2022年09月, 公益社団法人 計測自動制御学会, 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

2021年09月, 公益社団法人計測自動制御学会, 論文賞　　　　　　　　　　　　　　　
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

2019年02月, 北海道, 北海道科学技術奨励賞　　　　　　　　　　　　　　　
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
江丸 貴紀

2018年05月, VI-th AGH-HU Joint Symposium, Young Scientists for the best presentation and poster　　　　　　　　　　　　　　　
上野貴希;江丸貴紀;Ravankar Ankit;小林幸徳

2017年01月, 北海道大学, 教育奨励賞　　　　　　　　　　　　　　　
江丸 貴紀

2013年03月, 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年, SII2011 Young Author's Award Finalist　　　　　　　　　　　　　　　
日本国

2011年, SII2011 Young Author's Award Finalist　　　　　　　　　　　　　　　

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

2000年, The 2000 Student Paper Contest AWARD　　　　　　　　　　　　　　　
日本国

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

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, 2024年02月14日
研究論文（学術雑誌）

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年
研究論文（学術雑誌）

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, 2022年09月06日
研究論文（国際会議プロシーディングス）

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年
研究論文（国際会議プロシーディングス）

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, 2021年11月15日, ［査読有り］
研究論文（学術雑誌）, 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, 2021年08月08日, ［査読有り］
研究論文（国際会議プロシーディングス）

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), 2021年08月01日, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2021年01月11日
研究論文（国際会議プロシーディングス）, 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, 2021年01月11日
研究論文（国際会議プロシーディングス）, 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, 2021年01月11日
研究論文（国際会議プロシーディングス）, 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, 2021年01月11日
研究論文（国際会議プロシーディングス）, 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年
研究論文（国際会議プロシーディングス）, 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年
研究論文（国際会議プロシーディングス）

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年
英語, 研究論文（国際会議プロシーディングス）, 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年
研究論文（国際会議プロシーディングス）

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), 2020年12月08日, ［査読有り］
研究論文（学術雑誌）

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), 2020年10月24日, ［査読有り］
英語, 研究論文（学術雑誌）

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, 2020年09月23日
研究論文（国際会議プロシーディングス）, 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, 2020年09月23日
研究論文（国際会議プロシーディングス）, 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, 2020年05月26日, ［査読有り］, ［国際誌］
英語, 研究論文（学術雑誌）

画像情報を用いた鉄道車両の車輪及び車軸の寸法計測手法の提案
江本 剛, 小林 幸徳, 江丸 貴紀, アンキット ラワンカル, アビジート ラワンカル
北海道支部講演会講演概要集, 2020.57, 55, 56, 一般社団法人 日本機械学会, 2020年
日本語

Applying Semantic Segmentation to Autonomous Cars in the Snowy Environment.
Zhaoyu Pan, Takanori Emaru, Ankit A. Ravankar, Yukinori Kobayashi
CoRR, abs/2007.12869, 2020年
研究論文（学術雑誌）

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年, ［査読有り］
研究論文（学術雑誌）

Multi-Robot Mapping and Navigation Using Topological Features
Ankit Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi
Proceedings, {MDPI}, 2019年11月14日
研究論文（学術雑誌）

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, 2019年06月
研究論文（国際会議プロシーディングス）, 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, 2019年05月, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2019年02月, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2018年11月14日, ［査読有り］
研究論文（学術雑誌）, 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, 2018年09月19日, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2018年06月, ［招待有り］, ［筆頭著者, 責任著者］

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., 2018年02月01日
英語, 研究論文（国際会議プロシーディングス）, 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年
研究論文（学術雑誌）

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年
英語, 研究論文（国際会議プロシーディングス）, 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年
英語, 研究論文（国際会議プロシーディングス）, 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年
英語, 研究論文（国際会議プロシーディングス）, 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年, ［招待有り］

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, 2017年11月, ［査読有り］
英語, 研究論文（学術雑誌）

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, 2017年08月, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2017年07月, ［査読有り］
英語, 研究論文（学術雑誌）, 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., 2017年02月06日
英語, 研究論文（国際会議プロシーディングス）, 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, 2017年02月06日
研究論文（国際会議プロシーディングス）, 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, 2017年02月06日
研究論文（国際会議プロシーディングス）, 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, 2017年02月06日
研究論文（国際会議プロシーディングス）, 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, 2017年02月06日
研究論文（国際会議プロシーディングス）, 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
ロボティクス・メカトロニクス講演会講演概要集, 2017, 1P1, G09, 一般社団法人 日本機械学会, 2017年
英語,

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.

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
ロボティクス・メカトロニクス講演会講演概要集, 2017, 1P1, D08, 一般社団法人 日本機械学会, 2017年
日本語,

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
ロボティクス・メカトロニクス講演会講演概要集, 2017, 2P1, F04, 一般社団法人 日本機械学会, 2017年
日本語,

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年
英語, 研究論文（国際会議プロシーディングス）, 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年
英語, 研究論文（国際会議プロシーディングス）, 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, 2016年12月, ［査読有り］
英語, 研究論文（国際会議プロシーディングス）

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, 2016年11月, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2016年06月01日, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2016年06月, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2016年05月01日, ［査読有り］
英語, 研究論文（学術雑誌）, 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., 2016年02月10日
英語, 研究論文（国際会議プロシーディングス）, 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., 2016年02月10日
英語, 研究論文（国際会議プロシーディングス）, 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, 2016年02月10日
研究論文（国際会議プロシーディングス）, 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年, ［査読有り］
英語, 研究論文（学術雑誌）

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年, ［査読有り］
英語, 研究論文（学術雑誌）

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, 2015年04月, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2015年03月, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2015年03月, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 一般社団法人日本機械学会, 2015年
英語, 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.

編集後記
江丸 貴紀
計測と制御, 54, 6, 446, 446, The Society of Instrument and Control Engineers, 2015年
日本語

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, 2014年09月, ［査読有り］
英語, 研究論文（学術雑誌）

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, 2014年08月, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2014年03月, ［査読有り］
英語, 研究論文（学術雑誌）

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, 2013年12月, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2013年07月, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2013年07月, ［査読有り］
英語, 研究論文（学術雑誌）, 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年, ［査読有り］
日本語, 研究論文（学術雑誌）, 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.

アクチュエータ故障に対する冗長支持空気圧除振台の出力再分配法
前田拓巳, 星野洋平, 吉田大輔, 小林幸徳, 江丸貴紀
日本機械学会論文集C編, 79, 801, 1317, 1326, 2013年, ［査読有り］
日本語, 研究論文（学術雑誌）, 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年, ［査読有り］
英語, 研究論文（学術雑誌）

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年, ［査読有り］
英語, 研究論文（国際会議プロシーディングス）, 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年, ［査読有り］
英語, 研究論文（学術雑誌）, 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年, ［査読有り］
英語, 研究論文（学術雑誌）

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年, ［査読有り］
日本語, 研究論文（国際会議プロシーディングス）, 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年, ［査読有り］
英語, 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年
英語, 研究論文（学術雑誌）

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年, ［査読有り］
英語, 研究論文（国際会議プロシーディングス）, 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)
YIN Haibin, KOBAYASHI Yukinori, HOSHINO Yohei, EMARU Takanori
Journal of System Design and Dynamics, 5, 2, 1, 230, The Japan Society of Mechanical Engineers, 2011年, ［査読有り］
英語, 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
Journal of System Design and Dynamics, 5, 5, 909, 924, The Japan Society of Mechanical Engineers, 2011年, ［査読有り］
英語, 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
Journal of System Design and Dynamics, 4, 1, T1-08-0339, 49, The Japan Society of Mechanical Engineers, 2010年, ［査読有り］
英語, 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.

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(機械力学,計測,自動制御)
江丸 貴紀, 星野 洋平, 小林 幸徳
日本機械学會論文集. C編, 75, 751, 666, 672, 一般社団法人日本機械学会, 2009年03月, ［査読有り］
日本語, 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年, ［査読有り］

スライディングモードを用いた非線形フィルタによる速度・加速度推定と制御系への適用
Takanori Emaru, Kazuo Imagawa, Yohei Hoshino, Yukinori Kobayashi
日本機械学会論文集C編, 75, 757, 2547, 2552, Japan Society of Mechanical Engineers, 2009年, ［査読有り］
日本語, 研究論文（学術雑誌）, 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.

伝達マトリックス法を利用した点加振される長方形平板の応答解析
Kotaro Ishiguri, Yukinori Kobayashi, Yohei Hoshino, Takanori Emaru
日本機械学会論文集C編, 75, 753, 1234, 1243, Japan Society of Mechanical Engineers, 2009年, ［査読有り］
日本語, 研究論文（学術雑誌）, 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年, ［査読有り］

伝達マトリックス法を利用した点加振される長方形平板の応答解析(<特集>D&D 2008)
石栗 航太郎, 小林 幸徳, 星野 洋平, 江丸 貴紀
日本機械学會論文集. C編, 75, 753, 1234, 1243, 一般社団法人日本機械学会, 2009年, ［査読有り］
日本語, 研究論文（学術雑誌）, 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.

スライディングモードを用いた非線形フィルタによる速度・加速度推定と制御系への適用(機械力学,計測,自動制御)
江丸 貴紀, 今川 和夫, 星野 洋平, 小林 幸徳
日本機械学會論文集. C編, 75, 757, 2547, 2552, 一般社団法人日本機械学会, 2009年, ［査読有り］
日本語, 研究論文（学術雑誌）, 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年
日本語, 研究論文（学術雑誌）, 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年
日本語, 研究論文（学術雑誌）, 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年, ［査読有り］

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, 2008年09月
日本語

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年, ［査読有り］

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(機械力学,計測,自動制御)
江丸 貴紀, 田中 一男, 土谷 武士
日本機械学會論文集. C編, 74, 737, 98, 107, 一般社団法人日本機械学会, 2008年01月, ［査読有り］
日本語, 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, 2007年10月, ［査読有り］
英語, 研究論文（学術雑誌）, 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年, ［査読有り］

Navigation Using Local Landmarks in a Corridor Environment
Journal of Robotics and Mechatronics, 17, 3, 262, 268, 2005年, ［査読有り］

可変迎角機構をもつサイクロジャイロ型飛行ロボットの提案
田中 一男, 長谷 拓也, 江丸 貴紀
日本ロボット学会誌 = Journal of Robotics Society of Japan, 22, 7, 920, 923, 一般社団法人 日本ロボット学会, 2004年10月, ［査読有り］
日本語, 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.

非線形ディジタルフィルタESDSの追従性能に関する考察(機械力学,計測,自動制御)
江丸 貴紀, 土谷 武士
日本機械学會論文集. C編, 70, 696, 2352, 2359, 一般社団法人日本機械学会, 2004年08月, ［査読有り］
日本語, 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.

自律ロボット用センサ
江丸 貴紀
知能と情報 : 日本知能情報ファジィ学会誌 : 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, 2004年06月, ［査読有り］
日本語

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年, ［査読有り］

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年, ［査読有り］

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

可変迎角機構をもつサイクロジャイロ型飛行ロボットの提案
田中 一男, 長谷 拓也, 江丸 貴紀
日本ロボット学会誌, 22, 7, 920, 923, The Robotics Society of Japan, 2004年
日本語, 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.

インパルス性雑音除去フィルタの計算高速化手法(機械力学,計測,自動制御)
江丸 貴紀, 土谷 武士, 田中 一男
日本機械学會論文集. C編, 70, 689, 62, 68, 一般社団法人日本機械学会, 2004年01月, ［査読有り］
日本語, 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, 一般社団法人日本機械学会, 2004年
英語

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, 2003年07月, ［査読有り］
英語, 研究論文（学術雑誌）, 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, 2003年06月
英語, 研究論文（学術雑誌）, 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 -Apply to ultrasonic wave sensor-
Emaru Takanori, Tsuchiya Takeshi
Journal of Signal Processing, 7, 1, 51, 60, 〔信号処理学会〕, 2003年
英語

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(機械力学,計測,自動制御)
江丸 貴紀, 土谷 武士
日本機械学會論文集. C編, 68, 675, 3260, 3267, The Japan Society of Mechanical Engineers, 2002年11月25日
日本語, 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〕, 2002年11月
日本語

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, 2002年09月
日本語

(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, 2002年05月05日
日本語

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(機械力学,計測,自動制御)
江丸 貴紀, 土谷 武士
日本機械学會論文集. C編, 68, 667, 862, 869, The Japan Society of Mechanical Engineers, 2002年03月25日
日本語, 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.

位相面を利用したESDSの理論的検討(機械力学,計測,自動制御)
江丸 貴紀, 土谷 武士
日本機械学會論文集. C編, 68, 666, 454, 459, The Japan Society of Mechanical Engineers, 2002年02月25日
日本語, 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年

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年

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年

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年
日本語

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

ESDSのパラメータ設計手法(機械力学,計測,自動制御)
江丸 貴紀, 土谷 武士
日本機械学會論文集. C編, 67, 664, 3844, 3849, The Japan Society of Mechanical Engineers, 2001年12月25日
日本語, 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年

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年, ［査読有り］
英語, 研究論文（国際会議プロシーディングス）, 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.

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
江丸 貴紀, 土谷 武士
日本機械学會論文集. C編, 66, 652, 3947, 3954, 一般社団法人日本機械学会, 2000年12月25日
日本語, 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年

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年, ［査読有り］
英語, 研究論文（国際会議プロシーディングス）, 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年

インフラの維持管理を目的としたARマーカーを用いた高精度地図生成
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年

高精度SLAMのための疎なLiDAR情報を使用したスキャンマッチング改善手法の提案
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年

自動除草ロボットのためのロバストな畝の認識方法と車体制御の提案
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年

低解像度赤外線サーモグラフィを用いた降雪環境における人物検出
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年

積雪環境における赤外線サーモグラフィを用いた単眼Visual SLAM
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年

UAVを用いた広域なフィールドを管理するためのVisual-SLAMの適用
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年

UAVを用いた自動スペクトル計測システムにおける三次元飛行経路の生成
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年

UAVを用いた自動スペクトル計測システムにおけるジンバル制御
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年

積雪環境におけるスキャンマッチングを用いた自己位置推定性能の改善
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年

歩道除雪環境におけるLiDARを用いたロバスト歩行者検出システム
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年

歩道除雪作業の効率化を目的としたサーマルカメラによる人物検出
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年

未知環境におけるUAV用リアルタイムナビゲーションシステムの開発
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年

サーモカメラを用いた3D LiDAR点群のリアルタイム補完手法の提案
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年

RGB-DとLiDARセンサーを用いた動的環境のEKF-SLAM
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年

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の制御
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年

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
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年

雪運転シナリオにおける意味論的画像セグメンテーション【JST・京大機械翻訳】
Lei Yayun, Emaru Takanori, Ravankar Ankit A., Kobayashi Yukinori, Wang Su, IEEE Conference Proceedings, 2020, ICMA, 2020年

屋内サービスロボットのためのハイブリッド機能ベースのマッピング
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年

マルチロボットのSLAMをマージするポーズグラフマップ
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年

セマンティックマッピングに基づく移動ロボットの経路計画
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年

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, 62nd, 2019年12月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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, 2019年11月
英語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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, Ankit A. Ravankar, 第62回自動制御連合講演会, 62nd, 2019年11月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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, 2019年03月, ［招待有り］

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年

ブドウ園監視のための地上移動ロボットの自律ナビゲーション
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年

独立型一体内装構造を有する鉄道車体モデルの振動音響解析
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年

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年

樹種同定における3D LiDARの応用
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年

作業分散による協調マルチロボットの地図統合
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年

最近傍探索によるLiDAR点群の降雪ノイズ除去
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年

サーモカメラと3D LiDARのセンサフュージョンによる雪道における轍幅の推定
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年

雪道環境における自動運転技術のための3次元LiDARを用いた点群処理に基づく雪山検出
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年

UAVを用いた防波堤点検システムの構築
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年

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, 2018年11月16日
日本語

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, 2018年11月16日
日本語

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, 2018年10月27日
英語

RGBカメラを使った積雪森林環境における道路検知
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年

マルチコプタを使った港湾施設検査ロボットの開発
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年

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年

2Dおよび3D環境における移動ロボットのリアルタイムパス平滑化
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年

屋内サービスロボットのセマンティックナビゲーション
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年

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年

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年

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, 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年

メタヒューリスティクスを用いたUAVの経路の最適化
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年
日本語

森林管理用4輪駆動ロボットの開発と運動解析
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年
日本語

深層学習とHough変換の応用による原木材計測システム
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年
日本語

斜面におけるオムニホイールロボットの自己位置および斜面勾配の推定
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年
日本語

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, 2017年12月20日
日本語

大面積ロボットマッピングのためのハイブリッドトポロジカル地図作成とナビゲーション法【Powered by NICT】
Ravankar Ankit A., Ravankar Abhijeet, Emaru Takanori, Kobayashi Yukinori, IEEE Conference Proceedings, 2017, SICE, 2017年

ロボットできる動的写像における最適経路を計画するのを助ける【Powered by NICT】
Ravankar Abhijeet, Ravankar Ankit A., Kobayashi Yukinori, Emaru Takanori, IEEE Conference Proceedings, 2017, SICE, 2017年

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年
日本語

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年
日本語

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年
日本語

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年
日本語

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年
日本語

種々のロボット経路計画のための経路平滑化拡張【Powered by NICT】
Ravankar Abhijeet, Ravankar Ankit A., Kobayashi Yukinori, Emaru Takanori, IEEE Conference Proceedings, 2016, ICCAS, 2016年

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

電力利用可能性に基づくマルチロボット経路計画法と管理
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年

雑多なデータセット中クラスタリングベース線の検出
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年

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, 2015年12月23日, ［査読有り］
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., 英語, 研究発表ペーパー・要旨（国際会議）

447 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, 機械力学・計測制御講演論文集, 2015, "447, 1"-"447-9", 2015年08月25日
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., 一般社団法人日本機械学会, 日本語

103 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, 機械力学・計測制御講演論文集, 2015, "103, 1"-"103-11", 2015年08月25日
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., 一般社団法人日本機械学会, 日本語

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, 2015年08月07日, ［査読有り］
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, 英語, 研究発表ペーパー・要旨（国際会議）

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(USB-Memory), No. 140, 2015年08月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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)", 2015年05月17日
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., 一般社団法人日本機械学会, 英語

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)", 2015年05月17日
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., 一般社団法人日本機械学会, 英語

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)", 2015年05月17日
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., 一般社団法人日本機械学会, 英語

空間的かつHough領域においてクラスタリングを用いて雑音の多い環境で屋内ロボットマッピングのためのアルゴリズムと一つの枠組み
RAVANKAR Ankit A., HOSHINO Yohei, RAVANKAR Abhijeet, JIXIN Lv, EMARU Takanori, KOBAYASHI Yukinori, International Journal of Advanced Robotic Systems (Web), 12, Mar, 2015年

直交仮定のある二次元EKF-SLAMの使用による室内の斜面とエッジの検出
LV Jixin, KOBAYASHI Yukinori, EMARU Takanori, RAVANKAR Ankit A., International Journal of Advanced Robotic Systems (Web), 12, Apr, 2015年

マルチサービスロボットにおける静的ノードと動的ノードに対する効率的なネットワーキングスキーム
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年

サービスロボットにおけるデータセキュリティ
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年

ロバスト屋内マッピングのためのグラフ式フレームワーク
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年

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年

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年

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年

1205 伝達マトリックス法と部分構造合成法による鉄道車体の応答解析(OS1-1 鉄道の振動・乗り心地と車体,OS1 交通・物流システムの高速化,利便性,快適性の向上,オーガナイズド・セッション(OS))
柳原 圭佑, 小林 幸徳, 江丸 貴紀, 交通・物流部門大会講演論文集, 2014, 23, 37, 40, 2014年11月28日
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., 一般社団法人日本機械学会, 日本語

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, 「運動と振動の制御」シンポジウム講演論文集, 2014, 12, "2C33, 1"-"2C33-12", 2014年08月03日
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., 一般社団法人日本機械学会, 英語

搭載型アクティブ制振ユニットのための多重周波数正弦外乱推定　　　　　　　　　　　　　　　
星野洋平, 鈴木幹生, 小林幸徳, 江丸貴紀, Dynamics and Design Conference 2014 (D&D2014), (USB-Memory), 317, 2014年08月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

直交異方性を考慮したシェルモデルによる鉄道車体の振動解析　　　　　　　　　　　　　　　
新木秀直, 小林幸徳, 江丸貴紀, 星野洋平, Dynamics and Design Conference 2014 (D&D2014), (USB-Memory), 335, 2014年08月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

冗長支持空気圧除振台における故障アクチュエータ検知法と出力再分配による制御系の安定性回復　　　　　　　　　　　　　　　
星野洋平, 前田拓巳, 小林幸徳, 江丸貴紀, Dynamics and Design Conference 2014 (D&D2014), (USB-Memory), 744, 2014年08月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

1P1-P02 三脚型ゴルフスイングロボットの姿勢安定制御(動作計画と制御の新展開(1))
森 健也, 小林 幸徳, 江丸 貴紀, 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)", 2014年05月24日
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., 一般社団法人日本機械学会, 日本語

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年

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 (D&D2013), (USB-Memory), 625, 2013年08月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

カント付曲線軌道走行時における鉄道車両の固有値解析による走行安定性解析　　　　　　　　　　　　　　　
星野洋平, 佐藤勇大, 小林幸徳, 江丸貴紀, Dynamics and Design Conference 2013 (D&D2013), (USB-Memory), 103, 2013年08月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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, 2013年06月
英語, 研究発表ペーパー・要旨（国際会議）

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, 2013年06月
英語, 研究発表ペーパー・要旨（国際会議）

2P1-K02 ディジタル加速度制御とフィードフォワード制御の組み合わせによる柔軟ロボットアームの高性能化(動作計画と制御の新展開)
高野 直人, 江丸 貴紀, 星野 洋平, 小林 幸徳, 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)", 2013年05月22日
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., 一般社団法人日本機械学会, 日本語

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, 2013年05月
英語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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, 2013年05月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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年

空気圧アクチュエータで冗長支持される除振台システムにおける支持力拮抗モードと最適負荷分散による安定化　　　　　　　　　　　　　　　
星野洋平, 吉田大輔, 前田拓巳, 小林幸徳, 江丸貴紀, 第13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論文集(SI2012), (DVD-ROM), 1500, 1505, 2012年12月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

ディジタル加速度制御による片持ちはりの振動制御　　　　　　　　　　　　　　　
今岡広一, 江丸貴紀, 星野洋平, 小林幸徳, 第13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論文集(SI2012), (DVD-ROM), 1627, 1632, 2012年12月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

サスペンションを有する移動ロボットのセミアクティブ振動制御　　　　　　　　　　　　　　　
山本良祐, 小林幸徳, 江丸貴紀, 星野洋平, 第13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論文集(SI2012), (DVD-ROM), 2087, 2092, 2012年12月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

柔軟ロボットアームによる高効率投球動作に関する研究　　　　　　　　　　　　　　　
山川量平, 小林幸徳, 蓋 軼之, 星野洋平, 江丸貴紀, 第13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論文集(SI2012), (DVD-ROM), 2012, 2015, 2012年12月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

台車傾斜－輪軸操舵の連成を考慮した鉄道車両のカント付曲線軌道走行時の走行安定性解析　　　　　　　　　　　　　　　
星野洋平, 佐藤勇大, 小林幸徳, 江丸貴紀, 日本機械学会第２１回交通・物流部門大会講演論文集(CD-ROM), 1406, 2012年12月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

608 リンク式鉄道台車のカン卜を有する曲線軌道の走行動特性解析(機械力学・計測制御II)
佐藤 勇大, 星野 洋平, 江丸 貴紀, 小林 幸徳, 北海道支部講演会講演概要集, 2012, 51, 195, 196, 2012年10月20日
一般社団法人日本機械学会, 日本語

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, 2012年10月, ［査読有り］
英語, 研究発表ペーパー・要旨（国際会議）

322 アクチュエータ故障に対する冗長支持空気圧除振台の出力再分配法(振動抑制・制御/波動,OS1.1 振動基礎,総合テーマ:「システムを考える。境界を越えて。」)
星野 洋平, 前田 拓巳, 吉田 大輔, 小林 幸徳, 江丸 貴紀, 機械力学・計測制御講演論文集, 2012, 52, 52, 2012年09月17日
一般社団法人日本機械学会, 日本語

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, 2012年09月
英語, 研究発表ペーパー・要旨（国際会議）

伝達マトリックス法に基づく非円筒シェル構造物の点加振応答解析　　　　　　　　　　　　　　　
新木秀直, 小林幸徳, 富岡隆弘, 星野洋平, 江丸貴紀, Dynamics and Design Conference 2012 (D&D2012), (USB-Memory), 810, 2012年09月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

台車傾斜−輪軸操舵の連成を考慮した鉄道台車の曲線走行時における走行安定性解析　　　　　　　　　　　　　　　
星野洋平, 小林幸徳, 津谷夏希, 江丸貴紀, Dynamics and Design Conference 2012 (D&D2012), (USB-Memory), 219, 2012年09月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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, 2012年08月, ［査読有り］
英語, 研究発表ペーパー・要旨（国際会議）

ディジタル加速度制御系に基づく非線形補償器の提案　　　　　　　　　　　　　　　
大熊雅史, 江丸貴紀, 星野洋平, 小林幸徳, 日本機械学会ロボティクス・メカトロニクス部門講演会(Robomec2012)講演論文集(CD-ROM), 2A1-C04, 2012年05月28日
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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年

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年, ［査読有り］
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., 英語, 研究発表ペーパー・要旨（国際会議）

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, 2011年12月05日, ［査読有り］
英語, 研究発表ペーパー・要旨（国際会議）

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, 2011年12月05日, ［査読有り］
英語, 研究発表ペーパー・要旨（国際会議）

鉄道台車の台車傾斜と輪軸操舵の連成を考慮した走行動特性解析
津谷夏希, 星野洋平, 小林幸徳, 江丸貴紀, 日本機械学会第２０回交通・物流部門大会講演論文集, 2011, No.3401, 121, 124, 2011年12月
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., 一般社団法人日本機械学会, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

鉄道車体のFRP補強による振動特性向上に関する研究
桂 鳳云, 小林幸徳, 富岡隆弘, 星野洋平, 江丸貴紀, 日本機械学会第２０回交通・物流部門大会講演論文集, 2011, No.1214, 117, 120, 2011年12月
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., 一般社団法人日本機械学会, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

一様流中に置かれた片持ち弾性支持円柱の流力連成振動抑制制御
山崎壮輔, 小林幸徳, 朱 彦博, 星野洋平, 江丸貴紀, 第54回自動制御連合講演会(CD-ROM), 1D102, 2011年11月19日
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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, 2011年09月07日
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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, 2011年09月07日
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

２リンクゴルフスイングロボットによるゴルフクラブ特性の自動推定 (推定可能条件についての検討)
吉田大輔, 星野洋平, 小林幸徳, 江丸貴紀, 日本機械学会機械力学・計測制御部門講演会D&D2011講演論文集, 2011, 403, 1"-"403-10", 2011年09月05日
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., 一般社団法人日本機械学会, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

418 アクティブ制振ユニットによる柔軟構造物の適応スカイフック-外乱相殺併合制御(振動抑制・振動制御・不規則振動,OS-1 振動基礎,総合テーマ:「部門創設25周年、新たなる躍動」)
星野 洋平, 片山 恭平, 小林 幸徳, 江丸 貴紀, 中西 洋介, 機械力学・計測制御講演論文集, 2011, 69, 69, 2011年09月04日
一般社団法人日本機械学会, 日本語

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, 2011年09月, ［査読有り］
英語, 研究発表ペーパー・要旨（国際会議）

D204 スカイフック-適応外乱相殺併合制振制御ユニットによるスプレーヤブームのアクティブ振動抑制(OS14 農業機械の運動と制御2)
星野 洋平, 片山 恭平, 小林 幸徳, 中西 洋介, 江丸 貴紀, 「運動と振動の制御」シンポジウム講演論文集, 2011, 12, 409, 414, 2011年06月28日
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., 一般社団法人日本機械学会, 日本語

農薬散布機作業アームの姿勢安定化・振動抑制技術の開発
中西洋介, 浦池隆文, 鈴木慎一, 小林幸徳, 星野洋平, 江丸貴紀, 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, 2011年06月
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., 一般社団法人日本機械学会, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

積分型ソナーリングを用いたロバストな経路生成法の提案　　　　　　　　　　　　　　　
佐藤宏樹, 江丸貴紀, 星野洋平, 小林幸徳, 日本機械学会ロボティクス・メカトロニクス部門講演会(Robomec2011)講演論文集(CD-ROM), 1A1-K15, 2011年05月28日
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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年, ［査読有り］
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., 英語, 研究発表ペーパー・要旨（国際会議）

206 非線形フィルタESDSの周波数応答特性解析(機械力学・計測制御III)
星野 洋平, 江丸 貴紀, 小林 幸徳, 北海道支部講演会講演概要集, 2010, 49, 31, 32, 2010年11月07日
一般社団法人日本機械学会, 日本語

重心のずれを考慮した四輪駆動型全方位移動ロボットの経路追従制御
北山泰広, 江丸貴紀, 星野洋平, 小林幸徳, 第53回自動制御連合講演会(CD-ROM), 663, 2010年11月04日
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

低次元システム同定法を用いた除振台の制御系自動最適化
星野洋平, 澤田康平, 小林幸徳, 珍田寛, 高橋昌樹, 江丸貴紀, Dynamics and Design Conference 2010(CD-ROM), 2010, 343, 1"-"343-6", 2010年09月
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., 一般社団法人日本機械学会, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

ロボットアームを用いた柔軟はり状把持物体の固有振動モードと物理パラメータの同定
星野洋平, 小林幸徳, 江丸貴紀, 後藤直之, Dynamics and Design Conference 2010(CD-ROM), 2010, 202, 1"-"202-6", 2010年09月
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., 一般社団法人日本機械学会, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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, 2010年09月, ［査読有り］
英語, 研究発表ペーパー・要旨（国際会議）

3B17 Modeling and Vibration Analysis of Flexible Robot Arm under Fast Motion in Consideration of Nonlinearity
YIN Haibin, KOBAYASHI Yukinori, EMARU Takanori, HOSHINO Yohei, 「運動と振動の制御」シンポジウム講演論文集, 2010, "3B17, 1"-"3B17-14", 2010年08月17日
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., 一般社団法人日本機械学会, 英語

Vibration and Stability Control for a Vehicle with Flexible Arms
Haruo KIMURA, Yukinori KOBAYASHI, Yohei HOSHINO, Takanori EMARU, Proc. 10th International Conference on Motion and Vibration Control (CD-ROM), 2010, 2D35, 1"-"2D35-12", 2010年08月17日
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., 一般社団法人日本機械学会, 英語, 研究発表ペーパー・要旨（国際会議）

センサデータのクラスタリング化による地図構築の効率化
江丸貴紀, 加畑精一, 星野洋平, 小林幸徳, 日本機械学会ロボティクス・メカトロニクス部門講演会Robomec2010講演論文集(CD-ROM), 2010, 1P1-A19, A19(1)"-"1P1-A19(4)", 2010年06月
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., 一般社団法人日本機械学会, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

角速度センサ実装によるディジタル加速度制御の制御性能向上
吉岡幸助, 江丸貴紀, 星野洋平, 小林幸徳, 日本機械学会ロボティクス・メカトロニクス部門講演会Robomec2010講演論文集(CD-ROM), 2010, 1P1-A20, A20(1)"-"1P1-A20(4)", 2010年06月
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., 一般社団法人日本機械学会, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

1A1-B10 農薬散布機作業アームの姿勢・振動制御
中西 洋介, 吉川 毅, 浦池 隆文, 鈴木 慎一, 小林 幸徳, 星野 洋平, 江丸 貴紀, 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年
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., 一般社団法人日本機械学会, 日本語

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年, ［査読有り］
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., 英語, 研究発表ペーパー・要旨（国際会議）

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年, ［査読有り］
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., 英語, 研究発表ペーパー・要旨（国際会議）

116 高速播種機の振動解析と制御(機械力学・計測制御IV)
高橋 慶輔, 小林 幸徳, 星野 洋平, 江丸 貴紀, 井上 慶一, 片山 恭平, 渡部 晃一, 北海道支部講演会講演概要集, 2009, 48, 31, 32, 2009年11月28日
一般社団法人日本機械学会, 日本語

117 質点と剛体を有するワイヤーの振動解析(機械力学・計測制御IV)
今岡 広一, 小林 幸徳, 江丸 貴紀, 星野 洋平, 北海道支部講演会講演概要集, 2009, 48, 33, 34, 2009年11月28日
一般社団法人日本機械学会, 日本語

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, 2009年11月22日, ［査読有り］
英語, 研究発表ペーパー・要旨（国際会議）

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, 2009年09月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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, 2009年09月
日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

積分型超音波センサを用いた自律移動ロボットにおける行動・センシング戦略の並列的制御
江丸貴紀, 大山直樹, 星野洋平, 小林幸徳, 日本機械学会 年次大会講演論文集, 7, 293, 294, 2009年09月
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., 一般社団法人日本機械学会, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

ゴルフスイングロボットによるゴルフクラブの物理パラメータ同定
星野洋平, 後藤直之, 小林幸徳, 江丸貴紀, Dynamics and Design Conference 2009(CD-ROM), 2009, 221, 1"-"221-6", 2009年08月
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., 一般社団法人日本機械学会, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

非線形特性を有する弾性支持円柱の流力連成振動
小林幸徳, 竹下祐平, Subekti, 星野洋平, 江丸貴紀, Dynamics and Design Conference 2009(CD-ROM), 2009, 206, 1"-"206-6", 2009年08月
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., 一般社団法人日本機械学会, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

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, 2009年08月, ［査読有り］
英語, 研究発表ペーパー・要旨（国際会議）

2A1-G06 量子化されたセンサ情報に対する非線形フィルタESDSの適用
佐瀬 遼, 江丸 貴紀, 星野 洋平, 小林 幸徳, 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)", 2009年05月25日
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., 一般社団法人日本機械学会, 日本語

510 受動歩行ロボットの摂動法による歩行周期解析(バイオエンジニアリング(3))
今岡 広一, 星野 洋平, 小林 幸徳, 江丸 貴紀, 北海道支部講演会講演概要集, 2008, 47, 131, 132, 2008年09月27日
一般社団法人日本機械学会, 日本語

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, 2008年08月27日
英語, 研究発表ペーパー・要旨（国際会議）

非線形フィルタESDS を用いた速度・加速度推定と制御系への適用
今川和夫, 江丸貴紀, 星野洋平, 小林幸徳, 日本機械学会ロボティクス・メカトロニクス部門講演会Robomec2008講演論文集(CD-ROM), 2008, 1A1-A14, A14(1)"-"1A1-A14(4)", 2008年06月
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., 一般社団法人日本機械学会, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議）

2P1-B03 非線形フィルタESDSによる2階微分値推定とディジタル加速度制御への応用(動作計画と制御の新展開)
江丸 貴紀, 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, 2007, "2P1, B03(1)"-"2P1-B03(4)", 2007年05月11日
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., 一般社団法人日本機械学会, 日本語

2A1-D07 PF法による車輪型移動ロボットのナビゲーション(車輪移動ロボット・メカトロニクス)
及川 一美, 高氏 秀則, 江丸 貴紀, 土谷 武士, 大久保 重範, 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)", 2007年05月11日
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., 一般社団法人日本機械学会, 日本語

2P2-E04 手書き地図インタフェースによるナビゲーション指示手法
及川 一美, 高氏 秀則, 江丸 貴紀, 土谷 武士, 大久保 重範, 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年
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., 一般社団法人日本機械学会, 日本語

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, 2005年12月
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 英語, その他

1P1-S-018 行動戦略およびセンシング戦略の並列的決定による超音波センサ移動ロボットの速度制御(車輪移動ロボット1,生活を支援するロボメカ技術のメガインテグレーション)
江丸 貴紀, 田中 一男, 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, 2005, 78, 78, 2005年06月09日
一般社団法人日本機械学会, 日本語

2P1-S-060 可変迎角機構を有する飛行ロボットの開発における最適な翼幅と翼枚数の実験的考察(飛行ロボット4,生活を支援するロボメカ技術のメガインテグレーション)
鈴木 良平, 田中 一男, 江丸 貴紀, ロボティクス・メカトロニクス講演会講演概要集, 2005, 219, 219, 2005年06月09日
一般社団法人日本機械学会, 日本語

座標系を用いない人工ランドマークを用いたナビゲーション(車輪移動ロボット2)
及川 一美, 高氏 秀則, 江丸 貴紀, 大久保 重則, ロボティクス・メカトロニクス講演会講演概要集, 2004, 66, 67, 2004年06月18日
一般社団法人日本機械学会, 日本語

積分型超音波センサを用いた車輪型移動ロボットのための経路生成法(車輪移動ロボット1)
江丸 貴紀, 及川 一美, 田中 一男, 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, 2004, 29, 29, 2004年06月18日
一般社団法人日本機械学会, 日本語

可変迎角機構をもつ飛行ロボットの開発(飛行ロボット)
鈴木 良平, 田中 一男, 江丸 貴紀, ロボティクス・メカトロニクス講演会講演概要集, 2004, 213, 213, 2004年06月18日
一般社団法人日本機械学会, 日本語

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, 2003年07月01日
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., 一般社団法人電子情報通信学会, 英語

2P2-2F-F8 非線形フィルタ ESDS による 2 階微分値推定を用いたディジタル加速度制御
池田 哲嗣, 江丸 貴紀, 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, 2003, 133, 133, 2003年
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。, 一般社団法人日本機械学会, 日本語

1P1-1F-D1 赤外線モジュールランドマークによる自律移動ロボットのナビゲーション
及川 一美, 高氏 秀則, 江丸 貴紀, 土谷 武士, 大久保 重範, 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年
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。, 一般社団法人日本機械学会, 日本語

2A1-1F-D4 送受信回路の改良による超音波センサの測距性能向上および積分値の利用
江丸 貴紀, 寺林 賢司, 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, 2003, 66, 66, 2003年
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。, 一般社団法人日本機械学会, 日本語

1A1-1F-C7 手書き地図インターフェースを有する自律移動ロボットのナビゲーション
寺林 賢司, 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, 2003, 7, 8, 2003年
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。, 一般社団法人日本機械学会, 日本語

1A1-N2 ESDSのパラメータ設計手法(65. 非接触センシング)
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, 2001, 17, 17, 2001年06月08日
一般社団法人日本機械学会, 日本語

1P1-B6 自律移動ロボットのためのトポロジカルマップを用いた環境表現(37. 車輪移動ロボット)
及川 一美, 高氏 秀則, 江丸 貴紀, 土谷 武士, 大久保 重範, ロボティクス・メカトロニクス講演会講演概要集, 2001, 21, 21, 2001年06月08日
一般社団法人日本機械学会, 日本語

スライディングモードシステムを利用したセンサ情報の平滑化, および微分値推定
江丸 貴紀, 及川 一美, 土谷 武士, 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, 2000年10月
日本語

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年
「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, 日本語

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年
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, 日本語

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, 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, 1999年10月
日本語

スライディングモードシステムを利用した, 超音波センサの混信回避手法
江丸 貴紀, 高氏 秀則, 及川 一美, 土谷 武士, 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, 1999年10月
日本語

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), 2021年08月08日, IEEE, 英語
2021年08月08日 - 2021年08月08日

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, 2021年01月21日, 英語, 口頭発表（一般）
2021年01月21日 - 2021年01月23日

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年01月11日, IEEE, 英語
2021年01月11日 - 2021年01月11日

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年01月11日, IEEE, 英語
2021年01月11日 - 2021年01月11日

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年01月11日, IEEE, 英語
2021年01月11日 - 2021年01月11日

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年01月11日, IEEE, 英語
2021年01月11日 - 2021年01月11日

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年, 英語
2021年 - 2021年

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, 2020年03月, 口頭発表（一般）

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, 2020年03月, 口頭発表（一般）

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, 2020年03月, 口頭発表（一般）

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, 2020年03月, 口頭発表（一般）

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, 2019年12月14日, 日本安全運転・医療研究会, 日本語, 口頭発表（招待・特別）
福井県県民ホール, ［国内会議］

原木材計測への深層学習の応用　　　　　　　　　　　　　　　
森井隆禎, 江丸貴紀, Ravankar Ankit, 小林幸徳
第20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, 2019年12月12日, 日本語, 口頭発表（一般）
［国内会議］

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, 2019年11月13日, 国土交通省 北海道開発局, 日本語, 公開講演，セミナー，チュートリアル，講習，講義等
札幌第一合同庁舎2階講堂, ［国内会議］

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, 2019年11月08日, 日本語, 口頭発表（一般）
［国内会議］

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, 2019年11月08日, 日本語, 口頭発表（一般）
［国内会議］

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」, 2019年10月02日, 港湾空港総合技術センター, 日本語, 公開講演，セミナー，チュートリアル，講習，講義等
アスティ４５ビル（札幌市）, ［国内会議］

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), 2019年10月, 口頭発表（一般）

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年06月, 英語, 口頭発表（一般）
［国際会議］

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, 2019年06月, 英語, ポスター発表
［国内会議］

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, 2019年06月, 英語, ポスター発表
［国内会議］

Cooperative Multi-Robot Map Merging with Task Distribution　　　　　　　　　　　　　　　
Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi
Robotics and Mechatronics Conference (ROBOMECH 2019), Hiroshima, 2019年05月, 英語
2019年05月 - 2019年05月

最近防探索によるLiDAR点群の降雪ノイズ除去　　　　　　　　　　　　　　　
佐々木祐太, ラワンカルアンキット, 江丸貴紀, 小林幸徳
第51回計測自動制御学会北海道支部学術講演会, 2019年03月, 日本語, 口頭発表（一般）
［国内会議］

UAVを用いた防波堤点検システムの構築　　　　　　　　　　　　　　　
上野貴希, 江丸貴紀, ラワンカルアンキット, 小林幸徳
第51回計測自動制御学会北海道支部学術講演会, 2019年03月, 日本語, 口頭発表（一般）
［国内会議］

サーモカメラと3D LiDARのセンサフュージョンによる雪道における轍幅の推定　　　　　　　　　　　　　　　
長谷川智彦, 小林幸徳, 江丸貴紀, ラワンカルアンキット
第51回計測自動制御学会北海道支部学術講演会, 2019年03月, 日本語, 口頭発表（一般）
［国内会議］

雪道環境における自動運転技術のための３次元LiDARを用いた点群処理に基づく雪山検出　　　　　　　　　　　　　　　
小渕雅弘, 小林幸徳, 江丸貴紀, ラワンカルアンキット
第51回計測自動制御学会北海道支部学術講演会, 2019年03月, 日本語, 口頭発表（一般）
［国内会議］

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, 2019年01月23日, 英語, 口頭発表（一般）
［国際会議］

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), 2018年12月15日, 英語, 口頭発表（一般）
［国際会議］

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）, 2018年12月13日, 日本語, ポスター発表
［国内会議］

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）, 2018年12月13日, 日本語, ポスター発表
［国内会議］

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), 2018年12月05日, 日本語, 口頭発表（一般）
［国内会議］

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, 2018年12月01日, 英語, 口頭発表（一般）
［国際会議］

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, 2018年12月01日, 英語, 口頭発表（一般）
［国際会議］

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, 2018年11月17日, 日本語, 口頭発表（一般）
［国内会議］

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, 2018年11月17日, 日本語, 口頭発表（一般）
［国内会議］

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, 2018年11月15日, 英語, 口頭発表（一般）
［国際会議］

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, 2018年10月27日, 英語, 口頭発表（一般）
［国内会議］

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, 2018年10月18日, 独立行政法人中小企業基盤整備機構, 日本語, 公開講演，セミナー，チュートリアル，講習，講義等
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, ［国内会議］

Applying Semantic Segmentation toAutonomous Cars in the Snowy Environment　　　　　　　　　　　　　　　
Zhaoyu Pan, Takanori Emaru, Ankit Ravankar, Yukinori Kobayashi
第36回日本ロボット学会学術講演会, 2018年09月, 英語, 口頭発表（一般）
［国内会議］

Road Detection in Snowy Forest Environmentusing RGB Camera　　　　　　　　　　　　　　　
Sirawich Vachmanus, Takanori Emaru, Ankit Ravankar, Yukinori Kobayashi
第36回日本ロボット学会学術講演会, 2018年09月, 英語, 口頭発表（一般）
［国内会議］

Development of Port Facilities InspectionRobot Using Multi-copter　　　　　　　　　　　　　　　
Takaki Ueno, Masaru Sakuma, Seiko Piotr Yamaguchi, Yukinori Kobayashi, Ankit Ravankar, Takanori Emaru
第36回日本ロボット学会学術講演会, 2018年09月, 英語, 口頭発表（一般）
［国内会議］

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, 2018年08月, 英語, 口頭発表（一般）
［国際会議］

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, 2018年08月, 英語, 口頭発表（一般）
［国際会議］

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, 2018年08月, 日本語, 口頭発表（一般）
［国内会議］

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, 2018年07月26日, 公益財団法人北海道科学技術総合振興センター, 日本語, 公開講演，セミナー，チュートリアル，講習，講義等
アクセスサッポロ 2階 レセプションホール, ［国内会議］

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, 2018年06月, 英語, ポスター発表
［国内会議］

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, 2018年06月, 英語, ポスター発表
［国内会議］

Development of agriculture and forestry support robots based on AI, IT and RT　　　　　　　　　　　　　　　
江丸 貴紀
VI-th AGH-HU Joint Symposium, 2018年05月, 英語, シンポジウム・ワークショップパネル（指名）
［国際会議］

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), 2018年04月, 英語, 口頭発表（一般）
［国際会議］

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, 2018年03月14日, 一般社団法人北海道産学官研究フォーラム, 日本語, 公開講演，セミナー，チュートリアル，講習，講義等
札幌駅前ビジネススペース カンファレンスルーム2J, ［国内会議］

斜面におけるオムニホイールロボットの自己位置および斜面勾配の推定　　　　　　　　　　　　　　　
山田涼裕, 小林幸徳, 江丸貴紀, ラワンカルアンキット
第10回日本ロボット学会北海道ロボット技術研究専門委員会学術講演会, 2018年03月, 日本語, 口頭発表（一般）
［国内会議］

森林管理用4輪駆動ロボットの開発と運動解析　　　　　　　　　　　　　　　
藤田隼輔, 小林幸徳, 江丸貴紀, ラワンカルアンキット
第10回日本ロボット学会北海道ロボット技術研究専門委員会学術講演会, 2018年03月, 日本語, 口頭発表（一般）
［国内会議］

メタヒューリスティクスを用いたUAVの経路の最適化　　　　　　　　　　　　　　　
山内統広, 小林幸徳, 江丸貴紀, ラワンカルアンキット
第10回日本ロボット学会北海道ロボット技術研究専門委員会学術講演会, 2018年03月, 日本語, 口頭発表（一般）
［国内会議］

深層学習とHough変換の応用による原木材計測システム　　　　　　　　　　　　　　　
森井隆禎, 小林幸徳, 江丸貴紀, ラワンカルアンキット
第10回日本ロボット学会北海道ロボット技術研究専門委員会学術講演会, 2018年03月, 日本語, 口頭発表（一般）
［国内会議］

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」, 2018年02月14日, 日本語, 公開講演，セミナー，チュートリアル，講習，講義等
［招待講演］, ［国内会議］

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, 2018年01月, 英語, 口頭発表（一般）
［国際会議］

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), 2017年12月14日, 英語, 口頭発表（一般）
［国際会議］

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), 2017年12月14日, 英語, 口頭発表（一般）
［国際会議］

UAV Pose Estimation Using IR and RGB Cameras　　　　　　　　　　　　　　　
江丸 貴紀
Su Wang, Abhijeet Ravankar, Ankit Ravankar, Yukinori Kobayashi, Takanori Emaru, 2017年11月27日, 英語, 口頭発表（一般）
［国際会議］

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, 2017年11月27日, 英語, 口頭発表（一般）
［国際会議］

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, 2017年11月27日, 英語, 口頭発表（一般）
［国際会議］

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, 2017年11月27日, 英語, 口頭発表（一般）
［国際会議］

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, 2017年11月13日, 英語, 口頭発表（一般）
［国際会議］

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., 2017年11月, 英語, 口頭発表（一般）
［国際会議］

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), 2017年09月, 英語, 口頭発表（一般）
［国際会議］

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), 2017年09月, 英語, 口頭発表（一般）
［国際会議］

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, 2017年07月20日, 北海道立総合研究機構，北海道, 日本語, 公開講演，セミナー，チュートリアル，講習，講義等
アクセスサッポロ 2 階 レセプションホール, ［招待講演］, ［国内会議］

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, 2017年07月20日, 北海道立総合研究機構，北海道, 日本語, 公開講演，セミナー，チュートリアル，講習，講義等
アクセスサッポロ 2 階 レセプションホール, ［招待講演］, ［国内会議］

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), 2017年05月09日, 日本語

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, 2017年05月, 英語, ポスター発表
［国内会議］

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, 2017年05月, 英語, ポスター発表
［国内会議］

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年, 日本語

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年, 日本語

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年, 日本語

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年, 日本語

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年, 日本語

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, 2016年12月, 英語
2016年12月 - 2016年12月

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年12月, 英語, 口頭発表（一般）
［国際会議］

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年12月, 英語, 口頭発表（一般）
［国際会議］

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年12月, 英語, 口頭発表（一般）
［国際会議］

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年12月, 英語, 口頭発表（一般）
［国際会議］

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), 2016年11月29日, 日本語

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), 2016年09月10日, 日本語

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), 2016年09月10日, 日本語

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), 2016年06月08日, 日本語

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, 2016年06月08日, 英語, ポスター発表
［国内会議］

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, 2016年06月08日, 英語, ポスター発表
［国内会議］

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年, IEEE, 英語
2016年 - 2016年, 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年, IEEE, 英語
2016年 - 2016年, 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年, IEEE, 英語
2016年 - 2016年, 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年, IEEE, 英語
2016年 - 2016年, 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年, IEEE, 英語
2016年 - 2016年, 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年, IEEE, 英語
2016年 - 2016年, 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年, 英語, 口頭発表（一般）
［国際会議］

Local-Behavior Determination for an Omnidirectional Mobile Robot using an Integration-Type Sonar Ring　　　　　　　　　　　　　　　
Takanori Emaru, Hiroki Sato, YukinoriKobayashi
The 6th TSME-ICoME, 2015年12月16日, 英語, 口頭発表（一般）
［国際会議］

PSO-based Leg-loss Identification Method for Legged Robots　　　　　　　　　　　　　　　
Sarun Chattunyakit, Yukinori Kobayashi, Takanori Emaru
The 6th TSME-ICoME, 2015年12月16日, 英語, 口頭発表（一般）
［国際会議］

Motion Control of Mobile Robot having Semi-active Suspension　　　　　　　　　　　　　　　
Takuma Okawara, Atsushi Yamamoto, Yukinori Kobayashi, Takanori Emaru
The 6th TSME-ICoME, 2015年12月16日, 英語, 口頭発表（一般）
［国際会議］

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, 2015年12月14日, 日本語, 口頭発表（一般）
［国内会議］

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, 2015年12月14日, 日本語, 口頭発表（一般）
［国内会議］

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, 2015年12月14日, 日本語, 口頭発表（一般）
［国内会議］

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), 2015年12月11日, 英語, 口頭発表（一般）
［国際会議］

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), 2015年12月11日, 英語, 口頭発表（一般）
［国際会議］

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), 2015年12月11日, 英語, 口頭発表（一般）
［国際会議］

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), 2015年12月11日, 英語, 口頭発表（一般）
［国際会議］

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), 2015年12月05日, 英語, ポスター発表
［国際会議］

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), 2015年10月13日, 英語, 口頭発表（一般）
［国際会議］

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, 2015年09月03日, 英語, 口頭発表（一般）
［国内会議］

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, 2015年09月03日, 英語, 口頭発表（一般）
［国内会議］

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, 2015年09月03日, 英語, 口頭発表（一般）
［国内会議］

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, 2015年09月03日, 日本語, 口頭発表（一般）
［国内会議］

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, 2015年08月25日, 日本語, 口頭発表（一般）
［国内会議］

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, 2015年08月25日, 日本語, 口頭発表（一般）
［国内会議］

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, 2015年08月25日, 日本語, 口頭発表（一般）
［国内会議］

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, 2015年05月17日, 英語, ポスター発表
［国内会議］

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, 2015年05月17日, 英語, ポスター発表
［国内会議］

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, 2015年05月17日, 日本語, ポスター発表
［国内会議］

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, 2015年03月08日, 日本語, 口頭発表（一般）
［国内会議］

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, 2015年03月08日, 日本語, 口頭発表（一般）
［国内会議］

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, 2015年02月17日, 英語, 口頭発表（一般）
［国際会議］

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年, IEEE, 英語
2015年 - 2015年, 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年, IEEE, 英語
2015年 - 2015年, 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年, IEEE, 英語
2015年 - 2015年, 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年, IEEE, 英語
2015年 - 2015年, 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), 2014年09月09日, 英語, 口頭発表（一般）
［国際会議］

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), 2014年09月09日, 英語, 口頭発表（一般）
［国際会議］

搭載型アクティブ制振ユニットのための多重周波数正弦外乱推定　　　　　　　　　　　　　　　
星野洋平, 鈴木幹生, 小林幸徳, 江丸貴紀
Dynamics and Design Conference 2014, 2014年08月26日, 日本語, 口頭発表（一般）
［国内会議］

直交異方性を考慮したシェルモデルによる鉄道車体の振動解析　　　　　　　　　　　　　　　
新木秀直, 小林幸徳, 江丸貴紀, 星野洋平
Dynamics and Design Conference 2014, 2014年08月26日, 日本語, 口頭発表（一般）
［国内会議］

冗長支持空気圧除振台における故障アクチュエータ検知法と出力再分配による制御系の安定性回復　　　　　　　　　　　　　　　
星野洋平, 前田拓巳, 小林幸徳, 江丸貴紀
Dynamics and Design Conference 2014, 2014年08月26日, 日本語, 口頭発表（一般）
［国内会議］

Performance Improvement of PID-DAC-Nonlinear-Compensator by Applying Online System Identification
Takanori EMARU, Hiroto SASAKI, Yohei HOSHINO, Yukinori KOBAYASHI
IEICE Proceeding Series, 2014年03月, 英語
2014年03月 - 2014年03月

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年, IEEE, 英語
2014年 - 2014年, 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年, IEEE, 英語
2014年 - 2014年, 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, 2013年09月04日, 日本語, 口頭発表（一般）
［国内会議］

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, 2013年08月26日, 日本語, 口頭発表（一般）
［国内会議］

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年, IEEE Computer Society, 英語
2013年 - 2013年, 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年, 英語, 口頭発表（一般）

Clustering Based Loop Closure Technique for 2D Robot Mapping Based on EKF-SLAM　　　　　　　　　　　　　　　
Ravankar, A.A, Hoshino, Y, Emaru, T, Kobayashi, Y
Proc. International Conference on Mathematical Modeling & Simulation, 2013年, 英語, 口頭発表（一般）

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年, 英語, 口頭発表（一般）

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年, 英語, 口頭発表（一般）

Mass Identification by Digital Acceleration Control for Dynamic Systems　　　　　　　　　　　　　　　
Imaoka, K, Emaru, T, Kobayashi, Y, Hoshino, Y
Proceedings 15th Asia Pacific Vibration Conference, 2013年, 英語, 口頭発表（一般）

スライディングモードシステムを応用した非線形フィルタリング　　　　　　　　　　　　　　　
江丸 貴紀
第23回振動基礎研究会, 2012年06月02日, 日本語, 口頭発表（招待・特別）
［国内会議］

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年, IEEE, 英語
2012年 - 2012年, 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年, 英語

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年

403 2リンクゴルフスイングロボットによるゴルフクラブ特性の自動推定 : 推定可能条件についての検討
吉田 大輔, 星野 洋平, 小林 幸徳, 江丸 貴紀
Dynamics & Design Conference, 2011年09月05日, 日本語
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 積分型ソナーリングを用いたロバストな経路生成法の提案(動作計画と制御の新展開)
佐藤 宏樹, 江丸 貴紀, 星野 洋平, 小林 幸徳
ロボティクス・メカトロニクス講演会講演概要集, 2011年05月26日, 日本語
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年, IEEE, 英語
2011年 - 2011年, 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年, 英語, 口頭発表（一般）
［国際会議］

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年, 英語, 口頭発表（一般）

206 非線形フィルタESDSの周波数応答特性解析(機械力学・計測制御III)
星野 洋平, 江丸 貴紀, 小林 幸徳
北海道支部講演会講演概要集, 2010年11月07日, 日本語

343 低次元システム同定法を用いた除振台の制御系自動最適化(産業機器の運動と振動の制御,OS-16 運動と振動の制御,総合テーマ「伝統を,未来へ!」)
星野 洋平, 澤田 康平, 小林 幸徳, 珍田 寛, 高橋 昌樹, 江丸 貴紀
Dynamics & Design Conference, 2010年09月14日, 日本語
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 ロボットアームを用いた柔軟はり状物体の固有振動モードと物理パラメータの同定(同定・診断・不規則振動,OS-1 振動基礎,総合テーマ「伝統を,未来へ!」)
星野 洋平, 小林 幸徳, 江丸 貴紀, 後藤 直之
Dynamics & Design Conference, 2010年09月14日, 日本語
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 角速度センサ実装によるディジタル加速度制御の制御性能向上
吉岡 幸助, 江丸 貴紀, 星野 洋平, 小林 幸徳
ロボティクス・メカトロニクス講演会講演概要集, 2010年, 日本語
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 農薬散布機作業アームの姿勢・振動制御
中西 洋介, 吉川 毅, 浦池 隆文, 鈴木 慎一, 小林 幸徳, 星野 洋平, 江丸 貴紀
ロボティクス・メカトロニクス講演会講演概要集, 2010年, 日本語
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 センサデータのクラスタリング化による地図構築の効率化
江丸 貴紀, 加畑 精一, 星野 洋平, 小林 幸徳
ロボティクス・メカトロニクス講演会講演概要集, 2010年, 日本語
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 高速播種機の振動解析と制御(機械力学・計測制御IV)
高橋 慶輔, 小林 幸徳, 星野 洋平, 江丸 貴紀, 井上 慶一, 片山 恭平, 渡部 晃一
北海道支部講演会講演概要集, 2009年11月28日, 日本語

117 質点と剛体を有するワイヤーの振動解析(機械力学・計測制御IV)
今岡 広一, 小林 幸徳, 江丸 貴紀, 星野 洋平
北海道支部講演会講演概要集, 2009年11月28日, 日本語

J1102-4-5 積分型超音波センサを用いた自律移動ロボットにおける行動・センシング戦略の並列的制御(ライフサポート4:パワーアシスト・作業支援)
江丸 貴紀, 大山 直樹, 星野 洋平, 小林 幸徳
年次大会講演論文集 : JSME annual meeting, 2009年09月12日, 日本語
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.

スライディングモードシステムを応用した非線形フィルタリング　　　　　　　　　　　　　　　
江丸 貴紀
D&D2009 第7回夏の学校：非線形制御の現状－理論と応用, 2009年08月08日, 日本語, 公開講演，セミナー，チュートリアル，講習，講義等
［国内会議］

221 ゴルフスイングロボットによるゴルフクラブの物理パラメータ同定
星野 洋平, 後藤 直之, 小林 幸徳, 江丸 貴紀
Dynamics & Design Conference, 2009年08月03日, 日本語
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 非線形特性を有する弾性支持円柱の流力連成振動
小林 幸徳, 竹下 祐平, Subekti, 星野 洋平, 江丸 貴紀
Dynamics & Design Conference, 2009年08月03日, 日本語
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 量子化されたセンサ情報に対する非線形フィルタESDSの適用
佐瀬 遼, 江丸 貴紀, 星野 洋平, 小林 幸徳
ロボティクス・メカトロニクス講演会講演概要集, 2009年05月25日, 日本語
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年, IEEE, 英語
2009年 - 2009年, 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 受動歩行ロボットの摂動法による歩行周期解析(バイオエンジニアリング(3))
今岡 広一, 星野 洋平, 小林 幸徳, 江丸 貴紀
北海道支部講演会講演概要集, 2008年09月27日, 日本語

214 ゴルフロボットによるゴルフクラブの物理パラメータ同定(機械力学・計測制御)
星野 洋平, 小林 幸徳, 後藤 直之, 江丸 貴紀
北海道支部講演会講演概要集, 2008年09月27日, 日本語

101 伝達マトリックス法を利用した点加振される平板の応答解析
石栗 航太郎, 小林 幸徳, 星野 洋平, 江丸 貴紀
Dynamics & Design Conference, 2008年09月, 一般社団法人日本機械学会, 日本語
2008年09月 - 2008年09月, 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 非線形フィルタESDSを用いた速度・加速度推定と制御系への適用(動作計画と制御の新展開)
今川 和夫, 江丸 貴紀, 星野 洋平, 小林 幸徳
ロボティクス・メカトロニクス講演会講演概要集, 2008年06月06日, 日本語
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 非線形フィルタESDSによる2階微分値推定とディジタル加速度制御への応用(動作計画と制御の新展開)
江丸 貴紀, 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, 2007年05月11日, 日本語
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 PF法による車輪型移動ロボットのナビゲーション(車輪移動ロボット・メカトロニクス)
及川 一美, 高氏 秀則, 江丸 貴紀, 土谷 武士, 大久保 重範
ロボティクス・メカトロニクス講演会講演概要集, 2007年05月11日, 日本語
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年, IEEE, 英語
2007年 - 2007年, 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年, IEEE, 英語
2006年 - 2006年, 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 手書き地図インタフェースによるナビゲーション指示手法
及川 一美, 高氏 秀則, 江丸 貴紀, 土谷 武士, 大久保 重範
ロボティクス・メカトロニクス講演会講演概要集, 2006年, 日本語
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 行動戦略およびセンシング戦略の並列的決定による超音波センサ移動ロボットの速度制御(車輪移動ロボット1,生活を支援するロボメカ技術のメガインテグレーション)
江丸 貴紀, 田中 一男, 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, 2005年06月09日, 日本語

2P1-S-060 可変迎角機構を有する飛行ロボットの開発における最適な翼幅と翼枚数の実験的考察(飛行ロボット4,生活を支援するロボメカ技術のメガインテグレーション)
鈴木 良平, 田中 一男, 江丸 貴紀
ロボティクス・メカトロニクス講演会講演概要集, 2005年06月09日, 日本語

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年, IEEE, 英語
2005年 - 2005年, 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年, IEEE, 英語
2005年 - 2005年, 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年, 英語
2005年 - 2005年, 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.

座標系を用いない人工ランドマークを用いたナビゲーション(車輪移動ロボット2)
及川 一美, 高氏 秀則, 江丸 貴紀, 大久保 重則
ロボティクス・メカトロニクス講演会講演概要集, 2004年06月18日, 日本語

積分型超音波センサを用いた車輪型移動ロボットのための経路生成法(車輪移動ロボット1)
江丸 貴紀, 及川 一美, 田中 一男, 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, 2004年06月18日, 日本語

可変迎角機構をもつ飛行ロボットの開発(飛行ロボット)
鈴木 良平, 田中 一男, 江丸 貴紀
ロボティクス・メカトロニクス講演会講演概要集, 2004年06月18日, 日本語

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年, IEEE, 英語
2003年 - 2003年, 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.

1A1-1F-C7 手書き地図インターフェースを有する自律移動ロボットのナビゲーション
寺林 賢司, 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, 2003年, 日本語
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。

2P2-2F-F8 非線形フィルタ ESDS による 2 階微分値推定を用いたディジタル加速度制御
池田 哲嗣, 江丸 貴紀, 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, 2003年, 日本語
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。

2A1-1F-D4 送受信回路の改良による超音波センサの測距性能向上および積分値の利用
江丸 貴紀, 寺林 賢司, 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, 2003年, 日本語
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。

1P1-1F-D1 赤外線モジュールランドマークによる自律移動ロボットのナビゲーション
及川 一美, 高氏 秀則, 江丸 貴紀, 土谷 武士, 大久保 重範
ロボティクス・メカトロニクス講演会講演概要集, 2003年, 日本語
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 自律移動ロボットのためのトポロジカルマップを用いた環境表現(37. 車輪移動ロボット)
及川 一美, 高氏 秀則, 江丸 貴紀, 土谷 武士, 大久保 重範
ロボティクス・メカトロニクス講演会講演概要集, 2001年06月08日, 日本語

1A1-N2 ESDSのパラメータ設計手法(65. 非接触センシング)
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, 2001年06月08日, 日本語

Theoretical study of ESDS by using phase plane　　　　　　　　　　　　　　　
T Emaru, T Tsuchiya
2001 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, 2001年, IEEE, 英語
2001年 - 2001年, 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.

スライディングモードシステムを利用したセンサ情報の平滑化, および微分値推定
江丸 貴紀, 及川 一美, 土谷 武士
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, 2000年10月, 日本語

自律移動ロボットのためのトポロジカルマップを用いた環境表現
及川 一美, 高氏 秀則, 江丸 貴紀, 土谷 武士, 大久保 重範
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, 2000年10月, 日本語

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年, IEEE, 英語
2000年 - 2000年, 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年, IEEE, 英語
2000年 - 2000年, 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年, 日本語
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年, 日本語
「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。

スライディングモードシステムを利用した, 超音波センサの混信回避手法
江丸 貴紀, 高氏 秀則, 及川 一美, 土谷 武士
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, 1999年10月, 日本語

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
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, 1999年10月, 日本語

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

大規模フィールドの管理を目的とした非均一なUGV・UAV群によるロバストSLAM
科学研究費助成事業 基盤研究(C)
2020年04月 - 2023年03月
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。
日本学術振興会, 基盤研究(C), 北海道大学, 20K04392

ロバスト深層学習による作物・雑草判別技術を活用した株間除草ロボットの開発　　　　　　　　　　　　　　　
2021年度 ／ START プロジェクト推進型 SBIRフェーズ1支援 2021
2021年11月 - 2022年03月
江丸貴紀, 今岡広一
国立研究開発法人科学技術振興機構, 北海道大学, 研究代表者, 21482146

港湾施設の維持管理を目的としたARタグを用いた高精度地図作成　　　　　　　　　　　　　　　
研究開発助成
2021年04月 - 2022年03月
江丸貴紀
港湾空港総合技術センター

選択式株間除草機構を備えた除草ロボット開発　　　　　　　　　　　　　　　
文部科学省 国立大学法人機能強化促進補助金
2021年04月 - 2022年03月
江丸貴紀, 今岡広一
国立大学法人北海道大学, 研究代表者

北海道大学のスペクトル計測技術による「革新的リモートセンシング事業」の創成　　　　　　　　　　　　　　　
地域イノベーション・エコシステム形成プログラム
2019年09月 - 2022年03月
高橋 幸弘
文部科学省, 競争的資金

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ション技術の開発　　　　　　　　　　　　　　　
国立大学法人機能強化促進補助金 ※国立大学法人北海道大学ロバスト農林水産工学国際連携研究教育拠点構想からの一部委託
2019年04月 - 2022年03月
江丸 貴紀
文部科学省, 研究代表者, 競争的資金

港湾の維持管理を目的としたGNSSトラッカーの開発　　　　　　　　　　　　　　　
研究開発助成
2020年04月 - 2021年03月
江丸貴紀
港湾空港総合技術センター, 研究代表者

UAVによる港湾設備点検自動化の社会実装を加速化する商用ドローン自律化技術の開発　　　　　　　　　　　　　　　
研究開発助成
2019年04月 - 2020年03月
江丸 貴紀
港湾空港総合技術センター, 研究代表者, 競争的資金

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）
2017年09月 - 2020年03月
江丸 貴紀
経済産業省, 研究代表者, 競争的資金

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　　　　　　　　　　　　　　　
基盤研究(C)
2017年04月 - 2020年03月
江丸 貴紀
日本学術振興会, 研究代表者, 競争的資金

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
2018年11月 - 2019年03月
高橋幸弘
内閣府, 競争的資金

ＡＩ・ＲＴを活用した除草作業自動化技術の開発　　　　　　　　　　　　　　　
国立大学法人機能強化促進補助金 ※国立大学法人北海道大学ロバスト農林水産工学国際連携研究教育拠点構想からの一部委託
2018年07月 - 2019年03月
江丸 貴紀
文部科学省, 研究代表者, 競争的資金

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および高精度自己位置同定システムの開発　　　　　　　　　　　　　　　
研究開発助成
2018年04月 - 2019年03月
江丸 貴紀
港湾空港総合技術センター, 研究代表者, 競争的資金

マルチモーダル深層学習を用いた農業環境におけるロバスト画像認識システムの構築　　　　　　　　　　　　　　　
第27回人工知能研究助成
2017年04月 - 2019年03月
江丸 貴紀
人工知能研究振興財団, 研究代表者, 競争的資金

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　　　　　　　　　　　　　　　
研究開発助成
2017年04月 - 2018年03月
江丸 貴紀
港湾空港総合技術センター, 研究代表者, 競争的資金

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)
2014年04月 - 2017年03月
江丸 貴紀
日本学術振興会, 研究代表者, 競争的資金

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)
2012年04月 - 2014年03月
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, 競争的資金

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)
2011年04月 - 2013年03月
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, 研究代表者, 競争的資金

先進複合構造による高機能ロボット構造と制御系設計に関する研究
科学研究費助成事業
2010年 - 2012年
小林 幸徳, 江丸 貴紀, 星野 洋平
複合材料を用いた柔軟ロボットアームを開発し,先端のハンドからボールを投げる運動を実現する非線形解析モデルを確立した.入力トルクパターンと構造パラメータの同時最適化問題を,ソフトコンピューティングの手法を用いて解析した.そして,最適解を用いたシミュレーションと実験によって,開発した手法の有用性を示し,開発したロボットアームが高効率に動作することを確認した
日本学術振興会, 基盤研究(C), 北海道大学, 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)
2010年04月
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, 競争的資金

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)
2009年04月
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, 競争的資金

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年
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, 研究代表者, 競争的資金

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
2007年04月
江丸 貴紀
研究代表者, 競争的資金

「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
2003年04月 - 2006年03月
江丸 貴紀
日本学術振興会, 研究代表者, 競争的資金

メカトロ教室 走れ！ロボットカー　　　　　　　　　　　　　　　
2019年06月29日
講師
セミナー・ワークショップ
日本機械学会

メカトロ教室「走れ！ロボットカー」　　　　　　　　　　　　　　　
2018年06月30日
講師
セミナー・ワークショップ
日本機械学会

あぐり大学「森はすべての源」　　　　　　　　　　　　　　　
2017年07月08日
講師
セミナー・ワークショップ
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」　　　　　　　　　　　　　　　
2017年07月01日
講師
セミナー・ワークショップ
日本機械学会

親子メカトロ教室「走れ！ロボットカー」　　　　　　　　　　　　　　　
2016年06月25日
講師
セミナー・ワークショップ
日本機械学会

親子メカトロ教室「走れ！ロボットカー」　　　　　　　　　　　　　　　
2015年06月27日
講師
セミナー・ワークショップ
日本機械学会

親子メカトロ教室「走れ！ロボットカー」　　　　　　　　　　　　　　　
2014年06月21日
講師
セミナー・ワークショップ
日本機械学会

親子メカトロ教室「走れ！ロボットカー」　　　　　　　　　　　　　　　
2013年07月06日
講師
セミナー・ワークショップ
日本機械学会

子供向けメカトロ教室「簡単！電子工作」　　　　　　　　　　　　　　　
2012年06月30日
講師
セミナー・ワークショップ
日本機械学会

メカトロ教室「簡単！電子工作」　　　　　　　　　　　　　　　
2011年07月02日
講師
セミナー・ワークショップ
日本機械学会

メカトロ教室「簡単！電子工作」　　　　　　　　　　　　　　　
2010年07月10日
講師
セミナー・ワークショップ
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　　　　　　　　　　　　　　　
2012年03月30日 - 2012年04月04日
学術調査立案・実施
学術調査
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　　　　　　　　　　　　　　　
2011年07月31日 - 2011年08月06日
学術調査立案・実施
学術調査
独立行政法人 国際協力機構