Researcher Database
Last Updated :2024/07/25
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Master
Affiliation (Master)
- Faculty of Information Science and Technology Systems Science and Informatics Informatics for System Creation
Affiliation (Master)
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Degree
Profile and Settings
Name (Japanese)
MatsushitaName (Kana)
AkihikoName
200901001931465885
Achievement
Education
Awards
Published Papers
- Akihiko Matsushita, Takafumi Morishita, Shun'ichi Kaneko, Hitoshi Ohfuji, Kaoru FukudaJournal of Robotics and Mechatronics 23 (6) 919 - 925 1883-8049 2011 [Refereed][Not invited]
Automating robot laser welding requires that laser irradiation direction and laser focus positioning influencing welding strength be controlled precisely along the seam line. Since the edge of the welded object can be transformed in processing by such as cutting, bending and grinding, direct measurement is necessary to detect the seam line. A robust image detection method of seam lines is proposed for hand-eye laser welding system equipped with an optical microscope, a CMOS camera and two slit lasers for measurement. The seam line is detected indirectly to utilize the difference between local and global distribution of image of measurement lasers. Results of experiments demonstrated the effectiveness of our proposal. - Image Measurement on Curvature Around Seam Line for Motion Control of Laser Welding RobotMATSUSHITA AkihikoInt. J. of Automation Technology 4 (6) 536 - 541 2010/11 [Refereed][Not invited]
- Basic Image Measurement for Laser Welding Robot Motion ControlMATSUSHITA AkihikoInt. J. of Automation Technology 3 (2) 136 - 143 2009/03 [Refereed][Not invited]
- Fan Zhang, Akihiko Matsushita, Shun'ichi Kaneko, Takayuki TanakaProceedings of SPIE - The International Society for Optical Engineering 7266 0277-786X 2008 [Refereed][Not invited]
Due to the area of the vineyard in Hokkaido is extremely large, it is very difficult and hard to eradicate weeds by human being. In order to solve this problem, we developed a dynamic image measure technique, which can be applied to the weeding robots in vineyards. The outstanding of this technique is that it can discriminate the weed and the trunk correctly and efficiently. Meanwhile, we also attempt to measure the root of trunk accurately. And a new method to measure the blocked trunk of grapes in vineyards has also been developed in this paper. © 2008 SPIE. - A Matsushita, T Tsuchiya(SYSID'97): SYSTEM IDENTIFICATION, VOLS 1-3 585 - 590 1998 [Refereed][Not invited]
Simultaneous design of a control system and a controlled object is more effective than separate design because parameters of the controlled object can influence the properties of the control system. In this paper, a simultaneous design method using asymptotic characteristics of LQ optimal control systems is proposed. The optimal control system approaches the decoupled control system in asymptotic situation. In the design of the decoupled control system, the time constant between the reference signal and the controlled variable is independent on the selection of the parameters of the controlled object. The characteristics are helpful for simplifying the procedure and reducing trial and error in the simultaneous design because the parameters of the controlled object can be compared by only the magnitude of the control input while the response speed of the controlled output is fixed. - A Matsushita, T TsuchiyaPROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4 493 - 494 0191-2216 1998 [Refereed][Not invited]
A simultaneous design method of an on-line preview planner and a control system of a desired signal is proposed for a 3-wheeled vehicle. The planner is designed as a part of the control system by optimal preview control theory. The utilization of preview information (the restrictions of obstacles ahead of the vehicle) is discussed on the basis of control theory. As compared with separate designs, the relations are clearer between the preview information and characteristics of the control system. By integration of preview planning and on-line planning, the planner can prevent the vehicle from colliding with the obstacles better than without preview planning. - MATSUSHITA Akihiko, TSUCHIYA TakeshiTransactions of the Society of Instrument and Control Engineers The Society of Instrument and Control Engineers 32 (12) 1606 - 1611 0453-4654 1996 [Not refereed][Not invited]
Some approaches have been presented for integration of control system design and tuning of a controlled object. The integration is more effective than the general separate designs because parameters of the controlled object can influence the properties of the control system.
In this paper, we propose an application of optimal control system design using the asymptotic characteristics to the simultaneous design of a control system and a controlled object.
The optimal control system approaches to the decoupled control system as the weighting factors for the control input variables in quadratic performance index tend to zero. In the decoupled control system, the responses between the reference signal and the output signal of the controlled object aren't influenced by parameters of the controlled object. We propose the following simultaneous design method using these properties.
(1) In the design of the decoupled control system, the parameters of the controlled object are decided in order to minimize the magnitude of the control input.
(2) In the design of the optimal control system, the weighting factors are adjusted for trade off between the response speed of the controlled output and the magnitude of the control input.
By tuning of the controlled object in the decoupled control system, the design procedure becomes simpler than one in the optimal control system because the response speed of the controlled output is fixed by the selection of the weighting factors and is not changed with the parameters of the controlled object. - MATSUSHITA Akihiko, TSUCHIYA Takeshi計測自動制御学会論文集 計測自動制御学会 32 (4) 525 - 532 0453-4654 1996 [Not refereed][Not invited]
- ZHANG Wennong, MATSUSHITA AkihikoTransactions of the Society of Instrument and Control Engineers The Society of Instrument and Control Engineers 31 (10) 1626 - 1634 0453-4654 1995 [Not refereed][Not invited]
This paper presents a practical design approach to m-input m-output plants of a given class which are characterized by a frequency-dependent uncertainty function around the transfer function of a stable and minimum-phase nominal model. The compensator includes a LPF (lowpass-filter) loop, which exhibits high gain in the low frequency-domain and low gain in the high frequency-domain. Hence, it can efficiently balance the trade-off between the problems of sensitivity and robust stability. We apply this type of compensator to control an electrical propelling caterpillar. The simulation and experimental results show the effectiveness and robustness of the controller. - MATSUSHITA Akihiko, TSUCHIYA TakeshiTransactions of the Society of Instrument and Control Engineers The Society of Instrument and Control Engineers 30 (8) 917 - 925 0453-4654 1994 [Not refereed][Not invited]
In this paper, we propose an on-line planning method for a desired signal making use of on-line information of a control system.
On-line planning has the advantage of off-line planning in the following points.
In the off-line planning, a servo system deals with the influence of initial state values, disturbance and parameter perturbation. In the on-line planning, however, both the planning of the desired signal and the servo system deal with the influence. That is, the influence is reduced by changing the desired signal within its permitted domain.
However, processing time for the on-line planning should be shorter than that for the off-line planning. Therefore, the planner should be simple without any trial and error. The whole system with the planner and the control system should be stable because the planner uses the state of the control system.
In this paper, we propose an on-line planning method as follows. The permitted domain of the desired signal is expressed as parameters of the desired signal. By means of this expression, the planning and the design of the control system are replaced by the design for the controlled object having limitation of the desired signal.
This method has the following merits.
(1) Many methods proposed for design of control systems can be applied because the planning is included in the design of the control system.
(2) Processing time for the planning is short because the control rule of servo system is generally simple without any trial and error.
(3) The whole system with the planner and the control system is stable.
(4) Path planning is an expanded trajectory planning problem because a permitted domain of the desired signal for the trajectory planning is expressed as the scalar parameter of the desired signal and the domain for the path planning is expressed as parameters.
Further, this method is applied to a mobile robot and its simulation results are shown. - MATSUSHITA Akihiko, TSUCHIYA TakeshiTransactions of the Society of Instrument and Control Engineers The Society of Instrument and Control Engineers 29 (2) 242 - 244 0453-4654 1993 [Not refereed][Not invited]
Design of PWM inverter pulse pattern is required to reduce harmonics generated by load change in output voltage. This paper shows this requirement is formulated as mixed sensitivity problem and proposes to apply H∞ control theory to this design.
MISC
- OKAZAKI Shin'ya, TANAKA Takayuki, KANEKO Shun'ichi, MATSUSHITA Akihiko, TAKAUJI Hidenori, TADA Tatsumi, OHMURA Isao, SUZUKI Shn'ichi ロボティクス・メカトロニクス講演会講演概要集 2008- "2A1 -E03(1)"-"2A1-E03(4)" 2008/06/06 [Not refereed][Not invited]
This study aims to obtain exact visual information in irregular ground. We use visual information obtained by stereo measurement. We can approximate disparity error distribution by normal distribution. At first, we examine relationship between parameter of disparity error and parameter of camera vibration. Next, we define existing probability using parameter of disparity error, and we use existing probability for position estimate. Specifically, we obtain visual information of without vibration or near offer in irregular ground through the use of relationship between parameter of camera vibration and parameter of error. - YAMANAKA Masahiro, MATSUSHITA Akihiko, KANEKO Shun'ichi, TANAKA Takayuki, OHFUJI Hitoshi, FUKUDA Kaoru The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008- (0) _2P2 -B09_1-_2P2-B09_4 2008 [Not refereed][Not invited]
Laser robot can weld more accurate than Arc welding. However, the accuracy of positional match is demanded. Then, the system the welding robot is equipped with the camera and slit beam irradiating to the welding object is assumed. And, the irradiated appearance is photographed. By giving geometrical analysis to the obtained beam image, laser robot is controlled. Here, as the preparation stage, about linear regression of beam for geometrical analysis is described. - Fan Zhang, Akihiko Matsushita, Takayuki Tanaka, Shun'ichi Kaneko, Hidenori Takauji 2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6 2007- 1855 -1859 2007 [Not refereed][Not invited]
Due to the area of the vineyards in Hokkaido is extremely large, it is very difficult and hard to eradicate weeds by human being. In order to solve this problem, we developed a new dynamic image measure technique, which can be applied to the weeding robots in vineyards. The outstanding of this technique is that it can discriminate the weed and the trunk correctly and efficiently. Meanwhile, we also attempt to measure the root of trunk accurately. Due to techniques so far cannot suffice today's applications; a new method to measure the blocked trunk of grape in vineyards has also been developed in this paper. - A Matsushita, T Tsuchiya IEEE-ASME TRANSACTIONS ON MECHATRONICS 3- (2) 149 -152 1998/06 [Not refereed][Not invited]
A simultaneous design method of an on-line planner of a desired signal and a control system is proposed to consider the interaction between the planner and the control system. The designed planner is sufficiently simple to calculate in real time. The proposed method is applied to posture control of robot manipulators. - ZHANG Wennong, MATSUSHITA Akihiko Transactions of the Society of Instrument and control Engineering 32- (6) 896 -903 1996 [Not refereed][Not invited]
Until now, H∞ control theory has been aided by small gain or norm-bounding techniques to supply robust stability conditions. Many practical applications of robust feedback control involve constant real parameter uncertainty, whereas small gain or norm-bounding techniques guarantee robust stability against complex, frequency-dependent uncertainty, thus entailing undue conservatism and unnecessarily sacrificing performance. In thiss paper, we consider the robust stability by the Hurwitz criterion which is sufficient and necessary, and robust performance by satisfying an H∞ sensitivity constraint for an SISO minimum phase plant having parametric perturbation. We design the compensator so that the complementary sensitivity function is a low-pass filter function for an assumed nominal plant which does not necessarily exist in the family of real models. Thus the compensator robustly stabilizes the closed-loop system for a plant with large parametric variation. Furthermore, we obtain satisfactory performance in the low-frequency domain. Robust stability criteria, robust performance criteria and a number of assumptions are imposed. The satisfaction of these assumptions guarantees the existence of a proper compensator which satisfies mixed criteria. - MATSUSHITA Akihiko, TSUCHIYA Takeshi Transactions of the Society of Instrument and control Engineering 32- (12) 1606 -1611 1996 [Not refereed][Not invited]
Some approaches have been presented for integration of control system design and tuning of a controlled object. The integration is more effective than the general separate designs because parameters of the controlled object can influence the properties of the control system.
In this paper, we propose an application of optimal control system design using the asymptotic characteristics to the simultaneous design of a control system and a controlled object.
The optimal control system approaches to the decoupled control system as the weighting factors for the control input variables in quadratic performance index tend to zero. In the decoupled control system, the responses between the reference signal and the output signal of the controlled object aren't influenced by parameters of the controlled object. We propose the following simultaneous design method using these properties.
(1) In the design of the decoupled control system, the parameters of the controlled object are decided in order to minimize the magnitude of the control input.
(2) In the design of the optimal control system, the weighting factors are adjusted for trade off between the response speed of the controlled output and the magnitude of the control input.
By tuning of the controlled object in the decoupled control system, the design procedure becomes simpler than one in the optimal control system because the response speed of the controlled output is fixed by the selection of the weighting factors and is not changed with the parameters of the controlled object. - Transactions of the Society of Instrument and control Engineering 32- (6) 880 -886 1996 [Not refereed][Not invited]
- Transactions of the Society of Instrument and Control Engineering 32- (4) 525 -532 1996 [Not refereed][Not invited]
- A Matsushita, T Tsuchiya AMC '96-MIE - 1996 4TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS, VOLS 1 AND 2 2- 500 -505 1996 [Not refereed][Not invited]
- A MATSUSHITA, T TSUCHIYA IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 42- (1) 50 -57 1995/02 [Not refereed][Not invited]
This paper shows that optimal preview control system approaches to a decoupled preview control system as the weighting factors for the control input variables in the quadratic performance index tend towards zero. Therefore, to examine the characteristics of the decoupled preview control system also means to examine the asymptotic characteristics of the optimal preview control system. By this property, relationships between the design parameters and the response of the optimal preview control system become clear and the design of the optimal preview control can be simplified by utilizing the properties that the decoupled preview control system features. Further, the decoupled preview control method is applied to the vector control system for an induction motor drive. By this application, a trade off between the conditions of the vector control and the magnitude of input variables becomes easy. To demonstrate the significance of this proposed method, simulation results of this application are carried out. - ZHANG Wennong, MATSUSHITA Akihiko Decoupled Preview Control System with Input Delaytime due to Processing Time and Its Application to Induction Motor Drive 31- (10) 1626 -1634 1995 [Not refereed][Not invited]
This paper presents a practical design approach to m-input m-output plants of a given class which are characterized by a frequency-dependent uncertainty function around the transfer function of a stable and minimum-phase nominal model. The compensator includes a LPF (lowpass-filter) loop, which exhibits high gain in the low frequency-domain and low gain in the high frequency-domain. Hence, it can efficiently balance the trade-off between the problems of sensitivity and robust stability. We apply this type of compensator to control an electrical propelling caterpillar. The simulation and experimental results show the effectiveness and robustness of the controller. - Akihiko Matsushita, Takeshi Tsuchiya Journal of the Robotics Society of Japan. 13- (8) 1160 -1168 1995 [Not refereed][Not invited]
- MATSUSHITA Akihiko, TSUCHIYA Takeshi Transaction of the Society of Instrument and Control Engineering 30- (8) 917 -925 1994 [Not refereed][Not invited]
In this paper, we propose an on-line planning method for a desired signal making use of on-line information of a control system.
On-line planning has the advantage of off-line planning in the following points.
In the off-line planning, a servo system deals with the influence of initial state values, disturbance and parameter perturbation. In the on-line planning, however, both the planning of the desired signal and the servo system deal with the influence. That is, the influence is reduced by changing the desired signal within its permitted domain.
However, processing time for the on-line planning should be shorter than that for the off-line planning. Therefore, the planner should be simple without any trial and error. The whole system with the planner and the control system should be stable because the planner uses the state of the control system.
In this paper, we propose an on-line planning method as follows. The permitted domain of the desired signal is expressed as parameters of the desired signal. By means of this expression, the planning and the design of the control system are replaced by the design for the controlled object having limitation of the desired signal.
This method has the following merits.
(1) Many methods proposed for design of control systems can be applied because the planning is included in the design of the control system.
(2) Processing time for the planning is short because the control rule of servo system is generally simple without any trial and error.
(3) The whole system with the planner and the control system is stable.
(4) Path planning is an expanded trajectory planning problem because a permitted domain of the desired signal for the trajectory planning is expressed as the scalar parameter of the desired signal and the domain for the path planning is expressed as parameters.
Further, this method is applied to a mobile robot and its simulation results are shown. - MATSUSHITA Akihiko, TSUCHIYA Takeshi Transactions of the Society of Instrument and control Engineers. 29- (2) 242 -244 1993 [Not refereed][Not invited]
Design of PWM inverter pulse pattern is required to reduce harmonics generated by load change in output voltage. This paper shows this requirement is formulated as mixed sensitivity problem and proposes to apply H∞ control theory to this design. - Transactions of the Society of Instrument and control Engineers. 29- (2) 230 -232 1993 [Not refereed][Not invited]
Research Projects
- 日本学術振興会：科学研究費助成事業Date (from‐to) : 1997 -1998Author : 松下 昭彦1. オンライン予見・予測目標値計画法の確立 マニピュレータなど制御対象に非線形性がある場合について、計算トルク法を用いる方法を開発した。2リンクマニピュレータに対して適用と実験を行い有効性を確認した。ただし、より一般的な非線形性に対しては適当な方法を開発するには至らなかった。一般的な適応制御やGPC(一般化予測制御)などを用いたオンライン予見・予測制御法について開発した。 2. 移動体への適用 移動体の走行制御について一般的な最適予見制御を用いた方法を開発し、計算機シミュレーションで有効性を確認した。また、実機で実験を行うために機材を購入し実験装置の制作を開始した。 (1) 車輪+駆動用モータを取り付け、専用のMotor Controllerで制御するシステムを製作した。 (2) 画像処理用CCDカメラの方向を上下左右可動にするためにステッピングモータボードを用意した。 (3) 三輪移動体の運動方程式は非線形性をもつが、非線形変数変換と状態フィードバック4こて線形化する方法による制御プログラムを開発した。 前方障害物の情報を取り入れるための視覚センサーやその情報処浬装置などを購入した。また、視覚情報から前方障害物の距離と方向を注出する方法を調査・考案した。
- Japan Society for the Promotion of Science：Grants-in-Aid for Scientific ResearchDate (from‐to) : 1997 -1998Author : TSUCHIYA Takeshi, MATSUSHITA Akihiko, EGAMI TadashiFuture information plays very important role in system planning, determination of control strategy. Effectiveness of utilization of future desired signals has been reported in the reference "Digital Preview and Predictive Control" written by the author. In this research, future information should be utilized not only for the design of dynamic control system, but also planning for total system design : planning of desired signal, planning of path and measurements. Fictitous desired signal design method for the dynamic control system. has been developed utilizing future information and applied to real control system. In the path control in the robot control system and machine tool control system, fictitous axis is introduced in order to improve the performance. Until now, although how to design the desired signal of the dynamic control system has not been considered, effective design methods utilizing future information are proposed in this research. Moreover, an auotnomus robot which works based on his reasoning and judgment under human directions is next consideration, which is followed by development of the previuos research. Navigation of a behaivourbased autonomous mobile robot is considered. Firstly, no information about the environment is given to the robot, and then the robot gains his knowledge about the environment by walking around the environment. After obtaining the knowledge, his goal is set. The robot makes plan to reach the goal utilizing the knowledge obtained. Environments are assumed to change dynamically. New future direction of system control may be revealed by this research.
- 制御系の統合化設計
- オンライン目標値計画
- Simnltaneous Design of a Control System
- On-line planning for desired signal