::AID-RNC376>3.0.CO;2-R
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近似入出力線形化手法を用いた"Ball and Plate System"の制御 Reviewed
広地岳，横道政裕，島公脩
計測自動制御学会論文集 31 ( 10 ) 1635 - 1642 1995.10
Language：Japanese Publishing type：Research paper (scientific journal)
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Control of "Ball and Plate System" by Approximate Input-output Linearization Method
HIROCHI Takeshi, YOKOMICHI Masahiro, SHIMA Masasuke
31 ( 10 ) 1635 - 1642 1995.10
Language：Japanese Publishing type：Research paper (scientific journal)
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非線形系のalmostモデル追従制御 Reviewed
上田忠一，横道政裕，石動善久，島公脩
計測自動制御学会論文集 31 ( 9 ) 1383 - 1389 1995.9
Language：Japanese Publishing type：Research paper (scientific journal)
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Almost Model Following Control for Nonlinear Systems
UEDA Tadakazu, YOKOMICHI Masahiro, ISURUGI Yoshihisa, SHIMA Masasuke
31 ( 9 ) 1383 - 1389 1995.9
Language：Japanese Publishing type：Research paper (scientific journal)
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非線形非最小位相系に関する研究 Reviewed
横道政裕
北海道大学 博士（工学） 1995.3
Language：Japanese Publishing type：Research paper (other academic)
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Control of "Ball and Plate System" by Approximate Input-output Linearization Method
HIROCHI Takeshi, YOKOMICHI Masahiro, SHIMA Masasuke
Transactions of the Society of Instrument and Control Engineers 31 ( 10 ) 1635 - 1642 1995
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Society of Instrument and Control Engineers
If we apply the ordinary input-output linearization method to the "Ball and Plate System", there appears singularity of the decoupling matrix at the origin. Due to this singularity, the control input diverges the origin. In order to solve this problem approximately, the approximate input-output linearization method proposed by Hauser et al. for nonlinear SISO systems is extened to MIMO system in this paper. It is shown under several applicable assumptions that the error and the state can be made bounded in the output tracking problem. Our method is applied to the "Ball and Plate System" for the case where the spin of the Ball is neglected. Two kinds of approximation method are proposed. Numerical simulations show the effectiveness of our method over the linear approximate approch.
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Almost Model Following Control for Nonlinear Systems
UEDA Tadakazu, YOKOMICHI Masahiro, ISURUGI Yoshihisa, SHIMA Masasuke
Transactions of the Society of Instrument and Control Engineers 31 ( 9 ) 1383 - 1389 1995
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Society of Instrument and Control Engineers
In this paper, a model following control problem (NMFCP, for short) for nonlinear MIMO systems is studied. Isurugi and Shima has already given the solution of this problem under some regularity assumptions. The result can be stated as follows: NMFCP is solvable iff the relative order of the plant is not greater than that of the model. We consider the case where this condition is not satisfied. In this case, although any feedback law cannot cansel the influence of the inputs of the model on the error, the high-gain feedback based on the singular perturbation theory is available. It is shown that, by using the high-gain feedback with some small positive parameter ε, the error will remain <i>o</i>(ε). Finally, the efficiency of the proposed control law is illustrated by a numerical simulation.
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非線形ハミルトン制御系の不変性と無散逸化制御 Reviewed
横道政裕，島公脩
計測自動制御学会論文集 30 ( 12 ) 1458 - 1465 1994.12
Language：Japanese Publishing type：Research paper (scientific journal)
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Approximate model following control for nonlinear systems Reviewed
Masahiro Yokomichi，Masasuke Shima
Proceedings of First Asian Control Conference 2 57 - 60 1994.7
Language：English Publishing type：Research paper (international conference proceedings)
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Equivalence and normal form for nonlinear Hamiltonian control systems Reviewed
横道政裕，島公脩
計測自動制御学会論文集 30 ( 6 ) 609 - 616 1994.6
Language：English Publishing type：Research paper (scientific journal)