Sep. 2022, The Society of Instrument and Control Engineers, SICE Annual Conference International Award　　　　　　　　　　　　　　　
Automatic Dimensional Inspection System of Railcar Wheelset for Condition Monitoring
Emoto, Takeshi;Ravankar, Abhijeet;Ravankar, Ankit;Emaru, Takanori;Kobayashi, Yukinori

Sep. 2021, The Society of instrument and Control Engineers, Academic Paper Award of SICE　　　　　　　　　　　　　　　
Line Segment Extraction and Polyline Mapping for Mobile Robots in Indoor Structured Environments Using Range Sensors
Ankit A. Ravankar;Abhijeet Ravankar;Takanori Emaru;Yukinori Kobayashi

Feb. 2019, Hokkaido, Hokkaido Science and Technology Encouragement Award　　　　　　　　　　　　　　　
Development of autonomous driving technology that enables driving on snowy environments to support movement of vulnerable people
Takanori Emaru

May 2018, VI-th AGH-HU Joint Symposium, Young Scientists for the best presentation and poster　　　　　　　　　　　　　　　
Takaki Ueno;Takanori Emaru;Ravankar Ankit;Yukinori Kobayashi

Jan. 2017, Hokkaido University, Education Encouragement Award　　　　　　　　　　　　　　　
Takanori Emaru

Mar. 2013, 日本機械学会北海道支部, 2012年度北海道支部賞(研究技術賞)　　　　　　　　　　　　　　　
ブーム型農薬散布用農業機械のための回転型アクティブ動吸振器の開発と制御系設計
星野洋平;中西洋介;小林幸徳;江丸貴紀

2012, SII2011 Young Author's Award Finalist　　　　　　　　　　　　　　　
Japan

2011, SII2011 Young Author's Award Finalist　　　　　　　　　　　　　　　

2002, 2001年度日本機械学会奨励賞(研究)　　　　　　　　　　　　　　　
Japan

2000, The 2000 Student Paper Contest AWARD　　　　　　　　　　　　　　　
Japan

1999, 第4回ロボティクスシンポジア優秀論文賞　　　　　　　　　　　　　　　
Japan

Automatic inspection of wheel surface defects using a combination of laser sensors and machine vision
Takeshi Emoto, Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi
SICE Journal of Control, Measurement, and System Integration, 17, 1, 57, 66, Informa UK Limited, 14 Feb. 2024
Scientific journal

A method for detecting wear and damage on railcar wheel tread surface using a combination of laser measurement and machine vision
Takeshi EMOTO, Takanori EMARU, Ankit RAVANKAR, Abhijeet RAVANKAR, Yukinori KOBAYASHI
Mechanical Engineering Journal, 11, 3, 23, 00352, Japan Society of Mechanical Engineers, 2024
Scientific journal

Automatic Dimensional Inspection System of Railcar Wheelset for Condition Monitoring
Takeshi Emoto, Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi
2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE), IEEE, 06 Sep. 2022
International conference proceedings

Automatic Dimensional Inspection System of Railcar Wheelset for Condition Monitoring.
Takeshi Emoto, Ankit A. Ravankar, Abhijeet A. Ravankar, Takanori Emaru, Yukinori Kobayashi
SICE, 899, 904, 2022
International conference proceedings

Erratum: Multi-modal sensor fusion-based semantic segmentation for snow driving scenarios (IEEE Sensors Journal (2021) 21:15 (16839-16851) DOI: 10.1109/JSEN.2021.3077029)
Sirawich Vachmanus, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi
IEEE Sensors Journal, 21, 22, 26186, 26189, 15 Nov. 2021, [Peer-reviewed]
Scientific journal, In the above article [1], we had mentioned the SSMA in many result tables, but unfortunately, we had made a mistake in the citation, which would have made the readers unable to link to the original material of the method. The faults in the above article have been corrected in this article. The self-supervised model adaptation (SSMA) [2] is a fusion module combining two feature maps. This module was developed for multi-modal semantic segmentation and achieved the best efficiency in many conditions. Table II, Table V, Table VI, and Table VII in [1] are corrected to be in sequential order as Table I, Table III, Table II, and Table IV, respectively. The citation index of SSMA in all tables is corrected to SSMA [2]. In addition, the citation in Fig. 12 in the article [1] is also changed to SSMA [2], as shown in Fig. 1.

An Evaluation of RGB-Thermal Image Segmentation for Snowy Road Environment
Sirawich Vachmanus, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi
2021 IEEE International Conference on Mechatronics and Automation (ICMA), IEEE, 08 Aug. 2021, [Peer-reviewed]
International conference proceedings

Multi-Modal Sensor Fusion-Based Semantic Segmentation for Snow Driving Scenarios
Sirawich Vachmanus, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi
IEEE Sensors Journal, 21, 15, 16839, 16851, Institute of Electrical and Electronics Engineers (IEEE), 01 Aug. 2021, [Peer-reviewed]
English, Scientific journal, In recent years, autonomous vehicle driving technology and advanced driver assistance systems have played a key role in improving road safety. However, weather conditions such as snow pose severe challenges for autonomous driving and are an active research area. Thanks to their superior reliability, the resilience of detection, and improved accuracy, advances in computation and sensor technology have paved the way for deep learning and neural network-based techniques that can replace the classical approaches. In this research, we investigate the semantic segmentation of roads in snowy environments. We propose a multi-modal fused RGB-T semantic segmentation utilizing a color (RGB) image and thermal map (T) as inputs for the network. This paper introduces a novel fusion module that combines the feature map from both inputs. We evaluate the proposed model on a new snow dataset that we collected and on other publicly available datasets. The segmentation results show that the proposed fused RGB-T input can segregate human subjects in snowy environments better than an RGB-only input. The fusion module plays a vital role in improving the efficiency of multiple input neural networks for person detection. Our results show that the proposed network can generate a higher success rate than other state-of-the-art networks. The combination of our fused module and pyramid supervision path generated the best results in both mean accuracy and mean intersection over union in every dataset.

Monocular Visual-inertial Localization in a Point Cloud Map Using Feature-to-Distribution Registration
Su Wang, Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi
2021 IEEE/SICE International Symposium on System Integration, SII 2021, 720, 726, 11 Jan. 2021
International conference proceedings, In this paper, a visual-inertial localization system that reuses a prior map built by Lidar is proposed. Relying exclusively on a monocular camera and an IMU, the point and line features detected in the images are reconstructed and utilized for geometrically estimating the relative pose of the robot with respect to the prior 3D point cloud map. To leverage the alignment between the body frame and the map frame, a modified normal distribution transformation(NDT) algorithm is tightly coupled into the bundle adjustment(BA). We extract dual layered grid cell map from the raw Lidar-built map for both the point-todistribution and line-to-distribution registration. By utilizing line features, the proposed method can achieve competitive performance in low textured environments. Evaluations on different real-world environments, including tests on both the benchmark dataset and the self-collected one are presented.

SVM based Pedestrian Detection System for Sidewalk Snow Removing Machines
Yuta Sasaki, Takanori Emaru, Ankit A. Ravankar
2021 IEEE/SICE International Symposium on System Integration, SII 2021, 700, 701, 11 Jan. 2021
International conference proceedings, In this paper, we present a novel pedestrian detection system for sidewalk snow removing vehicles particularly for night driving scenarios. The information in front of the snowplow is obtained by clustering and classifying objects using LiDAR point clouds. A robust pedestrian detection and classification algorithm using the support vector machine(SVM) is proposed. We tested the system on an actual machine and the accuracy our method is verified by experiments.

Improved Scan Matching Performance in Snowy Environments Using Semantic Segmentation
Masahiro Obuchi, Takanori Emaru, Ankit A. Ravankar
2021 IEEE/SICE International Symposium on System Integration, SII 2021, 702, 703, 11 Jan. 2021
International conference proceedings, Inclement weather conditions such as snowy environments poses a lot of challenge for autonomous driving. Because of the dynamic changes in the environment, there will be difference between the prior map obtained from a LiDAR system and current sensor data. To overcome this problem, in this study, we present a semantic segmentation based method to recognize the snow cover from the camera images and project the results on the LiDAR point cloud to distinguish the differences. Our results shows improved localization accuracy in snow environment.

Real-time Interpolation Method for Sparse LiDAR Point Cloud Using RGB Camera
Tomohiko Hasegawa, Takanori Emaru, Ankit A. Ravankar
2021 IEEE/SICE International Symposium on System Integration, SII 2021, 421, 425, 11 Jan. 2021
International conference proceedings, LiDAR (Light Detection and Ranging) sensor-based mapping and navigation is one of the fundamental techniques for achieving autonomous driving capabilities in urban scenarios. LiDARs can generate long-distance omni-directional measurements of its surrounding that is crucial for object detection and obstacle avoidance for autonomous vehicles. Currently, the most popular LiDAR sensors used for the application of autonomous driving are 360-degree rotating multi-layer type sensor. These are expensive for general use and mainly suffer from poor vertical resolution. In this study, we propose a method of LiDAR point cloud interpolation in real-time using information from an RGB camera. We propose a method to treat sparse point cloud as a depth image which enables us to apply depth enhancement methods to the point cloud. Additionally, we propose a new depth enhancement method with image segmentation for point cloud and compare its accuracy with existing methods. From the results, we present the usefulness of introducing depth image and applying the new depth enhancement method for LiDAR point cloud.

Breakwater inspection system using airborne LiDAR
T. Ueno, T. Emaru, A. A. Ravankar, Y. Kobayashi
Bridge Maintenance, Safety, Management, Life-Cycle Sustainability and Innovations - Proceedings of the 10th International Conference on Bridge Maintenaince, Safety and Management, IABMAS 2020, 3286, 3291, 2021
International conference proceedings, In this paper, the authors propose the system for autonomous breakwater inspection. The system is composed of two parts; mission planning and data analysis pipeline. Mission planning is for setting flight configurations such as height, velocity, and path. The data analysis pipeline detects changes in breakwater using point cloud. This paper mainly discusses the data analysis pipeline and the results of its evaluation with simulation and field tests. The authors tested the system performance in simulation and field experiments. The results of the evaluation in simulation show that the system can detect changes such as the addition of objects, and removal, and movement of breakwaters. The authors also compared the result of the simulation and field test to check if the system works well under the actual situation. The results of field tests show the system has enough resolution to detect the addition, removal, and movement of a breakwater in the real environment.

Automatic Inspection of Railcar Wheels Using Laser and Image Sensor.
Takeshi Emoto, Ankit A. Ravankar, Abhijeet A. Ravankar, Takanori Emaru, Yukinori Kobayashi
60th Annual Conference of the Society of Instrument and Control Engineers of Japan(SICE), 1282, 1287, IEEE, 2021
International conference proceedings

Mobile Robot Navigation Based on Deep Reinforcement Learning with 2D-LiDAR Sensor using Stochastic Approach
Han Beomsoo, Ankit A. Ravankar, Takanori Emaru
2021 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENCE AND SAFETY FOR ROBOTICS (ISR), 417, 422, IEEE, 2021
English, International conference proceedings, In recent years, there has been a significant progress in mobile robotics and their applications in different fields. Currently, mobile robots are employed for applications such as service robots for delivery, exploration, mapping, search and rescue, and warehouses. Recent advances in computing efficiency and machine learning algorithms have increased the variations of intelligent robots that can navigate autonomously using sensor data. Particularly, reinforcement learning has recently enjoyed a wide variety of success in controlling the robot motion in an unknown environment. However, most of the reinforcement learning-based navigation gets the path plan with a deterministic method, which results in some errors. Therefore, we present a navigation policy for a mobile robot equipped with a 2D range sensor based on the Proximal Policy Optimization of a stochastic approach. The tested algorithm also includes a stochastic operation, which simplifies the policy network model. We trained a differential drive robot in multiple training environments, and based on such stochastic learning, the training data accumulates faster than before. We tested our algorithm in a virtual environment and present the results of successful planning and navigation for mobile robots.

Mobile Robot Navigation Based on Deep Reinforcement Learning with 2D-LiDAR Sensor using Stochastic Approach.
Han Beomsoo, Ankit A. Ravankar, Takanori Emaru
IEEE International Conference on Intelligence and Safety for Robotics(ISR), 417, 422, IEEE, 2021
International conference proceedings

HPPRM: Hybrid Potential Based Probabilistic Roadmap Algorithm for Improved Dynamic Path Planning of Mobile Robots
Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi
IEEE Access, 8, 221743, 221766, Institute of Electrical and Electronics Engineers (IEEE), 08 Dec. 2020, [Peer-reviewed]
Scientific journal

Autonomous VTOL-UAV Docking System for Heterogeneous Multirobot Team
Eduardo Narvaez, Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi
IEEE Transactions on Instrumentation and Measurement, 70, 1, 18, Institute of Electrical and Electronics Engineers (IEEE), 24 Oct. 2020, [Peer-reviewed]
English, Scientific journal

Semantic Segmentation for Road Surface Detection in Snowy Environment
Sirawich Vachmanus, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi
2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020, 1381, 1386, 23 Sep. 2020
International conference proceedings, Inclement weather conditions such as snow can severely hamper visibility and make it more challenging to recognize the obstacles on the road. This situation is very challenging for drivers to locate the drivable regions on the road. For autonomous driving vehicles, inclement weather conditions such as snow are a severe challenge due to poor visibility, lack of features on the ground, and slippery surfaces on roads. This research attempts to classify the road and obstacle regions on the snowy roads for the application of autonomous driving. The dataset using in this research are based on RGB images from such conditions. It includes different image resolutions that were collected by multiple camera systems such as USB camera, dashcam, and a smartphone camera. A deep learning network employing the structures are proposed in this research. The proposed structure uses the atrous convolution network and pyramid supervision for extracting features from snow road images. The proposed method can reach 86.0% mean ratio of the intersection with a little difference in the processing time. The boundary characterization of the proposed method has higher efficiency than other deep learning networks and also gained the highest classification performance when compared with existing techniques.

Estimation of Tree Diameter at Breast Height using Stereo Camera by Drone Surveying and Mobile Scanning Methods
Visarut Trairattanapa, Ankit A. Ravankar, Takanori Emaru
2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020, 946, 951, 23 Sep. 2020
International conference proceedings, In this paper, we propose two different scanning methods, drone scanning method, and mobile scanning method, using a stereo camera for estimation of the tree's diameter at breast height (DBH). The mobile scanning method is widely used in mapping forest environments and for forest inventory due to its cost-effectiveness and accessibility. Drone scanning has gained wide attention in recent years because of the development of unmanned aerial technology. This study evaluates two existing fitting algorithms to determine the most suitable method for DBH extraction, namely, the least-squares ellipse fitting algorithm and the random Hough transform (RHT) circle fitting algorithm. A stereo camera is used to generate 3D point cloud maps of the pine forest area. The trees in the study area are segmented using clustering algorithms before performing DBH extraction. A three-dimensional point cloud map of pine trees in the study area is generated, and DBH of each individual tree is estimated. From the experimental results, the drone scanning method was found to be more appropriate than the mobile scanning method for the application of forest mapping. From our experimental results, the drone scanning method with the RHT circle fitting algorithm achieved an average precision accuracy of 92.67%.

Line Segment Extraction and Polyline Mapping for Mobile Robots in Indoor Structured Environments Using Range Sensors
Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi
SICE Journal of Control, Measurement, and System Integration, 13, 3, 138, 147, The Society of Instrument and Control Engineers (SICE), Japan, 26 May 2020, [Peer-reviewed], [International Magazine]
English, Scientific journal

Proposal of dimensional inspection method of railway car axle and wheel using visual data
EMOTO Takeshi, KOBAYASHI Yukinori, EMARU Takanori, RAVANKAR Ankit, RAVANKAR Abhijeet
The Proceedings of Conference of Hokkaido Branch, 2020.57, 55, 56, The Japan Society of Mechanical Engineers, 2020
Japanese

Applying Semantic Segmentation to Autonomous Cars in the Snowy Environment.
Zhaoyu Pan, Takanori Emaru, Ankit A. Ravankar, Yukinori Kobayashi
CoRR, abs/2007.12869, 2020
Scientific journal

Relative positioning control of flexible structure for precise positioning stage
Hironori OGAWA, Yukinori KOBAYASHI, Takanori EMARU
Mechanical Engineering Journal, 7, 2, 19, 00443, Japan Society of Mechanical Engineers, 2020, [Peer-reviewed]
Scientific journal

Multi-Robot Mapping and Navigation Using Topological Features
Ankit Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi
Proceedings, {MDPI}, 14 Nov. 2019
Scientific journal

Multi-modal Vibration Control of a Double Shell Railway Car-Body Model using Passive Piezo-electric Shunt Circuit
Silabhadra Das, Ashish Gupta, Yukinori Kobayashi, Takanori Emaru, Ankit Ravankar
2019 12th Asian Control Conference, ASCC 2019, 772, 777, Jun. 2019
International conference proceedings, Low Frequency Vibrations have increased significantly in railway car-bodies designed for high-speed railway operations due to the dominant effect of flexural vibration of the car-body caused by weight reduction of railway vehicles to satisfy speed requirements and energy efficiency. To reduce such low frequency vibration a twin pronged approach is proposed. Firstly, a 1/12 scaled double shell hanging car body model, consisting of an inner shell mechanically hanged within an outer shell, is utilized as a structural damping measure. Secondly, a Piezo-electric Patch Configuration (PPC) is bonded to the inner shell floor plate and coupled to a tuned multi-modal shunt circuit. The tuned shunt circuit absorbs and dissipates the flexural vibration strain energy of multiple modes on the car-body floor and significantly damps low frequency vibrations of car-body floor. Finite Element Modelling (FEM) of the proposed car-body structure, modal analysis and damped and undamped harmonic response of car-body was simulated using ANSYS 17.1.

A Novel Approach for Lidar-Based Robot Localization in a Scale-Drifted Map Constructed Using Monocular SLAM
Su Wang, Yukinori Kobayashi, Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru
Sensors, 19, 10, MDPI, May 2019, [Peer-reviewed]
English, Scientific journal, Scale ambiguity and drift are inherent drawbacks of a pure-visual monocular simultaneous localization and mapping (SLAM) system. This problem could be a crucial challenge for other robots with range sensors to perform localization in a map previously built by a monocular camera. In this paper, a metrically inconsistent priori map is made by the monocular SLAM that is subsequently used to perform localization on another robot only using a laser range finder (LRF). To tackle the problem of the metric inconsistency, this paper proposes a 2D-LRF-based localization algorithm which allows the robot to locate itself and resolve the scale of the local map simultaneously. To align the data from 2D LRF to the map, 2D structures are extracted from the 3D point cloud map obtained by the visual SLAM process. Next, a modified Monte Carlo localization (MCL) approach is proposed to estimate the robot's state which is composed of both the robot's pose and map's relative scale. Finally, the effectiveness of the proposed system is demonstrated in the experiments on a public benchmark dataset as well as in a real-world scenario. The experimental results indicate that the proposed method is able to globally localize the robot in real-time. Additionally, even in a badly drifted map, the successful localization can also be achieved.

Bio-inspired Structure and Behavior of Self-recovery Quadruped Robot with a Limited Number of Functional Legs
Sarun Chattunyakit, Yukinori Kobayashi, Takanori Emaru, Ankit Ravankar
Applied Sciences, 9, 4, 799, MDPI, Feb. 2019, [Peer-reviewed]
English, Scientific journal, In this study, the authors focus on the structural design of and recovery methods for a damaged quadruped robot with a limited number of functional legs. Because the pre-designed controller cannot be executed when the robot is damaged, a control strategy to avoid task failures in such a scenario should be developed. Not only the control method but also the shape and structure of the robot itself are significant for the robot to be able to move again after damage. We present a caterpillar-inspired quadruped robot (CIQR) and a self-learning mudskipper inspired crawling (SLMIC) algorithm in this research. The CIQR is realized by imitating the prolegs of caterpillars and by using a numerical optimization technique. A reinforcement learning method called Q-learning is employed to improve the adaptability of locomotion based on the crawling behavior of mudskipper. The results show that the proposed robotic platform and recovery method can improve the moving ability of the damaged quadruped robot with a few active legs in both simulations and experiments. Moreover, we obtained satisfactory results showing that a damaged multi-legged robot with at least one leg could travel properly along the required direction. Furthermore, the presented algorithm can successfully be employed in a damaged quadruped robot with fewer than four legs.

Autonomous Mapping and Exploration with Unmanned Aerial Vehicles Using Low Cost Sensors
Ankit Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
Proceedings, 4, 1, 44, 44, MDPI AG, 14 Nov. 2018, [Peer-reviewed]
Scientific journal, Mapping and exploration are important tasks of mobile robots for various applications such as search and rescue, inspection, and surveillance. Unmanned aerial vehicles (UAVs) are more suited for such tasks because they have a large field of view compared to ground robots. Autonomous operation of UAVs is desirable for exploration in unknown environments. In such environments, the UAV must make a map of the environment and simultaneously localize itself in it which is commonly known as the SLAM (simultaneous localization and mapping) problem. This is also required to safely navigate between open spaces, and make informed decisions about the exploration targets. UAVs have physical constraints including limited payload, and are generally equipped with low-spec embedded computational devices and sensors. Therefore, it is often challenging to achieve robust SLAM on UAVs which also affects exploration. In this paper, we present an autonomous exploration of UAVs in completely unknown environments using low cost sensors such as LIDAR and an RGBD camera. A sensor fusion method is proposed to build a dense 3D map of the environment. Multiple images from the scene are geometrically aligned as the UAV explores the environment, and then a frontier exploration technique is used to search for the next target in the mapped area to explore the maximum area possible. The results show that the proposed algorithm can build precise maps even with low-cost sensors, and explore the environment efficiently.

Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges
Abhijeet Ravankar, Ankit Ravankar, Yukinori Kobayashi, Yohei Hoshino, Chao-Chung Peng
Sensors, 18, 9, 3170, 3170, MDPI AG, 19 Sep. 2018, [Peer-reviewed]
English, Scientific journal, Robot navigation is an indispensable component of any mobile service robot. Many path planning algorithms generate a path which has many sharp or angular turns. Such paths are not fit for mobile robot as it has to slow down at these sharp turns. These robots could be carrying delicate, dangerous, or precious items and executing these sharp turns may not be feasible kinematically. On the contrary, smooth trajectories are often desired for robot motion and must be generated while considering the static and dynamic obstacles and other constraints like feasible curvature, robot and lane dimensions, and speed. The aim of this paper is to succinctly summarize and review the path smoothing techniques in robot navigation and discuss the challenges and future trends. Both autonomous mobile robots and autonomous vehicles (outdoor robots or self-driving cars) are discussed. The state-of-the-art algorithms are broadly classified into different categories and each approach is introduced briefly with necessary background, merits, and drawbacks. Finally, the paper discusses the current and future challenges in optimal trajectory generation and smoothing research.

積雪寒冷地域における自動運転技術の開発について　　　　　　　　　　　　　　　
江丸貴紀
車載テクノロジー, 5, 5, 58, 63, Jun. 2018, [Invited], [Lead author, Corresponding author]

Autonomous position control of multi-unmanned aerial vehicle network designed for long range wireless data transmission
Seiko P. Yamaguchi, Filip Karolonek, Takanori Emaru, Yukinori Kobayashi, Tadeusz Uhl
SII 2017 - 2017 IEEE/SICE International Symposium on System Integration, 2018-, 127, 132, Institute of Electrical and Electronics Engineers Inc., 01 Feb. 2018
English, International conference proceedings, In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as: inspection, surveillance or search and rescue application in challenging environments. One of the major challenge in this area is the limited range of wireless data transmission within legally allowable frequency and transmission power. This research presents the concept development of the multi-UAV system responsible for long range wireless transmission with heavy payload data by means of multi-UAV communication relay algorithm applied within Robot Operating System (ROS). The proposed system applies GPS based autonomous position control of drones, such as quadrotors, with mobile signal repeaters (MSRs) responsible for retransmitting data collected by the UAV operating with search and surveillance missions. The proposed system enables creation of autonomous network by utilizing swarm control of MSR positioning depending on the communication quality. The elaboration of the system incorporates the safety requirement of the UAV application. The system is intended to be modular, easy to customize and extendable for further development to establish more universal applications of UAV based systems in terms of aerial robotics. This article presents the proposed design concept as well as simulations tests.

Aerial Robot Model based design and verification of the single and multi-agent inspection application development.
Seiko P. Yamaguchi, Masaru Sakuma, Takaki Ueno, Filip Karolonek, Tadeusz Uhl, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi
CoRR, abs/1812.05296, 2018
Scientific journal

Real-Time Multi-Robot Path Planning Revisited as a Caching Problem
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Chao-Chung Peng, Takanori Emaru
PROCEEDINGS OF 4TH IEEE INTERNATIONAL CONFERENCE ON APPLIED SYSTEM INNOVATION 2018 ( IEEE ICASI 2018 ), 347, 350, IEEE, 2018
English, International conference proceedings, Path planning is a fundamental component of mobile robots. In case of large maps, path planning is a time consuming process, particularly for robots equipped with embedded computers and has adverse effects on the real-time response of the robots. This paper takes a fresh look at the path planning problem by considering it to be a caching or tabular-lookup problem. The robots 'cache' their generated paths and arm trajectories across various start and goal configurations. These cached paths are stored in a database accessible to robots in the network. Robot path planning is then reduced to a simple table-lookup which can be resolved in real-time. To overcome a cache-miss, a micro-grid and macro-grid based caching is proposed for real-time path generation for 'nearby' start and goal configurations. Another important characteristic of the proposed cache based path planning is that multiple robots also update the locations of the new obstacles in the map. This benefits other robots as they are able to get an updated information about the new obstacles in remote locations of the map, without explicitly discovering those obstacles by themselves. We show that by considering the robot path planning as a caching problem, robots can achieve faster and real-time responses, particularly in case of large maps with multiple robots in a sensor network.

Task coordination for Multiple Mobile Robots considering Semantic and Topological Information
Ankit A. Ravankar, Abhijeet Ravankar, Chao-Chung Peng, Yukinori Kobayashi, Takanori Emaru
PROCEEDINGS OF 4TH IEEE INTERNATIONAL CONFERENCE ON APPLIED SYSTEM INNOVATION 2018 ( IEEE ICASI 2018 ), 1088, 1091, IEEE, 2018
English, International conference proceedings, This paper presents task coordination scheme for multiple mobile robots in indoor environment. Multi-robot systems are gaining a lot of popularity for different applications in indoor and outdoor environments and for executing various tasks in different scenarios. The advantage with multi-robot systems is efficiency by which a task can be completed as compared to single robot system thus allowing more autonomy to the task at hand. In this paper, we present novel techniques for multi-robot system operating in indoor office like environment using semantic mapping. A mapping and navigation algorithm is discussed that uses topological and metric maps. We demonstrate through simulations and experiments, the coordination strategy and discuss the results.

Localization with Laser Range Finder in a Metrically Inconsistent Map from Monocular SLAM
Su Wang, Yukinori Kobayashi, Abhijeet Ravankar, Ankit A. Ravankar, Takanori Emaru
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 796, 801, IEEE, 2018
English, International conference proceedings, Due to the lack of a fixed baseline between frames, scale drift of the map from a monocular vision-based SLAM system is almost inevitable. It is difficult for a robot with range-based sensors to localize itself on such a metrically inconsistent map. In this paper, we propose a scale-aware localization method, which allows a robot with 2D LRF to achieve the purpose of localizing itself on a map from monocular SLAM. The scales of drifted local maps will also be corrected at the same time. In this work, we firstly present a technique to extract 2D structure from the 3D point cloud established by a monocular camera. And then, by employing an alternative to Particle Filter Localization algorithm, our approach is able to estimate both the poses of the robot and the local scales of the map. Finally, the performance of our approach has been evaluated on a public dataset.

AI・ITを活用した農林業用除草ロボットの開発　　　　　　　　　　　　　　　
江丸貴紀
グリーンテクノ情報, 14, 2, 9, 11, 2018, [Invited]

Optimal Robot Path Selection Using Fuzzy Analytical Hierarchical Process
AA Ravankar, A Ravankar, Y Kobayashi, T Emaru
4th Intl. Electronic Confernce on Sensors Applications, 2, 3, 111, Nov. 2017, [Peer-reviewed]
English, Scientific journal

Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
SENSORS, 17, 8, 1878, MDPI AG, Aug. 2017, [Peer-reviewed]
English, Scientific journal, Hitchhiking is a means of transportation gained by asking other people for a (free) ride. We developed a multi-robot system which is the first of its kind to incorporate hitchhiking in robotics, and discuss its advantages. Our method allows the hitchhiker robot to skip redundant computations in navigation like path planning, localization, obstacle avoidance, and map update by completely relying on the driver robot. This allows the hitchhiker robot, which performs only visual servoing, to save computation while navigating on the common path with the driver robot. The driver robot, in the proposed system performs all the heavy computations in navigation and updates the hitchhiker about the current localized positions and new obstacle positions in the map. The proposed system is robust to recover from 'driver-lost' scenario which occurs due to visual servoing failure. We demonstrate robot hitchhiking in real environments considering factors like service-time and task priority with different start and goal configurations of the driver and hitchhiker robots. We also discuss the admissible characteristics of the hitchhiker, when hitchhiking should be allowed and when not, through experimental results.

Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
SENSORS, 17, 7, 1581, MDPI AG, Jul. 2017, [Peer-reviewed]
English, Scientific journal, Large scale operational areas often require multiple service robots for coverage and task parallelism. In such scenarios, each robot keeps its individual map of the environment and serves specific areas of the map at different times. We propose a knowledge sharing mechanism for multiple robots in which one robot can inform other robots about the changes in map, like path blockage, or new static obstacles, encountered at specific areas of the map. This symbiotic information sharing allows the robots to update remote areas of the map without having to explicitly navigate those areas, and plan efficient paths. A node representation of paths is presented for seamless sharing of blocked path information. The transience of obstacles is modeled to track obstacles which might have been removed. A lazy information update scheme is presented in which only relevant information affecting the current task is updated for efficiency. The advantages of the proposed method for path planning are discussed against traditional method with experimental results in both simulation and real environments.

Evaluation of positioning control system using relative displacement observer for precise positioning stages
Hironori Ogawa, Yukinori Kobayashi, Kougen Kageyama, Takanori Emaru, Masaki Odai
SII 2016 - 2016 IEEE/SICE International Symposium on System Integration, 688, 693, Institute of Electrical and Electronics Engineers Inc., 06 Feb. 2017
English, International conference proceedings, Precise positioning technologies are widely used for industrial machines such as device manufacturing equipment. There have been many studies on state feedback control systems for precise positioning stages that improve accuracy by using sensor feedback. However, the sensor information cannot always indicate the performance of industrial machines directly because the final requirement of a stage system is generally to adjust a movable table to a target structure. Therefore, the relative relationship between the stage and the target structure must be controlled. However, the stage and other structures must be considered to be elastic elements, especially for precise positioning devices. Thus, this study aims to achieve high-precision relative positioning between flexible structures. The authors had proposed a relative displacement observer which estimated the relative displacement between the stage and the target structure by using only the stage displacement. However, in industrial applications, robustness against disturbances such as modeling errors and aging changes are required. In this paper, we show evaluation results of robustness against accuracy of model identification and aging change in resonant frequency of plant. Results of a numerical simulation show that the proposed control system improves relative positioning performance. And also, we confirm that it has enough robustness against aging change of the stage system.

3D map-building from RGB-D data considering noise characteristics of Kinect
Takahiro Yamaguchi, Takanori Emaru, Yukinori Kobayashi, Ankit A. Ravankar
SII 2016 - 2016 IEEE/SICE International Symposium on System Integration, 379, 384, 06 Feb. 2017
International conference proceedings, For a mobile robot to explore in an unknown environment, the robot needs to do Simultaneous Localization and Mapping (SLAM). Recently, RGB-D sensor such as the Microsoft Kinect has been extensively used as a low cost 3D sensor measurement and mapping the environment. The advantage of RGB-D sensor is that it can capture RGB image with per-pixel depth information. One disadvantage for this sensor is that its depth information is very noisy. Moreover, if the robot equipped with the Kinect moves long distances, the localization error gets accumulated over time. The main aim of this study is to reduce the error of the SLAM using RGB-D sensor, by taking into account the noise characteristics of the Kinect sensor. The noise characteristics are investigated by experiments taking into account the RGB and depth information. A noise model is derived as a function of both distance and angle to the observed surface. The noise model is applied to Iterative Closest Point (ICP) algorithm for SLAM. Finally, the results of the proposed SLAM are shown and the improvement in accuracy is verified.

Adaptive control for omnidirectional wheeled robot
Kota Kawamura, Takanori Emaru, Yukinori Kobayashi, Ankit A. Ravankar
SII 2016 - 2016 IEEE/SICE International Symposium on System Integration, 367, 372, 06 Feb. 2017
International conference proceedings, An important characteristic of the omnidirectional robot is that it can move in all directions and does not require large space to turn. There are numerous applications of omniwheeled robots, for eg. to carry load or objects in indoor environments, omnidirectional wheelchair for medical care and assistance, navigation in tight spaces such as industrial warehouses and omnidirectional walker for rehabilitation. In most of the mentioned example cases, parameters such as load and center-of-gravity affects the system thereby decreasing the control performance. Therefore, the dynamic modeling of an omnidirectional robot considering load change, center-of-gravity shifts and frictional force is primarily considered in this study and an adaptive control method is proposed to address the issue. In addition, we tested the stability of the system for long distance run. From the results, the proposed system was found to perform better than the traditional PI (Proportional-Integral) controller.

Mapping of pier substructure using UAV
Masaru Sakuma, Yukinori Kobayashi, Takanori Emaru, Ankit A. Ravankar
SII 2016 - 2016 IEEE/SICE International Symposium on System Integration, 361, 366, 06 Feb. 2017
International conference proceedings, In developed countries the life expectancy of hard structures is about 50 years, therefore there are a large number of structures currently needing replacement and repair. Such a large task requires considerable resources. In order to reduce the work-load and speed up this task, autonomous robotic inspection has been proposed. Of all the different kinds of robots the UAV (Unmanned Aerial Vehicle) promises to be a suitable platform due to its low cost and high functionality. In recent years research using UAV robots for inspecting infrastructure facilities such as a tunnels and bridges has gained momentum and there are many illustrative examples where such robots have shown good results. However, there are little or no studies on UAV robot inspection of pier structures, an important marine facility at present. We present the development of a Pier Inspection System using UAV (PISU). The system comprises of autonomous flight system, mapping-update system and collision avoidance system. The performance of PISU is demonstrated by simulations and results are discussed.

A method of low-cost IMU calibration and alignment
Jixin Lv, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
SII 2016 - 2016 IEEE/SICE International Symposium on System Integration, 373, 378, 06 Feb. 2017
International conference proceedings, This paper presents a straightforward way to fully calibrate low-cost IMU sensor in field. In this approach, a plastic cube that is made by 3D printer is introduced as the body carrier of IMU. The accelerometer is firstly calibrated by using famous multi-position method and then followed with the correction of misalignment between sensor frame and body frame. A normal swivel chair is reformed as an easy turntable to perform smooth rotation. The gyroscope is calibrated by using angle domain method with the angular displacement reference that is estimated by using laser scan matching process. Experiment is executed and the comparison between raw readings and calibrated measurements is conducted, which verifies the validation of the proposed method.

Low-cost Mobile Platform for ROS
Ravankar Ankit, Ravankar Abhijeet, Emaru Takanori, Kobayashi Yukinori
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2017, 1P1, G09, The Japan Society of Mechanical Engineers, 2017
English,

We present the recent development work on the electrical and hardware design of our modular and scalable mobile robot platform for education and research. The goal of the project is to develop a low-cost and extensible modular mobile robot platform for education and research activities. We present a differential drive robot with distributed input/output modules. The project is scalable to be easily extended to make complex autonomous robot systems including four wheel drive and omnidirectional robots. The software design is based on ROS framework that is based on open source software.

Path Planning and Motion Generation in Frame Structure for a Limb-Type Robot Using A* Algorithm
YOSHIDA Shuhei, KOBAYASHI Yukinori, EMARU Takanori
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2017, 1P1, D08, The Japan Society of Mechanical Engineers, 2017
Japanese,

Recently, legged robots have been developed to work in a dangerous space for an investigation, rescue, and so on. This paper introduces a method for a Limb-type robot to move in frame structures such as a ladder or jungle-gym. The proposed method is based on path planning and motion generation. For path planning problem, A* algorithm plans a path while taking the workspace of limbs of the robot in consideration. The robot can then move along the resultant path, and the robot need to stop to hold new supported position on the way. The velocity change for stoppages is decided by mechanical constrains of the robot. The motion is generated from the velocity by Inverse kinematics. After the method is explained, kinematic simulation is conducted, and some problems and the improvement plans are indicated.

Inter-Robot Learning in Multi-Robot System
Ravankar Abhijeet, Ravankar Ankit A., Kobayashi Yukinori, Emaru Takanori
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2017, 2P1, F04, The Japan Society of Mechanical Engineers, 2017
Japanese,

An inter-robot learning strategy to track the dynamic changes in the environment is proposed. The robots 'teach' other robots about the changes encountered at remote locations of the map enabling them to achieve efficiency in path planning and task coordination. With the proposed method, a robot is able to learn about the obstacles in remote locations of the map and plans its path by considering the updated obstacle information. This is better than the traditional path planning in which robot has to re-plan its path upon finding obstacles.

Vision Based Autonomous Docking of VTOL UAV using a Mobile Robot Manipulator
Eduardo Narvaez, Ankit A. Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 157, 163, IEEE, 2017
English, International conference proceedings, This paper proposes a system that allows the docking of a hovering VTOL UAV (Vertical Take-off and Landing Unmanned Aerial Vehicle) by a mobile manipulator during an exploration or navigation mission for use in heterogeneous robotic team. A single camera configured as eye-in-hand device at the end of the mobile manipulator is used to detect and track the position and orientation of a fiducial marker which is fixed at the bottom of the UAV. By employing visual information in a specified workspace, the position of the UAV is controlled in a predefined 3D coordinate system that allows the UAV to hover in a stationary position with respect to the mobile robot base. At the same time, the end effector is programmed to continuously follow the movements of the UAV in order to prevent the loss of sight. The final contact between the UAV and manipulator is made possible with the approach of the end effector in a controlled manner, while maintaining visual contact with the UAV during the docking process. A special magnetic connection is designed that allows coupling of the two parts that are located at the end effector and at the bottom of the UAV, respectively. The effectiveness of the proposed system is tested through simulations and the results are verified.

UAV Pose Estimation Using IR and RGB Cameras
Wang Su, Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 151, 156, IEEE, 2017
English, International conference proceedings, In this paper, we propose a system for UAV (Unmanned Aerial Vehicle) 6D pose estimation. The proposed system is experimentally evaluated and verified in a simulated environment. A pair of infra-red active markers and a colored passive marker are utilized to mark the relative pose of the target. Accordingly, two different types of sensors, including the IR (infra-red) and color camera are applied. A PSO (Particle Swarm Optimization) algorithm on the iteration-varying weight is employed to solve the optimal pose of the UAV. The method can be applied to assist the existing IR-marker-based pose estimation system to locate the target when there are not enough IR markers to be detected. In addition, this system is also able to perform as a possible solution for multi-robot localization by identifying the passive markers with different colors on different targets.

Intelligent Robot Guidance in Fixed External Camera Network for Navigation in Crowded and Narrow Passages
A Ravankar, A A Ravankar, Y Kobayashi, T Emaru
3rd International Electronic Conference on Sensors and Applications, Dec. 2016, [Peer-reviewed]
English, International conference proceedings

Avoiding blind leading the blind: Uncertainty integration in virtual pheromone deposition by robots
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 13, 6, 1, 16, SAGE PUBLICATIONS INC, Nov. 2016, [Peer-reviewed]
English, Scientific journal, Virtual pheromone trailing has successfully been demonstrated for navigation of multiple robots to achieve a collective goal. Many previous works use a pheromone deposition scheme that assumes perfect localization of the robot, in which, robots precisely know their location in the map. Therefore, pheromones are always assumed to be deposited at the desired place. However, it is difficult to achieve perfect localization of the robot due to errors in encoders and sensors attached to the robot and the dynamics of the environment in which the robot operates. In real-world scenarios, there is always some uncertainty associated in estimating the pose (i.e. position and orientation) of the mobile service robot. Failing to model this uncertainty would result in service robots depositing pheromones at wrong places. A leading robot in the multi-robot system might completely fail to localize itself in the environment and be lost. Other robots trailing its pheromones will end up being in entirely wrong areas of the map. This results in a "blind leading the blind'' scenario that reduces the efficiency of the multi-robot system. We propose a pheromone deposition algorithm, which models the uncertainty of the robot's pose. We demonstrate, through experiments in both simulated and real environments, that modeling the uncertainty in pheromone deposition is crucial, and that the proposed algorithm can model the uncertainty well.

On a bio-inspired hybrid pheromone signalling for efficient map exploration of multiple mobile service robots
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
Artificial Life and Robotics, 21, 2, 221, 231, Springer Tokyo, 01 Jun. 2016, [Peer-reviewed]
English, Scientific journal, This paper presents a novel bio-inspired hybrid communication framework that incorporates the repelling behaviour of anti-aphrodisiac pheromones and attractive behaviour of pheromones for efficient map exploration of multiple mobile service robots. The proposed communication framework presents a scheme for robots to efficiently serve large areas of map, while cooperating with each other through proper pheromone deposition. This eliminates the need of explicitly programming each service robot to serve particular areas of the map. The paths taken by robots are represented as nodes across which pheromones are deposited. This reduces the search space for tracking pheromones and reduces data size to be communicated between robots. A novel pheromone deposition model is presented which takes into account the uncertainty in the robot’s position. This eliminates robots to deposit pheromones at wrong places when localization fails. The framework also integrates the pheromone signalling mechanism in landmark-based Extended Kalman Filter (EKF) localization and allows the robots to capture areas or sub-areas of the map, to improve the localization. A scheme to resolve conflicts through local communication is presented. We discuss, through experimental and simulation results, two cases of floor cleaning task, and surveillance task, performed by multiple robots. Results show that the proposed scheme enables multiple service robots to perform cooperative tasks intelligently without any explicit programming.

SHP: Smooth Hypocycloidal Paths with Collision-free and Decoupled Multi-robot Path Planning
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 13, 3, SAGE PUBLICATIONS INC, Jun. 2016, [Peer-reviewed]
English, Scientific journal, Generating smooth and continuous paths for robots with collision avoidance, which avoid sharp turns, is an important problem in the context of autonomous robot navigation. This paper presents novel smooth hypocycloidal paths (SHP) for robot motion. It is integrated with collision-free and decoupled multi-robot path planning. An SHP diffuses (i.e., moves points along segments) the points of sharp turns in the global path of the map into nodes, which are used to generate smooth hypocycloidal curves that maintain a safe clearance in relation to the obstacles. These nodes are also used as safe points of retreat to avoid collision with other robots. The novel contributions of this work are as follows: (1) The proposed work is the first use of hypocycloid geometry to produce smooth and continuous paths for robot motion. A mathematical analysis of SHP generation in various scenarios is discussed. (2) The proposed work is also the first to consider the case of smooth and collision-free path generation for a load carrying robot. (3) Traditionally, path smoothing and collision avoidance have been addressed as separate problems. This work proposes integrated and decoupled collision-free multi-robot path planning. 'Node caching` is proposed to improve efficiency. A decoupled approach with local communication enables the paths of robots to be dynamically changed. (4) A novel 'multi-robot map update' in case of dynamic obstacles in the map is proposed, such that robots update other robots about the positions of dynamic obstacles in the map. A timestamp feature ensures that all the robots have the most updated map. Comparison between SHP and other path smoothing techniques and experimental results in real environments confirm that SHP can generate smooth paths for robots and avoid collision with other robots through local communication.

On a Hopping-Points SVD and Hough Transform-Based Line Detection Algorithm for Robot Localization and Mapping
Abhijeet Ravankar, Ankit A. Ravankar, Yohei Hoshino, Takanori Emaru, Yukinori Kobayashi
International Journal of Advanced Robotic Systems, 13, 3, 98, 98, SAGE Publications, 01 May 2016, [Peer-reviewed]
English, Scientific journal, Line detection is an important problem in computer vision, graphics and autonomous robot navigation. Lines detected using a laser range sensor (LRS) mounted on a robot can be used as features to build a map of the environment, and later to localize the robot in the map, in a process known as Simultaneous Localization and Mapping (SLAM). We propose an efficient algorithm for line detection from LRS data using a novel hopping-points Singular Value Decomposition (SVD) and Hough transform-based algorithm, in which SVD is applied to intermittent LRS points to accelerate the algorithm. A reverse-hop mechanism ensures that the end points of the line segments are accurately extracted. Line segments extracted from the proposed algorithm are used to form a map and, subsequently, LRS data points are matched with the line segments to localize the robot. The proposed algorithm eliminates the drawbacks of point-based matching algorithms like the Iterative Closest Points (ICP) algorithm, the performance of which degrades with an increasing number of points. We tested the proposed algorithm for mapping and localization in both simulated and real environments, and found it to detect lines accurately and build maps with good self-localization.

Joint fault diagnosis of legged robot based on acoustic processing
Sarun Chattunyakit, Yukinori Kobayashi, Takanori Emaru
2015 IEEE/SICE International Symposium on System Integration, SII 2015, 169, 174, Institute of Electrical and Electronics Engineers Inc., 10 Feb. 2016
English, International conference proceedings, In legged robot system, certain types of joint faults can lead the entire system unstable since predefined controller cannot function properly after getting damaged. Therefore, the fault diagnosis is an important operation to prevent systems from failures. In this paper, the acoustic-based fault diagnosis for legged robots (AFL) is developed by employing the FFT and fuzzy logic as a feature extraction and a classification, respectively. In the benchmark, the results indicate that the proposed method can detect and inspect the faults of joint efficiently by means of sound, meaning that AFL method is feasible to be utilized and applied in real applications.

Adaptive image-based visual servoing of nonholonomic mobile robot with on-board camera
Nicong Jiang, Jixin Lv, Yukinori Kobayashi, Takanori Emaru
2015 IEEE/SICE International Symposium on System Integration, SII 2015, 983, 988, Institute of Electrical and Electronics Engineers Inc., 10 Feb. 2016
English, International conference proceedings, In this paper, we mainly deal with the image-based visual servoing of nonholonomic mobile robots with onboard camera. The depth-independent interaction matrix is firstly applied and extended in our work, where normalized image coordinates are utilized to estimate unknown information coupling the orientation of mobile robot and the translational component between the feature points and the mobile robot. Then, a image-based adaptive controller is proposed which could handle with time-varying feature depth. Lyapunov theory is carried out for the stability analysis. Both simulation and experiment results are collected to investigate the feasibility of the proposed approach.

Estimation of position and trajectory of a flying ball in 3-D space
Mengze Li, Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
2015 IEEE/SICE International Symposium on System Integration, SII 2015, 443, 448, 10 Feb. 2016
International conference proceedings, This paper proposes an algorithm for estimating the position and trajectory of a flying ball in 3-D space with a RGBD (RGB and Depth) sensor. An integrated ball and its trajectory detection using color-based back projection method is proposed. The k-means clustering is also employed to make the detector more robust even with noise in the background. The integrated detector does not need any type of prior knowledge about the template of the object, and still has a good performance in different lighting conditions, and with low quality images. We introduce a confidence parameter for the work area of the manipulator where it must move to catch the ball. The experimental results suggest that the integrated detector can predict the trajectory of the ball, and also estimate the position in 3-D space with high accuracy.

PSO-based leg-loss identification method for legged robots
Sarun Chattunyakit, Yukinori Kobayashi, Takanori Emaru
Journal of Research and Applications in Mechanical Engineering, 4, 1, 2016, [Peer-reviewed]
English, Scientific journal

Local-behavior determination for an omnidirectional mobile robot using an integration-type sonar ring
T. Emaru, H. Sato, Y. Kobayashi
Journal of Research and Applications in Mechanical Engineering, 4, 1, 2016, [Peer-reviewed]
English, Scientific journal

Indoor Slope and Edge Detection by using Two-Dimensional EKF-SLAM with Orthogonal Assumption
Jixin Lv, Yukinori Kobayashi, Takanori Emaru, Ankit A. Ravankar
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 12, INTECH EUROPE, Apr. 2015, [Peer-reviewed]
English, Scientific journal, In an indoor environment, slope and edge detection is an important problem in simultaneous localization and mapping (SLAM), which is a basic requirement for mobile robot autonomous navigation. Slope detection allows the robot to find areas that are more traversable while the edge detection can prevent robot from falling. Three-dimensional (3D) solutions usually require a large memory and high computational costs. This study proposes an efficient two-dimensional (2D) solution to combine slope and edge detection with a line-segment-based extended Kalman filter SLAM (EKF-SLAM) in a structured indoor area. The robot is designed to use two fixed 2D laser range finders (LRFs) to perform horizontal and vertical scans. With local area orthogonal assumption, the slope and edge are modelled into line segments swiftly from each vertical scan, and then are merged into the EKF-SLAM framework. The EKF-SLAM framework features an optional prediction model that can automatically decide whether the application of iterative closest point (ICP) is necessary to compensate for the dead reckoning error. The experimental results demonstrate that the proposed algorithm is capable of building an accurate 2D map swiftly, which contains crucial information of the edge and slope.

Algoritnms and a Framework for Indoor Robot Mapping in a Noisy Environment using Clustering in Spatial and Hough Domains
Ankit A. Ravankar, Yohei Hoshino, Abhijeet Ravankar, Lv Jixin, Takanori Emaru, Yukinori Kobayashi
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 12, 27, 1, 20, INTECH EUROPE, Mar. 2015, [Peer-reviewed]
English, Scientific journal, Map generation by a robot in a cluttered and noisy environment is an important problem in autonomous robot navigation. this paper presents algorithms and a framework to generate 2D line maps from laser range sensor data using clustering in spatial (Euclidean) and Hough domains in noisy environments. The contributions of the paper are: (1) it shows the applicability of density-based clustering methods and mathematical morphological techniques generally used in image processing for noise removal from laser range sensor data; (2) it presents a new algorithm to generate straight-line maps by applying clustering in the spatial domain; (3) it presents a new algorithm for robot mapping using clustering in a Hough domain; and (4) it presents a new framework to load, delete, install or update appropriate kernels in the robot remotely from the server. The framework provides a means to select the most appropriate kernel and fine-tune its parameters remotely from the server based on online feedback, which proves to be very efficient in dynamic environments with noisy conditions. The accuracy and performance of the techniques presented in this paper are discussed with conventional line segment-based EKE-SLAM and the results are compared.

Vortex-Induced Vibration of an Elastically-Supported Cylinder Considering Random Flow Effects
Koichi IMAOKA, Yukinori KOBAYASHI, Takanori EMARU, Yohei HOSHINO
SICE Journal of Control, Measurement, and System Integration, 8, 2, 131, 138, The Society of Instrument and Control Engineers, Mar. 2015, [Peer-reviewed]
English, Scientific journal, This paper investigates the vortex-induced vibration of a circular cylinder supported by flexible cantilever beams under a uniform air flow. To improve the vortex-induced vibration model, the chaotic phenomena of the vortex are modeled as a random component of the fluid force. Next, the vibration properties of a cylinder supported by a pair of elastic cantilever beams are investigated in wind-tunnel experiments over a wide range of flow speeds. The hysteresis property of the vortex-induced vibration is experimentally investigated under two conditions; the "increase-direction" condition, in which the flow speed is increased, and the "decrease-direction" condition, in which the flow speed is decreased. The time-historical responses of the vortex-induced vibration are measured and subjected to time-frequency analysis revealing the characteristics of the nonlinear coupled vibrations between the fluid and structure. The wake oscillator models with acceleration coupling and random components are evaluated in numerical simulations. The proposed models with random components more closely reproduce the experimental results than the ordinal model.

Motion Generation in Frame Structure for A Limb-Type Robot Including Feature to Avoid Obstacles
Yoshida Shuhei, Kobayashi Yukinori, Emaru Takanori
The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, 2015, 261, 262, The Japan Society of Mechanical Engineers, 2015
English, This paper studies generation of movement of a Limb-Type robot which climbs and goes through frame structure such as a ladder or Jungle-Gym. The proposed method for motion generation is based on Artificial Potential Method (APM) and physical constraints of a robot. Results of simulation show that the joint trajectory of limbs is generated to climb a ladder and to pass between rungs of the ladder. Movement maneuver of this study resolves a kind of complex motion planning of a Limb-Type robot equipped with multiple limbs.

Editorial Essay
EMARU Takanori
Journal of The Society of Instrument and Control Engineers, 54, 6, 446, 446, The Society of Instrument and Control Engineers, 2015
Japanese

Straight Line Segments Extraction and EKF-SLAM in Indoor Environment
Jixin Lv, Yukinori Kobayashi, Ankit A. Ravankar, Takanori Emaru
Journal of Automation and Control Engineering, 2, 3, 270, 276, Sep. 2014, [Peer-reviewed]
English, Scientific journal

Minimum Time-Jerk Trajectory Generation for a Mobile Articulated Manipulator
Guoliang Zhong, Yukinori Kobayashi, Takanori Emaru
JOURNAL OF THE CHINESE SOCIETY OF MECHANICAL ENGINEERS, 35, 4, 287, 296, CHINESE SOC MECHANICAL ENGINEERS, Aug. 2014, [Peer-reviewed]
English, Scientific journal, In this study, we propose a mobile articulated manipulator (MAM) that consists of a suspended three-wheeled platform and a three-link manipulator. Considering the interaction between a suspended platform and a modular manipulator, the system is modeled by a method based on the concept of the direct path method. The Lagrange equation is applied to formulate the dynamic model of the system. To reduce the vibrations of the platform and satisfy motion constraints, the jerk of each joint, which is expressed by the third derivation of the position of the desired joint trajectory with respect to time, is minimized. A new approach based on chaotic particle swarm optimization (CPSO) is developed to find the time-jerk synthetic optimal trajectory of the manipulator using cubic splines. Finally, various simulations for different types of weighting ratios of a cost function are tested using the proposed model. The results reveal the feasibility of the dynamic model and the effectiveness of the presented CPSO method to solve the contradictory problem between high operating efficiency and low mechanical vibrations using limited control energy.

Performance Improvement of PID-DAC-Nonlinear-Compensator by Applying Online System Identification
Takanori EMARU, Hiroto SASAKI, Yohei HOSHINO, Yukinori KOBAYASHI
IEICE Proceeding Series, 1, 191, 194, Mar. 2014, [Peer-reviewed]
English, Scientific journal

Force Redistribution Method for Compensating Actuator-Breakdown of Vibration-Isolation Tables Supported with a Redundant Number of Pneumatic Actuators
Takumi MAEDA, Yohei HOSHINO, Daisuke YOSHIDA, Yukinori KOBAYASHI, Takanori EMARU
Journal of System Design and Dynamics, 7, 4, 355, 366, The Japan Society of Mechanical Engineers, Dec. 2013, [Peer-reviewed]
English, Scientific journal, A force redistribution method for compensating actuator breakdown of vibration-isolation tables is studied. The vibration-isolation table is supported by eight pneumatic actuators and has a redundant number of actuators with respect to the degrees of freedom of table motion. We propose a force redistribution method that utilizes the redundancy of the actuators. In the proposed method, when some of the actuators break down, their output forces are redistributed on the unbroken actuators. We construct a detailed mathematical model in view of the behavior of the vibration-isolation table when some of the actuators break down. A type 1 digital servo system is applied to control the vibration and position of the vibration-isolation table. We perform numerical simulations in which some of the actuators break down at a certain time and the pressure of the broken actuators decreases at a constant rate. The numerical simulations examine the effectiveness of the proposed method.

System modeling and tracking control of mobile manipulator subjected to dynamic interaction and uncertainty
Guoliang Zhong, Yukinori Kobayashi, Yohei Hoshino, Takanori Emaru
Nonlinear Dynamics, 73, 1-2, 167, 182, Jul. 2013, [Peer-reviewed]
English, Scientific journal, Trajectory tracking of a mobile manipulator is a challenging research because of its complex nonlinearity and dynamics. This paper presents an adaptive control strategy for trajectory tracking of a mobile manipulator system that consists of a wheeled platform and a modular manipulator. When a robot system moves in the presence of sliding, it is difficult to accurately track its trajectory by applying the backstepping approach, even if we employ a non-ideal kinematic model. To address this problem, we propose using a combination of adaptive fuzzy control and backstepping approach based on a dynamic model. The proposed control scheme considers the dynamic interaction between the platform and manipulator. To accurately track the trajectory, we propose a fuzzy compensator in order to compensate for modeling uncertainties such as friction and external disturbances. Moreover, to reduce approximation errors and ensure system stability, we include a robust term to the adaptive control law. Simulation results obtained by comparing several cases reveal the presence of the dynamic interaction and confirm the robustness of the designed controller. Finally, we demonstrate the effectiveness and merits of the proposed control strategy to counteract the modeling uncertainties and accurately track the trajectory. © 2013 Springer Science+Business Media Dordrecht.

Optimal control of the dynamic stability for robotic vehicles in rough terrain
Guoliang Zhong, Yukinori Kobayashi, Takanori Emaru, Yohei Hoshino
Nonlinear Dynamics, 73, 1-2, 981, 992, Jul. 2013, [Peer-reviewed]
English, Scientific journal, In this paper, we mount semi-active suspensions between the wheels and platform of a robotic vehicle to absorb the vibrations caused by movement over rough terrain. The semi-active suspension consists of a spring and a magneto-rheological damper. By combining the dynamic model of the suspended robotic vehicle and the control model of the damper, we propose a new methodology to evaluate the dynamic stability of the vehicle. The model considers the configuration of semi-active suspensions and the road-holding ability of robotic vehicles. Based on the stability criterion, we use the particle swarm optimization method to search the optimum semi-active damping characteristics. The control model of the semi-active damper is checked by sinusoidal response analysis. To verify the dynamic stability criterion and the control method, we evaluate the proposed methodology by simulating a rough pavement condition and comparing the effectiveness of the method to a passive suspension. The results show that the proposed stability criterion is feasible, and the optimal control method yields a substantially improved dynamic stability when the vehicle moves through rough terrain. © 2013 Springer Science+Business Media Dordrecht.

Force redistribution method for compensating actuator-breakdown of vibration isolation tables supported with a redundant number of pneumatic actuators
Takumi Maeda, Yohei Hoshino, Daisuke Yoshida, Yukinori Kobayashi, Takanori Emaru
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 79, 801, 1317, 1326, 2013, [Peer-reviewed]
Japanese, Scientific journal, Force redistribution method for compensating actuator-breakdown of vibration isolation tables is studied in this paper. The vibration isolation table is supported by eight pneumatic actuators, and has a redundant number of actuators with respect to degrees of freedom of table motion. We propose a force redistributing method which utilizes redundancy of the actuators. When some of the actuators break down, their output forces are re-distributed on the unbroken actuators by the proposed method. We construct a detailed mathematical model of the vibration isolation table supported by a redundant number of pneumatic actuators. Type 1 digital servo system is applied to control the vibration and position of the vibration isolation table. This study performs numerical simulations in which some of the actuators break down and the pressures of the broken actuators decrease at a constant rate. The effectiveness of the proposed method is examined by numerical simulations. © 2013 The Japan Society of Mechanical Engineers.

Force redistribution method for compensating actuator-breakdown of vibration isolation tables supported with a redundant number of pneumatic actuators
Takumi Maeda, Yohei Hoshino, Daisuke Yoshida, Yukinori Kobayashi, Takanori Emaru
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 79, 801, 1317, 1326, 2013, [Peer-reviewed]
Japanese, Scientific journal, Force redistribution method for compensating actuator-breakdown of vibration isolation tables is studied in this paper. The vibration isolation table is supported by eight pneumatic actuators, and has a redundant number of actuators with respect to degrees of freedom of table motion. We propose a force redistributing method which utilizes redundancy of the actuators. When some of the actuators break down, their output forces are re-distributed on the unbroken actuators by the proposed method. We construct a detailed mathematical model of the vibration isolation table supported by a redundant number of pneumatic actuators. Type 1 digital servo system is applied to control the vibration and position of the vibration isolation table. This study performs numerical simulations in which some of the actuators break down and the pressures of the broken actuators decrease at a constant rate. The effectiveness of the proposed method is examined by numerical simulations. © 2013 The Japan Society of Mechanical Engineers.

Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm
Yizhi GAI, Yukinori KOBAYASHI, Yohei HOSHINO, Takanori EMARU
International Journal of Computer, Information Science and Engineering, 7, 7, 79, 87, 2013, [Peer-reviewed]
English, Scientific journal

A novel nonlinear compensator based on digital acceleration control
Masashi Okuma, Takanori Emaru, Yohei Hoshino, Yukinori Kobayashi
IEEE International Conference on Automation Science and Engineering, 942, 947, IEEE, 2013, [Peer-reviewed]
English, International conference proceedings, In this paper, we propose two nonlinear compensators for controlling mechanical systems. The high nonlinearity of typical multi-body mechanical systems arises form the effects of gravity, friction, joint interactions, and other factors. Such non-linearity limits the accuracy of the proportional-integralderivative (PID) control, but does not affect the integrity of the digital acceleration control (DAC). Previously, we proposed a control system combining PID and DAC (PID-DAC) and confirmed its validity. However, PID-DAC is of limited accuracy when controlling an object with high acceleration. To solve this problem, we modified DAC to compensate for nonlinear effects only. Essentially, the new compensators compensate for nonlinearity while PID controls the object position. The effectiveness of the proposed methods is investigated through experiments on a two-link robot manipulator. The controller performs well in the presence of nonlinear forces, and is easily applied to PID to enhance object control. © 2013 IEEE.

Active Vibration Suppression of Flexible Sprayer-Boom by Sky-Hook with Adaptive Disturbance Cancellation Control Unit
Hoshino, Y, Katayama, K, Kobayashi, Y, Nakanishi, Y, Emaru, T
Journal of System Design and Dynamics, 6, 3, 251, 262, The Japan Society of Mechanical Engineers, 2012, [Peer-reviewed]
English, Scientific journal, This study develops an active vibration control unit for flexible booms for crop spraying. The unit consists of a fly-wheel, servo-motor, gyro sensor, and micro computer, and is termed an Active Wheel Damper (AWD). The AWD can be simply mounted on any flexible boom structure and enables effective damping of vibrations. The study further combines an adaptive disturbance cancellation controller and a sky-hook controller to obtain better vibration suppression performance, and names this controller a Sky-hook with Adaptive Disturbance Cancellation control (SWADC). The effectiveness of the developed vibration suppression unit is demonstrated by experiments of suppression of horizontal vibrations, which are in a direction parallel to the traveling direction of a spraying vehicle, of a flexible boom mounted on the vehicle pulled by a tractor. In the experiments, the AWD increases in damping for the motion of the deflection angle, which is the slope of deflection curve, of the flexible boom to suppress the translational flexible vibrations of the boom.

Approaches Based on Particle Swarm Optimization for Problems of Vibration Reduction of Suspended Mobile Robot with a Manipulator　　　　　　　　　　　　　　　
Zhong, G, Kobayashi, Y, Emaru, T, Hoshino, Y
Journal of Vibration and Control, 2012, [Peer-reviewed]
English, Scientific journal

Sky-hook with adaptive disturbance cancellation control for flexible structures by active vibration control unit
Yohei Hoshino, Kyohei Katayama, Yukinori Kobayashi, Takanori Emaru, Yosuke Nakanishi
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 78, 789, 1485, 1496, 2012, [Peer-reviewed]
Japanese, International conference proceedings, This study presents Active Wheel Damper (AWD) unit which can be fixed on the flexible structures such as cantilever beam with ease. The AWD uses a gyro sensor to measure the absolute angular velocity due to the vibration of deflection of the structure directly, and can construct sky-hook control with no difficulty by direct feedback of the angular velocity. In this study, Sky-hook With Adaptive Disturbance Cancellation (SWADC) control, which is constructed as a combined control system of sky-hook control and adaptive disturbance cancellation control, is also proposed to enhance the performance of vibration suppression of AWD unit. Adaptive algorithm, which can estimate the frequency of the vibration of the structure in real-time, is derived based on adaptive notch filter algorithm, and estimated frequency is used for the model of disturbance observer which estimates harmonic disturbance. Performance of vibration suppression of the AWD is shown by simulation and experiment in this study. © 2012 The Japan Society of Mechanical Engineers.

Sky-Hook with Adaptive Disturbance Cancellation Control for Flexible Structures with an Active Vibration Control Unit
Hoshino, Y, Katayama, K, Kobayashi, Y, Emaru, T, Nakanishi, Y
Journal of System Design and Dynamics, 6, 5, 626, 640, The Japan Society of Mechanical Engineers, 2012, [Peer-reviewed]
English, This study presents an Active Wheel Damper (AWD) unit that can be easily mounted on flexible structures such as cantilever beams. The AWD uses a gyro sensor to directly measure the absolute angular velocity, which is the rotational velocity of the slope angle of a deflection curve caused by the flexible vibration of the structure, and can be used to realize a skyhook control by the direct feedback of the angular velocity. This study proposes a Sky-hook With Adaptive Disturbance Cancellation (SWADC) control—which is constructed as a combined skyhook control and an adaptive disturbance cancellation control system—to enhance the capability of the AWD unit to suppress vibrations. An adaptive algorithm, which estimates the frequency of vibration of a structure in real time, is derived on the basis of an adaptive notch filter algorithm. The estimated frequency is used to model a disturbance observer that estimates harmonic disturbances. This study demonstrates the vibration-suppression performance of the AWD unit by numerical simulations and experiments.

Robot Mapping Using k-means Clustering Of Laser Range Sensor Data
Ravankar, A.A, Hoshino, Y, Emaru, T, Kobayashi, Y
Bulletin of Networking, Computing, Systems, and Software, 1, 1, 9, 12, 2012
English, Scientific journal

Trajectory tracking of Wheeled Mobile Robot with a manipulator considering dynamic interaction and modeling uncertainty
Guoliang Zhong, Yukinori Kobayashi, Takanori Emaru, Yohei Hoshino
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 7507, 2, 366, 375, Springer, 2012, [Peer-reviewed]
English, International conference proceedings, This paper proposes an adaptive control strategy for trajectory tracking of a Wheeled Mobile Robot (WMR) which consists of a suspended platform and a manipulator. When the WMR moves in the presence of friction and external disturbance, the trajectory can hardly be tracked accurately by applying the backstepping approach. For addressing this problem, considering the dynamic interaction, a dynamic model of the system is constructed by using Direct Path Method (DPM). An adaptive fuzzy control combined with backstepping approach based on the dynamic model is proposed. To track the trajectory accurately, a fuzzy compensator is proposed to compensate modeling uncertainty such as friction and external disturbance. Moreover, to reduce the approximation error and ensure the system stability, a robust term is added to the adaptive control law. Simulation results show the effectiveness and merits of the proposed control strategy in the counteraction of modeling uncertainty and the trajectory tracking. © Springer-Verlag Berlin Heidelberg 2012.

Decomposed Dynamic Control for Flexible Manipulator in Consideration of Nonlinearity -Flexible Dynamic Control-:-Flexible Dynamic Control-
YIN Haibin, KOBAYASHI Yukinori, HOSHINO Yohei, EMARU Takanori
JSDD, 5, 2, 1, 230, The Japan Society of Mechanical Engineers, 2011, [Peer-reviewed]
English, The dynamic processes of a flexible manipulator consist of flexible and rigid motion components. The dynamic equations expressing the motion can be divided into two corresponding subsets, and a decomposed dynamic control (DDC) is proposed for the design of a controller for a flexible manipulator. The DDC is composed of flexible dynamic control and rigid dynamic control: the flexible dynamic control involves developing a desired trajectory through considerations of the physical properties of the device based on a feed-forward strategy; the rigid dynamic control aims at tracking the desired trajectory based on a feedback strategy. This report mainly investigates the flexible dynamic control which searches for a desired trajectory considering nonlinearity. An optimization method applying the Nelder-Mead simplex (NM) algorithm is proposed to obtain the desired trajectory. Numerical simulation and experimental results show that the optimization can deal with the extremely nonlinear problems. Additionally, the conclusion that optimization is strongly dependent on the accuracy of the model is possible, for further research, a more robust controller will be investigated.

Modeling and Vibration Analysis of Flexible Robotic Arm under Fast Motion in Consideration of Nonlinearity
YIN Haibin, KOBAYASHI Yukinori, HOSHINO Yohei, EMARU Takanori
JSDD, 5, 5, 909, 924, The Japan Society of Mechanical Engineers, 2011, [Peer-reviewed]
English, This paper deals with a problem of modeling and vibration analysis of a flexible robotic arm under fast motion. Conventional method of modeling does not exactly express the bending mechanism of a flexible beam. Then a new description of deformation on the flexible shaft and Hamilton's principle are used to derive the dynamic model of the flexible robotic arm. A nonlinear dynamic model is proposed to describe the dynamic behavior of the flexible beam and the dynamic equations of the flexible robotic arm are also presented. Derived equations consist of some nonlinear forces and nonlinear stiffness. The present research considers the effect from those nonlinear forces coupling with angular functions (angular position, velocity, acceleration). A forced vibration method is applied to evaluate the characteristics of flexible vibration. In this research, numerical calculations based on two strategies are applied to analyze the flexible vibration. In the first strategy (AIM, angle independent method), angles of joints are assumed to be independent of the external forces. In the second strategy (ADM, angle dependent method), the effect on the angular functions of joints due to the external forces is considered. Especially, the gravity affects significantly on the residual vibration of flexible robotic arm and on the angular functions.

Speed Control of a Sonar-Based Mobile Robot by Considering the Limitation of Accelerated Velocity
EMARU Takanori, HOSHINO Yohei, KOBAYASHI Yukinori
JSDD, 4, 1, T1-08-0339, 49, The Japan Society of Mechanical Engineers, 2010, [Peer-reviewed]
English, In an autonomous mobile robot, ultrasonic time-of-flight (TOF) ranging systems are widely used for distance measurements. However, ultrasonic TOF ranging systems tend to neglect infinitesimal reflected waves below a threshold level. Therefore, we have proposed an integration-type ultrasonic wave sensor that utilizes the integration value of the sonar's reflected wave to recognize a traversable area for an autonomous mobile robot. The proposed method simultaneously determines the path and velocity; however, the calculated velocity varies significantly because of sensor noise or error. This paper presents a novel approach to filter the velocity by considering the accelerated velocity. This enables us to consider the limitation of the force exerted by the robot. The validity of the proposed method is investigated in various environments by applying this method to an autonomous mobile robot.

Speed Control of a Sonar-Based Mobile Robot Considering the Limitation of Acceleration(Mechanical Systems)
EMARU Takanori, HOSHINO Yohei, KOBAYASHI Yukinori
Transactions of the Japan Society of Mechanical Engineers. C, 75, 751, 666, 672, 一般社団法人日本機械学会, Mar. 2009, [Peer-reviewed]
Japanese, For autonomous mobile robot, ultrasonic Time-of-flight (TOF) ranging systems are widely used to measure distance. However, ultrasonic TOF ranging systems tend to neglect minute reflected waves below the threshold level. Therefore, we have proposed the integration-type ultrasonic wave sensor which utilizes the integration value of sonar's reflected wave to recognize travelable area for autonomous mobile robot. The proposed method determines the pass and desired velocity simultaneously, but the calculated desired velocity changes significantly because of noise or error of the ultrasonic wave sensor. This paper presents the novel way to filter the velocity with considering the acceleration. By considering the acceleration, we can take the limitation of driving force of robot into consideration. The validity of the proposed method is investigated by applying the method to autonomous mobile robot in various environment.

Estimation of Velocity and Acceleration by Nonlinear Filter Based on Sliding Mode and Application to Control System　　　　　　　　　　　　　　　
Journal of Robotics and Mechatronics, 21, 5, 590, 596, 2009, [Peer-reviewed]

Estimation of velocity and acceleration by nonlinear filter using sliding mode and application to control systems
Takanori Emaru, Kazuo Imagawa, Yohei Hoshino, Yukinori Kobayashi
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 75, 757, 2547, 2552, Japan Society of Mechanical Engineers, 2009, [Peer-reviewed]
Japanese, Scientific journal, PID controlers are generally used to control mechanical systems. PID controlers, however, have a limit of robustness because of the influence of gravity, friction, and interaction of joints which cause modeling errors. A digital acceleration control has robustness for the modeling error. Therefore, the digital acceleration control is more effective than PID control. But it requires position, velocity, and acceleration of a controlled object to construct the controller. Information of velocity and acceleration cannot be always obtained in mechanical systems. Furthermore, it is desirable that the number of sensors is reduced for the purpose of cost and maintenance. To solve this problem, the system that Estimates the Smoothed and Differential value by using Sliding mode (ESDS) is employed. The ESDS enables digital acceleration control without increasing the number of sensors. This paper shows the results of the proposed control method by using a horizontal planar 2-link manipulator.

Frequency response analysis of a rectangular plate subjected to point force by using transfer matrix method
Kotaro Ishiguri, Yukinori Kobayashi, Yohei Hoshino, Takanori Emaru
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 75, 753, 1234, 1243, Japan Society of Mechanical Engineers, 2009, [Peer-reviewed]
Japanese, Scientific journal, This paper presents a numerical method to investigate the frequency response of a rectangular plate. When we use the transfer matrix method to calculate frequency response of plates, exciting force is limited to a line force and applicable object is also restricted. To expand the range of application of the transfer matrix method, we propose a method to calculate modal parameters from free vibration analysis by using the transfer matrix method. Modal mass is calculated by numerical integration from modal vectors. We have applied this method to calculate the frequency response of plates. Comparing the results obtained from the proposed method and finite element method, characteristics of the frequency response of both methods agree with each other. Calculation process of the proposed method has an advantage of computational efficiency. As a result, it is possible to be a powerful way to execute parametric studies.

加速度の上限を考慮した超音波センサ移動ロボットの速度制御
日本機械学会論文集C編, 75, 751, 666, 672, 2009, [Peer-reviewed]

Frequency response analysis of a rectangular plate subjected to point force by using transfer matrix method
Kotaro Ishiguri, Yukinori Kobayashi, Yohei Hoshino, Takanori Emaru
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 75, 753, 1234, 1243, Japan Society of Mechanical Engineers, 2009, [Peer-reviewed]
Japanese, Scientific journal, This paper presents a numerical method to investigate the frequency response of a rectangular plate. When we use the transfer matrix method to calculate frequency response of plates, exciting force is limited to a line force and applicable object is also restricted. To expand the range of application of the transfer matrix method, we propose a method to calculate modal parameters from free vibration analysis by using the transfer matrix method. Modal mass is calculated by numerical integration from modal vectors. We have applied this method to calculate the frequency response of plates. Comparing the results obtained from the proposed method and finite element method, characteristics of the frequency response of both methods agree with each other. Calculation process of the proposed method has an advantage of computational efficiency. As a result, it is possible to be a powerful way to execute parametric studies.

Estimation of velocity and acceleration by nonlinear filter using sliding mode and application to control systems
Takanori Emaru, Kazuo Imagawa, Yohei Hoshino, Yukinori Kobayashi
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 75, 757, 2547, 2552, Japan Society of Mechanical Engineers, 2009, [Peer-reviewed]
Japanese, Scientific journal, PID controlers are generally used to control mechanical systems. PID controlers, however, have a limit of robustness because of the influence of gravity, friction, and interaction of joints which cause modeling errors. A digital acceleration control has robustness for the modeling error. Therefore, the digital acceleration control is more effective than PID control. But it requires position, velocity, and acceleration of a controlled object to construct the controller. Information of velocity and acceleration cannot be always obtained in mechanical systems. Furthermore, it is desirable that the number of sensors is reduced for the purpose of cost and maintenance. To solve this problem, the system that Estimates the Smoothed and Differential value by using Sliding mode (ESDS) is employed. The ESDS enables digital acceleration control without increasing the number of sensors. This paper shows the results of the proposed control method by using a horizontal planar 2-link manipulator.

Estimation of velocity and acceleration by nonlinear filter using sliding mode and application to control systems
Takanori Emaru, Kazuo Imagawa, Yohei Hoshino, Yukinori Kobayashi
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 75, 757, 2547, 2552, Japan Society of Mechanical Engineers, 2009
Japanese, Scientific journal, PID controlers are generally used to control mechanical systems. PID controlers, however, have a limit of robustness because of the influence of gravity, friction, and interaction of joints which cause modeling errors. A digital acceleration control has robustness for the modeling error. Therefore, the digital acceleration control is more effective than PID control. But it requires position, velocity, and acceleration of a controlled object to construct the controller. Information of velocity and acceleration cannot be always obtained in mechanical systems. Furthermore, it is desirable that the number of sensors is reduced for the purpose of cost and maintenance. To solve this problem, the system that Estimates the Smoothed and Differential value by using Sliding mode (ESDS) is employed. The ESDS enables digital acceleration control without increasing the number of sensors. This paper shows the results of the proposed control method by using a horizontal planar 2-link manipulator.

Speed control of a sonar-based mobile robot considering the limitation of acceleration
Takanori Emaru, Yohei Hoshino, Yukinori Kobayashi
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 75, 751, 666, 672, Japan Society of Mechanical Engineers, 2009
Japanese, Scientific journal, For autonomous mobile robot, ultrasonic Time-of-flight (TOF) ranging systems are widely used to measure distance. However, ultrasonic TOF ranging systems tend to neglect minute reflected waves below the threshold level. Therefore, we have proposed the integration-type ultrasonic wave sensor which utilizes the integration value of sonar's reflected wave to recognize travelable area for autonomous mobile robot. The proposed method determines the pass and desired velocity simultaneously, but the calculated desired velocity changes significantly because of noise or error of the ultrasonic wave sensor. This paper presents the novel way to filter the velocity with considering the acceleration. By considering the acceleration, we can take the limitation of driving force of robot into consideration. The validity of the proposed method is investigated by applying the method to autonomous mobile robot in various environment.

Velocity and Acceleration Estimation by a Nonlinear Filter Based on Sliding Mode and Application to Control System.
Takanori Emaru, Kazuo Imagawa,Array, Yukinori Kobayashi
JRM, 21, 5, 590, 596, 2009, [Peer-reviewed]

超音波センサ ソナーを用いたロボットの通行可能領域検出--距離値と反射波の積分値を利用した問題解決
江丸 貴紀
超音波techno, 20, 5, 61, 64,119, 日本工業出版, Sep. 2008
Japanese

超音波センサによる距離値および反射波の積分値を利用した自律移動ロボットの通行可能領域検出法
日本機械学会論文集C編, 74, 737, 98, 107, 2008, [Peer-reviewed]

Strategy of Finding the Travelable Area for Autonomous Mobile Robot Using Distance and Integration Value Obtained By Ultrasonic Wave Sensor(Mechanical Systems)
EMARU Takanori, TANAKA Kazuo, TSUCHIYA Takeshi
Transactions of the Japan Society of Mechanical Engineers. C, 74, 737, 98, 107, 一般社団法人日本機械学会, Jan. 2008, [Peer-reviewed]
Japanese, The ultrasonic TOF (Time-of-flight) ranging system is today the most common sensing system employed in indoor mobile robotic systems, primary due to the ready availability of low-cost systems, their small size, simple circuits, and their ease of interfacing with computers. TOF ranging systems measure the round-trip time required for a pulse of emitted energy to travel to a reflecting object, then echo back to a receiver. However, ultrasonic TOF ranging systems tend to neglect minute reflected waves below the threshold level. In this paper, we propose a novel approach to utilize the minute reflected waves by integrating the reflected waves. It is implemented using a transducer with scanning system, and has a great ability of finding the travelable area for a robot in environments in which the distance cannot be obtained precisely. The proposed system is constructed by simple way so as to improve the utility value of sonar. The validity of the proposed method is investigated by applying this method to autonomous mobile robot in various environments such as environment with multiple obstacles, in the end of the hall, and so on.

Development of a cyclogyro-based flying robot with variable attack angle mechanisms
Kazuo Tanaka, Ryohei Suzuki, Takanori Emaru, Yoshiyuki Higashi, Hua O. Wang
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 12, 5, 565, 570, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, Oct. 2007, [Peer-reviewed]
English, Scientific journal, This paper presents an experimental study on the development of a cyclogyro-based flying robot with a new variable angle of attack mechanism. A cyclogyro is a flying machine supported in the air by power-driven rotors that rotate about a horizontal axis, like the paddle-wheels of a steamboat. Machines of this type have been designed by some companies but there has been no record of any successful flights. Our design starts with a new variable angle of attack mechanism with an eccentric (rotational) point in addition to a rotational point connecting to a motor. The main feature of the mechanism with the eccentric rotational point is the ability to change attack of angles in accordance with the wing positions (as determined by the rotational angles of the cyclogyro) without actuators. The design parameters (wing span, the number of wings, and eccentric distance) of the flying robot are determined through a series of experiments. Experimental results show that the cyclogyro-based flying robot with the new variable angle of attack mechanism is capable of generating sufficient lift force for flying.

Decision Making for a Mobile Robot Using Potential Function.
Kazumi Oikawa, Hidenori Takauji, Takanori Emaru, Takeshi Tsuchiya, Shigenori Okubo
JRM, 19, 3, 298, 307, 2007, [Peer-reviewed]

Navigation Using Local Landmarks in a Corridor Environment
Journal of Robotics and Mechatronics, 17, 3, 262, 268, 2005, [Peer-reviewed]

A Cyclogyro-based Flying Robot with Variable Attack Angle Mechanism
TANAKA Kazuo, HASE Takuya, EMARU Takanori
Journal of the Robotics Society of Japan, 22, 7, 920, 923, 一般社団法人 日本ロボット学会, Oct. 2004, [Peer-reviewed]
Japanese, We develop a cyclogyro-based flying robot with a new variable attack angle mechanism. Cyclogyro is a flying machine which is supported in the air by power-driven rotors, which rotate about a horizontal axis, like the paddlewheels of a steamboat. Machines of this type have been designed by some companies, but there is no record of any successful flights. The proposed new variable attack angle mechanism has an eccentric point that is different from a rotational point. The main feature of the mechanism is to be able to change attack of angles according to the rotational angles of the cyclogyro without actuators. The lift and drag forces of the robot are calculated and measured through simulations and experiments. The simulation and experimental results show that the new mechanism generates positive lift forces at any rotational angles of the cyclogyro.

Research on Signal Tracking Performance of Nonlinear Digital Filter ESDS
EMARU Takanori, TSUCHIYA Takeshi
Transactions of the Japan Society of Mechanical Engineers. C, 70, 696, 2352, 2359, 一般社団法人日本機械学会, Aug. 2004, [Peer-reviewed]
Japanese, We have proposed a new technique to estimate the smoothed and differential values of the sensor inputs by using sliding mode system (ESDS). ESDS is one of the nonlinear digital filters, and it works very effectively to eliminate the impulsive noise by keeping the sudden shift of signals. However, because ESDS is nonlinear system, it is very difficult to clarify the behavior of system analytically. In this paper, we clarify the signal tracking performance of ESDS by performing phase plane analysis. As input signal, we assume the step function, direct function and quadratic function, and we show the signal tracking performance with discrete representation. At the same time, we discuss the limitation of its analysis by using phase plane.

Sensor for Autonomous Robot
江丸 貴紀
Journal of Japan Society for Fuzzy Theory and Intelligent Informatics, 16, 3, 238, 238, 日本知能情報ファジィ学会, Jun. 2004, [Peer-reviewed]
Japanese

非線形ディジタルフィルタESDSの追従性能に関する考察
日本機械学会論文集C編, 70, 696, 2352, 2359, 2004, [Peer-reviewed]

インパルス性雑音除去フィルタの計算高速化手法
日本機械学会論文集C編, 70, 689, 62, 68, 2004, [Peer-reviewed]

Resolve crosstalk of sonar by applying non-linear filter based on sliding mode technique　　　　　　　　　　　　　　　
Journal of Robotics and Mechatronics, 16, 6, 587, 596, 2004, [Peer-reviewed]

A Cyclogyro-based Flying Robot with Variable Attack Angle Mechanism
TANAKA Kazuo, HASE Takuya, EMARU Takanori
JRSJ, 22, 7, 920, 923, The Robotics Society of Japan, 2004
Japanese, We develop a cyclogyro-based flying robot with a new variable attack angle mechanism. Cyclogyro is a flying machine which is supported in the air by power-driven rotors, which rotate about a horizontal axis, like the paddlewheels of a steamboat. Machines of this type have been designed by some companies, but there is no record of any successful flights. The proposed new variable attack angle mechanism has an eccentric point that is different from a rotational point. The main feature of the mechanism is to be able to change attack of angles according to the rotational angles of the cyclogyro without actuators. The lift and drag forces of the robot are calculated and measured through simulations and experiments. The simulation and experimental results show that the new mechanism generates positive lift forces at any rotational angles of the cyclogyro.

Fast Calculating Method for Eliminating the Impulsive Noise
EMARU Takanori, TSUCHIYA Takeshi, TANAKA Kazuo
Transactions of the Japan Society of Mechanical Engineers. C, 70, 689, 62, 68, 一般社団法人日本機械学会, Jan. 2004, [Peer-reviewed]
Japanese, In this paper, we propose the fast calculating method for eliminating the impulsive noise by using the non-linear digital filter, ESDS. In our research, we have proposed a new technique to estimate the smothed value and the differential value by using sliding mode system (ESDS). It works effectively to eliminate the impulsive noise. The system of it is represented by differential equations, and we have used Runge-Kutta (RK) methods in order to solve them. RK methods require heavy calculation, and it requires high-performance processor in order to calculate rapidly. Consequentially, by using the knowledge of the phase plain, it becomes possible to reduce the calculated amount of our proposed method. The experimental results show the our filter with RK method needs plenty of time for calculation, but that with the fast calculating method needs little time.

Speed Control of a Sonar-Based Mobile Robot By Using Integration-Type Ultrasonic Wave Sensor(Sensing and Data Fusion,Session: MA1-A)
EMARU Takanori, TANAKA Kazuo, TSUCHIYA Takeshi
The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, 2004, 19, 19, The Japan Society of Mechanical Engineers, 2004
English

Research on parameter determination for smoothed and differential value estimator
T Emaru, T Tsuchiya
IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E86A, 7, 1732, 1741, IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG, Jul. 2003, [Peer-reviewed]
English, Scientific journal, In our previous research, we proposed a nonlinear digital filter to Estimate the Smoothed and Differential values of the sensor inputs by using Sliding mode system (ESDS). This estimator is able to eliminate impulsive noise efficiently from time series data. We applied this filter to processing outputs of robot sensors, and it became possible to perform robust environment recognition. ESDS is designed using a theory of variable structure system (VSS) with sliding mode. In short, ESDS is a nonlinear filter. Therefore, it is very difficult to clarify the behavior of the system analytically. Consequentially, we deal with the step function with impulsive noise as an example, and we attempt to eliminate this impulsive noise by keeping the sudden shift of signals. In this case, there is a trade-off between the noise elimination ability and the tracking performance for an input signal. Although ESDS is a nonlinear filter, it has the same trade-off as linear filters such as a low-pass filter. In order to satisfy these two conditions simultaneously, we use two filters whose parameters are independent of each other. Furthermore, in order to repress the adverse affect of impulsive noise in the steady-state, we introduced the boundary layer. Generally, a boundary layer is used so as to inhibit the harmful effect of chattering. Chattering is caused in the sliding mode system when the state of the system vibrates on the switching line of a sliding mode system. By introducing the boundary layer to ESDS, we can repress the adverse effect of impulsive noise in the steady-state. According to these considerations, we clarify the relationship between these characteristics of ESDS and the arbitrary parameters.

Research on estimating smoothed value and differential value by using sliding mode system
T Emaru, T Tsuchiya
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 19, 3, 391, 402, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, Jun. 2003
English, Scientific journal, To be able to recognize an environment, a robot should have as many sensors as possible. When we use sensors, we must consider. the characteristics of the sensors, such as range, processing time, error, and so on. In this paper, we focus on the ultrasonic wave sensor that is today the most common sensor employed on indoor mobile robotic systems, and we propose a new technique for estimating the smoothed value and the differential Value of the distances measured by the ultrasonic wave sensor. In proposing this system, we take the characteristics of the sensors mentioned above into consideration. In spite of the many methods proposed, it is still very difficult to eliminate the noise of sonar completely. Therefore, we smooth the distance value by assuming the continuity of the signal obtained by the sonar, and taking advantage of this continuity, we compose a robust estimator. The estimator is based on the sliding mode system.

Research on Estimating Smoothed Value and Differential Value of Sensor Inputs-- Application to Ultrasonic Wave Sensor (Special Issue on the Application of Signal Processing(2))
Emaru Takanori, Tsuchiya Takeshi
Journal of signal processing, 7, 1, 51, 60, 〔信号処理学会〕, 2003
English

System Configuration of Smoothed and Differential Value Estimator by Using Linear and Sliding Mode System
EMARU Takanori, TSUCHIYA Takeshi
Transactions of the Japan Society of Mechanical Engineers. C, 68, 675, 3260, 3267, The Japan Society of Mechanical Engineers, 25 Nov. 2002
Japanese, In our conventional research, we proposed a new technique to Estimate the Smoothed value and the Differential value of the sensor inputs by using Sliding mode system (ESDS). ESDS is one of the nonlinear digital filters, and it works very effectively to eliminate the impulsive noises by keeping the sudden shift of signals. In order to construct ESDS, we require the system that is globally uniform asymptotically stable at the origin. As the stable system, sliding mode system that has nonlinear switching function is used in order to compose ESDS. This sliding mode system is known as minimum time system, and it converges from the arbitrary initial states to the convergence point in minimum time. In this paper, we apply linear system and sliding mode system that has linear switching line to construct ESDS. As a result, we clarify the validity of our theorem and characteristics of ESDS.

非線形ディジタルフィルタESDSの画像データへの応用--インパルス性雑音により劣化した画像の復元 (信号処理の応用特集号(1))
江丸 貴紀, 根岸 典央, 土谷 武士
信号処理, 6, 6, 373, 381, 〔信号処理学会〕, Nov. 2002
Japanese

解説 移動ロボット用超音波センサの混信回避--非線形ディジタルフィルタESDS適用と問題解決
江丸 貴紀, 土谷 武士
超音波techno, 14, 5, 73, 76, 日本工業出版, Sep. 2002
Japanese

(14)超音波センサ信号の平滑化・微分値推定に関する研究
江丸 貴紀
日本機械学會誌, 105, 1002, 308, 308, 一般社団法人日本機械学会, 05 May 2002
Japanese

Avoiding Crosstalk of Sonar by Using Sliding Mode System
EMARU Takanori, TSUCHIYA Takeshi
Transactions of the Japan Society of Mechanical Engineers. C, 68, 667, 862, 869, The Japan Society of Mechanical Engineers, 25 Mar. 2002
Japanese, For autonomous mobile robots, sensors are very important to recognize an environment. In this paper, we pick up ultrasonic wave sensor, which today is the most common technique employed on indoor mobile robotic systems, and we propose a new technique to avoid crosstalk of sonar sensors. Even though many methods have been proposed to avoid crosstalk, it is very difficult to eliminate the influence of crosstalk perfectly. In this paper, supposing the continuity of the distance signal given by the sonar, we smooth the distance value. The estimator is based on the sliding mode system.

Theoretical Study of ESDS by Using Phase Plane
EMARU Takanori, TSUCHIYA Takeshi
Transactions of the Japan Society of Mechanical Engineers. C, 68, 666, 454, 459, The Japan Society of Mechanical Engineers, 25 Feb. 2002
Japanese, In our conventional research, we proposed a new technique to Estimate the Smoothed value and the Differential value of the sensor inputs by using Sliding mode system (ESDS). We smooth the distance value by supposing the continuity of the signal that is obtained by the sonar, and taking advantage of this continuity, we compose an robust estimator. This estimator is based on the sliding mode system. In our proposed method, there is trade off between the ability of noise elimination and the characteristics of chasing the signal. In this paper, we discuss the ability of noise elimination that ESDS has by finding the solution trajectory in the phase plane. At the same time, we discuss the characteristics of chasing the signal by using solution trajectory. According to these consideration, we clarify the relation between these characteristics and the arbitrary parameters.

線形システム・スライディングモードシステムを利用した平滑値・微分値推定フィルタの構成とその比較
日本機械学会論文集C編, 68, 675, 3260, 3267, 2002

スライディングモードシステムを用いた超音波センサの混信回避
日本機械学会論文集C編, 68, 667, 862, 869, 2002

位相面を利用したESDSの理論的検討
日本機械学会論文集C編, 68, 666, 454, 459, 2002

非線形ディジタルフィルタESDSの画像データへの応用 -インパルス性雑音により劣化した画像の復元-
江丸 貴紀, 根岸 典央, 土谷 武士
Journal of Signal Processing, 6, 6, 373, 382, 〔信号処理学会〕, 2002
Japanese

Application of nonlinear digital filter ESDS to image processing -Restoration of image corrupted by salt-pepper impulsive noise-　　　　　　　　　　　　　　　
6, 6, 373, 382, 2002

How to Decide the Parameters of ESDS
EMARU Takanori, TSUCHIYA Takeshi
Transactions of the Japan Society of Mechanical Engineers. C, 67, 664, 3844, 3849, The Japan Society of Mechanical Engineers, 25 Dec. 2001
Japanese, In our previous research, we proposed a new technique to Estimate the Smoothed value and the Differential value of the sensor inputs by using Sliding mode system (ESDS). This filter is able to eliminate the impulsive noise efficiently. However, because ESDS is nonlinear system, it is very difficult to clarify the behavior of system analytically. Consequentially, we deal with the step function with impulsive noise as an example, and we attempt to eliminate this impulsive noise by keeping the sudden shift of signals. According to these considerations, we clarify the relation between the characteristics of ESDS and the arbitrary parameters.

ESDSのパラメータ設計手法　　　　　　　　　　　　　　　
日本機械学会論文集C編, 67, 664, 3844, 3849, 2001

Theoretical study of ESDS by using phase plane
T Emaru, T Tsuchiya
2001 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, 102, 107, IEEE, 2001, [Peer-reviewed]
English, International conference proceedings, In our previous research, we proposed a new technique to Estimate the Smoothed value and the Differential value of the sensor inputs by using Sliding mode system (ESDS). We smooth the distance value by supposing the continuity of the signal that is obtained by the sonar, and taking advantage of this continuity, we compose a robust estimator. This estimator is based on the sliding mode system. In our proposed method, there is trade-off between the ability of noise elimination and the tracking performance for input signal. In this paper, we discuss the ability of noise elimination that ESDS has by finding the solution trajectory in the phase plane. At the same time, we discuss the signal tracking performance by using the solution trajectory. According to these consideration, we clarify the relation between these characteristics and the arbitrary parameters.

Research on Estimating the Smoothed Value and the Differential Value of the Sensor Inputs by Using Sliding Mode System : Application to Ultrasonic Wave Senser
EMARU Takanori, TSUCHIYA Takeshi
Transactions of the Japan Society of Mechanical Engineers. C, 66, 652, 3947, 3954, The Japan Society of Mechanical Engineers, 25 Dec. 2000
Japanese, To recognize an environment, the robot should have as many sensors as possible. When we use sensors, we must consider the characteristics of the sensors, such as range, processing time, error, and so on. In this paper, we pick up ultrasonic wave sensor that is today the most common technique employed on indoor mobile robotic systems, and we propose a new technique to estimate the smoothed value and the differential value of the distance measured by a ultrasonic wave sensor. When we propose this system, we take these restrictions above mentioned into consideration In spite of many methods are proposed, it is very difficult to eliminate the noise of sonar perfectly. Therefore, we smooth the distance value by supposing the continuity of the signal which is obtained by the sonar, and take advantage of this continuity, we compose an estimator. The estimator is based on the sliding mode system, we can realize the robust estimator.

スライディングモードを利用したセンサ情報に対する平滑化および微分値推定法(超音波センサへの適用)
日本機械学会論文集C編, 66, 652, 3947, 3954, 2000

Avoid crosstalk of sonar by using sliding mode system
T Emaru, T Tsuchiya
IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4, 2377, 2382, IEEE, 2000, [Peer-reviewed]
English, International conference proceedings, For autonomous mobile robots, sensors are very important to recognize an environment. In this paper, we pick up ultrasonic wave sensor, which today is the most common technique employed on indoor mobile robotic systems, and we propose a new technique to avoid crosstalk of sonar sensors. Even though many methods have been proposed to avoid crosstalk, it is very difficult to eliminate the influence of crosstalk perfectly. In this paper, supposing the continuity of the distance signal given by the sonar, we smooth the distance value. The estimator is based on the sliding mode system.

Research on Estimating the Smoothed Value and the Differential Value of the Sensor Inputs by Using Sliding Mode System -Application to Ultrasonic Wave Sensor-
Takanori EMARU, Takeshi TSUCHIYA
Transactions of the Japan Society of Mechanical Engineers, Series C, 66, 652, 3947, 3954, 2000

High-precision map generation using AR makers for infrastructure maintenance
日向涼, 江丸貴紀, RAVANKAR Ankit A., 計測自動制御学会北海道支部学術講演会論文集, 53rd, 2021

Proposal of improving scan matching method using sparse LiDAR information for high-precision SLAM
高野睦巳, 江丸貴紀, RAVANKAR Ankit A., 計測自動制御学会北海道支部学術講演会論文集, 53rd, 2021

Proposal of Ridge Detection Method and Control System for Autonomous Weeding Robot
井内悠介, 江丸貴紀, RAVANKAR Ankit A., 計測自動制御学会北海道支部学術講演会論文集, 53rd, 2021

Human Detection in Snowfall Environments using Low-Resolution Thermographic Camera
高橋悠人, 江丸貴紀, RAVANKAR Ankit A., 計測自動制御学会北海道支部学術講演会論文集, 53rd, 2021

Monocular Visual SLAM using Thermographic Camera in Snowfall Environment
中出崚太, 江丸貴紀, RAVANKAR Ankit A., 計測自動制御学会北海道支部学術講演会論文集, 53rd, 2021

Applying Visual-SLAM to manage Large Field using UAV
竹内一真, 江丸貴紀, RAVANKAR Ankit A., 計測自動制御学会北海道支部学術講演会論文集, 53rd, 2021

Generation of Three-Dimensional Flight Paths in Automatic Spectrum Measurement System Using UAVs
本間貫太, 江丸貴紀, RAVANKAR Ankit, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 21st, 2020

Gimbal control in an automatic spectrum measurement system using UAV
YANG Yanfeng, 江丸貴紀, RAVANKAR Ankit A., 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 21st, 2020

Improvement of Localization Performance Using Scan Matching in Snowy Environment
小渕雅弘, 江丸貴紀, RAVANKAR Ankit A., 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 21st, 2020

Robust Pedestrian Detection System Using LiDAR in Snow Removal on Sidewalks
佐々木祐太, 江丸貴紀, RAVANKAR Ankit A., 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 21st, 2020

Human detection for the purpose of improving the efficiency of sidewalk snow removal using thermal camera
南岡和弥, 江丸貴紀, RAVANKAR Ankit A., 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 21st, 2020

Development of UAV Real-Time Navigation System in Unknown Environments
久保共平, 江丸貴紀, RAVANKAR Ankit, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 21st, 2020

Real-time And Robust Interpolation Method For LiDAR Point Cloud Using Thermal Camera
長谷川智彦, 江丸貴紀, RAVANKAR Ankit A., 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 21st, 2020

Dynamic SLAM using Extended Kalman Filter with RGB-D and LiDAR sensors
HAN Beomsoo, RAVANKAR Ankit A., 江丸貴紀, 小林幸徳, 計測自動制御学会北海道支部学術講演会論文集, 52nd, 2020

Control of Manipulator for Pinpoint Weeding
木下拓, 江丸貴紀, RAVANKAR Ankit, 計測自動制御学会北海道支部学術講演会論文集, 52nd, 2020

Proposal of Drone Surveying and Mobile Scanning Methods by using Stereo Camera for Estimation of Tree’s Diameter at Breast Height (DBH)
TRAIRATTANAPA Visarut, EMARU Takanori, RAVANKAR Ankit, 計測自動制御学会北海道支部学術講演会論文集, 52nd, 2020

Semantic Image Segmentation on Snow Driving Scenarios
Lei Yayun, Emaru Takanori, Ravankar Ankit A., Kobayashi Yukinori, Wang Su, IEEE Conference Proceedings, 2020, ICMA, 2020

A Hybrid Feature based Mapping for Indoor Service Robots
RAVANKAR Ankit A., RAVANKAR Abhijeet, EMARU Takanori, KOBAYASHI Yukinori, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2020, 2020

Pose Graph Map Merging SLAM for Multiple Robots
RAVANKAR Ankit A., RAVANKAR Abhijeet, EMARU Takanori, KOBAYASHI Yukinori, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2020, 2020

Path Planning for Mobile Robots based on Semantic Mapping
RAVANKAR Ankit A., RAVANKAR Abhijeet, EMARU Takanori, KOBAYASHI Yukinori, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2020, 2020

Proposal of improvement method of tracking performance of omni-directional mobile robot on slope
Ryohiro Yamada, Kobayashi Yukinori, Takanori Emaru, Ravankar Ankit, 第62回自動制御連合講演会, 62nd, Dec. 2019
Japanese, Summary national conference

Semi- active vibration control of a double shell railway car-body model using bonded Piezo-electric Patch Configuration and an integrated shunt circuit
Das Silabhadra, Gupta Ashish, Kobayashi Yukinori, Yamamoto Katsuya, Takigami Tadao, Asahina Mineyuki, Emaru Takanori, Ravankar Ankit, 第62回自動制御連合講演会, 62nd, Nov. 2019
English, Summary national conference

Development of Robust Ridge Detection Method and Control System for Autonomous Navigation of Mobile Robot in Agricultural Farm
Shunsuke Fujita, Yukinori Kobayashi, Takanori Emaru, Ankit A. Ravankar, 第62回自動制御連合講演会, 62nd, Nov. 2019
Japanese, Summary national conference

前方100mの大空間を1cm & 1°で高精度スキャン！LiDARの原理と実力　　　　　　　　　　　　　　　
江丸貴紀, 田口海詩, トランジスタ技術, 79, 82, Mar. 2019, [Invited]

原木材計測への深層学習の応用
森井隆禎, 江丸貴紀, 小林幸徳, RAVANKAR Ankit A., 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 20th, 2019

Autonomous navigation of ground robot for vineyard monitoring
RAVANKAR Ankit A., RAVANKAR Abhijeet, KOBAYASHI Yukinori, EMARU Takanori, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2019, 2019

Vibration and Acoustic Analysis of a Railway Carbody Model with Independent Interior Structure
小野俊太郎, 小林幸徳, 山本克也, 朝比奈峰之, 江丸貴紀, RAVANKAR Ankit, 日本機械学会交通・物流部門大会講演論文集(CD-ROM), 28th, 2019

林業フィールドにおける自己位置推定を目的としたシステムの構築
長井一弘, 江丸貴紀, ANKIT Ravankar, 小林幸徳, 自律分散システム・シンポジウム(CD-ROM), 31st, 2019

Application of 3D LiDAR in tree identification
LI Baoxiang, WANG Su, EMARU Takanori, RAVANKAR Ankit A., KOBAYASHI Yukinori, 自律分散システム・シンポジウム(CD-ROM), 31st, 2019

Cooperative Multi-Robot Map Merging with Task Distribution
RAVANKAR Ankit A., RAVANKAR Abhijeet, KOBAYASHI Yukinori, EMARU Takanori, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2019, 2019

Filtering Snowflake from LiDAR Point Cloud Data by Nearest Neighbor Search
佐々木祐太, RAVANKAR Ankit A., 江丸貴紀, 小林幸徳, 計測自動制御学会北海道支部学術講演会論文集, 51st, 2019

Rut width estimation in snowy area by sensor fusion using thermal infrared camera and 3D LiDAR
長谷川智彦, 小林幸徳, 江丸貴紀, ANKIT Ravankar, 計測自動制御学会北海道支部学術講演会論文集, 51st, 2019

Snowpack Detection based on Pointcloud Processing using 3D LiDAR for Developing Self-driving Car in Snowy Environment
小渕雅弘, 小林幸徳, 江丸貴紀, ANKIT Ravankar, 計測自動制御学会北海道支部学術講演会論文集, 51st, 2019

Development of Breakwater Inspection System using UAV
上野貴希, 江丸貴紀, RAVANKAR Ankit A., 小林幸徳, 計測自動制御学会北海道支部学術講演会論文集, 51st, 2019

障害物とロボットの最小旋回半径を考慮したCoverage Pathの最適化
小保内弘毅, 江丸貴紀, RAVANKAR Ankit, 小林幸徳, 自動制御連合講演会(CD-ROM), 61st, ROMBUNNO.9A4, 16 Nov. 2018
Japanese

ディープラーニングと深度情報を利用した農作物の検出・判別システムの提案
影山藍, 江丸貴紀, 小林幸徳, RAVANKAR Ankit, 自動制御連合講演会(CD-ROM), 61st, ROMBUNNO.9A1, 16 Nov. 2018
Japanese

Visual LIDAR Odometry Mapping and Navigation for Mobile Robots in Indoor Environments
RAVANKAR Ankit A, RAVANKAR Abhijeet, KOBAYASHI Yukinori, EMARU Takanori, 電気・情報関係学会北海道支部連合大会講演論文集(CD-ROM), 2018, ROMBUNNO.136, 27 Oct. 2018
English

Road Detection in Snowy Forest Environment using RGB Camera
VACHMANUS Sirawich, EMARU Takanori, RAVANKAR Ankit, KOBAYASHI Yukinori, 日本ロボット学会学術講演会予稿集(CD-ROM), 36th, 2018

Development of Port Facilities Inspection Robot Using Multi-copter
UENO Takaki, SAKUMA Masaru, YAMAGUCHI Seiko Piotr, YAMAGUCHI Seiko Piotr, KOBAYASHI Yukinori, EMARU Takanori, RAVANKAR Ankit, 日本ロボット学会学術講演会予稿集(CD-ROM), 36th, 2018

作物検出を目的とした深層学習のためのデータセット自動作成
KIM Jihee, 江丸貴紀, RAVANKAR Ankit, 小林幸徳, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 19th, 2018

Real-Time Path Smoothing for Mobile Robots in 2D and 3D Environments
RAVANKAR Abhijeet, RAVANKAR Abhijeet, RAVANKAR Ankit, KOBAYASHI Yukinori, EMARU Takanori, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2018, 2018

Semantic Navigation for Indoor Service Robots
RAVANKAR Ankit, RAVANKAR Abhijeet, RAVANKAR Abhijeet, KOBAYASHI Yukinori, EMARU Takanori, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2018, 2018

構体と内装の二重シェル構造を有する鉄道車体モデルの音響解析
小野俊太郎, 小林幸徳, 山本克也, GAUTAM Abhishek, 江丸貴紀, RAVANKAR Ankit, Dynamics & Design Conference (CD-ROM), 2018, 2018

特徴点が疎な積雪環境における地図作成およびナビゲーションシステムの開発
ZHU Chengru, 江丸貴紀, RAVANKAR Ankit, 小林幸徳, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 19th, 2018

Acoustic Analysis of a Railway Carbody Model with Independent Interior Structure in Low Frequency Region
小野俊太郎, 小林幸徳, GAUTAM Abhishek, 山本克也, 江丸貴紀, RAVANKAR Ankit, 鉄道技術連合シンポジウム講演論文集(CD-ROM), 25th, 2018

Optimization of UAV Path Using Meta-heuristics
山内統広, 小林幸徳, 江丸貴紀, ANKIT Ravankar, 計測自動制御学会北海道支部学術講演会論文集, 50th, 107‐110, 2018
Japanese

Development and Motion Analysis of a 4WD Robot for Forest Surveillance and Maintenance
藤田隼輔, 小林幸徳, 江丸貴紀, ANKIT Ravankar, 計測自動制御学会北海道支部学術講演会論文集, 50th, 111‐112, 2018
Japanese

A Measurement System for Raw Wood Logs using Hough Transform and Deep Learning
森井隆禎, 小林幸徳, 江丸貴紀, ANKIT Ravankar, 計測自動制御学会北海道支部学術講演会論文集, 50th, 97‐100, 2018
Japanese

Estimation of Self-position and Slope Gradient of Omni-direction Wheel Robot on Slope
山田涼裕, 小林幸徳, 江丸貴紀, ANKIT Ravankar, 計測自動制御学会北海道支部学術講演会論文集, 50th, 113‐116, 2018
Japanese

車輪状に変形可能なLimb型ロボットの転がり移動
鳥居聖生, 吉田州平, 小林幸徳, 江丸貴紀, RAVANKAR Ankit, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 18th, ROMBUNNO.1D5‐01, 20 Dec. 2017
Japanese

A hybrid topological mapping and navigation method for large area robot mapping
Ravankar Ankit A., Ravankar Abhijeet, Emaru Takanori, Kobayashi Yukinori, IEEE Conference Proceedings, 2017, SICE, 2017

Can robots help each other to plan optimal paths in dynamic maps?
Ravankar Abhijeet, Ravankar Ankit A., Kobayashi Yukinori, Emaru Takanori, IEEE Conference Proceedings, 2017, SICE, 2017

葉を特徴点として利用した実環境における農作物の検出・判別システムの提案
影山藍, 江丸貴紀, 小林幸徳, RAVANKAR Ankit, 計測自動制御学会北海道支部学術講演会論文集, 49th, 105‐108, 2017
Japanese

マルチロボットシステムにおけるグラフ理論を用いたタスク計画
木下拓, 江丸貴紀, 小林幸徳, RAVANKAR Ankit, 計測自動制御学会北海道支部学術講演会論文集, 49th, 137‐138, 2017
Japanese

UAV搭載シングルカメラによる3次元マップ構築およびスケール決定
青山佳樹, RAVANKAR Ankit, 江丸貴紀, 小林幸徳, 計測自動制御学会北海道支部学術講演会論文集, 49th, 81‐82, 2017
Japanese

林業フィールドにおける樹木の認識と自己位置推定
長井一弘, 江丸貴紀, 小林幸徳, RAVANKAR Ankit, 計測自動制御学会北海道支部学術講演会論文集, 49th, 147‐150, 2017
Japanese

ステアリング機構を有する移動ロボット除草システムの開発
小保内弘毅, 江丸貴紀, 小林幸徳, RAVANKAR Ankit, 計測自動制御学会北海道支部学術講演会論文集, 49th, 157‐158, 2017
Japanese

Path smoothing extension for various robot path planners
Ravankar Abhijeet, Ravankar Ankit A., Kobayashi Yukinori, Emaru Takanori, IEEE Conference Proceedings, 2016, ICCAS, 2016

Avoiding blind leading the blind
Ravankar, Abhijeet, Ravankar, Ankit A., Kobayashi, Yukinori, Emaru, Takanori, International Journal of Advanced Robotic Systems, 13, 6, 2016

A Multi-Robot Path Planning Scheme and Management based on Power Availability
RAVANKAR Abhijeet, RAVANKAR Ankit A., KOBAYASHI Yukinori, EMARU Takanori, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2016, 2016

Clustering Based Line Detection in Noisy Datasets
RAVANKAR Ankit A., RAVANKAR Abhijeet, EMARU Takanori, KOBAYASHI Yukinori, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2016, 2016

An intelligent docking station manager for multiple mobile service robots
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Lv Jixin, Takanori Emaru, Yohei Hoshino, ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings, 72, 78, 23 Dec. 2015, [Peer-reviewed]
Robot docking stations are of utmost important for service robots like security robots and automated guided vehicles in warehouses which are in continuous operation, and hence require frequent recharging. While a lot of research has been done on designing the actual hardware of the docking station itself, a practical situation of intelligently managing a limited number of docking stations in case of multiple robots has largely been ignored. We propose a docking station manager for multiple mobile service robots, which intelligently allots a mobile robot to the most appropriate docking station, based on the robot's task priority, location awareness of the robot and the docking station, power left in robot, and request order. We demonstrate, through experiments in real environment, that the proposed manager can function intelligently and resolve conflicts when the docking stations are fully occupied. We experimentally tested the proposed station manager in different conditions of varying task priorities, power levels, and emergency conditions of the robots, and found it to be robust to intelligently allocate the most appropriate robot with the appropriate charging dock., Institute of Electrical and Electronics Engineers Inc., English, Summary international conference

447 Vibration Control of Vortex-Induced Vibration of a Circular Cylinder by Digital Acceleration Control
IMAOKA Koichi, KOBAYASHI Yukinori, EMARU Takanori, Dynamics and Design Conference : D & D, 2015, "447, 1"-"447-9", 25 Aug. 2015
This paper proposes a method to suppress the vibration of a structure excited by vortex shedding. The exciting force of vortex-induced vibration is difficult to model mathematically. Hence, general modal based control cannot achieve the performance sufficiently. Digital acceleration control (DAC) is a control rule which does not require any information except inertia term. Moreover, DAC can counteract the effect of other terms except the inertia term. This study improves DAC control rule to suppress the vibration of vortex-induced vibration and use this feature to counteract the excitation force by vortex. In this paper, an elastically supported rigid cylinder under uniform air flow is considered. Acceleration coupling type wake oscillator model based on Van der Pol equation is employed to express the vortex-induced vibration. The performance of the proposed method is compared with the optimal regulator. Performance of the proposed method is almost same with the optimal regulator in free vibration and better than the optimal regulator in vortex-induced vibration., The Japan Society of Mechanical Engineers, Japanese

103 Proposal of Elastic Vibration Analysis for a Railway Carbody by Using Building Block Approach with Transfer Matrix Method
YANAGIHARA Keisuke, KOBAYASHI Yukinori, MITSUHASHI Naoya, EMARU Takanori, Dynamics and Design Conference : D & D, 2015, "103, 1"-"103-11", 25 Aug. 2015
Light weight structure of railway carbody has been developed in order to speed increase and energy saving. It is necessary to analyze the elastic vibration characteristics of the carbody. This paper proposes vibration analysis method using building block approach and transfer matrix method that require less calculation cost. In this method, a railway carbody is divided into a floor plate and a roof-side panel, and natural frequencies and modes of vibration of each part are obtained by using the transfer matrix method. Then, each part is connected by artificial springs and dampers in building block approach to calculate natural frequencies, modes of vibration and frequency response functions in whole railway carbody. In order to verify the validity of the simulation results, experiments are conducted for a small carbody model. Finally, the experimental results are compared to simulation results., The Japan Society of Mechanical Engineers, Japanese

A novel vision based adaptive transmission power control algorithm for energy efficiency in wireless sensor networks employing mobile robots
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Jixin Lv, Takanori Emaru, Yohei Hoshino, International Conference on Ubiquitous and Future Networks, ICUFN, 2015-, 300, 305, 07 Aug. 2015, [Peer-reviewed]
In a sensor network, there are scenarios when the distance between the transmitting node and the receiving node is not fixed, but varies with time. Such scenarios can arise, for example, when both the transmitting node and receiving node are mounted on mobile robots. Such scenarios could also arise when the transmitting node is fixed (for example, mounted on the ceiling), and the receiving node is mounted on a mobile robot. In such scenarios, it is difficult to predict the appropriate transmission power for successful packet exchanges. A simple strategy is to transmit packets at maximum available power level to ensure successfully transmission, all the time. However, such a strategy would result in a waste of power. We propose a new vision based adaptive transmission power control algorithm for power efficiency in cases when the distance between the transmitter and the receiver varies with time. The proposed algorithm estimates the distance between the transmitter and the receiver by image processing, and accordingly adjusts the transmitting power levels. We tested the algorithm in both noise-free and noisy (when there are obstructions, for ex. people, between the transmitter and the receiver) conditions of the environment on mobile robots using nRF24L01+ transceiver module. We found the algorithm to be robust and able to adjust the transmission power, in real time, to save energy., IEEE Computer Society, English, Summary international conference

Estimation and Cancellation Control of Multiple-Frequency Disturbance for an Active Vibration Control Unit　　　　　　　　　　　　　　　
Yohei HOSHINO, Mikio SUZUKI, Yukinori KOBAYASHI, Takanori EMARU, Dynamics and Design Conference 2015(USB-Memory), No. 140, Aug. 2015
Japanese, Summary national conference

2A1-S04 Real Time Parallel Implementation of Dynamic Feature Detection on Embedded Robot Platforms
Ravankar Abhijeet, Kobayashi Yukinori, Ravankar Ankit, Emaru Takanori, Jixin Lv, ロボティクス・メカトロニクス講演会講演概要集, 2015, "2A1, S04(1)"-"2A1-S04(3)", 17 May 2015
Autonomous robots with visual sensors like cameras must navigate the environment without colliding with map-features which could be static or dynamic. Unlike the static features, the dynamic features needs to be detected in real time, quickly. This paper presents a parallel implementation of dynamic feature detection on embedded robot platforms. The proposed algorithm uses robot profiles which sets the frame-rate and resolution of camera based on speed of the robot. The proposed algorithm is accelerated on ARM's NEON SIMD engine and can detect dynamic features of the environment in real time., The Japan Society of Mechanical Engineers, English

2A2-M06 Vision based Localization and Mapping for Indoor Robots using RGBD Sensor
Ravankar Ankit, Ravankar Abhijeet, Kobayashi Yukinori, Jixin Lv, Emaru Takanori, ロボティクス・メカトロニクス講演会講演概要集, 2015, "2A2, M06(1)"-"2A2-M06(3)", 17 May 2015
This paper presents a solution to the 3D-SLAM problem using low cost RGB-D sensors in indoor environments. For cluttered indoor environment it becomes important to safely navigate the robot from one position to another and 2D data such as scanning lasers do not provide enough environment information. We propose using a combined scanning laser and RGB-D sensor system using which rich 3D maps are built for robot to safely maneuver in a cluttered environment. A graph based SLAM approach is utilized to correct the robot poses and point cloud data are accumulated to generate the 3D map., The Japan Society of Mechanical Engineers, English

1A1-H04 Recognition of 3-D Grid Structure Recognition with Fixed Camera and RGB-D Camera
WANG Chenyu, KOBAYASHI Yukinori, EMARU Takanori, RAVANKAR Ankit, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1A1, H04(1)"-"1A1-H04(4)", 17 May 2015
For a mobile robot exploring in an unknown static environment, self localization and recognition of target objects are essential problems. In this study, we describe a method to recognize a 3D grid structure using a fixed camera and a RGB-D camera system. Tracking algorithms using a fixed camera are tested along with the Scale Invariant Feature Transform (SIFT) for feature extraction and setting Region of Interest (ROI) with a color marker to improve the efficiency and accuracy of the tracking algorithm. The algorithm of point clouds registration without using feature points matching is also introduced in this work. Finally, the results of recognition of a 3D grid structure with relatively low computational cost is shown experimentally., The Japan Society of Mechanical Engineers, English

Algorithms and a Framework for Indoor Robot Mapping in a Noisy Environment using Clustering in Spatial and Hough Domains
RAVANKAR Ankit A., HOSHINO Yohei, RAVANKAR Abhijeet, JIXIN Lv, EMARU Takanori, KOBAYASHI Yukinori, International Journal of Advanced Robotic Systems (Web), 12, Mar, 2015

Indoor Slope and Edge Detection by using Two-Dimensional EKF-SLAM with Orthogonal Assumption
LV Jixin, KOBAYASHI Yukinori, EMARU Takanori, RAVANKAR Ankit A., International Journal of Advanced Robotic Systems (Web), 12, Apr, 2015

An Efficient Networking Scheme for Static and Dynamic Nodes in Multiple Service Robots
RAVANKAR Abhijeet, RAVANKAR Ankit A., KOBAYASHI Yukinori, EMARU Takanori, 日本ロボット学会学術講演会予稿集(CD-ROM), 33rd, 2015

On Data Security in Service Robots
RAVANKAR Abhijeet, RAVANKAR Ankit A., KOBAYASHI Yukinori, EMARU Takanori, 日本ロボット学会学術講演会予稿集(CD-ROM), 33rd, 2015

A Graphical Framework for Robust Indoor Mapping
RAVANKAR Ankit A., RAVANKAR Abhijeet, KOBAYASHI Yukinori, EMARU Takanori, 日本ロボット学会学術講演会予稿集(CD-ROM), 33rd, 2015

A connected component labeling algorithm for sparse Lidar data segmentation
Ravankar, Abhijeet, Kobayashi, Yukinori, Ravankar, Ankit, Emaru, Takanori, ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications, 2015

A solution to estimate robot motion with large rotation by matching laser scans
Lv, Jixin, Ravankar, Ankit A., Ravankar, Abhijeet, Yukinori, Kobayashi, Emaru, Takanori, 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015, 2015

SLAM within indoor loops by using incremental scan registration
Lv, Jixin, Ravankar, Abhijeet, Kobayashi, Yukinori, Ravankar, Ankit A., Emaru, Takanori, 2015 IEEE/SICE International Symposium on System Integration, SII 2015, 2015

1205 Vibration analysis of a railway carbody using transfer matrix method and building block approach
YANAGIHARA Keisuke, KOBAYASHI Yukinori, EMARU Takanori, The Transportation and Logistics Conference, 2014, 23, 37, 40, 28 Nov. 2014
Recently, the elastic vibration of a railway carbody becomes larger due to speed increase and weight saving. This vibration causes deterioration of riding comfort of train. Therefore it is necessary to suppress the elastic vibration in the design stage. But vibration analysis of the railway carbody using FEM requires long computation time. This paper suggests vibration analysis method for the railway carbody using transfer matrix method and building block approach that require less calculation load. In order to verify the validity of the simulation results, the experiment is conducted for a small railway model. Finally the experimental results of frequency response functions, natural frequencies and modes are compared to simulation results., The Japan Society of Mechanical Engineers, Japanese

2C33 Motion Control and Optimization of a Ball Throwing Robot with a Flexible Arm(The 12th International Conference on Motion and Vibration Control)
GAI Yizhi, KOBAYASHI Yukinori, EMARU Takanori, Dynamics and Design Conference, 2014, 12, "2C33, 1"-"2C33-12", 03 Aug. 2014
Motion control of flexible arms is more difficult than that of rigid arms. However utilizing its dynamics enables improved performance such as a fast motion in short operation time. This paper investigates a ball throwing robot with one flexible link. This robot throws a ball at a set speed. A mathematical model of this ball throwing robot is derived through Hamilton's principle. The sinusoidal patterns of torque input and structure are designed through the proposed simulation models. The parameters of each torque input pattern and flexible structure are optimized and determined by chaos embedded vector evaluated particle swarm optimization (CEVEPSO). Finally, the residual vibration of the manipulator after throwing is suppressed with input shaping technique., The Japan Society of Mechanical Engineers, English

Estimation of Multi-Frequency Harmonic Disturbance for Easy-Mount Active Vibration Control Unit　　　　　　　　　　　　　　　
Yohei HOSHINO, Mikio SUZUKI, Yukinori KOBAYASHI, Takanori EMARU, Dynamics and Design Conference 2014 (D&D2014), (USB-Memory), 317, Aug. 2014
Japanese, Summary national conference

Vibration Analysis of a Train Car Body Using a Shell Model Considering Orthotropy　　　　　　　　　　　　　　　
Hidenao ARAKI, Yukinori KOBAYASHI, Takanori EMARU, Yohei HOSHINO, Dynamics and Design Conference 2014 (D&D2014), (USB-Memory), 335, Aug. 2014
Japanese, Summary national conference

Fault-Detection Method of a Redundant Number of Pneumatic Actuators Which Support a Vibration-Isolation Table for Recovering the System-Stability by Force-Redistribution Method　　　　　　　　　　　　　　　
Yohei HOSHINO, Takumi MAEDA, Yukinori KOBAYASHI, Takanori EMARU, Dynamics and Design Conference 2014 (D&D2014), (USB-Memory), 744, Aug. 2014
Japanese, Summary national conference

1P1-P02 Stabilization Control of a Three-legged Golf Swing Robot(New Control Theory and Motion Control (1))
MORI Takeya, KOBAYASHI Yukinori, EMARU Takanori, ロボティクス・メカトロニクス講演会講演概要集, 2014, "1P1, P02(1)"-"1P1-P02(4)", 24 May 2014
This paper studies stabilization control of a portable three-legged golf swing robot. Proposed robot consists of a motor to rotate a rigid arm and a rigid link as a golf club. The Joint between the arm and the link is the passive joint having a brake mechanism only. When the arm and the link rotate fast, the robot may become unstable and one or two legs may lift up due to the lift force. To make the robot motion stable, an extension actuator is installed in one leg. Mathematical model of the golf swing robot is derived by Lagrange equation and target trajectories of the arm and the link are proposed. Numerical simulation of the swing motion is carried out and validity of the proposed stabilization approach is shown., The Japan Society of Mechanical Engineers, Japanese

An embarrassingly parallel hoppingwindow noise removing algorithm for lidar based robot mapping
Ravankar, Ankit A., Lv, Jixin, Kobayashi, Yukinori, Emaru, Takanori, Hoshino, Yohei, Proceedings of the SICE Annual Conference, 2014

Analysis of Lock-in Phenomena of a Cylinder Structure Having Nonlinear Restoring Force Property under Uniform Flow　　　　　　　　　　　　　　　
Koichi IMAOKA, Yukinori KOBAYASHI, Takanori EMARU, Yohei HOSHINO, Dynamics and Design Conference 2013 (D&D2013), (USB-Memory), 625, Aug. 2013
Japanese, Summary national conference

Traveling Stability Analysis of a Train on Curved Track with Cant based on Eigenvalue Analysis　　　　　　　　　　　　　　　
Yohei HOSHINO, Yudai SATO, Yukinori KOBAYASHI, Takanori EMARU, Dynamics and Design Conference 2013 (D&D2013), (USB-Memory), 103, Aug. 2013
Japanese, Summary national conference

Competitive Pressure Modes in a Vibration-Isolation Table Supported by a Redundant Number of Pneumatic Actuators and its Stabilization Method　　　　　　　　　　　　　　　
Yohei HOSHINO, Daisuke YOSHIDA, Takumi MAEDA, Yukinori KOBAYASHI, Takanori EMARU, Proceedings of the 15th Asia Pacific Vibration Conference (APVC2013), (USB-Memory), W2_304_2, 1372, 1377, Jun. 2013
English, Summary international conference

Mass Identification by Digital Acceleration Control for Dynamic Systems　　　　　　　　　　　　　　　
Koichi IMAOKA, Takanori EMARU, Yukinori KOBAYASHI, Yohei HOSHINO, Proceedings of the 15th Asia Pacific Vibration Conference (APVC2013), (USB-Memory), W1_303B_4, 1147, 1152, Jun. 2013
English, Summary international conference

2P1-K02 Performance Improvement of a Flexible Robot Arm by a Combined Control System of Digital Acceleration Control and Feed-Forward Control(New Control Theory and Motion Control)
TAKANO Naoto, EMARU Takanori, HOSHINO Yohei, KOBAYASHI Yukinori, ロボティクス・メカトロニクス講演会講演概要集, 2013, "2P1, K02(1)"-"2P1-K02(4)", 22 May 2013
Almost all industrial robot manipulators consist of rigid components to avoid deformation and vibration. The advantages of flexible robot arms have light weight and low energy consumption but the flexibility make it difficult to control motion of the arms without residual vibrations. For avoiding that, feed-forward control using particle swarm optimization (PSO) and neural network (NN) are applied to reduce residual vibration. However, the feed-forward control is affected from disturbances. For the problem, we combined feed-forward and feed-back control. The digital acceleration control (DAC) combined with PID control (PID-DAC) has been proposed as a robust control method for the nonlinear effects. We applied feed-forward and PID-DAC control for suppressing residual vibration, and made sure of robustness of PID-DAC by experiments., The Japan Society of Mechanical Engineers, Japanese

A New Algorithm To Detect Lines in Noisy Environment for Indoor Robot Mapping
Ankit RAVANKAR, Yohei HOSHINO, Takanori EMARU, Yukinori KOBAYASHI, Proceedings of the 2013 JSME Conference on Robotics and Mechatronics (Robomec2013), (CD-ROM), 1P1-I07, May 2013
English, Summary national conference

骨組み構造を移動する Limb 型ロボットにおけるセンシングと移動戦略　　　　　　　　　　　　　　　
吉田州平, 小林幸徳, 江丸貴紀, 星野洋平, Proceedings of the 2013 JSME Conference on Robotics and Mechatronics (Robomec2013), (CD-ROM), 1A1-P05, May 2013
Japanese, Summary national conference

Clustering based loop closure technique for 2D robot mapping based on EKF-SLAM
Ravankar, Ankit A., Kobayashi, Yukinori, Emaru, Takanori, Proceedings - Asia Modelling Symposium 2013: 7th Asia International Conference on Mathematical Modelling and Computer Simulation, AMS 2013, 2013

A Stabilization Method of Competitive Pressure Modes for a Vibration Isolation Table Supported by a Redundant Number of Pneumatic Actuators　　　　　　　　　　　　　　　
Yohei HOSHINO, Daisuke YOSHIDA, Takumi MAEDA, Yukinori KOBAYASHI, Takanori EMARU, Proceedings on the 13th SICE System Integration Division Annual Conference (SI2012), (DVD-ROM), 1500, 1505, Dec. 2012
Japanese, Summary national conference

Vibration Control of Cantilever Beam by Digital Acceleration Control　　　　　　　　　　　　　　　
Koichi IMAOKA, Takanori EMARU, Yohei HOSHINO, Yukinori KOBAYASHI, Proceedings on the 13th SICE System Integration Division Annual Conference (SI2012), (DVD-ROM), 1627, 1632, Dec. 2012
Japanese, Summary national conference

Vibration Control of Semi-active Mechanism for a Mobile Robot Having Suspension　　　　　　　　　　　　　　　
Ryosuke YAMAMOTO, Yukinori KOBAYASHI, Takanori EMARU, Yohei HOSHINO, Proceedings on the 13th SICE System Integration Division Annual Conference (SI2012), (DVD-ROM), 2087, 2092, Dec. 2012
Japanese, Summary national conference

A Study on Highly-Effcient Pitching Motion of a Flexible Robot Arm　　　　　　　　　　　　　　　
Ryouhei YAMAKAWA, Yukinori KOBAYASHI, Yizhi GAI, Yohei HOSHINO, Takanori EMARU, Proceedings on the 13th SICE System Integration Division Annual Conference (SI2012), (DVD-ROM), 2012, 2015, Dec. 2012
Japanese, Summary national conference

Traveling Stability of Train-Bogies with Considering Coupling Motion between Bogie-Roll and Wheelset-Steering on Curved Track with Cant　　　　　　　　　　　　　　　
Yohei HOSHINO, Yudai SATO, Yukinori KOBAYASHI, Takanori EMARU, The 21th Transportation and Logistics Conference 2012(CD-ROM), 1406, Dec. 2012
Japanese, Summary national conference

608 Dynamics of Link Type Train Bogies Traveling on Curved Tracks with Cant
SATO Yudai, HOSHINO Yohei, EMARU Takanori, KOBAYASHI Yukinori, 北海道支部講演会講演概要集, 2012, 51, 195, 196, 20 Oct. 2012
The Japan Society of Mechanical Engineers, Japanese

Motion Contorl of a Ball Throwing Robot with a Flexible Robotic Arm　　　　　　　　　　　　　　　
Yizhi GAI, Yukinori KOBAYASHI, Ryohei YAMAKAWA, Yohei HOSHINO, Takanori EMARU, Proceedings of the 16th International Conference on Mechatronics Technology (CD-ROM), 437, 442, Oct. 2012, [Peer-reviewed]
English, Summary international conference

322 Force Redistribution Method Compensating Actuator-Breakdown for Vibration Isolation Tables Supported with Redundant Number of Pneumatic Actuators
HOSHINO Yohei, MAEDA Takumi, YOSHIDA Daisuke, KOBAYASHI Yukinori, EMARU Takanori, Dynamics and Design Conference : D & D, 2012, 52, 52, 17 Sep. 2012
The Japan Society of Mechanical Engineers, Japanese

Application of Singular Value Decomposition in Robot Map Building
Ankit A. RAVANKAR, Yohei HOSHINO, Takanori EMARU, Yukinori KOBAYASHI, Proceedings of the 30th Annual Conference of the Robotics Society of Japan (RSJ 2012)(CD-ROM), 30th, 4D1-6, Sep. 2012
English, Summary international conference

Dynamic Response Analysis of Non-Circular Cylindrical Shell Structures based on the Transfer Matrix Method　　　　　　　　　　　　　　　
Hidenao ARAKI, Yukinori KOBAYASHI, Takahiro TOMIOKA, Yohei HOSHINO, Takanori EMARU, Dynamics and Design Conference 2012 (D&D2012), (USB-Memory), 810, Sep. 2012
Japanese, Summary national conference

Analysis of Traveling Stability of Train-Bogies on Curved Tracks Considering with Coupling between Bogie-Roll and Wheelset-Steering　　　　　　　　　　　　　　　
Yohei HOSHINO, Yukinori KOBAYASHI, Natsuki TSUYA, Takanori EMARU, Dynamics and Design Conference 2012 (D&D2012), (USB-Memory), 219, Sep. 2012
Japanese, Summary national conference

Dynamics Modeling and Trajectory Planning of Wheeled Mobile Robot Having a Manipulator　　　　　　　　　　　　　　　
Guoliang Zhong, Yukinori Kobayashi, Takanori Emaru, Yohei Hoshino, Proceedings of the 43rd International Symposium on Robotics (ISR2012)(CD-ROM), 206, 211, Aug. 2012, [Peer-reviewed]
English, Summary international conference

Proposal of Novel Nonlinear Compensator based on the Digital Acceleration Control Technique　　　　　　　　　　　　　　　
OKUMA Masashi, EMARU Takanori, HOSHINO Yohei, KOBAYASHI Yukinori, Proceedings of the 2012 JSME Conference on Robotics and Mechatronics(CD-ROM), 2A1-C04, 28 May 2012
Japanese, Summary national conference

Hough変換と特異値分解によるレーザー測域センサー情報からの高効率線分抽出法
星野洋平, 江丸貴紀, 小林幸徳, 計測自動制御学会北海道支部学術講演会論文集, 44th, 2012

Intuitive teleoperation of nonholonomic mobile robot with a manipulator based on virtual reality and WiFi
Guoliang Zhong, Yukinori Kobayashi, Yohei Hoshino, Takanori Emaru, IET Conference Publications, 2012, 636, 802, 806, 2012, [Peer-reviewed]
Teleoperation based space systems have received much attention in the past years.This paper reports the construction and the remote control of a nonholonomic robotic system. The system consists of a three-wheeled mobile platform to keep the robot stable and a 6-DOF articulate manipulator on top of the platform. First, we explain how its design and work, then the kinematic model of the robotic platform is presented considering nonholonomic constraints and the inverse kinematics of the manipulator is described. In order to generate a visualized user interface, we adopt a new development in information technology, which is known as virtual reality (VR). All different movements and manual control of the manipulator are shown in a 3-D virtual environment. Teleoperation is realized by using WiFi to transmit the commands and remote desktop from the lower computer to the upper computer. Finally, experiments prove that the proposed remote operation of the robotic system is reliable and efficient., English, Summary international conference

Active Vibration-Suppression Unit with Sky-Hook and Adaptive Disturbance Cancellation Control for Flexible Agricultural Sprayer-Booms　　　　　　　　　　　　　　　
Yohei HOSHINO, Kyohei KATAYAMA, Yosuke NAKANISHI, Yukinori KOBAYASHI, Takanori EMARU, Proceedings of the 14th Asia Pacific Vibration Conference (CD-ROM), 4, 1829, 1838, 05 Dec. 2011, [Peer-reviewed]
English, Summary international conference

Vibration Reduction of Mobile Robot with Suspension System Using Optimal Multi-Input Shaping　　　　　　　　　　　　　　　
Guoliang ZHONG, Yukinori KOBAYASHI, Takanori EMARU, Yohei HOSHINO, Proceedings of the 14th Asia Pacific Vibration Conference (CD-ROM), 4, 1981, 1990, 05 Dec. 2011, [Peer-reviewed]
English, Summary international conference

Analysis of Traveling Characteristics of Train Bogies in Consideration of Coupling between Bogie-Roll and Wheelset-Yaw
Natsuki TSUYA, Yohei HOSHINO, Yukinori KOBAYASHI, Takanori EMARU, The 20th Transportation and Logistics Conference 2011(CD-ROM), 2011, No.3401, 121, 124, Dec. 2011
Railway bogies having the link structure indicate coupling motion between the roll of bogies and the yaw of wheelsets dependent on the offset angle of link around equilibrium position. This study constructs the model of the bogie with coupling motion between the roll of bogies and the yaw of wheelsets and investigates the running characteristics of bogies. This study shows that varying offset angle of the link affects hunting characteristics of bogies and the limit of stable running speed changes depending on the link offset angle. Effects on running characteristics of parameters such as stiffness and damping of suspension and rubber bush are also investigated in this study., The Japan Society of Mechanical Engineers, Japanese, Summary national conference

Improvement of Vibration Characteristics of a Railway Carbody Reinforced by FRP
Fengyun GUI, Yukinori KOBAYASHI, Takahiro TOMIOKA, Yohei HOSHINO, Takanori EMARU, The 20th Transportation and Logistics Conference 2011(CD-ROM), 2011, No.1214, 117, 120, Dec. 2011
At present, the elastic oscillation of the railway carbody is reducing ride comfort because of the lightweight and simplification of the structure. Therefore in this study, we investigate the improvement of vibration characteristics of a railway carbody partially reinforced by FRP. A one-twelfth size experiment model is used in this research for modal analysis, and we model the carbody in the same size for FEM to examine the effect caused by FRP reinforcement. The obtained results of these two methods turned out to be the same, which shows that the natural frequencies are greatly increased and the absorptions of vibration are improved also in every mode., The Japan Society of Mechanical Engineers, Japanese, Summary national conference

Suppression Control of Flow-induced Vibration of an Elastically Clamped Cylinder in Uniform Flow
Sousuke YAMASAKI, Yukinori KOBAYASHI, Yanbo ZHU, Yohei HOSHINO, Takanori EMARU, 第54回自動制御連合講演会(CD-ROM), 1D102, 19 Nov. 2011
Japanese, Summary national conference

オンラインシステム同定によるPID-ディジタル加速度制御併合制御系の性能向上　　　　　　　　　　　　　　　
佐々木 広人, 江丸貴紀, 星野洋平, 小林幸徳, 第29回日本ロボット学会学術講演会 (RSJ 2011)(CD-ROM), 2J2-8, 07 Sep. 2011
Japanese, Summary national conference

セグメントマップを用いたSLAMにおけるパラメータの最適化　　　　　　　　　　　　　　　
金谷栄則, 江丸貴紀, 星野洋平, 小林幸徳, 第29回日本ロボット学会学術講演会 (RSJ 2011)(CD-ROM), 3I1-6, 07 Sep. 2011
Japanese, Summary national conference

Automatic Estimation of Properties of Golf-Clubs by Two-Link Golf-Swing Robot (Study of Condition for Valid Estimation)
YOSHIDA Daisuke, HOSHINO Yohei, KOBAYASHI Yukinori, EMARU Takanori, Proceedings of the Dynamics and Design Conference 2011(CD-ROM), 2011, 403, 1"-"403-10", 05 Sep. 2011
Automatically grasping the parameters of golf clubs is necessary for the swing of golf robot to adjust. We suggest to an algorithm for automatic estimation of properties of golf-clubs by system identification using force sensor. In the first step of this algorithm, substituting initial values to unknown parameters of the club and calculating vibration modes of it. In the next step, the unknown parameters of club are estimated by the least squares method using the vibration modes and the data from static test and acceleration test. The third step is calculating vibration modes by substituting the estimated parameters again. By calculating second and third steps recursively, the unknown parameters converge to actual parameters. However, in some cases of initial parameters, identification is failed due to divergence or converge to local minimum parameters on calculation process. This study investigates the condition to estimate correct results by simulation., The Japan Society of Mechanical Engineers, Japanese, Summary national conference

418 Sky-Hook with Adaptive Disturbance Cancellation Control for Flexible Structures by Active Vibration Control Unit
HOSHINO Yohei, KATAYAMA Kyohei, KOBAYASHI Yukinori, EMARU Takanori, NAKANISHI Yosuke, Dynamics and Design Conference : D & D, 2011, 69, 69, 04 Sep. 2011
The Japan Society of Mechanical Engineers, Japanese

Experimental Investigation on Decomposed Dynamic Control Considering the Nonlinearity of Flexible Robotic Arm
Haibin YIN, Yukinori KOBAYASHI, Yohei HOSHINO, Takanori EMARU, Proceedings of SICE Annual Conference 2011(DVD-ROM), WeC08-05, 935, 939, Sep. 2011, [Peer-reviewed]
English, Summary international conference

D204 Active Vibration Suppression of Flexible Sprayer-Boom by Sky-Hook with Adaptive Disturbance Cancellation Control Unit
HOSHINO Yohei, KATAYAMA Kyohei, KOBAYASHI Yukinori, NAKANISHI Yosuke, EMARU Takanori, Dynamics and Design Conference, 2011, 12, 409, 414, 28 Jun. 2011
This study develops an active vibration control unit for flexible booms for spraying agricultural chemicals. This unit consists of fly-wheel, servo-motor, gyro sensor and micro computer, and is named as Active Wheel Damper (AWD) in this study. AWD can be mounted on any flexible boom structure with ease to obtain effective damping. This study combines the adaptive disturbance cancellation controller and sky-hook controller to obtain higher vibration suppression performance, and names this controller as Sky-hook with Adaptive Disturbance Cancellation control (SWADC). The performance of developed vibration suppression unit is demonstrated by experiments., The Japan Society of Mechanical Engineers, Japanese

Posture and Vibration Control of the Arms of Boom Sprayer
NAKANISHI Yosuke, URAIKE Takafumi, SUZUKI Shinichi, KOBAYASHI Yukinori, HOSHINO Yohei, EMARU Takanori, 第12回運動と振動の制御シンポジウム講演論文集, 2011, 12, 415, 418, Jun. 2011
In Japan, especially in Hokkaido, productive large-scale farming is needed to keep a competitive power in market of domestic farm products against the low-cost farm products from foreign countries. To run the large-scaled farm, high working efficiency is needed to agricultural machinery. One of the way to make agricultural machinery work-efficient is to drive them faster than ever. But, vibration and postural instability is getting up, in proportion to the velocity of the vehicle. In this paper, deflective vibration control of the arm of boom sprayer and development of the mechanism to keep the arms of boom sprayer horizontal are shown. Measuring deflective vibration by acceleration sensors and using optimal regulator, deflective vibration of the arm can be kept down effectively. And designing the mechanism using CAE dynamics simulation in advance, development of the mechanism of posture control of the arms can be gone ahead smoothly., The Japan Society of Mechanical Engineers, Japanese, Summary national conference

Proposal of Robust Path Generation Using Integration-type Sonar Ring　　　　　　　　　　　　　　　
SATO Hiroki, EMARU Takanori, HOSHINO Yohei, KOBAYASHI Yukinori, Proceedings of the 2011 JSME Conference on Robotics and Mechatronics(CD-ROM), 1A1-K15, 28 May 2011
Japanese, Summary national conference

Map building from laser range sensor information using mixed data clustering and singular value decomposition in noisy environment
Ankit A. Ravankar, Yohei Hoshino, Takanori Emaru, Yukinori Kobayashi, 2011 IEEE/SICE International Symposium on System Integration, SII 2011, 1232, 1238, 2011, [Peer-reviewed]
This paper presents the results of using mixed clustering (k-means and DBSCAN clustering) with singular value decomposition to build map in a noisy environment from laser range sensor information. Sensors are prone to errors, moreover, environmental and other factors may affect the sensor sensitivity. This may generate a lot of noise which must be removed before building the map. The study shows how density based clustering techniques can, without losing critical information, greatly reduce noise from sensor data. Further applying k-means clustering, the results with various cluster sizes are discussed. Singular value decomposition on the centroids obtained with the k-means clustering is applied to obtain straight regression lines. The %error in the generated maps were analyzed with different sizes of clusters. The experimental results confirmed that the proposed approach can generate accurate maps even in noisy environments. © 2011 IEEE., English, Summary international conference

206 Analysis of Frequency Characteristics of Non-linear filter ESDS
HOSHINO Yohei, EMARU Takanori, KOBAYASHI Yukinori, 北海道支部講演会講演概要集, 2010, 49, 31, 32, 07 Nov. 2010
The Japan Society of Mechanical Engineers, Japanese

Path Tracking Control of Omni-Directional-Four-Wheel-Drive-Type Mobile Robot with Considering a Shift of Center of Gravity
Yasuhiro KITAYAMA, Takanori EMARU, Yohei HOSHINO, Yukinori KOBAYASHI, 第53回自動制御連合講演会(CD-ROM), 663, 04 Nov. 2010
Japanese, Summary national conference

Self Optimization of Controller for Vibration Isolation Tables by using Minimum-Order Model Obtained by System-Identification
Yohei HOSHINO, Kohei SAWADA, Yukinori KOBAYASHI, Hiroshi CHINDA, Masaki TAKAHASHI, Takanori EMARU, Dynamics and Design Conference 2010(CD-ROM), 2010, 343, 1"-"343-6", Sep. 2010
Auto tuning of vibration isolation table by using system identification is studied in this paper. Subspace method and Frequency-Domain Least-Squares Approximation (FDLSA) are used for system identification. In proposed method, we can obtain a minimum order model. Then, it is easy to optimize the controller for the obtained model. This procedure can be fully automated. The isolation table in this study has actuators using air spring at corners of the table. Force of actuators can be adjusted by stepping motors in the regulator. Effectiveness of the proposed approach is examined by experiments and simulation., The Japan Society of Mechanical Engineers, Japanese, Summary national conference

Identification of Vibration Modes and Physical Parameters of Flexible Beam Using by Robot-Arm
Yohei HOSHINO, Yukinori KOBAYASHI, Takanori EMARU, Naoyuki GOTOH, Dynamics and Design Conference 2010(CD-ROM), 2010, 202, 1"-"202-6", Sep. 2010
This study investigates an identification method for physical parameters and vibration modes of beams. A robot arm is used to swing the beam, and input-output data of swinging trials are measured. In this method, physical parameters of the beams are identified by least-square method, and vibration modes are derived by finite element method (FEM), iteratively. Vibration modes of the beam are necessary to estimate actual physical parameters such as stiffness, El, and density, pA, of the beam. Temporary physical parameters are applied to assume temporary vibration modes for the initial condition of iterative calculation. Reliability of proposed identification method is confirmed by numerical simulations., The Japan Society of Mechanical Engineers, Japanese, Summary national conference

Experimental Verification of Nonlinear Compensation to PID Control Using Digital Acceleration Control
Takanori Emaru, Kazuo Imagawa, Yohei Hoshino, Yukinori Kobayashi, Proceedings of the 13th International Symposium on Robotics and Applications (ISORA 2010)(CD-ROM), ISORA479, Sep. 2010, [Peer-reviewed]
English, Summary international conference

3B17 Modeling and Vibration Analysis of Flexible Robot Arm under Fast Motion in Consideration of Nonlinearity
YIN Haibin, KOBAYASHI Yukinori, EMARU Takanori, HOSHINO Yohei, Dynamics and Design Conference, 2010, "3B17, 1"-"3B17-14", 17 Aug. 2010
This paper deals with a problem of modeling and vibration analysis of a high speed rotating flexible manipulator. Conventional method of modeling does not exactly express the bending mechanism of flexible arm. Then a new description of deformation on the flexible shaft and Hamilton's principle are used to derive the dynamic model of the rigid-flexible manipulator. A nonlinear dynamic model is proposed to describe the dynamic behavior of flexible arm and the dynamic equations of the system are also presented. Derived equations consist of some nonlinear forces and geometrical nonlinear stiffness. The present research considers the effect from those nonlinear forces coupling with angular functions (angular position, velocity, acceleration). An external forced vibration method is applied to evaluate the characteristics of flexible vibration. In this research, numerical calculations based on two strategies are applied to analyze the flexible vibration. In the first strategy (AIM, angle independent method), angles of joints are assumed to be independent of the external forces. In the second strategy (ADM, angle dependent method), the effect on the angular functions of joints due to the external forces is considered. Especially, the gravity force affects significantly on the residual deflection of flexible arm and on the angular functions., The Japan Society of Mechanical Engineers, English

2D35 Vibration and Stability Control for a Vehicle with Flexible Arms
KIMURA Haruo, KOBAYASHI Yukinori, HOSHINO Yohei, EMARU Takanori, Dynamics and Design Conference, 2010, 2D35, 1"-"2D35-12", 17 Aug. 2010
While the vehicle equipped with the boom sprayer is operated in the agricultural field, the boom may oscillate due to its flexibility. Although active vibration control by using joint actuators is a method to reduce the vibration, reaction torque may affect attitude of the vehicle. So the objective of this research is to design a control system to suppress the vibration of the boom and keep attitude of the vehicle stable simultaneously. In this paper, flexible booms are modeled as rigid arms and torsional springs connected with the vehicle at joints. In formulation of dynamic model, motion and vibration of the system are limited to 2-dimensional ones. Dynamic properties of ground and wheels of vehicle is considered in lateral and longitudinal directions. Equations of motion of the system are derived by using Lagrange's equation. Optimal type-1 digital servo system is employed to achieve the vibration and stability control of the system. The same dynamic model is configured on numerical simulation software. After examining validity of the simulation model on the software, the performance of the control system is evaluated by using the model on the software. The simulation is performed on various conditions and weighting matrices that characterize the controller., The Japan Society of Mechanical Engineers, English, Summary international conference

Efficiency Improvement of Map Construction by Clustering of Sensor Data
Takanori EMARU, Seiichi KABATA, Youhei HOSHINO, Yukinori KOBAYASHI, Proceedings of the 2010 JSME Conference on Robotics and Mechatronics(CD-ROM), 2010, 1P1-A19, A19(1)"-"1P1-A19(4)", Jun. 2010
ICP method has been widely used in order to solve SLAM problem. Generally ICP method performs map matching by using laser range sensor (LRS). Because an amount of information that is obtained by using LRS is large, ICP method requires heavy calculations. Therefore, it is difficult to implement ICP method to small size robot that has poor computational ability. In this paper, we treat LRS information as segment in order to improve an efficiency of calculation. In our experiment, about 600 distances are obtained using the LRS. By using the proposed method, it can be reduced to dozens of segment. By using the segmented information, a time to calculate of matching is dramatically reduced without decreasing the accuracy of map matching compared to ICP method. The validity of the proposed method is confirmed by performing experiments with actual equipment., The Japan Society of Mechanical Engineers, Japanese, Summary national conference

Improving Performance of Digital Acceleration Control by Implementing Velocity Sensor
Kosuke YOSHIOKA, Takanori EMARU, Youhei HOSHINO, Yukinori KOBAYASHI, Proceedings of the 2010 JSME Conference on Robotics and Mechatronics(CD-ROM), 2010, 1P1-A20, A20(1)"-"1P1-A20(4)", Jun. 2010
PID control is one of the most common methods to control mechanical systems, but it is affected by modeling error that is caused by disturbances such as gravity, friction, and interaction of joints. On the other hand, digital acceleration control (DAC) method has robustness for the modeling error. DAC is more practical to control, but it needs information of velocity and acceleration. To solve this problem we apply a nonlinear filter termed ESDS based on sliding mode technique. We have proposed DAC controller that includes ESDS, but it requires LPF and high calculation cost. In this paper, we implement velocity sensor to DAC for perpendicular 2-link manipulator. By using the proposed method, we can eliminate LPF from the controller and reduce calculation cost. As a result, robustness and accuracy are dramatically improved. The effectiveness of the proposed method is confirmed by experimental studies., The Japan Society of Mechanical Engineers, Japanese, Summary national conference

1A1-B10 Posture and Vibration Control of the Arm of Boom sprayer
NAKANISHI Yohsuke, KIKKAWA Takashi, URAIKE Takafumi, SUZUKI Shinichi, KOBAYASHI Yukinori, HOSHINO Youhei, EMARU Takanori, ロボティクス・メカトロニクス講演会講演概要集, 2010, "1A1, B10(1)"-"1A1-B10(3)", 2010
Deflective vibration control of the arm of boom sprayer and development of the mechanism to keep the arms of boom sprayer horizontal are shown in this paper. It will be shown that measuring deflective vibration by three acceleration sensors and using optimal regulator, deflective vibration of the arm can be kept down effectively. And it also will be shown that designing the mechanism using CAE dynamics simulation in advance, development of the mechanism of posture control of the arms can be gone ahead smoothly., The Japan Society of Mechanical Engineers, Japanese

Development of control system by nonlinear compensation using digital acceleration control
Takanori Emaru, Kazuo Imagawa, Yohei Hoshino, Yukinori Kobayashi, ASME 2010 Dynamic Systems and Control Conference, DSCC2010, 2, 461, 467, 2010, [Peer-reviewed]
Proportional-Integral-Derivative (PID) control has been most commonly used to operate mechanical systems. In PID control, however, there are limits to the accuracy of the resulting movement because of the influence of gravity, friction, and interaction of joints. We have proposed a digital acceleration control (DAC) that is robust over these modeling errors. One of the most practicable advantages of DAC is robustness against modeling errors. However, it does not always work effectively. If there are modeling errors in the inertia term of the model, the DAC controller cannot control a mechanical system properly. Generally an inertia term is easily modeled in advance, but it has a possibility to change. Therefore, we propose an online estimation method of an inertia term by using a system identification method. By using the proposed method, the robustness of DAC is considerably improved. This paper shows the simulation results of the proposed method using 2-link manipulator. Copyright © 2010 by ASME., English, Summary international conference

Decomposed dynamic control for flexible manipulator in consideration of nonlinearity -rigid dynamic control
Haibin Yin, Yukinori Kobayashi, Yohei Hoshino, Takanori Emaru, 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings, 359, 364, 2010, [Peer-reviewed]
A model of a flexible manipulator is developed with considering the geometrical nonlinearity and the effect of gravity. The model can be divided into a flexible dynamic subsystem and a rigid dynamic subsystem, and a decomposed dynamic control (DDC) including flexible dynamic control and rigid dynamic control is proposed for a controller design of the flexible manipulator. The flexible dynamic control has been investigated for a desired trajectory using an optimization, and the optimization is valid method to deal with nonlinear problems but dependent on the accuracy of models. There are errors in models and other factors causing disturbances inevitably, so that the rigid dynamic control is expected with enough robustness to overcome the uncertain problem. In this paper, the proposed controller does not only track the desired trajectory, but also further suppresses the residual vibration to improve performance of control. A hybrid sliding mode control (HySMC) is proposed to track the desired trajectory and provide a compensator for further vibration suppression. This paper mainly presents the theoretical design and experimental verification of the proposed controller. ©2010 IEEE., English, Summary international conference

116 Vibration analysis and control of a seeding machine running at high speed
TAKAHASHI Keisuke, KOBAYASHI Yukinori, HOSHINO Yohei, EMARU Takanori, INOUE Keiichi, KATAYAMA Kyohei, WATANABE Koichi, 北海道支部講演会講演概要集, 2009, 48, 31, 32, 28 Nov. 2009
The Japan Society of Mechanical Engineers, Japanese

117 Vibration Analysis of Wire with Point Mass and Rigid Body
IMAOKA Koichi, KOBAYASHI Yukinori, EMARU Takanori, HOSHINO Yohei, 北海道支部講演会講演概要集, 2009, 48, 33, 34, 28 Nov. 2009
The Japan Society of Mechanical Engineers, Japanese

Frequency Response Analysis of Shell Structures Subjected to Point Force by Using Transfer Matrix Method　　　　　　　　　　　　　　　
Yukinori KOBAYASHI, Kotaro ISHIGURI, Yohei HOSHINO, Takanori EMARU, Takahiro TOMIOKA, Proceedings of the 13th Asia Pacific Vibration Conference (CD-ROM), Paper93, 22 Nov. 2009, [Peer-reviewed]
English, Summary international conference

土の粘弾性モデルに基づく播種機の振動特性解析　　　　　　　　　　　　　　　
星野洋平, 片山恭平, 小林幸徳, 江丸貴紀, 井上慶一, 農業環境工学関連学会2009年合同大会, (CD-ROM), I21, Sep. 2009
Japanese, Summary national conference

運動解析による播種機の播種深さアクティブ制御シミュレーション　　　　　　　　　　　　　　　
星野洋平, 渡部晃一, 小林幸徳, 江丸貴紀, 井上慶一, 農業環境工学関連学会2009年合同大会, (CD-ROM), I22, Sep. 2009
Japanese, Summary national conference

A Control Strategy to Determine Action and Sensing Strategy Simultaneously for Autonomous Mobile Robot Using Integration-Type Ultrasonic Wave Sensor
Takanori EMARU, Naoki OYAMA, Yohei HOSHINO, Yukinori KOBAYASHI, JSME annual meeting 2009, 7, 293, 294, Sep. 2009
We have proposed a new approach to utilize the infinitesimal reflected waves of sonar sensor by integrating the reflected waves. This method is implemented using a transducer with a scanning system, and has a great ability of obtaining the traversable area for a robot in unknown environments in which the distance cannot be precisely measured. The proposed system, termed the integration-type ultrasonic wave sensor system, has following arbitrary parameters that the system designer can determine : sampling time of sonar, sampling time of scanning, range of scanning, speed of scanning, and so on. It is very difficult to determine them appropriately in response to changing environments or tasks. In this paper, we try to determine action and sensing strategy simultaneously. In preparation for this purpose, some experiments and discussion will be performed in this paper., The Japan Society of Mechanical Engineers, Japanese, Summary national conference

Identification of Physical Parameters of Golf-clubs by Golf Swing Robot
Yohei HOSHINO, Naoyuki GOTOH, Yukinori KOBAYASHI, Takanori EMARU, Dynamics and Design Conference 2009(CD-ROM), 2009, 221, 1"-"221-6", Aug. 2009
This study investigate an identification method for physical parameters of golf clubs by golf swing robot by using data of deformation of the club-shaft and input torque in swinging trials. In this method, parameters of the golf club are identified by least-square method. Vibration modes of the club-shaft are necessary to estimate actual physical parameters such as stiffness, El, of the shaft and density of the shaft, pA. However, these vibration modes are not available at the beginning of identification, because these physical parameters, which have not been determined, are required to derive vibration modes. Therefore, temporary vibration modes are assumed for the initial condition of proposed method, and the physical parameters are estimated by iterative calculation between the estimation of physical parameters by using assumed/estimated vibration modes and the estimation of the vibration modes by using estimated physical parameters. Proposed identification method is confirmed by numerical simulation., The Japan Society of Mechanical Engineers, Japanese, Summary national conference

Flow-induced Vibration of an Elastically Supported Cylinder Having Nonlinearity
Yukinori KOBAYASHI, Yuhei TAKESHITA, Subekti, Yohei HOSHINO, Takanori EMARU, Dynamics and Design Conference 2009(CD-ROM), 2009, 206, 1"-"206-6", Aug. 2009
This paper studies flow-induced vibration of a circular cylinder in a cross flow. The cylinder is supported by two pairs of elastic cantilever beams and a wire that adds nonlinearity to the system. A pair of electromagnets is used as a device of external force. Nonlinearity of the restoring force is identified by using experimental data and mathematical model is established. Time history response of the vortex-induced vibration is measured experimentally. The time-frequency analysis is employed to the signal, and characteristics of the fluid-structure nonlinear coupled vibration are clearly observed. Theoretical analysis of fluid-structure system is attempted by using the wake oscillator represented by Van der Pol equation. Simulation results show the typical tendency of nonlinearity in the experiments., The Japan Society of Mechanical Engineers, Japanese, Summary national conference

Identification of Nonlinearity of Flow-Induced Vibration for Structures Having Nonlinear Property by Using Wavelet Transform
Subekti, Yukinori Kobayashi, Yohei Hoshino, Takanori Emaru, ICROS-SICE International Joint Conference 2009(CD-ROM), 3339, 3342, Aug. 2009, [Peer-reviewed]
English, Summary international conference

2A1-G06 Application of Nonlinear Filter ESDS to Quantized Sensor Data
SASE Ryou, EMARU Takanori, HOSHINO Yohei, KOBAYASHI Yukinori, ロボティクス・メカトロニクス講演会講演概要集, 2009, "2A1, G06(1)"-"2A1-G06(4)", 25 May 2009
Proportional-Integral-Derivative (PID) control is widely used to control mechanical systems. In PID control technique, however, there is a limit of accuracy of a simulation because of the modeling errors, such as influence of frictions or gravity. Digital Acceleration Control has robustness for these modeling errors. But it requires position, velocity and acceleration of the controlled object to construct the controller. In terms of costs, less sensors are desired. In this research, we use a novel digital differentiator using sliding mode technique, ESDS which enables Digital Acceleration Control without increasing the number of sensors. Furthermore, the proposed method works effectively for quantized sensor data. Using 1-link manipulator, the validity of the proposed method is confirmed by simulation and experiments., The Japan Society of Mechanical Engineers, Japanese

510 Analysis of Walking Cycle of a Passive Walking Robot by using Perturbation Method
IMAOKA Koichi, HOSHINO Yohei, KOBAYASHI Yukinori, EMARU Takanori, 北海道支部講演会講演概要集, 2008, 47, 131, 132, 27 Sep. 2008
The Japan Society of Mechanical Engineers, Japanese

Estimation of Velocity and Acceleration by Nonlinear Filter based on Sliding Mode and Application to Control System　　　　　　　　　　　　　　　
Kazuo Imagawa, Takanori Emaru, Yohei Hoshino, Yukinori Kobayashi, Proceedings of Asia International Symposium on Mechatronics 2008, 212, 217, 27 Aug. 2008
English, Summary international conference

Estimation of Velocity and Acceleration by Nonlinear Filter ESDS and Application to Control Systems
Kazuo IMAGAWA, Takanori EMARU, Yohei HOSHINO, Yukinori KOBAYASHI, Proceedings of the 2008 JSME Conference on Robotics and Mechatronics(CD-ROM), 2008, 1A1-A14, A14(1)"-"1A1-A14(4)", Jun. 2008
PID control is generally used to control mechanical systems. PID control, however, has a limit of accuracy because of the influence of gravity, friction, and interaction of joints. This is caused by modeling error. Digital acceleration control has robustness for the modeling error. Therefore, digital acceleration control is more effective than PID control. But it requires position, velocity, and acceleration of a controlled object to construct a controller. Information of velocity and acceleration cannot be always obtained in mechanical systems.Furthermore, it is desirable that the number of sensors is reduced for the purpose of cost and maintenance. To solve these problems we use ESDS, which is a nonlinear filter based on sliding mode technique. ESDS enables digital acceleration control without increasing the number of sensors. In this paper, we show the results of the proposed control method by using a perpendicular 1-link and 2-link manipulator., The Japan Society of Mechanical Engineers, Japanese, Summary national conference

2P1-B03 Digital Acceleration Control Utilizing Second-Order Differential Value Estimated by Nonlinear-Filter ESDS
EMARU Takanori, TSUCHIYA Takeshi, ロボティクス・メカトロニクス講演会講演概要集, 2007, "2P1, B03(1)"-"2P1-B03(4)", 11 May 2007
Digital acceleration control has been proposed to control non-linear mechanical systems. The advantage of this method is that construction of controller becomes easily even though non-linear factors or disturbance exist in controlled object. However, it requires position, velocity, and acceleration of controlled object to construct a controller. Not all mechanical systems can obtain the information of velocity or acceleration of controlled object. So the application of the digital acceleration control method has been confined to the area of which can obtain those information. In this paper, we use position sensor and differentiate it by using filtering technique in order to obtain velocity and acceleration. We use ESDS that is based on sliding mode technique. Simulation results show the validity of ESDS as the differentiator., The Japan Society of Mechanical Engineers, Japanese

2A1-D07 Mobile Robot Navigation by Potential Function Method
OIKAWA Kazumi, TAKAUJI Hidenori, EMARU Takanori, TSUCHIYA Takeshi, OKUBO Shigenori, ロボティクス・メカトロニクス講演会講演概要集, 2007, "2A1, D07(1)"-"2A1-D07(4)", 11 May 2007
In this paper, We discuss a method of decision making of a behavior-based robot with some modules which decide robot's action. Subsumption Architecture(SA) makes the modules a layered structure, and upper layer module's action is employed in priority to lower layer module. Such a easy adoption way gives easy implementation but has the problem that lots of inefficient actions are employed. This problem is caused by employing upper module regardless of other modules. Then, We find solutions to this problem by the method to represent actions by Potential Function(PF). This method adopt the action which collects maximum votes from modules. With event driven state transition, robot makes decision of its action with appropriate set of modules which is changed depending on situation. We apply this method to navigation tasks in some corridor environments and show simulation results., The Japan Society of Mechanical Engineers, Japanese

2P2-E04 Navigation Instructions Using Handwriting Map Interface
OIKAWA Kazumi, TAKAUJI Hidenori, EMARU Takanori, TSUCHIYA Takeshi, OKUBO Shigenori, ロボティクス・メカトロニクス講演会講演概要集, 2006, "2P2, E04(1)"-"2P2-E04(4)", 2006
We propose a easier way to give a map to a robot using handwriting map interface. To popularize the use of robots in the home and welfare institutions, robots must be easy for anyone to use. In this paper, we discuss the way to give to the robot the graph map corresponding to its environment using handwriting map interface that converts handwriting map composed of lines into the graph map. We expect this interface to relieve us of the bother of making maps. Simulation results applied this interface to corridor environments are shown., The Japan Society of Mechanical Engineers, Japanese

Comments on "Research on estimating smoothed value and differential value by using sliding mode system" - Author's reply
T Emaru, T Tsuchiya, IEEE TRANSACTIONS ON ROBOTICS, 21, 6, 1241, 1241, Dec. 2005
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, English, Others

1P1-S-018 Speed Control of a Sonar-Based Mobile Robot Determining Sensing and Action Strategy Simultaneously(Mobile Robot 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
Emaru Takanori, Tanaka Kazuo, Tsuchiya Takeshi, ロボティクス・メカトロニクス講演会講演概要集, 2005, 78, 78, 09 Jun. 2005
The Japan Society of Mechanical Engineers, Japanese

2P1-S-060 Experimental Study on Optimal Parameters of a Flying Robot with Variable Attack Angle Mechanism(Flying Robot 4,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
Suzuki Ryohei, Tanaka Kazuo, Emaru Takanori, ロボティクス・メカトロニクス講演会講演概要集, 2005, 219, 219, 09 Jun. 2005
The Japan Society of Mechanical Engineers, Japanese

Navigation using Artificial Landmark without using Coordinate System
Oikawa K, Takauji H, Emaru T, Okubo S, ロボティクス・メカトロニクス講演会講演概要集, 2004, 66, 67, 18 Jun. 2004
The Japan Society of Mechanical Engineers, Japanese

Strategy of pass planning for wheeled mobile robot by using integration-type ultrasonic wave sensor
E T, Oikawa K, Tanaka K, T T, ロボティクス・メカトロニクス講演会講演概要集, 2004, 29, 29, 18 Jun. 2004
The Japan Society of Mechanical Engineers, Japanese

A Flying Robot with Varialbe Attack Angle Mechanism
Suzuki R, Tanaka K, Emaru T, ロボティクス・メカトロニクス講演会講演概要集, 2004, 213, 213, 18 Jun. 2004
The Japan Society of Mechanical Engineers, Japanese

Research on Parameter Determination for Smoothed and Differential Value Estimator
EMARU Takanori, TSUCHIYA Takeshi, IEICE transactions on fundamentals of electronics, communications and computer sciences, 86, 7, 1732, 1741, 01 Jul. 2003
In our previous research, we proposed a nonlinear digital filter to Estimate the Smoothed and Differential values of the sensor inputs by using Sliding mode system (ESDS). This estimator is able to eliminate impulsive noise efficiently from time series data. We applied this filter to processing outputs of robot sensors, and it became possible to perform robust environment recognition. ESDS is designed using a theory of variable structure system (VSS) with sliding mode. In short, ESDS is a nonlinear filter. Therefore, it is very difficult to clarify the behavior of the system analytically. Consequentially, we deal with the step function with impulsive noise as an example, and we attempt to eliminate this impulsive noise by keeping the sudden shift of signals. In this case, there is a trade-off between the noise elimination ability and the tracking performance for an input signal. Although ESDS is a nonlinear filter, it has the same trade-off as linear filters such as a low-pass filter. In order to satisfy these two conditions simultaneously, we use two filters whose parameters are independent of each other. Furthermore, in order to repress the adverse affect of impulsive noise in the steady-state, we introduced the boundary layer. Generally, a boundary layer is used so as to inhibit the harmful effect of chattering. Chattering is caused in the sliding mode system when the state of the system vibrates on the switching line of a sliding mode system. By introducing the boundary layer to ESDS, we can repress the adverse effect of impulsive noise in the steady-state. According to these considerations, we clarify the relationship between these characteristics of ESDS and the arbitrary parameters., The Institute of Electronics, Information and Communication Engineers, English

Digital Acceleration Control Utilizing Second-order Differential Value Estimated by Nonlinear Filter ESDS
Ikeda A., Emaru T., Tsuchiya T., ロボティクス・メカトロニクス講演会講演概要集, 2003, 133, 133, 2003
ディジタル加速度制御を用いると, メカニカルシステムに含まれる非線形項が未知のまま制御器を設計できる。この制御法では対象の位置・速度・加速度を必要とするが, 位置情報のみ得られればESDSによりそれを微分して速度・加速度が得られる。, The Japan Society of Mechanical Engineers, Japanese

Navigation for a Autonomous Mobile Robot by IR Module Landmarks
Oikawa K., Takauji H., Emaru T., Tsuchiya T., Okubo S., ロボティクス・メカトロニクス講演会講演概要集, 2003, 37, 37, 2003
赤外線モジュールリモコンランドマークを利用した自律移動ロボットのナビゲーションについて述べる。知覚騙し問題に対してSAに状況分割の考えを用いる。また, 固定優先順位の問題に対してイベント駆動型の階層構造切替手法について述べる。, The Japan Society of Mechanical Engineers, Japanese

A New Ultrasonic Transmit/Receive Circuit for Improvement of Range Finding Perfor mance and Utilize the Integration Value
Emaru T., Terabayashi K., Oikawa K., Tsuchiya T., ロボティクス・メカトロニクス講演会講演概要集, 2003, 66, 66, 2003
超音波センサによる測距方法として一般的なパルスエコー法は, 微弱なエコーを無視する。この欠点を解決するため, エコーの積分値を利用した環境認識を行う。さらに低雑音の回路を製作し, 測距性能の向上も目指す。, The Japan Society of Mechanical Engineers, Japanese

Navigation of Autonomous Mobile Robot with Handwritten Map Interface
Terabayashi K., Emaru T., Oikawa K., Tsuchiya T., ロボティクス・メカトロニクス講演会講演概要集, 2003, 7, 8, 2003
自律移動ロボットのナビゲーションには距離情報の正確な地図が望まれるが, ユーザにとってその作成は大きな負担である。そこで, 日常的なツールであり作成が容易な手書き地図をインターフェースとするナビゲーションシステムの実現を目指す。, The Japan Society of Mechanical Engineers, Japanese

1A1-N2 How to decide the parameters of ESDS
Emaru T., Oikawa K., Tsuchiya T., ロボティクス・メカトロニクス講演会講演概要集, 2001, 17, 17, 08 Jun. 2001
The Japan Society of Mechanical Engineers, Japanese

1P1-B6 Environmental representation method using topological map for a autonomous mobile robot
Oikawa K., Takauji H., Emaru T., Tsuchiya T., Okubo S., ロボティクス・メカトロニクス講演会講演概要集, 2001, 21, 21, 08 Jun. 2001
The Japan Society of Mechanical Engineers, Japanese

Research on estimating the smoothed value and the differential value of the sensor inputs by using sliding mode system
EMARU Takanori, OIKAWA Kazumi, TSUCHIYA Takeshi, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 10, 153, 158, Oct. 2000
Japanese

1A1-70-100 スライディングモードを利用したセンサ情報に対する平滑化および微分値推定法
江丸 貴紀, 高氏 秀則, 及川 一美, 土谷 武士, ロボティクス・メカトロニクス講演会講演概要集, 2000, 42, 42, 2000
「インパルス性雑音の除去」と「信号成分の突発的な変化の保存」という相反する要素を満たすフィルタを提案し, 超音波センサによって得られた信号に対して適用した。本手法は, スライディングモードシステムに基づきシステムを構築しており, スライディングモードシステム内部の飽和要素が瞬間的な過大入力を抑制する, という特長によりインパルス性雑音を除去している。また, 信号成分が突発的に変化する場合についても考察し, 実環境でより有効なシステムを構築した。提案手法は非線形システムであるが, S/N比を用いた評価基準を設けることによって, 定量的評価も行った。, 一般社団法人日本機械学会, Japanese

2P2-41-051 行動規範型自律移動ロボットの通路状環境におけるナビゲーション手法
高氏 秀則, 江丸 貴紀, 及川 一美, 土谷 武士, ロボティクス・メカトロニクス講演会講演概要集, 2000, 99, 99, 2000
我々は動的な通路状環境において, ロボットのナビゲーションを実現する方法として, 行動規範型自律移動ロボットに環境知識を持たせる手法を提案している。ロボットは角度, 距離といった計測情報を用いずに, 床面に人工的に設置した色をランドマークに用いることで, 環境のトポロジカルな構造を非記号的な知識表現を使い自己組織的かつ可塑的に獲得しナビゲーションに利用する。, 一般社団法人日本機械学会, Japanese

Navigation for A Behavior-Based Autonomous Mobile Robot in Corridor Environment
TAKAUJI Hidenori, EMARU Takanori, OIKAWA Kazumi, TSUCHIYA Takeshi, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 9, 420, 425, Oct. 1999
Japanese

Avoid the crosstalk of sonar by using sliding mode system
EMARU Takanori, TAKAUJI Hidenori, OIKAWA Kazumi, TSUCHIYA Takeshi, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 9, 474, 479, Oct. 1999
Japanese

An Evaluation of RGB-Thermal Image Segmentation for Snowy Road Environment
Sirawich Vachmanus, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi
2021 IEEE International Conference on Mechatronics and Automation (ICMA), 08 Aug. 2021, IEEE, English
08 Aug. 2021 - 08 Aug. 2021

Dynamic Motion Planning for Mobile Robots using Improved Artificial Potential Field Method　　　　　　　　　　　　　　　
Ankit Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi
26th International Symposium on Artificial Life and Robotics, 21 Jan. 2021, English, Oral presentation
21 Jan. 2021 - 23 Jan. 2021

Monocular Visual-inertial Localization in a Point Cloud Map Using Feature-to-Distribution Registration
Su Wang, Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi
2021 IEEE/SICE International Symposium on System Integration (SII), 11 Jan. 2021, IEEE, English
11 Jan. 2021 - 11 Jan. 2021

Real-time Interpolation Method For Sparse LiDAR Point Cloud Using RGB Camera
Tomohiko Hasegawa, Takanori Emaru, Ankit A. Ravankar
2021 IEEE/SICE International Symposium on System Integration (SII), 11 Jan. 2021, IEEE, English
11 Jan. 2021 - 11 Jan. 2021

Improved Scan Matching Performance in Snowy Environments Using Semantic Segmentation
Masahiro Obuchi, Takanori Emaru, Ankit A. Ravankar
2021 IEEE/SICE International Symposium on System Integration (SII), 11 Jan. 2021, IEEE, English
11 Jan. 2021 - 11 Jan. 2021

SVM based Pedestrian Detection System for Sidewalk Snow Removing Machines
Yuta Sasaki, Takanori Emaru, Ankit A. Ravankar
2021 IEEE/SICE International Symposium on System Integration (SII), 11 Jan. 2021, IEEE, English
11 Jan. 2021 - 11 Jan. 2021

Mobile Robot Navigation Based on Deep Reinforcement Learning with Range Only Sensor　　　　　　　　　　　　　　　
Beomsoo Han, Ankit Ravankar, Takanori Emaru
IEEE International Conference on Intelligence and Safety for Robotics, 2021, English
2021 - 2021

樹木胸高直径（DBH）推定のためのStereo カメラによるドローン観測およびモバイルステレオスキャンの提案　　　　　　　　　　　　　　　
トライラッタナパー ヴィサルット, 江丸貴紀, ラワンカルアンキット
第11回北海道ロボット技術研究専門委員会学術講演会, Mar. 2020, Oral presentation

実環境における3DLIDAR を用いたUAV による防波堤点検システム　　　　　　　　　　　　　　　
岡野裕大, 江丸貴紀, ラワンカルアンキット
第11回北海道ロボット技術研究専門委員会学術講演会, Mar. 2020, Oral presentation

RGB-D とLiDAR センサーを用いた動的環境のEKF-SLAM　　　　　　　　　　　　　　　
Beomsoo Han, ラワンカルアンキット, 江丸貴紀, 小林幸徳
第11回北海道ロボット技術研究専門委員会学術講演会, Mar. 2020, Oral presentation

ピンポイント除草作業を実現するロボットマニピュレータ制御　　　　　　　　　　　　　　　
木下拓, 江丸貴紀, ラワンカルアンキット
第52回計測自動制御学会北海道支部学術講演会, Mar. 2020, Oral presentation

積雪環境における自動運転技術の開発　　　　　　　　　　　　　　　
江丸 貴紀
第4回日本安全運転・医療研究会, 14 Dec. 2019, 日本安全運転・医療研究会, Japanese, Invited oral presentation
福井県県民ホール, [Domestic Conference]

Application of Deep Learning to Raw Woods Measurement　　　　　　　　　　　　　　　
T. Morii, T. Emaru, A. Ravankar, Y. Kobayashi
20th SICE SI Conference, 12 Dec. 2019, Japanese, Oral presentation
[Domestic Conference]

UAVによる港湾設備点検の自動化を支援する高精度地図生成・自己位置同定システムの開発　　　　　　　　　　　　　　　
江丸 貴紀
港湾空港技術特別講演会, 13 Nov. 2019, 国土交通省 北海道開発局, Japanese, Public discourse
札幌第一合同庁舎2階講堂, [Domestic Conference]

圃場における自律走行を目的としたRGB-Dセンサによる畝のロバストな認識法および制御系の提案　　　　　　　　　　　　　　　
藤田隼輔, 小林幸徳, 江丸貴紀, Ravankar Ankit
第62回自動制御連合講演会, 08 Nov. 2019, Japanese, Oral presentation
[Domestic Conference]

オムニホイール移動ロボットの斜面における追従性能向上手法の提案　　　　　　　　　　　　　　　
山田涼裕, 小林幸徳, 江丸貴紀, Ravankar Ankit
第62回自動制御連合講演会, 08 Nov. 2019, Japanese, Oral presentation
[Domestic Conference]

ロボット技術を使用した社会貢献について　　　　　　　　　　　　　　　
江丸 貴紀
港湾空港総合技術センター講演会「ＵＡＶ活用による港湾関連業務の効率化」, 02 Oct. 2019, 港湾空港総合技術センター, Japanese, Public discourse
アスティ４５ビル（札幌市）, [Domestic Conference]

A Semi-Active Multi-Modal Vibration Damping Technique to Study the Impact of Vertical Flexural Vibration Damping of a Railway Carbody Floor on Ride Comfort　　　　　　　　　　　　　　　
Silabhadra Das, Yukinori Kobayashi, Takanori Emaru, Ankit Ravankar
12th World Conference on Railway Research (WCRR 2019), Oct. 2019, Oral presentation

Multi-modal Vibration Control of a Double Shell Railway Car-Body Model using Passive Piezo-electric Shunt Circuit　　　　　　　　　　　　　　　
Silabhadra Das, Ashish Gupta, Yukinori Kobayashi, Takanori Emaru, Ankit Ravankar
2019 12th Asian Control Conference (ASCC), Jun. 2019, English, Oral presentation
[International presentation]

Cooperative Multi-robot Map Merging with Task Dstribution　　　　　　　　　　　　　　　
Ankit Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
日本機械学会ロボティクス・メカトロニクス講演会講演論文集, Jun. 2019, English, Poster presentation
[Domestic Conference]

Autonomous Navigation of Ground Robot for Vineyard Monitoring　　　　　　　　　　　　　　　
Ankit Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
日本機械学会ロボティクス・メカトロニクス講演会講演論文集, Jun. 2019, English, Poster presentation
[Domestic Conference]

Cooperative Multi-Robot Map Merging with Task Distribution　　　　　　　　　　　　　　　
Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi
Robotics and Mechatronics Conference (ROBOMECH 2019), Hiroshima, May 2019, English
May 2019 - May 2019

Filtering Snowflake from LiDAR Point Cloud Data by Nearest Neighbor Search　　　　　　　　　　　　　　　
Yuta Sasaki, Takanori Emaru, Ravankar Ankit, Yukinori Kobayashi
51th SICE Hokkaido branch Conference, Mar. 2019, Japanese, Oral presentation
[Domestic Conference]

Development of Breakwater Inspection System using UAV　　　　　　　　　　　　　　　
Takaki Ueno, Takanori Emaru, Ravankar Ankit, Yukinori Kobayashi
51th SICE Hokkaido branch Conference, Mar. 2019, Japanese, Oral presentation
[Domestic Conference]

Rut width estimation in snowy area by sensor fusion using thermal infrared camera and 3D LiDAR　　　　　　　　　　　　　　　
Tomohiko Hasegawa, Yukinori Kobayashi, Takanori Emaru, Ravankar Ankit
51th SICE Hokkaido branch Conference, Mar. 2019, Japanese, Oral presentation
[Domestic Conference]

Snowpack Detection based on Pointcloud Processing using 3D LiDAR for Developing Self-driving Car in Snowy Environment　　　　　　　　　　　　　　　
Masahiro Obuchi, Yukinori Kobayashi, Takanori Emaru, Ravankar Ankit
51th SICE Hokkaido branch Conference, Mar. 2019, Japanese, Oral presentation
[Domestic Conference]

Real-time Visual Graph-based Navigation for Multi-robot System　　　　　　　　　　　　　　　
Ankit A. Ravankar, A. Ravankar, Y. Kobayashi, T. Emaru
24rd Int. Symposium on Artificial Life and Robotics, 23 Jan. 2019, English, Oral presentation
[International presentation]

Localization with Laser Range Finder in a Metrically Inconsistent Map from Monocular SLAM　　　　　　　　　　　　　　　
Su Wang, Abhijeet Ravankar, Ankit Ravankar, Yukinori Kobayashi, Takanori Emaru
2018 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2018), 15 Dec. 2018, English, Oral presentation
[International presentation]

特徴点が疎な積雪環境における地図作成およびナビゲーションシステムの開発　　　　　　　　　　　　　　　
朱 承儒, 江丸 貴紀, Ravankar Ankit, 小林 幸徳
第19回計測自動制御学会システムインテグレーション部門講演会（SI2018）, 13 Dec. 2018, Japanese, Poster presentation
[Domestic Conference]

作物検出を目的とした深層学習のためのデータセット自動作成　　　　　　　　　　　　　　　
金 智姫, 江丸 貴紀, Ravankar Ankit, 小林 幸徳
第19回計測自動制御学会システムインテグレーション部門講演会（SI2018）, 13 Dec. 2018, Japanese, Poster presentation
[Domestic Conference]

独立型一体内装構造を有する鉄道車体モデルの低周波数領域における音響解析　　　　　　　　　　　　　　　
小野俊太郎, 小林幸徳, ゴータムアビシェク, 山本克也, 江丸貴紀, ラワンカルアンキット
第25回 鉄道技術連合シンポジウム (J-RAIL2018), 05 Dec. 2018, Japanese, Oral presentation
[Domestic Conference]

A Collaborative Mapping and Navigation Framework for Multi- Robot System　　　　　　　　　　　　　　　
Ankit A. Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
The 8th East Asia Mechanical Engineering Workshop, 01 Dec. 2018, English, Oral presentation
[International presentation]

Scale-aware indoor localization using 2D laser rangefinder in a weak map from monocular SLAM　　　　　　　　　　　　　　　
Su Wang, Ankit A. Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
The 8th East Asia Mechanical And Aerospace Engineering Workshop, 01 Dec. 2018, English, Oral presentation
[International presentation]

深層学習を用いた農作物の自動検出における教師データ画像の加工　　　　　　　　　　　　　　　
影山 藍, 江丸 貴紀, Ankit Ravankar, 小林 幸徳
第61回自動制御連合講演会, 17 Nov. 2018, Japanese, Oral presentation
[Domestic Conference]

障害物とロボットの最小旋回半径を考慮したCoverage Pathの最適化　　　　　　　　　　　　　　　
小保内 弘毅, 江丸 貴紀, Ankit RAVANKAR, 小林 幸徳
第61回自動制御連合講演会, 17 Nov. 2018, Japanese, Oral presentation
[Domestic Conference]

Autonomous Mapping and Exploration of UAV Using Low Cost Sensors　　　　　　　　　　　　　　　
Ankit Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
5th International Electronic Conference on Sensors and Applications, 15 Nov. 2018, English, Oral presentation
[International presentation]

Visual LIDAR Odometry Mapping and Navigation for Mobile Robots in Indoor Environments　　　　　　　　　　　　　　　
Ankit Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
平成30年度 電気・情報関係学会北海道支部連合大会, 27 Oct. 2018, English, Oral presentation
[Domestic Conference]

AI・IT・RTを用いた農林業支援ロボットの開発　　　　　　　　　　　　　　　
江丸 貴紀
第47回北大ビジネス・スプリングセミナー, 18 Oct. 2018, 独立行政法人中小企業基盤整備機構, Japanese, Public discourse
独立行政法人 中小企業基盤整備機構北海道本部 北大ビジネス・スプリング, [Domestic Conference]

Applying Semantic Segmentation toAutonomous Cars in the Snowy Environment　　　　　　　　　　　　　　　
Zhaoyu Pan, Takanori Emaru, Ankit Ravankar, Yukinori Kobayashi
36th RSJ Conference, Sep. 2018, English, Oral presentation
[Domestic Conference]

Road Detection in Snowy Forest Environmentusing RGB Camera　　　　　　　　　　　　　　　
Sirawich Vachmanus, Takanori Emaru, Ankit Ravankar, Yukinori Kobayashi
36th RSJ Conference, Sep. 2018, English, Oral presentation
[Domestic Conference]

Development of Port Facilities InspectionRobot Using Multi-copter　　　　　　　　　　　　　　　
Takaki Ueno, Masaru Sakuma, Seiko Piotr Yamaguchi, Yukinori Kobayashi, Ankit Ravankar, Takanori Emaru
36th RSJ Conference, Sep. 2018, English, Oral presentation
[Domestic Conference]

Bending Vibration Suppression of a Single Shell Structure for Railway Car body Using Piezoelectric Elements (FEM Analysis Using Combination of ANSYS 17.1 Workbench And ANSYS APDL)　　　　　　　　　　　　　　　
Ashish Gupta, Y. Kobayashi, T. Emaru, A. Ravankar
The 14th International Conference on Motion and Vibration, MOVIC2018, Aug. 2018, English, Oral presentation
[International presentation]

Aerial Robot Model based design and verification of the single and multi-agent inspection application development　　　　　　　　　　　　　　　
Seiko P. Yamaguchi, Masaru Sakuma, Takaki Ueno, Filip Karolonek, Tadeusz Uhl, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi
The 14th International Conference on Motion and Vibration, MOVIC2018, Aug. 2018, English, Oral presentation
[International presentation]

構体と内装の二重シェル構造を有する鉄道車体モデルの音響解析　　　　　　　　　　　　　　　
小野 俊太郎, 小林 幸徳, 山本 克也, ゴータムアビシェク, 江丸 貴紀, ラワンカルアンキット
Dynamics and Design Conference 2018, Aug. 2018, Japanese, Oral presentation
[Domestic Conference]

AI・IT・RTを用いた農林業支援ロボットの開発　　　　　　　　　　　　　　　
江丸 貴紀
AI/IoT等導入促進セミナー, 26 Jul. 2018, 公益財団法人北海道科学技術総合振興センター, Japanese, Public discourse
アクセスサッポロ 2階 レセプションホール, [Domestic Conference]

Semantic Navigation for Indoor Service Robots　　　　　　　　　　　　　　　
Ankit Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
日本機械学会ロボティクス・メカトロニクス講演会講演論文集, Jun. 2018, English, Poster presentation
[Domestic Conference]

Real-Time Path Smoothing for Mobile Robots in 2D and 3D Environments　　　　　　　　　　　　　　　
Abhijeet Ravankar, Ankit Ravankar, Yukinori Kobayashi, Takanori Emaru
日本機械学会ロボティクス・メカトロニクス講演会講演論文集, Jun. 2018, English, Poster presentation
[Domestic Conference]

Development of agriculture and forestry support robots based on AI, IT and RT　　　　　　　　　　　　　　　
Takanori Emaru
VI-th AGH-HU Joint Symposium, May 2018, English, Nominated symposium
[International presentation]

Task coordination for Multiple Mobile Robots considering Semantic and Topological Information　　　　　　　　　　　　　　　
Ankit A. Ravankar, Abhijeet Ravankar, Chao-Chung Peng, Yukinori Kobayashi, Takanori Emaru
2018 International Conference on Applied System Innovation (ICASI), Apr. 2018, English, Oral presentation
[International presentation]

雪道の自動運転技術の開発とドローンによる桟橋の点検　　　　　　　　　　　　　　　
江丸 貴紀
第7回産学官CIM・GIS情報交換会, 14 Mar. 2018, 一般社団法人北海道産学官研究フォーラム, Japanese, Public discourse
札幌駅前ビジネススペース カンファレンスルーム2J, [Domestic Conference]

Estimation of Self-position and Slope Gradient of Omni-direction Wheel Robot on Slope　　　　　　　　　　　　　　　
R. Yamada, Y. Kobayashi, T. Emaru, A. Ravankar
10th RSJ-HRT Conference, Mar. 2018, Japanese, Oral presentation
[Domestic Conference]

Development and Motion Analysis of a 4WD Robot for Forest Surveillance and Maintenance　　　　　　　　　　　　　　　
Shunsuke Fujita, Yukinori Kobayashi, Takanori Emaru, Ravankar Ankit
10th RSJ-HRT Conference, Mar. 2018, Japanese, Oral presentation
[Domestic Conference]

Optimization of UAV Path Using Meta-heuristics　　　　　　　　　　　　　　　
Norihiro Yamauchi, Yukinori Kobayashi, Takanori Emaru, Ravankar Ankit
10th RSJ-HRT Conference, Mar. 2018, Japanese, Oral presentation
[Domestic Conference]

A Measurement System for Raw Wood Logs using Hough Transform and Deep Learning　　　　　　　　　　　　　　　
T. Morii, Y. Kobayashi, T. Emaru, A. Ravankar
10th RSJ-HRT Conference, Mar. 2018, Japanese, Oral presentation
[Domestic Conference]

林業ロボットの活躍～AI・RT・ITを活用した農林業支援ロボット～　　　　　　　　　　　　　　　
江丸 貴紀
第４２回時計台サロン「農学部に聞いてみよう」, 14 Feb. 2018, Japanese, Public discourse
[Invited], [Domestic Conference]

Autonomous Mobile Robot Mapping and Navigation using Topological and Semantic Information　　　　　　　　　　　　　　　
Ankit A. Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
Proceedings of the 23rd International Symposium on Artificial Life and Robotics, ISAROB, Jan. 2018, English, Oral presentation
[International presentation]

UAV Pose Estimation Using IR and RGB Cameras　　　　　　　　　　　　　　　
Su Wang, Abhijeet Ravankar, Ankit Ravankar, Yukinori Kobayashi, Takanori Emaru
In Proceedings of the 2017 IEEE/SICE International Symposium on System Integration (SII), 14 Dec. 2017, English, Oral presentation
[International presentation]

Vision Based Autonomous Docking of VTOL UAV using a Mobile Robot Manipulator　　　　　　　　　　　　　　　
Eduardo Narvaez, Ankit A. Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
In Proceedings of the 2017 IEEE/SICE International Symposium on System Integration (SII), 14 Dec. 2017, English, Oral presentation
[International presentation]

UAV Pose Estimation Using IR and RGB Cameras　　　　　　　　　　　　　　　
Takanori Emaru
Su Wang, Abhijeet Ravankar, Ankit Ravankar, Yukinori Kobayashi, Takanori Emaru, 27 Nov. 2017, English, Oral presentation
[International presentation]

Vision Based Autonomous Docking of VTOL UAV using a Mobile Robot Manipulator　　　　　　　　　　　　　　　
Eduardo Narvaez, Ankit A. Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
The 7th East Asia Mechanical and Aerospace Engineering (EAMAE) Workshop, 27 Nov. 2017, English, Oral presentation
[International presentation]

Large Scale Mapping using Semantic and Topological Information for Autonomous Mobile Robot Navigation　　　　　　　　　　　　　　　
Ankit A. Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
The 7th East Asia Mechanical and Aerospace Engineering (EAMAE) Workshop, 27 Nov. 2017, English, Oral presentation
[International presentation]

Surveillance Mobile Robot System for Tracking and Inspection of Suspicious Entities in Indoor and Outdoor Spaces　　　　　　　　　　　　　　　
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
The 7th East Asia Mechanical and Aerospace Engineering (EAMAE) Workshop, 27 Nov. 2017, English, Oral presentation
[International presentation]

Vibro-Acoustic Analysis of a Double Shell Structure for Railway Carbody　　　　　　　　　　　　　　　
Abhishek K. Gautam, Yukinori Kobayashi, Takanori Emaru, Katsuya Yamamoto
The 17th Asian Pacific Vibration Conference, 13 Nov. 2017, English, Oral presentation
[International presentation]

Optimal Robot Path Selection Using Fuzzy Analytical Hierarchical Process　　　　　　　　　　　　　　　
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
In Proceedings of the 4th Int. Electron. Conf. Sens. Appl., Nov. 2017, English, Oral presentation
[International presentation]

A Hybrid Topological Mapping and Navigation Method for Large Area Robot Mapping　　　　　　　　　　　　　　　
Ankit A. Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
Proceedings of the SICE Annual Conference (SICE), Sep. 2017, English, Oral presentation
[International presentation]

Can Robots Help Each Other To Plan Optimal Paths in Dynamic Maps?　　　　　　　　　　　　　　　
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
Proceedings of the SICE Annual Conference (SICE), Sep. 2017, English, Oral presentation
[International presentation]

斜面のある環境に対応した作業機械の経路生成技術の開発　　　　　　　　　　　　　　　
江丸 貴紀
IoT/AI 技術で切り拓く農業革命等への糸口, 20 Jul. 2017, 北海道立総合研究機構，北海道, Japanese, Public discourse
アクセスサッポロ 2 階 レセプションホール, [Invited], [Domestic Conference]

除草作業の機械化に向けた新しい画像処理技術の開発　　　　　　　　　　　　　　　
江丸 貴紀
IoT/AI 技術で切り拓く農業革命等への糸口, 20 Jul. 2017, 北海道立総合研究機構，北海道, Japanese, Public discourse
アクセスサッポロ 2 階 レセプションホール, [Invited], [Domestic Conference]

A^*アルゴリズムを用いたLimb型ロボットの骨組み構造での経路計画と動作生成
吉田州平, 小林幸徳, 江丸貴紀
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 09 May 2017, Japanese

Inter-Robot Learning in Multi-Robot System　　　　　　　　　　　　　　　
Abhijeet Ravankar, Ankit Ravankar, Yukinori Kobayashi, Takanori Emaru
日本機械学会ロボティクス・メカトロニクス講演会講演論文集, May 2017, English, Poster presentation
[Domestic Conference]

Low-cost Mobile Platform for ROS　　　　　　　　　　　　　　　
Ankit Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi
日本機械学会ロボティクス・メカトロニクス講演会講演論文集, May 2017, English, Poster presentation
[Domestic Conference]

マルチロボットシステムにおけるグラフ理論を用いたタスク計画
木下拓, 江丸貴紀, 小林幸徳, RAVANKAR Ankit
計測自動制御学会北海道支部学術講演会論文集, 2017, Japanese

ステアリング機構を有する移動ロボット除草システムの開発
小保内弘毅, 江丸貴紀, 小林幸徳, RAVANKAR Ankit
計測自動制御学会北海道支部学術講演会論文集, 2017, Japanese

林業フィールドにおける樹木の認識と自己位置推定
長井一弘, 江丸貴紀, 小林幸徳, RAVANKAR Ankit
計測自動制御学会北海道支部学術講演会論文集, 2017, Japanese

UAV搭載シングルカメラによる3次元マップ構築およびスケール決定
青山佳樹, RAVANKAR Ankit, 江丸貴紀, 小林幸徳
計測自動制御学会北海道支部学術講演会論文集, 2017, Japanese

葉を特徴点として利用した実環境における農作物の検出・判別システムの提案
影山藍, 江丸貴紀, 小林幸徳, RAVANKAR Ankit
計測自動制御学会北海道支部学術講演会論文集, 2017, Japanese

Intelligent Robot Guidance in Fixed External Camera Network for Navigation in Crowded and Narrow Passages
A Ravankar, A A Ravankar, Y Kobayashi, T Emaru
3rd International Electronic Conference on Sensors and Applications, Dec. 2016, English
Dec. 2016 - Dec. 2016

A method of low-cost IMU calibration and alignment　　　　　　　　　　　　　　　
Jixin Lv, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
2016 IEEE/SICE International Symposium on System Integration (SII), Dec. 2016, English, Oral presentation
[International presentation]

Mapping of pier substructure using UAV　　　　　　　　　　　　　　　
Masaru Sakuma, Yukinori Kobayashi, Takanori Emaru, Ankit A. Ravankar
2016 IEEE/SICE International Symposium on System Integration (SII), Dec. 2016, English, Oral presentation
[International presentation]

Adaptive control for omnidirectional wheeled robot　　　　　　　　　　　　　　　
Kota Kawamura, Takanori Emaru, Yukinori Kobayashi, Ankit A. Ravankar
2016 IEEE/SICE International Symposium on System Integration (SII), Dec. 2016, English, Oral presentation
[International presentation]

3D map-building from RGB-D data considering noise characteristics of Kinect　　　　　　　　　　　　　　　
Takahiro Yamaguchi, Takanori Emaru, Yukinori Kobayashi, Ankit A. Ravankar
2016 IEEE/SICE International Symposium on System Integration (SII), Dec. 2016, English, Oral presentation
[International presentation]

二重シェル構造を有する鉄道車体の振動解析
三津橋直也, 小林幸徳, 江丸貴紀, 山本克也
日本機械学会交通・物流部門大会講演論文集(CD-ROM), 29 Nov. 2016, Japanese

回転チェーン系における非線形摩擦特性のプロクシを用いた緩和と数値的安定性
高橋成光, 小林幸徳, 江丸貴紀
日本機械学会年次大会講演論文集(CD-ROM), 10 Sep. 2016, Japanese

柔軟構造物に対する精密ステージの相対位置決め制御
小川博紀, 小林幸徳, 影山巧弦, 江丸貴紀
日本機械学会年次大会講演論文集(CD-ROM), 10 Sep. 2016, Japanese

骨組み構造での動作生成を行うLimb型ロボットシステムの開発
吉田州平, 小林幸徳, 江丸貴紀
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 08 Jun. 2016, Japanese

Clustering Based Line Detection in Noisy Datasets　　　　　　　　　　　　　　　
Ankit A. Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
ロボティクス・メカトロニクス講演会ROBOMECH2016, 08 Jun. 2016, English, Poster presentation
[Domestic Conference]

A Multi-Robot Path Planning Scheme and Management based on Power Availability　　　　　　　　　　　　　　　
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
ロボティクス・メカトロニクス講演会ROBOMECH2016, 08 Jun. 2016, English, Poster presentation
[Domestic Conference]

Mapping of Pier Substructure Using UAV
Masaru Sakuma, Yukinori Kobayashi, Takanori Emaru, Ankit A. Ravankar
2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2016, IEEE, English
2016 - 2016, In developed countries the life expectancy of hard structures is about 50 years, therefore there are a large number of structures currently needing replacement and repair. Such a large task requires considerable resources. In order to reduce the work-load and speed up this task, autonomous robotic inspection has been proposed. Of all the different kinds of robots the UAV (Unmanned Aerial Vehicle) promises to be a suitable platform due to its low cost and high functionality. In recent years research using UAV robots for inspecting infrastructure facilities such as a tunnels and bridges has gained momentum and there are many illustrative examples where such robots have shown good results. However, there are little or no studies on UAV robot inspection of pier structures, an important marine facility at present. We present the development of a Pier Inspection System using UAV (PISU). The system comprises of autonomous flight system, mapping-update system and collision avoidance system. The performance of PISU is demonstrated by simulations and results are discussed.

Adaptive Control for Omnidirectional Wheeled Robot
Kota Kawamura, Takanori Emaru, Yukinori Kobayashi, Ankit A. Ravankar
2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2016, IEEE, English
2016 - 2016, An important characteristic of the omnidirectional robot is that it can move in all directions and does not require large space to turn. There are numerous applications of omniwheeled robots, for eg. to carry load or objects in indoor environments, omnidirectional wheelchair for medical care and assistance, navigation in tight spaces such as industrial warehouses and omnidirectional walker for rehabilitation. In most of the mentioned example cases, parameters such as load and center-of-gravity affects the system thereby decreasing the control performance. Therefore, the dynamic modeling of an omnidirectional robot considering load change, center-of-gravity shifts and frictional force is primarily considered in this study and an adaptive control method is proposed to address the issue. In addition, we tested the stability of the system for long distance run. From the results, the proposed system was found to perform better than the traditional PI (Proportional-Integral) controller.

A Method of A Method of Low-Cost IMU Calibration and Alignment
Jixin Lv, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2016, IEEE, English
2016 - 2016, This paper presents a straightforward way to fully calibrate low-cost IMU sensor in field. In this approach, a plastic cube that is made by 3D printer is introduced as the body carrier of IMU. The accelerometer is firstly calibrated by using famous multi-position method and then followed with the correction of misalignment between sensor frame and body frame. A normal swivel chair is reformed as an easy turntable to perform smooth rotation. The gyroscope is calibrated by using angle domain method with the angular displacement reference that is estimated by using laser scan matching process. Experiment is executed and the comparison between raw readings and calibrated measurements is conducted, which verifies the validation of the proposed method.

3D Map-building from RGB-D Data Considering Noise Characteristics of Kinect
Takahiro Yamaguchi, Takanori Emaru, Yukinori Kobayashi, Ankit A. Ravankar
2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2016, IEEE, English
2016 - 2016, For a mobile robot to explore in an unknown environment, the robot needs to do Simultaneous Localization and Mapping (SLAM). Recently, RGB-D sensor such as the Microsoft Kinect has been extensively used as a low cost 3D sensor measurement and mapping the environment. The advantage of RGB-D sensor is that it can capture RGB image with per-pixel depth information. One disadvantage for this sensor is that its depth information is very noisy. Moreover, if the robot equipped with the Kinect moves long distances, the localization error gets accumulated over time. The main aim of this study is to reduce the error of the SLAM using RGB-D sensor, by taking into account the noise characteristics of the Kinect sensor. The noise characteristics are investigated by experiments taking into account the RGB and depth information. A noise model is derived as a function of both distance and angle to the observed surface. The noise model is applied to Iterative Closest Point (ICP) algorithm for SLAM. Finally, the results of the proposed SLAM are shown and the improvement in accuracy is verified.

Evaluation of Positioning Control System using Relative Displacement Observer for Precise Positioning Stages
Hironori Ogawa, Yukinori Kobayashi, Kougen Kageyama, Takanori Emaru, Masaki Odai
2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2016, IEEE, English
2016 - 2016, Precise positioning technologies are widely used for industrial machines such as device manufacturing equipment. There have been many studies on state feedback control systems for precise positioning stages that improve accuracy by using sensor feedback. However, the sensor information cannot always indicate the performance of industrial machines directly because the final requirement of a stage system is generally to adjust a movable table to a target structure. Therefore, the relative relationship between the stage and the target structure must be controlled. However, the stage and other structures must be considered to be elastic elements, especially for precise positioning devices. Thus, this study aims to achieve high-precision relative positioning between flexible structures. The authors had proposed a relative displacement observer which estimated the relative displacement between the stage and the target structure by using only the stage displacement. However, in industrial applications, robustness against disturbances such as modeling errors and aging changes are required. In this paper, we show evaluation results of robustness against accuracy of model identification and aging change in resonant frequency of plant. Results of a numerical simulation show that the proposed control system improves relative positioning performance. And also, we confirm that it has enough robustness against aging change of the stage system.

A Method of A Method of Low-Cost IMU Calibration and Alignment
Jixin Lv, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2016, IEEE, English
2016 - 2016, This paper presents a straightforward way to fully calibrate low-cost IMU sensor in field. In this approach, a plastic cube that is made by 3D printer is introduced as the body carrier of IMU. The accelerometer is firstly calibrated by using famous multi-position method and then followed with the correction of misalignment between sensor frame and body frame. A normal swivel chair is reformed as an easy turntable to perform smooth rotation. The gyroscope is calibrated by using angle domain method with the angular displacement reference that is estimated by using laser scan matching process. Experiment is executed and the comparison between raw readings and calibrated measurements is conducted, which verifies the validation of the proposed method.

Path smoothing extension for various robot path planners　　　　　　　　　　　　　　　
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
16th International Conference onControl, Automation and Systems (ICCAS), 2016, English, Oral presentation
[International presentation]

Local-Behavior Determination for an Omnidirectional Mobile Robot using an Integration-Type Sonar Ring　　　　　　　　　　　　　　　
Takanori Emaru, Hiroki Sato, YukinoriKobayashi
The 6th TSME-ICoME, 16 Dec. 2015, English, Oral presentation
[International presentation]

PSO-based Leg-loss Identification Method for Legged Robots　　　　　　　　　　　　　　　
Sarun Chattunyakit, Yukinori Kobayashi, Takanori Emaru
The 6th TSME-ICoME, 16 Dec. 2015, English, Oral presentation
[International presentation]

Motion Control of Mobile Robot having Semi-active Suspension　　　　　　　　　　　　　　　
Takuma Okawara, Atsushi Yamamoto, Yukinori Kobayashi, Takanori Emaru
The 6th TSME-ICoME, 16 Dec. 2015, English, Oral presentation
[International presentation]

センサの物理的特性を組み込んだスキャンマッチング方式　　　　　　　　　　　　　　　
佐藤 雄太, 江丸 貴紀, 小林 幸徳
第16回計測自動制御学会システムインテグレーション部門講演会, 14 Dec. 2015, Japanese, Oral presentation
[Domestic Conference]

危険行動判別を目的とした筋電図による前腕運動の加速度推定　　　　　　　　　　　　　　　
相澤 優作, 江丸 貴紀, 小林 幸徳
第16回計測自動制御学会システムインテグレーション部門講演会, 14 Dec. 2015, Japanese, Oral presentation
[Domestic Conference]

人工ポテンシャル法に基づいた PRM における効果的なサンプリング手法　　　　　　　　　　　　　　　
与能本 俊也, 江丸貴紀, 小林 幸徳
第16回計測自動制御学会システムインテグレーション部門講演会, 14 Dec. 2015, Japanese, Oral presentation
[Domestic Conference]

Adaptive Image-Based Visual Servoing of Nonholonomic Mobile Robot with On-Board Camera　　　　　　　　　　　　　　　
Jiang Nicong, LV Jixin, Kobayashi Yukinori, Emaru Takanori
IEEE/SICE International Symposium on System Integration (SII 2015), 11 Dec. 2015, English, Oral presentation
[International presentation]

SLAM within Indoor Loops by Using Incremental Scan Registration　　　　　　　　　　　　　　　
LV Jixin, Ravankar Abhijeet, Ravankar Ankit, Kobayashi Yukinori, Emaru Takanori
IEEE/SICE International Symposium on System Integration (SII 2015), 11 Dec. 2015, English, Oral presentation
[International presentation]

Estimation of Position and Trajectory of a Flying Ball in 3-D Space　　　　　　　　　　　　　　　
Li Mengze, Ravankar Abhijeet, Ravankar Ankit, Kobayashi Yukinori, Emaru Takanori
IEEE/SICE International Symposium on System Integration (SII 2015), 11 Dec. 2015, English, Oral presentation
[International presentation]

Joint Fault Diagnosis of Legged Robot Based on Acoustic Processing　　　　　　　　　　　　　　　
Chattunyakit Sarun, Kobayashi Yukinori, Emaru Takanori
IEEE/SICE International Symposium on System Integration (SII 2015), 11 Dec. 2015, English, Oral presentation
[International presentation]

Motion Generation in Frame Structure for A Limb-Type Robot Including Feature to Avoid Obstacles　　　　　　　　　　　　　　　
Shuhei Yoshida, Yukinori Kobayashi, Takanori Emaru
The 6th International Conference on Advanced Mechatronics (ICAM2015), 05 Dec. 2015, English, Poster presentation
[International presentation]

An Intelligent Docking Station Manager for Multiple Mobile Service Robots　　　　　　　　　　　　　　　
Abhijeet Ravankar, Ankit A Ravankar, Yukinori Kobayashi, Takanori Emaru, Yohei Hoshino
15th International Conference on Control, Automation and Systems (ICCAS 2015), 13 Oct. 2015, English, Oral presentation
[International presentation]

On Data Security in Service Robots　　　　　　　　　　　　　　　
Abhijeet Ravankar, Ankit Ravankar, Yukinori Kobayashi, Takanori Emaru
第33回日本ロボット学会学術講演会, 03 Sep. 2015, English, Oral presentation
[Domestic Conference]

An Efficient Networking Scheme for Static andDynamic Nodes in Multiple Service Robots　　　　　　　　　　　　　　　
Abhijeet Ravankar, Ankit Ravankar, Yukinori Kobayashi, Takanori Emaru江丸 貴紀
第33回日本ロボット学会学術講演会, 03 Sep. 2015, English, Oral presentation
[Domestic Conference]

A Graphical Framework for Robust IndoorMapping　　　　　　　　　　　　　　　
Ankit Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
第33回日本ロボット学会学術講演会, 03 Sep. 2015, English, Oral presentation
[Domestic Conference]

Limb型ロボットの骨組み構造での登り・くぐり動作生成　　　　　　　　　　　　　　　
吉田 州平, 小林 幸徳, 江丸 貴紀
第33回日本ロボット学会学術講演会, 03 Sep. 2015, Japanese, Oral presentation
[Domestic Conference]

ディジタル加速度制御による渦励振構造物の制御　　　　　　　　　　　　　　　
今岡 広一, 小林 幸徳, 江丸 貴紀
Dynamics and Design Conference 2015, 25 Aug. 2015, Japanese, Oral presentation
[Domestic Conference]

アクティブ制振ユニットによる多重周波数正弦波外乱の推定と相殺制御　　　　　　　　　　　　　　　
星野 洋平, 鈴木 幹生, 小林 幸徳, 江丸 貴紀
Dynamics and Design Conference 2015, 25 Aug. 2015, Japanese, Oral presentation
[Domestic Conference]

伝達マトリックス法と部分構造合成法の併用による鉄道車体の弾性振動解析法の提案　　　　　　　　　　　　　　　
柳原圭佑, 小林 幸徳, 三津橋 直也, 江丸 貴紀
Dynamics and Design Conference 2015, 25 Aug. 2015, Japanese, Oral presentation
[Domestic Conference]

Vision based Localization and Mapping for Indoor Robots using RGBD Sensor　　　　　　　　　　　　　　　
Ankit Ravankar, Yukinori Kobyashi, Takanori Emaru, Abhijeet Ravankar, Lv Jixin
ロボティクス・メカトロニクス講演会ROBOMECH2015, 17 May 2015, English, Poster presentation
[Domestic Conference]

Real Time Parallel Implementation of Dynamic Feature Detection on Embedded Robot Platforms　　　　　　　　　　　　　　　
Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru, Ankit Ravankar, Lv Jixin
ロボティクス・メカトロニクス講演会ROBOMECH2015, 17 May 2015, English, Poster presentation
[Domestic Conference]

Recognition of 3-D Grid Structure Recognition with Fixed Camera and RGB-D Camera　　　　　　　　　　　　　　　
Chenyu Wang, Yukinori Kobayashi, Takanori Emaru, Ankit Ravankar
ロボティクス・メカトロニクス講演会ROBOMECH2015, 17 May 2015, Japanese, Poster presentation
[Domestic Conference]

歩行訓練機のモデル化と転倒防止制御　　　　　　　　　　　　　　　
多々納壮, 江丸貴紀, 小林幸徳
第47回計測自動制御学会北海道支部学術講演会, 08 Mar. 2015, Japanese, Oral presentation
[Domestic Conference]

アクティブ制振ユニットによる多重周波数外乱相殺制御　　　　　　　　　　　　　　　
鈴木幹生, 星野洋平, 小林幸徳, 江丸貴紀
第47回計測自動制御学会北海道支部学術講演会, 08 Mar. 2015, Japanese, Oral presentation
[Domestic Conference]

A Connected Component Labeling Algorithm for Sparse Lidar Data Segmentation　　　　　　　　　　　　　　　
Abhijeet Ravankar, Yukinori Kobayashi, Ankit Ravankar, Takanori Emaru
Proceedings of the 6th International Conference on Automation, Robotics and Applications, 17 Feb. 2015, English, Oral presentation
[International presentation]

Joint Fault Diagnosis of Legged Robot based on Acoustic Processing
Sarun Chattunyakit, Yukinori Kobayashi, Takanori Emaru
2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2015, IEEE, English
2015 - 2015, In legged robot system, certain types of joint faults can lead the entire system unstable since predefined controller cannot function properly after getting damaged. Therefore, the fault diagnosis is an important operation to prevent systems from failures. In this paper, the acoustic-based fault diagnosis for legged robots (AFL) is developed by employing the FFT and fuzzy logic as a feature extraction and a classification, respectively. In the benchmark, the results indicate that the proposed method can detect and inspect the faults of joint efficiently by means of sound, meaning that AFL method is feasible to be utilized and applied in real applications.

SLAM within Indoor Loops by using Incremental Scan Registration
L. Jixin, Abhijeet Ravankar, Yukinori Kobayashi, Ankit A. Ravankar, Takanori Emaru
2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2015, IEEE, English
2015 - 2015, This paper presents an efficient solution to fulfill the Simultaneous Localization and Mapping (SLAM) in indoor environment where there are monotonous areas and large loops. The proposed approach works on Split Sparse Points Maps (SSPM) and is mainly based on incremental scan registration by using the Point-to-Line Iterative Closest Point (PLICP) algorithm. To enhance the robustness of scan registration in monotonous environment, an Incident Angle Fused Metric (IAFM) is introduced during the association procedure of scan registration. Furthermore, with the manner of sub maps joining, a trajectory bending based loop closure approach is applied, which can efficiently eliminate the map inconsistence that is generated from error accumulation of scans registration. Experiment is conducted in real environment and the results obtained from different methods are compared and discussed, which verifies the validation of the proposed methods.

Adaptive Image-based Visual Servoing of Nonholonomic Mobile Robot With On-Board Camera
Nicong Jiang, Jixin Lv, Yukinori Kobayashi, Takanori Emaru
2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2015, IEEE, English
2015 - 2015, In this paper, we mainly deal with the image-based visual servoing of nonholonomic mobile robots with on-board camera. The depth-independent interaction matrix is firstly applied and extended in our work, where normalized image coordinates are utilized to estimate unknown information coupling the orientation of mobile robot and the translational component between the feature points and the mobile robot. Then, a image-based adaptive controller is proposed which could handle with time-varying feature depth. Lyapunov theory is carried out for the stability analysis. Both simulation and experiment results are collected to investigate the feasibility of the proposed approach.

A Solution to Estimate Robot Motion with Large Rotation by Matching Laser Scans
Jixin Lv, Kobayashi Yukinori, Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru
2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE), 2015, IEEE, English
2015 - 2015, This paper presents an Iterative Closest Point (ICP) preprocessor named Iterative Closest Normal (ICN). The proposed ICN algorithm is mainly focused on the estimation of large rotation between two successive scans during the robot motion in the indoor environment. After the large rotation has been reduced, the standard ICP and point-to-line metric based ICP algorithm (PLICP) is applied to estimate the residual transformation. The experiments were conducted in a noisy environment and the robot was controlled to move with sharp turning. The results suggest that ICP and PLICP needs less iterations and becomes more robust after introducing the ICN as a preprocessor.

The Effect of the Random Component in the Vortex-Induced Vibration　　　　　　　　　　　　　　　
Koichi IMAOKA, Yukinori KOBAYASHI, Takanori EMARU, Yohei HOSHINO
Proceedings of the SICE Annual Conference 2014 (SICE2014), 09 Sep. 2014, English, Oral presentation
[International presentation]

An Embarrassingly Parallel Hopping Window Noise Removing Algorithm for Lidar based Robot Mapping　　　　　　　　　　　　　　　
Ankit RAVANKAR, Yukinori KOBAYASHI, Jixin LV, Takanori EMARU, Yohei HOSHINO
Proceedings of the SICE Annual Conference 2014 (SICE2014), 09 Sep. 2014, English, Oral presentation
[International presentation]

Estimation of Multi-Frequency Harmonic Disturbance for Easy-Mount Active Vibration Control Unit　　　　　　　　　　　　　　　
星野洋平, 鈴木幹生, 小林幸徳, 江丸貴紀
Dynamics and Design Conference 2014, 26 Aug. 2014, Japanese, Oral presentation
[Domestic Conference]

Vibration Analysis of a Train Car Body Using a Shell Model Considering Orthotropy　　　　　　　　　　　　　　　
新木秀直, 小林幸徳, 江丸貴紀, 星野洋平
Dynamics and Design Conference 2014, 26 Aug. 2014, Japanese, Oral presentation
[Domestic Conference]

Fault-Detection Method of a Redundant Number of Pneumatic Actuators Which Support a Vibration-Isolation Table for Recovering the System-Stability by Force-Redistribution Method　　　　　　　　　　　　　　　
星野洋平, 前田拓巳, 小林幸徳, 江丸貴紀
Dynamics and Design Conference 2014, 26 Aug. 2014, Japanese, Oral presentation
[Domestic Conference]

Performance Improvement of PID-DAC-Nonlinear-Compensator by Applying Online System Identification
Takanori EMARU, Hiroto SASAKI, Yohei HOSHINO, Yukinori KOBAYASHI
IEICE Proceeding Series, Mar. 2014, English
Mar. 2014 - Mar. 2014

Effect of the Random Component in the Vortex-Induced Vibration　　　　　　　　　　　　　　　
Koichi Imaoka, Yukinori Kobayashi, Takanori Emaru, Yoshi Hoshino
2014 PROCEEDINGS OF THE SICE ANNUAL CONFERENCE (SICE), 2014, IEEE, English
2014 - 2014, In this paper, vortex-induced vibration of a circular cylinder supported by cantilever beams under a uniform air flow is studied, and random component of them is considered to improve the model of vortex-induced vibration. A cylinder is supported by a pair of elastic cantilever beams and placed in front of a wind tunnel. Experiments are conducted in wide range of flow speed to investigate the property of the vibration. Flow speed is changed by two ways, which are increase direction and decrease direction, to investigate the hysteresis property of the vortex-induced vibration. Time-historical responses of the vortex-induced vibration are measured experimentally. Then, the time-frequency analysis is applied to the signal, so characteristics of the nonlinear coupled vibration between fluid and structure are clearly observed. Numerical simulations are also conducted using a wake oscillator model with acceleration coupling and random components. By comparing the results of ordinal model and proposed model which considers random components, an advantage of the proposed model is shown. Simulation results agree with the experimental results better than the results of the simulation with ordinal model.

Decision Making of an Omni-Directional Mobile Robot by using Artificial Potential Method with Integration-Type Sonar Ring
Shunya Yonomoto, Takanori Emaru, Yukinori Kobayashi
2014 Proceedings of the SICE Annual Conference (SICE), 2014, IEEE, English
2014 - 2014, This study presents a novel decision making method for autonomous mobile robots to reach a goal and avoid obstacles simultaneously based on the artificial potential method. The proposed method is built so as to resolve the problems of high computational and economical costs, and the restriction of work field in conventional methods. There are two specialties to achieve the aims. First, the proposed method adopts the local polar coordinate system whose origin is the center of the robot, and generates each potential field by using only local information from sensors on the mobile robot. Second, we use an integration-type sonar ring that has been proposed by our research group to recognize obstacles and generating the repulsive potential field, and RGB camera to locate the goal and generate the attractive potential field. After generating both potential fields, they are summed up to generate the composed potential field, and then the target angle is decided based on the potential field. By using the proposed method, the computational and economical cost can be reduced and the robot can move without any advance preparations. The validity of the proposal method is investigated in various environments by applying the method to an autonomous mobile robot and results show the effectiveness of this approach.

カルマンフィルタを用いた全方位移動ロボットの速度推定と制御性能改善　　　　　　　　　　　　　　　
李鍾赫, 江丸貴紀, 小林幸徳
第31回日本ロボット学会学術講演会, 04 Sep. 2013, Japanese, Oral presentation
[Domestic Conference]

一様流中に置かれた非線形復原力特性を有する円柱構造物のロックイン現象解析　　　　　　　　　　　　　　　
今岡 広一, 小林 幸徳, 江丸 貴紀, 星野 洋平
Dynamics and Design Conference 2013, 26 Aug. 2013, Japanese, Oral presentation
[Domestic Conference]

Clustering based loop closure technique for 2D robot mapping based on EKF-SLAM
Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
Proceedings - Asia Modelling Symposium 2013: 7th Asia International Conference on Mathematical Modelling and Computer Simulation, AMS 2013, 2013, IEEE Computer Society, English
2013 - 2013, Simultaneous Localization and Mapping(SLAM) is an important technique to realize autonomous navigation of a mobile robot in an unknown environment. The SLAM problem involves a mobile robot to continuously take measurements using sensors, localize its position in the environment and simultaneously built a map of the environment it has visited. For any previously visited environment the system must be able to calculate the relative transformation between the measured and predicted states also called as Loop Closure. In this paper, we propose clustering based techniques for realizing fast loop closure for indoor robot mapping. While utilizing the standard Extended Kalman Filter(EKF) based SLAM algorithm, we propose clustering techniques for finding landmarks for realizing Loop Closure. Through experimental results the proposed algorithm is found to be simple and robust enough for faster loop convergence for SLAM problem. © 2013 IEEE.

A Novel Nonlinear Compensator Based on Digital Acceleration Control　　　　　　　　　　　　　　　
Okuma, M, Emaru, T, Hoshino, Y, Kobayashi, Y
Proc. IEEE Int. Conference on Automation Science and Engineering, 2013, English, Oral presentation

Clustering Based Loop Closure Technique for 2D Robot Mapping Based on EKF-SLAM　　　　　　　　　　　　　　　
Ravankar, A.A, Kobayashi, Y, Emaru, T
Proc. International Conference on Mathematical Modeling & Simulation, 2013, English, Oral presentation

Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm　　　　　　　　　　　　　　　
Gai, Y, Kobayashi, Y, Hoshino, Y, Emaru, T
Proc. International Conference on Mechatronics and Robotics, 2013, English, Oral presentation

Competitive Pressure Modes in a Vibration-Isolation Table Supported by a Redundant Number of Pneumatic Actuators and its Stabilization Method　　　　　　　　　　　　　　　
Hoshino, Y, Yoshida, D, Kobayashi, Y, Emaru, T
Proceedings 15th Asia Pacific Vibration Conference, 2013, English, Oral presentation

Mass Identification by Digital Acceleration Control for Dynamic Systems　　　　　　　　　　　　　　　
Imaoka, K, Emaru, T, Kobayashi, Y, Hoshino, Y
Proceedings 15th Asia Pacific Vibration Conference, 2013, English, Oral presentation

Nonlinear filtering using sliding mode system　　　　　　　　　　　　　　　
Takanori Emaru
Vibration Basic Research Meeting, 02 Jun. 2012, Japanese, Invited oral presentation
[Domestic Conference]

A Vibration Isolation Table Supported by a Redundant Number of Pneumatic Actuators and Force Redistribution for Compensating Broken Actuators
Yohei Hoshino, Takumi Maeda, Daisuke Yoshida, Yukinori Kobayashi, Takanori Emaru
2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2012, IEEE, English
2012 - 2012, This paper proposes a force redistribution method to compensate for actuator breakdowns on active vibration-isolation tables. The vibration-isolation table is supported by eight pneumatic actuators, and has a redundant number of actuators with respect to the degrees of freedom (DOFs) of the table's motion. When some of the actuators break down, their output forces are re-distributed on the unbroken actuators by the proposed force redistribution method, which takes advantage of the actuators' redundancy to compensate the breakdowns of the actuators and to recover the stability of the closed-loop system. The effectiveness of the proposed method is examined by numerical simulations.

Slope Detection based on Orthogonal Assumption　　　　　　　　　　　　　　　
Lv, J, Kobayashi, Y, Emaru, T
Proceedings of 2012 IEEE/SICE International Symposium on System Integration, 2012, English

Performance Improvement of PID-DAC-Nonlinear-Compensator by Applying Online System Identification　　　　　　　　　　　　　　　
Emaru, T, Sasaki, H, Hoshino, Y, Kobayashi, Y
Proceedings of International Symposium on Nonlinear Theory and its Applications, 2012

403 Automatic Estimation of Properties of Golf-Clubs by Two-Link Golf-Swing Robot : Study of Condition for Valid Estimation
YOSHIDA Daisuke, HOSHINO Youhei, KOBAYASHI Yukinori, EMARU Takanori
Dynamics & Design Conference, 05 Sep. 2011, Japanese
Automatically grasping the parameters of golf clubs is necessary for the swing of golf robot to adjust. We suggest to an algorithm for automatic estimation of properties of golf-clubs by system identification using force sensor. In the first step of this algorithm, substituting initial values to unknown parameters of the club and calculating vibration modes of it. In the next step, the unknown parameters of club are estimated by the least squares method using the vibration modes and the data from static test and acceleration test. The third step is calculating vibration modes by substituting the estimated parameters again. By calculating second and third steps recursively, the unknown parameters converge to actual parameters. However, in some cases of initial parameters, identification is failed due to divergence or converge to local minimum parameters on calculation process. This study investigates the condition to estimate correct results by simulation.

1A1-K15 Proposal of Robust Path Generation Using Integration-type Sonar Ring(New Control Theory and Motion Control)
SATO Hiroki, EMARU Takanori, HOSHINO Yohei, KOBAYASHI Yukinori
ロボティクス・メカトロニクス講演会講演概要集, 26 May 2011, Japanese
Pulse-echo method is widely used as a ranging method with ultrasonic wave sensor. But faint reflected wave tends not to be perceived in this method. Then, we have proposed integration-type ultrasonic wave sensor to use faint reflected wave effectively. This paper proposes a method of path generation by using the sonar ring which consists of some integration-type ultrasonic wave sensors. This sonar ring can shorten sensing time because it can obtain information from plural directions simultaneously. When the sensors transmit ultrasonic wave at the same time, interference between sensors may occur. However, experiments showed that sub-goal to avoid obstacles was generated by using integration value even if ultrasonic waves were transmitted at the same time.

Hybrid Sliding Mode Control with Optimization for Flexible Manipulator under Fast Motion
Haibin Yin, Yukinori Kobayashi, Yohei Hoshino, Takanori Emaru
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2011, IEEE, English
2011 - 2011, The modeling and vibration analysis of a flexible manipulator considering a nonlinearity and effect from the gravity imply a singular problem. In order to avoid the singularity, the dynamic equation is decomposed into two subsystems, including flexible dynamic subsystem and rigid dynamic subsystem. A combined feed-forward and feedback control scheme is presented to design the controller of the flexible manipulator. In the combined control, an optimization is applied to obtain the desired trajectory based on the flexible dynamic subsystem. As we know, the optimization is dependent on the accuracy of model but there are inevitably errors of model and external disturbances. The feedback control is expected with high robustness and fast convergence to overcome the problem. In order to improve the performance of control, a hybrid sliding mode control (HySMC) is proposed to track the desired trajectory and further suppress the residual vibration. This paper presents the theoretical derivation and experimental verification of the proposed controller.

Vibration Reduction of Mobile Robot with Suspension System Using Optimal Multi-Input Shaping　　　　　　　　　　　　　　　
Zhong, G, Kobayashi, Y, Emaru, T
Proceedings 14th Asia Pacific Vibration Conference, 2011, English, Oral presentation
[International presentation]

Map Building from Laser Range Sensor Information using Mixed Data Clustering and Singular Value Decomposition in Noisy Environment　　　　　　　　　　　　　　　
Ravankar, A.A, Hoshino, Y, Emaru, T, Kobayashi, Y
Proceedings of IEEE/SICE International Symposium on System Integration, 2011, English, Oral presentation

206 Analysis of Frequency Characteristics of Non-linear filter ESDS
HOSHINO Yohei, EMARU Takanori, KOBAYASHI Yukinori
北海道支部講演会講演概要集, 07 Nov. 2010, Japanese

343 Self Optimization of Controller for Vibration Isolation Tables by using Minimum-Order Model Obtained by System-Identification
HOSHINO Yohei, SAWADA Kohei, KOBAYASHI Yukinori, CHINDA Hiroshi, TAKAHASHI Masaki, EMARU Takanori
Dynamics & Design Conference, 14 Sep. 2010, Japanese
Auto tuning of vibration isolation table by using system identification is studied in this paper. Subspace method and Frequency-Domain Least-Squares Approximation (FDLSA) are used for system identification. In proposed method, we can obtain a minimum order model. Then, it is easy to optimize the controller for the obtained model. This procedure can be fully automated. The isolation table in this study has actuators using air spring at corners of the table. Force of actuators can be adjusted by stepping motors in the regulator. Effectiveness of the proposed approach is examined by experiments and simulation.

202 Identification of Vibration Modes and Physical Parameters of Flexible Beam Using by Robot-Arm
HOSHINO Yohei, KOBAYASHI Yukinori, EMARU Takanori, GOTOH Naoyuki
Dynamics & Design Conference, 14 Sep. 2010, Japanese
This study investigates an identification method for physical parameters and vibration modes of beams. A robot arm is used to swing the beam, and input-output data of swinging trials are measured. In this method, physical parameters of the beams are identified by least-square method, and vibration modes are derived by finite element method (FEM), iteratively. Vibration modes of the beam are necessary to estimate actual physical parameters such as stiffness, El, and density, pA, of the beam. Temporary physical parameters are applied to assume temporary vibration modes for the initial condition of iterative calculation. Reliability of proposed identification method is confirmed by numerical simulations.

1P1-A20 Improving Performance of Digital Acceleration Control by Implementing Velocity Sensor
YOSHIOKA Kosuke, EMARU Takanori, HOSHINO Yohei, KOBAYASHI Yukinori
ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
PID control is one of the most common methods to control mechanical systems, but it is affected by modeling error that is caused by disturbances such as gravity, friction, and interaction of joints. On the other hand, digital acceleration control (DAC) method has robustness for the modeling error. DAC is more practical to control, but it needs information of velocity and acceleration. To solve this problem we apply a nonlinear filter termed ESDS based on sliding mode technique. We have proposed DAC controller that includes ESDS, but it requires LPF and high calculation cost. In this paper, we implement velocity sensor to DAC for perpendicular 2-link manipulator. By using the proposed method, we can eliminate LPF from the controller and reduce calculation cost. As a result, robustness and accuracy are dramatically improved. The effectiveness of the proposed method is confirmed by experimental studies.

1A1-B10 Posture and Vibration Control of the Arm of Boom sprayer
NAKANISHI Yohsuke, KIKKAWA Takashi, URAIKE Takafumi, SUZUKI Shinichi, KOBAYASHI Yukinori, HOSHINO Youhei, EMARU Takanori
ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
Deflective vibration control of the arm of boom sprayer and development of the mechanism to keep the arms of boom sprayer horizontal are shown in this paper. It will be shown that measuring deflective vibration by three acceleration sensors and using optimal regulator, deflective vibration of the arm can be kept down effectively. And it also will be shown that designing the mechanism using CAE dynamics simulation in advance, development of the mechanism of posture control of the arms can be gone ahead smoothly.

1P1-A19 Efficiency Improvement of Map Construction by Clustering of Sensor Data
EMARU Takanori, KABATA Seiichi, HOSHINO Yohei, KOBAYASHI Yukinori
ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
ICP method has been widely used in order to solve SLAM problem. Generally ICP method performs map matching by using laser range sensor (LRS). Because an amount of information that is obtained by using LRS is large, ICP method requires heavy calculations. Therefore, it is difficult to implement ICP method to small size robot that has poor computational ability. In this paper, we treat LRS information as segment in order to improve an efficiency of calculation. In our experiment, about 600 distances are obtained using the LRS. By using the proposed method, it can be reduced to dozens of segment. By using the segmented information, a time to calculate of matching is dramatically reduced without decreasing the accuracy of map matching compared to ICP method. The validity of the proposed method is confirmed by performing experiments with actual equipment.

116 Vibration analysis and control of a seeding machine running at high speed
TAKAHASHI Keisuke, KOBAYASHI Yukinori, HOSHINO Yohei, EMARU Takanori, INOUE Keiichi, KATAYAMA Kyohei, WATANABE Koichi
北海道支部講演会講演概要集, 28 Nov. 2009, Japanese

117 Vibration Analysis of Wire with Point Mass and Rigid Body
IMAOKA Koichi, KOBAYASHI Yukinori, EMARU Takanori, HOSHINO Yohei
北海道支部講演会講演概要集, 28 Nov. 2009, Japanese

J1102-4-5 A Control Strategy to Determine Action and Sensing Strategy Simultaneously for Autonomous Mobile Robot Using Integration-Type Ultrasonic Wave Sensor
EMARU Takanori, OYAMA Naoki, HOSHINO Yohei, KOBAYASHI Yukinori
年次大会講演論文集 : JSME annual meeting, 12 Sep. 2009, Japanese
We have proposed a new approach to utilize the infinitesimal reflected waves of sonar sensor by integrating the reflected waves. This method is implemented using a transducer with a scanning system, and has a great ability of obtaining the traversable area for a robot in unknown environments in which the distance cannot be precisely measured. The proposed system, termed the integration-type ultrasonic wave sensor system, has following arbitrary parameters that the system designer can determine : sampling time of sonar, sampling time of scanning, range of scanning, speed of scanning, and so on. It is very difficult to determine them appropriately in response to changing environments or tasks. In this paper, we try to determine action and sensing strategy simultaneously. In preparation for this purpose, some experiments and discussion will be performed in this paper.

Nonlinear filtering using sliding mode system　　　　　　　　　　　　　　　
Takanori Emaru
D&D2009 第7回夏の学校：非線形制御の現状－理論と応用, 08 Aug. 2009, Japanese, Public discourse
[Domestic Conference]

221 Identification of Physical Parameters of Golf-clubs by Golf Swing Robot
HOSHINO Yohei, GOTOH Naoyuki, KOBAYASHI Yukinori, EMARU Takanori
Dynamics & Design Conference, 03 Aug. 2009, Japanese
This study investigate an identification method for physical parameters of golf clubs by golf swing robot by using data of deformation of the club-shaft and input torque in swinging trials. In this method, parameters of the golf club are identified by least-square method. Vibration modes of the club-shaft are necessary to estimate actual physical parameters such as stiffness, El, of the shaft and density of the shaft, pA. However, these vibration modes are not available at the beginning of identification, because these physical parameters, which have not been determined, are required to derive vibration modes. Therefore, temporary vibration modes are assumed for the initial condition of proposed method, and the physical parameters are estimated by iterative calculation between the estimation of physical parameters by using assumed/estimated vibration modes and the estimation of the vibration modes by using estimated physical parameters. Proposed identification method is confirmed by numerical simulation.

206 Flow-induced Vibration of an Elastically Supported Cylinder Having Nonlinearity
Kobayashi Yukinori, Takeshita Yuhei, Subekti, Hoshino Yohei, Emaru Takanori
Dynamics & Design Conference, 03 Aug. 2009, Japanese
This paper studies flow-induced vibration of a circular cylinder in a cross flow. The cylinder is supported by two pairs of elastic cantilever beams and a wire that adds nonlinearity to the system. A pair of electromagnets is used as a device of external force. Nonlinearity of the restoring force is identified by using experimental data and mathematical model is established. Time history response of the vortex-induced vibration is measured experimentally. The time-frequency analysis is employed to the signal, and characteristics of the fluid-structure nonlinear coupled vibration are clearly observed. Theoretical analysis of fluid-structure system is attempted by using the wake oscillator represented by Van der Pol equation. Simulation results show the typical tendency of nonlinearity in the experiments.

2A1-G06 Application of Nonlinear Filter ESDS to Quantized Sensor Data
SASE Ryou, EMARU Takanori, HOSHINO Yohei, KOBAYASHI Yukinori
ロボティクス・メカトロニクス講演会講演概要集, 25 May 2009, Japanese
Proportional-Integral-Derivative (PID) control is widely used to control mechanical systems. In PID control technique, however, there is a limit of accuracy of a simulation because of the modeling errors, such as influence of frictions or gravity. Digital Acceleration Control has robustness for these modeling errors. But it requires position, velocity and acceleration of the controlled object to construct the controller. In terms of costs, less sensors are desired. In this research, we use a novel digital differentiator using sliding mode technique, ESDS which enables Digital Acceleration Control without increasing the number of sensors. Furthermore, the proposed method works effectively for quantized sensor data. Using 1-link manipulator, the validity of the proposed method is confirmed by simulation and experiments.

Apply Nonlinear Filter ESDS to Quantized Sensor Data
Takanori Emaru, Ryou Sase, Yohei Hoshino, Yukinori Kobayashi
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, IEEE, English
2009 - 2009, Proportional-Integral-Derivative (PID) control is widely used to control mechanical systems. In PM control technique, however, there are limits to the accuracy of the resulting movement because of the influence of gravity, friction, and interaction of joints caused by modeling errors. Digital acceleration control has robustness for the modeling errors. But it requires position, velocity, and acceleration of a controlled object to construct a controller. In this paper, we use the novel digital differentiator, ESDS. It enables digital acceleration control without increasing the number of sensors. Furthermore, the proposed method works effectively for quantized sensor data. The validity of the proposed method is confirmed by simulations and experiments using 2-link manipulator.

510 Analysis of Walking Cycle of a Passive Walking Robot by using Perturbation Method
IMAOKA Koichi, HOSHINO Yohei, KOBAYASHI Yukinori, EMARU Takanori
北海道支部講演会講演概要集, 27 Sep. 2008, Japanese

214 Simulation on Identification of Physical Parameters of Golf-clubs by Golf Robot
HOSHINO Yohei, KOBAYASHI Yukinori, GOTOH Naoyuki, EMARU Takanori
北海道支部講演会講演概要集, 27 Sep. 2008, Japanese

101 Frequency Response Analysis of a Plate Subjected to Point Force by Using Transfer Matrix Method
ISHIGURI Kotaro, KOBAYASHI Yukinori, HOSHINO Yohei, EMARU Takanori
Dynamics & Design Conference, Sep. 2008, 一般社団法人日本機械学会, Japanese
Sep. 2008 - Sep. 2008, This report presents a numerical method to investigate the frequency response of a rectangular plate. When we use the transfer matrix method to calculate frequency response of plates, exciting force is limited to a line force and applicable object is also restricted. For this reason, we propose a method to calculate modal parameters from free vibration analysis by using the transfer matrix method. Modal mass are calculated by numerical integration from modal vectors. We have applied this method to calculate the frequency response of plates. Comparing the results obtained from the proposed method and finite element method, characteristics of the frequency response have a good agreement with each other.

1A1-A14 Estimation of Velocity and Acceleration by Nonlinear Filter ESDS and Application to Control Systems
IMAGAWA Kazuo, EMARU Takanori, HOSHINO Yohei, KOBAYASHI Yukinori
ロボティクス・メカトロニクス講演会講演概要集, 06 Jun. 2008, Japanese
PID control is generally used to control mechanical systems. PID control, however, has a limit of accuracy because of the influence of gravity, friction, and interaction of joints. This is caused by modeling error. Digital acceleration control has robustness for the modeling error. Therefore, digital acceleration control is more effective than PID control. But it requires position, velocity, and acceleration of a controlled object to construct a controller. Information of velocity and acceleration cannot be always obtained in mechanical systems.Furthermore, it is desirable that the number of sensors is reduced for the purpose of cost and maintenance. To solve these problems we use ESDS, which is a nonlinear filter based on sliding mode technique. ESDS enables digital acceleration control without increasing the number of sensors. In this paper, we show the results of the proposed control method by using a perpendicular 1-link and 2-link manipulator.

2P1-B03 Digital Acceleration Control Utilizing Second-Order Differential Value Estimated by Nonlinear-Filter ESDS
EMARU Takanori, TSUCHIYA Takeshi
ロボティクス・メカトロニクス講演会講演概要集, 11 May 2007, Japanese
Digital acceleration control has been proposed to control non-linear mechanical systems. The advantage of this method is that construction of controller becomes easily even though non-linear factors or disturbance exist in controlled object. However, it requires position, velocity, and acceleration of controlled object to construct a controller. Not all mechanical systems can obtain the information of velocity or acceleration of controlled object. So the application of the digital acceleration control method has been confined to the area of which can obtain those information. In this paper, we use position sensor and differentiate it by using filtering technique in order to obtain velocity and acceleration. We use ESDS that is based on sliding mode technique. Simulation results show the validity of ESDS as the differentiator.

2A1-D07 Mobile Robot Navigation by Potential Function Method
OIKAWA Kazumi, TAKAUJI Hidenori, EMARU Takanori, TSUCHIYA Takeshi, OKUBO Shigenori
ロボティクス・メカトロニクス講演会講演概要集, 11 May 2007, Japanese
In this paper, We discuss a method of decision making of a behavior-based robot with some modules which decide robot's action. Subsumption Architecture(SA) makes the modules a layered structure, and upper layer module's action is employed in priority to lower layer module. Such a easy adoption way gives easy implementation but has the problem that lots of inefficient actions are employed. This problem is caused by employing upper module regardless of other modules. Then, We find solutions to this problem by the method to represent actions by Potential Function(PF). This method adopt the action which collects maximum votes from modules. With event driven state transition, robot makes decision of its action with appropriate set of modules which is changed depending on situation. We apply this method to navigation tasks in some corridor environments and show simulation results.

Implementation of unconsciousness movements for mobile robot by using sonar sensor　　　　　　　　　　　　　　　
Takanori Emaru, Takeshi Tsuchiya
2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6, 2007, IEEE, English
2007 - 2007, Generally, animals have multiple sensoria, but they cannot process all environmental insults because their ability of processing the environmental information from sensoria is limited. However, all animals seem to be acting appropriately in complex environments. This is not because animals process all environmental information, but because they can decide flexibly the order of what to do first and can utilize efficiently a limited resource. In other words, animals can ignore efficiently extraneous matter. In this paper, we attempt to implement the schema of "IGNORE" in order to utilize a limited resource of autonomous mobile robot by using the concept of consciousness. Especially, we focus on the unconsciousness movements such as obstacle avoidance or speed control of autonomous mobile robot. If these functions were implemented without heavy load to the system, the whole performance of the robot system will be increase. In this paper, we implement the unconsciousness movements by using poor sensor and processor. Furthermore, we consider the possibility to construct a fruitful combination of conscious and unconscious movements.

Development of a cyclogyro-based flying robot with variable attack angle mechanisms
Yoshiyuki Higashi, Takanori Emaru, Kazuo Tanaka, Hua O. Wang
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, IEEE, English
2006 - 2006, We develop a cyclogyro-based flying robot with a new variable attack angle mechanism. Cyclogyro is a flying machine which is supported in the air by power-driven rotors, which rotate about a horizontal axis, like the paddle-wheels of a steamboat. Machines of this type have been designed by some companies, but there is no record of any successful flights. The new variable attack angle mechanism proposed in this paper has an eccentric (rotational) point in addition to a rotational point connecting to a motor. The variable attack angle mechanism is a kind of double crank mechanism consisting of the two different rotational points and wings. The main feature of the mechanism with the eccentric point is to be able to change attack of angles according to the wing positions (according to the rotational angles of the cyclogyro) without actuators. The mechanism generates enough lift force to fly. We determine design parameters (wing span, the number of wings and eccentric distance) of the flying robot through experiments. Experimental results show that the developed cyclogyro-based flying robot with the new variable attack angle mechanism can hover along a vertical guide.

2P2-E04 Navigation Instructions Using Handwriting Map Interface
OIKAWA Kazumi, TAKAUJI Hidenori, EMARU Takanori, TSUCHIYA Takeshi, OKUBO Shigenori
ロボティクス・メカトロニクス講演会講演概要集, 2006, Japanese
We propose a easier way to give a map to a robot using handwriting map interface. To popularize the use of robots in the home and welfare institutions, robots must be easy for anyone to use. In this paper, we discuss the way to give to the robot the graph map corresponding to its environment using handwriting map interface that converts handwriting map composed of lines into the graph map. We expect this interface to relieve us of the bother of making maps. Simulation results applied this interface to corridor environments are shown.

1P1-S-018 Speed Control of a Sonar-Based Mobile Robot Determining Sensing and Action Strategy Simultaneously(Mobile Robot 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
Emaru Takanori, Tanaka Kazuo, Tsuchiya Takeshi
ロボティクス・メカトロニクス講演会講演概要集, 09 Jun. 2005, Japanese

2P1-S-060 Experimental Study on Optimal Parameters of a Flying Robot with Variable Attack Angle Mechanism(Flying Robot 4,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
Suzuki Ryohei, Tanaka Kazuo, Emaru Takanori
ロボティクス・メカトロニクス講演会講演概要集, 09 Jun. 2005, Japanese

Speed control of a sonar-based mobile robot with considering the self-localization　　　　　　　　　　　　　　　
Takanori Emaru, Kazuo Tanaka, Takeshi Tsuchiya
2005 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONS, VOLS 1-4, CONFERENCE PROCEEDINGS, 2005, IEEE, English
2005 - 2005, Today, the ultrasonic TOF (time-of-flight) ranging system is the most common sensing system employed in indoor mobile robotic systems, primarily due to the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. However, ultrasonic TOF ranging systems tend to neglect infinitesimal reflected waves below the threshold level. We have proposed a new approach to utilize the infinitesimal reflected waves by integrating the reflected waves. This is implemented using a transducer with a scanning system, and has a great ability of obtaining the travelable area for a robot in environments in which the distance cannot be precisely measured. However, it is very difficult for this sensing system to resolve more higher task such as navigation problem or global map generation because it uses only local information. This paper introduces gyroscope sensor in addition to sonar and PSD, and perform self-localization. The validity of the proposed method is investigated by applying this method to an autonomous mobile robot in various environments such as one with multiple obstacles, at the end of the hall, and so on.

Speed control of a sonar-based mobile robot determining sensing and action strategy simultaneously　　　　　　　　　　　　　　　
T Emaru, K Tanaka, T Tsuchiya
2005 IEEE WORKSHOP ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS, 2005, IEEE, English
2005 - 2005, Today, the ultrasonic TOF (time-of-flight) ranging system is the most common sensing system employed in indoor mobile robotic systems, primarily due to the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. TOF ranging systems measure the round-trip time required for a pulse of emitted energy to travel to a reflecting object and then echo back to a receiver. However, ultrasonic TOF ranging systems tend to neglect infinitesimal reflected waves below the threshold level. We have proposed a new approach to utilize the infinitesimal reflected waves by integrating the reflected waves. This is implemented using a transducer with a scanning system, and has a great ability of obtaining the travelable area for a robot in environments in which the distance cannot be precisely measured. The proposed system is constructed in a simple manner so as to improve the utility value of the sonar. This paper introduces the speed control strategy under uncertainty of sensor information. By considering the uncertainty of sensor information, we change the action strategy. By changing the action strategy, sensor information which is obtained by the robot changes at the same time. By using this relationship, we construct the robust robot system. The validity of the proposed method is investigated by applying this method to an autonomous mobile robot in various environments such as one with multiple obstacles, at the end of the hall, and so

Propose the controlling strategy of wheeled mobile robot based on the consciousness
Takanori Emaru, Kazuo Tanaka, Takeshi Tsuchiya
Proceedings of SPIE - The International Society for Optical Engineering, 2005, English
2005 - 2005, We have proposed a new approach to utilize the infinitesimal reflected waves by integrating the reflected waves. This method enables robot to move in unknown environments as it controls its speed smoothly. It is implemented using a transducer with a scanning system, and has a great ability of obtaining the traversable area for a robot in unknown environments in which the distance cannot be precisely measured. The proposed system, termed the integration-type ultrasonic wave sensor system, has following arbitrary parameters that the system designer can determine: sampling time of sonar, sampling time of scanning, range of scanning, speed of scanning, and so on. It is very difficult to determine them appropriately in response to changing environments or tasks. In this paper, we try to determine the arbitrary parameters of the integration-type ultrasonic wave sensor system on the basis of the 'consciousness'. We have proposed the speed control or obstacle avoidance by using the integration-type ultrasonic wave sensor system, and we define it as the unconsciousness movements. On the other hand, higher-level tasks such as navigation or map building are defined as the consciousness movements. The purpose of our research is to propose a simple construction and controlling method of the robot system by introducing the concept of consciousness. In preparation for this purpose, some experiments and discussion will be performed in this paper.

Navigation using Artificial Landmark without using Coordinate System
Oikawa K, Takauji H, Emaru T, Okubo S
ロボティクス・メカトロニクス講演会講演概要集, 18 Jun. 2004, Japanese

Strategy of pass planning for wheeled mobile robot by using integration-type ultrasonic wave sensor
E T, Oikawa K, Tanaka K, T T
ロボティクス・メカトロニクス講演会講演概要集, 18 Jun. 2004, Japanese

A Flying Robot with Varialbe Attack Angle Mechanism
Suzuki R, Tanaka K, Emaru T
ロボティクス・メカトロニクス講演会講演概要集, 18 Jun. 2004, Japanese

System configuration of smoothed and differential values estimator by using linear and sliding mode system　　　　　　　　　　　　　　　
T Emaru, T Tsuchiya
2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, 2003, IEEE, English
2003 - 2003, We have proposed the new non-linear filter to estimate the smoothed and differential values by using sliding mode system (ESDS). It works very effectively to eliminate the impulse noise by keeping the sudden shift of the signals. In order to construct ESDS, it requires the system that is globally uniform asymptotically stable at the origin. As the stable system, the minimum time system that is one of the sliding mode systems has been used. In this paper, we apply the linear system and the sliding mode system that has linear switching line as the stable system, and we clarify the validity of our theorem and configuration of ESDS.

Navigation of Autonomous Mobile Robot with Handwritten Map Interface
Terabayashi K, Emaru T, Oikawa K, Tsuchiya T
ロボティクス・メカトロニクス講演会講演概要集, 2003, Japanese
自律移動ロボットのナビゲーションには距離情報の正確な地図が望まれるが, ユーザにとってその作成は大きな負担である。そこで, 日常的なツールであり作成が容易な手書き地図をインターフェースとするナビゲーションシステムの実現を目指す。

Digital Acceleration Control Utilizing Second-order Differential Value Estimated by Nonlinear Filter ESDS
Ikeda A, Emaru T, Tsuchiya T
ロボティクス・メカトロニクス講演会講演概要集, 2003, Japanese
ディジタル加速度制御を用いると, メカニカルシステムに含まれる非線形項が未知のまま制御器を設計できる。この制御法では対象の位置・速度・加速度を必要とするが, 位置情報のみ得られればESDSによりそれを微分して速度・加速度が得られる。

A New Ultrasonic Transmit/Receive Circuit for Improvement of Range Finding Perfor mance and Utilize the Integration Value
Emaru T, Terabayashi K, Oikawa K, Tsuchiya T
ロボティクス・メカトロニクス講演会講演概要集, 2003, Japanese
超音波センサによる測距方法として一般的なパルスエコー法は, 微弱なエコーを無視する。この欠点を解決するため, エコーの積分値を利用した環境認識を行う。さらに低雑音の回路を製作し, 測距性能の向上も目指す。

Navigation for a Autonomous Mobile Robot by IR Module Landmarks
Oikawa K, Takauji H, Emaru T, Tsuchiya T, Okubo S
ロボティクス・メカトロニクス講演会講演概要集, 2003, Japanese
赤外線モジュールリモコンランドマークを利用した自律移動ロボットのナビゲーションについて述べる。知覚騙し問題に対してSAに状況分割の考えを用いる。また, 固定優先順位の問題に対してイベント駆動型の階層構造切替手法について述べる。

1P1-B6 Environmental representation method using topological map for a autonomous mobile robot
Oikawa K, Takauji H, Emaru T, Tsuchiya T, Okubo S
ロボティクス・メカトロニクス講演会講演概要集, 08 Jun. 2001, Japanese

1A1-N2 How to decide the parameters of ESDS
Emaru T, Oikawa K, Tsuchiya T
ロボティクス・メカトロニクス講演会講演概要集, 08 Jun. 2001, Japanese

Theoretical study of ESDS by using phase plane　　　　　　　　　　　　　　　
T Emaru, T Tsuchiya
2001 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, 2001, IEEE, English
2001 - 2001, In our previous research, we proposed a new technique to Estimate the Smoothed value and the Differential value of the sensor inputs by using Sliding mode system (ESDS). We smooth the distance value by supposing the continuity of the signal that is obtained by the sonar, and taking advantage of this continuity, we compose a robust estimator. This estimator is based on the sliding mode system. In our proposed method, there is trade-off between the ability of noise elimination and the tracking performance for input signal. In this paper, we discuss the ability of noise elimination that ESDS has by finding the solution trajectory in the phase plane. At the same time, we discuss the signal tracking performance by using the solution trajectory. According to these consideration, we clarify the relation between these characteristics and the arbitrary parameters.

Research on estimating the smoothed value and the differential value of the sensor inputs by using sliding mode system
EMARU Takanori, OIKAWA Kazumi, TSUCHIYA Takeshi
インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, Oct. 2000, Japanese

Environmental representation method using topological map for a autonomous mobile robot
OIKAWA Kazumi, TAKAUJI Hidenori, EMARU Takanori, TSUCHIYA Takeshi, OKUBO Shigenori
インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, Oct. 2000, Japanese

Avoid crosstalk of sonar by using sliding mode system　　　　　　　　　　　　　　　
T Emaru, T Tsuchiya
IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4, 2000, IEEE, English
2000 - 2000, For autonomous mobile robots, sensors are very important to recognize an environment. In this paper, we pick up ultrasonic wave sensor, which today is the most common technique employed on indoor mobile robotic systems, and we propose a new technique to avoid crosstalk of sonar sensors. Even though many methods have been proposed to avoid crosstalk, it is very difficult to eliminate the influence of crosstalk perfectly. In this paper, supposing the continuity of the distance signal given by the sonar, we smooth the distance value. The estimator is based on the sliding mode system.

Research on estimating the smoothed value and the differential value of the distance measured by an ultrasonic wave sensor　　　　　　　　　　　　　　　
T Emaru, T Tsuchiya
2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, 2000, IEEE, English
2000 - 2000, To recognize an environment, Me robot should have as many sensors as possible. When we use sensors, we must consider the characteristics of Me sensors, such as range, processing time, error, and so on. In Mis paper, we pick up ultrasonic wave sensor that is today Me most common technique employed on indoor mobile robotic systems, and we propose a new technique to estimate the smoothed value and the differential valve of the distance measured by a ultrasonic wave sensor. While proposing this system, we take the characteristics of the sensors mentioned above into consideration In spite of Me many methods proposed, it is still very difficult to eliminate the noise of sonar perfectly. So, we smooth the distance value by supposing the continuity of the signal that is obtained by Me sonar, and taking advantage of this continuity, we compose an robust estimator. The estimator is based on the sliding mode system.

2P2-41-051 行動規範型自律移動ロボットの通路状環境におけるナビゲーション手法
高氏 秀則, 江丸 貴紀, 及川 一美, 土谷 武士
ロボティクス・メカトロニクス講演会講演概要集, 2000, Japanese
我々は動的な通路状環境において, ロボットのナビゲーションを実現する方法として, 行動規範型自律移動ロボットに環境知識を持たせる手法を提案している。ロボットは角度, 距離といった計測情報を用いずに, 床面に人工的に設置した色をランドマークに用いることで, 環境のトポロジカルな構造を非記号的な知識表現を使い自己組織的かつ可塑的に獲得しナビゲーションに利用する。

1A1-70-100 スライディングモードを利用したセンサ情報に対する平滑化および微分値推定法
江丸 貴紀, 高氏 秀則, 及川 一美, 土谷 武士
ロボティクス・メカトロニクス講演会講演概要集, 2000, Japanese
「インパルス性雑音の除去」と「信号成分の突発的な変化の保存」という相反する要素を満たすフィルタを提案し, 超音波センサによって得られた信号に対して適用した。本手法は, スライディングモードシステムに基づきシステムを構築しており, スライディングモードシステム内部の飽和要素が瞬間的な過大入力を抑制する, という特長によりインパルス性雑音を除去している。また, 信号成分が突発的に変化する場合についても考察し, 実環境でより有効なシステムを構築した。提案手法は非線形システムであるが, S/N比を用いた評価基準を設けることによって, 定量的評価も行った。

Avoid the crosstalk of sonar by using sliding mode system
EMARU Takanori, TAKAUJI Hidenori, OIKAWA Kazumi, TSUCHIYA Takeshi
インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, Oct. 1999, Japanese

Navigation for A Behavior-Based Autonomous Mobile Robot in Corridor Environment
TAKAUJI Hidenori, EMARU Takanori, OIKAWA Kazumi, TSUCHIYA Takeshi
インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, Oct. 1999, Japanese

機械知能工学入門　　　　　　　　　　　　　　　
北海道大学工学部機械知能工学科

テクニカルイングリッシュ　　　　　　　　　　　　　　　
北海道大学工学部機械知能工学科

ラボラトリーセミナー　　　　　　　　　　　　　　　
北海道大学工学部機械知能工学科

メカトロニクス実習　　　　　　　　　　　　　　　
北海道大学工学部機械知能工学科

制御工学Ⅱ　　　　　　　　　　　　　　　
北海道大学工学部機械知能工学科

一般教育演習(ﾌﾚｯｼｭﾏﾝｾﾐﾅｰ)　　　　　　　　　　　　　　　
北海道大学全学教育

ロボット制御工学特論　　　　　　　　　　　　　　　
北海道大学大学院工学院

Control Problems on Robotics（ロボット制御工学E）　　　　　　　　　　　　　　　
北海道大学大学院工学院 英語特別コース

ロボット工学　　　　　　　　　　　　　　　
北海道大学工学部機械知能工学科

Realizing robust SLAM using a non-uniform group of UGVs and UAVs for large-scale field management
Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)
Apr. 2020 - Mar. 2023
江丸 貴紀
本研究では、広域な森林管理に有効な無人飛行体（UAV, Unmanned Aerial Vehicle）と無人地上移動機 （UGV, Unmanned Ground Vehicle）との連携による地図生成と自己位置同定の同時解決問題 （SLAM, Simultaneous Localization And Mapping）を目的とする。林業においては樹木を植栽してから伐採するまでの様々な作業において機械化が進んでいるが、育林初期における下草刈りは大きなコスト、人手が必要にもかかわらず作業の自動化が進んでいない。本研究では、UGVに搭載したカメラ画像認識による樹木と下草の識別精度向上に取り組むとともに、UAVからの情報を補完的に利用することにより樹木や地形をロバストに認識し、さらに認識結果を生かした高精度マップを構築することによって林業環境における除草作業の軽労化・自動化実現を目指す。令和３年度の研究実績概要は以下のとおりである。


課題1[画像認識]：画像情報を利用して樹木と雑草を識別するために、高精度な物体検出・セグメンテーションを実現する深層学習ベースのアルゴリズムの開発・検証を行った。この分野のSOTAの1つであるMask R-CNNを改良することで作物・雑草を高精度で識別するアルゴリズムを開発した。


課題2[UGV-UAV連携]：森林環境において高精度な3次元地図を構築するためには、UAVによる情報のみでは移動可能な地上の経路情報を獲得することは難しく，UGVによる情報のみでは個々の樹木の太さを知ることは困難である。そこで、上空から獲得した情報と地上から獲得した情報を組み合わせる手法を検討し、真値が得られる研究林において上空および地上からLiDARの点群情報取得を実施し、それらを融合することによって高精度な3次元地図を構築する手法の評価を行った。
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (C), Hokkaido University, 20K04392

Development of Interplant Weeding Robot Using Robust Deep Learning that Identifiy Crops and Weeds　　　　　　　　　　　　　　　
2021年度 ／ START プロジェクト推進型 SBIRフェーズ1支援 2021
Nov. 2021 - Mar. 2022
Takanori Emaru, Koichi Imaoka
Japan Science and Technology Agency, Hokkaido University, Principal investigator, 21482146

High-precision Map Creation using AR Tags for the Purpose of Maintenance of Port Facilities　　　　　　　　　　　　　　　
Research and development grants
Apr. 2021 - Mar. 2022
Takanori Emaru
Specialists Center of Port and Airport Engineering (SCOPE)

Development of a weeding robot equipped with a selective inter-strain weeding mechanism　　　　　　　　　　　　　　　
文部科学省 国立大学法人機能強化促進補助金
Apr. 2021 - Mar. 2022
江丸貴紀, 今岡広一
Hokkaido University, Principal investigator

Creation of `innovative remote sensing business' using spectrum measurement technology of Hokkaido University　　　　　　　　　　　　　　　
Regional Innovation Ecosystem Formation Program
Sep. 2019 - Mar. 2022
Yukihiro Takahashi
Ministry of education, Competitive research funding

Development of robot manipulation technology for pinpoint weeding　　　　　　　　　　　　　　　
National university corporation function enhancement promotion subsidy
Apr. 2019 - Mar. 2022
Takanori Emaru
Ministry of education, Principal investigator, Competitive research funding

Development of GNSS tracker for port maintenance　　　　　　　　　　　　　　　
Research and development grants
Apr. 2020 - Mar. 2021
Takanori Emaru
Specialists Center of Port and Airport Engineering (SCOPE), Principal investigator

Development of commercial drone autonomy technology to accelerate social implementation of UAV port inspection automation　　　　　　　　　　　　　　　
Research and development grants
Apr. 2019 - Mar. 2020
Takanori Emaru
Specialists Center of Port and Airport Engineering (SCOPE), Principal investigator, Competitive research funding

積雪寒冷地域の交通弱者移動支援のための雪道走行を可能とする自動運転技術の開発　　　　　　　　　　　　　　　
平成29年度サポイン事業（戦略的基盤技術高度化支援事業）
Sep. 2017 - Mar. 2020
江丸 貴紀
経済産業省, Principal investigator, Competitive research funding

深層学習の特徴点抽出機能に基づく非人工環境下におけるロバストなSLAMの実現　　　　　　　　　　　　　　　
Grant-in-Aid for Scientific Research(C)
Apr. 2017 - Mar. 2020
Takanori Emaru
Japan Society for the Promotion of Science, Principal investigator, Competitive research funding

QZSSとSLAM技術を融合した高精度自律型BRDFスペクトル計測システムの実証　　　　　　　　　　　　　　　
みちびきを利用した実証実験
Nov. 2018 - Mar. 2019
高橋幸弘
内閣府, Competitive research funding

Development of weeding automation technology using AI / RT　　　　　　　　　　　　　　　
National university corporation function enhancement promotion subsidy
Jul. 2018 - Mar. 2019
Takanori Emaru
Ministry of education, Principal investigator, Competitive research funding

Development of high-accuracy map generation and high-accuracy self-localization system to support automation of port facility inspection by UAV　　　　　　　　　　　　　　　
Research and development grants
Apr. 2018 - Mar. 2019
Takanori Emaru
Specialists Center of Port and Airport Engineering (SCOPE), Principal investigator, Competitive research funding

Construction of Robust Image Recognition System in Agricultural Environment Using Multimodal Deep Learning　　　　　　　　　　　　　　　
27th Artificial Intelligence Research Grant
Apr. 2017 - Mar. 2019
Takanori Emaru
Artificial Intelligence Research Foundation, Principal investigator, Competitive research funding

UAVによる港湾設備点検の自動化を支援する高精度自己位置同定システムの開発　　　　　　　　　　　　　　　
Research and development grants
Apr. 2017 - Mar. 2018
Takanori Emaru
Specialists Center of Port and Airport Engineering (SCOPE), Principal investigator, Competitive research funding

センシング誤差と移動誤差の理論的統計モデル構築によるSLAMの本質的精度向上　　　　　　　　　　　　　　　
基盤研究(C)
Apr. 2014 - Mar. 2017
江丸 貴紀
日本学術振興会, Principal investigator, Competitive research funding

単体多機能型自立生活支援ロボットの本質的安全技術と知能化技術の開発
基盤研究(B)
Apr. 2012 - Mar. 2014
王 碩玉
我々の研究グループでは下肢障害者の自立生活を支援するために，移動・移乗・作業・訓練を一体化した単体多機能型自立生活支援ロボットの開発を進めている。申請者は，人間と機械を含めたトータルシステムの制御法について貢献している。
日本学術振興会, Competitive research funding

方向依存性に起因する非線形摩擦と重心のずれを考慮した全方向移動ロボットの軌道制御
若手研究(B)
Apr. 2011 - Mar. 2013
江丸 貴紀
オムニホイールを持つ全方向移動ロボットは，方向依存性に起因する強い非線形摩擦を持つ。また，作業や積載物に伴い重心のずれが発生する。これらを外乱としてモデル化することにより，ロバストな軌道制御手法を確立し，精度のよい制御を実現するものである。
日本学術振興会, Principal investigator, Competitive research funding

Study on Control System and Robot Structure of Advanced Composites
Grants-in-Aid for Scientific Research
2010 - 2012
KOBAYASHI Yukinori, EMARU Takanori, HOSHINO Yohei
A robot arm made of composite material has been developed and the nonlinear model for the ball-throwing motion has been derived. Simultaneous optimization of input torque pattern and structure parameters has been analyzed by means of the soft computing approaches. Availability of the proposed thechnique and the highly effective performance of the robot arm have been confirmed by pursuing simulation and experiments
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (C), Hokkaido University, 22560215

パルスレーザーを用いた非接触加振に基づく高周波振動計測／高感度異常検知技術の開発
基盤研究(A)
Apr. 2010
梶原 逸朗
レーザーアブレーションを用いた非接触インパルス加振に基づく振動計測技術の開発を目的とする研究である。申請者は非線形信号処理・制御工学の立場から統合レーザー加振／レーザー追尾システムの開発に貢献した。
日本学術振興会, Competitive research funding

自立高齢者生活支援のためのインテリジェント歩行車の開発
基盤研究(B)
Apr. 2009
王 碩玉
立位筋がある程度あるが，ヘルパーや介護士の支えがなければ安定して歩行できない高齢者を支援するための知的歩行支援ロボットを開発した。申請者は制御工学の立場から本質的安全性を保証した制御系設計について貢献した。
日本学術振興会, Competitive research funding

ペイロード質量の変化および高速化に伴う弾性振動に対してロバストなマニピュレータの開発
第24回(2008年度)マツダ研究助成(科学技術振興関係)
2008
江丸 貴紀
ロボットマニピュレータの操作質量に対し，ディジタル加速度制御を適用することによりロバスト化を目指す研究であり，数値実験・実機実験によりその有効性を検討する。本プロジェクトにおいて高速で動作するマニピュレータの非線形制御について制御器を提案し有効性を検証した。
マツダ研究助成, Principal investigator, Competitive research funding

積分型超音波センサによる移動ロボット用ソナーリングの開発
小澤・吉川記念エレクトロニクス研究助成基金
Apr. 2007
江丸 貴紀
Principal investigator, Competitive research funding

「意識」を伴う自律移動ロボットの行動戦略及びセンシング戦略の一貫した制御　　　　　　　　　　　　　　　
日本学術振興会特別研究員奨励費
Apr. 2003 - Mar. 2006
江丸 貴紀
日本学術振興会, Principal investigator, Competitive research funding

メカトロ教室 走れ！ロボットカー　　　　　　　　　　　　　　　
29 Jun. 2019
Lecturer
Seminar
The Japan Society of Mechanical Engineers

メカトロ教室「走れ！ロボットカー」　　　　　　　　　　　　　　　
30 Jun. 2018
Lecturer
Seminar
The Japan Society of Mechanical Engineers

あぐり大学「森はすべての源」　　　　　　　　　　　　　　　
08 Jul. 2017
Lecturer
Seminar
北海道大学農学部，北海道新聞社編集局
あぐり大学

メカトロ教室「走れ！ロボットカー」　　　　　　　　　　　　　　　
01 Jul. 2017
Lecturer
Seminar
The Japan Society of Mechanical Engineers

親子メカトロ教室「走れ！ロボットカー」　　　　　　　　　　　　　　　
25 Jun. 2016
Lecturer
Seminar
The Japan Society of Mechanical Engineers

親子メカトロ教室「走れ！ロボットカー」　　　　　　　　　　　　　　　
27 Jun. 2015
Lecturer
Seminar
The Japan Society of Mechanical Engineers

親子メカトロ教室「走れ！ロボットカー」　　　　　　　　　　　　　　　
21 Jun. 2014
Lecturer
Seminar
The Japan Society of Mechanical Engineers

親子メカトロ教室「走れ！ロボットカー」　　　　　　　　　　　　　　　
06 Jul. 2013
Lecturer
Seminar
日本機械学会

子供向けメカトロ教室「簡単！電子工作」　　　　　　　　　　　　　　　
30 Jun. 2012
Lecturer
Seminar
日本機械学会

メカトロ教室「簡単！電子工作」　　　　　　　　　　　　　　　
02 Jul. 2011
Lecturer
Seminar
日本機械学会

メカトロ教室「簡単！電子工作」　　　　　　　　　　　　　　　
10 Jul. 2010
Lecturer
Seminar
日本機械学会

カンボジア工科大学教育能力向上プロジェクト運営指導調査　　　　　　　　　　　　　　　
30 Mar. 2012 - 04 Apr. 2012
Academic research planning
Academic research
独立行政法人 国際協力機構

カンボジア国産業人材育成プロジェクト詳細計画策定調査　　　　　　　　　　　　　　　
31 Jul. 2011 - 06 Aug. 2011
Academic research planning
Academic research
独立行政法人 国際協力機構