研究者詳細 - 道木　慎二

論文 - 道木　慎二

分割表示 266 件中 1 - 20 件目／全件表示 >>

Funabot-Finger Cot: Bio-Inspired Worm Robot for Peristaltic Wave Locomotion and Tubular Structure Climbing 査読有り国際誌

Sato Y., Peng Y., Funabora Y., Doki S.

2024 IEEE/SICE International Symposium on System Integration, SII 2024 頁： 1387 - 1392 2024年

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2024 IEEE/SICE International Symposium on System Integration, SII 2024

In recent years, robots that move on tubular structures have attracted much attention. These robots are used in a variety of applications and provide very significant benefits such as increased work efficiency, improved safety, and reduced work costs. Robots that move on tubular structures include robots that move while grasping objects, robots that move while attached by suction cups or adhesive materials, and robots that move by wheels. However, conventional robots have large, rigid parts and cannot move in confined environments because they need sufficient mechanical strength to climb against gravity. This is where our research group's Funabot-Finger Cot comes in. This device is a small device with pneumatically expandable artificial muscles fixed to a cloth, and its movement can be controlled by controlling the pattern of air pressure application. The repeated contraction and relaxation characteristics of the device suggest that it could be used as a robot that moves on a tubular structure that mimics the peristaltic movement of living organisms. Peristaltic motion is the coordinated contraction and relaxation of muscles, which allows the robot to move over the ground, gaps, and objects. The Funabot-Finger Cot makes several contributions. First, because it is made of flexible fabric, it can be wrapped around structures of various shapes. Its thinness also allows it to move efficiently in constrained environments that are difficult for conventional robots. Secondly Cost-effective and cost-saving. Because this is small robot and made of common fabric and a small amount of artificial muscle, they can be made inexpensively and easily. The most notable feature is its versatility. Finally, the fact that the actuator supports both circular longitudinal contraction allows for more complex movements. This study will focus on the third advantage in particular, evaluating movement over tubular structures in circular contraction and in longitudinal contraction.

DOI： 10.1109/SII58957.2024.10417394

Evaluation and Enhancement of Resolution-Aware Coverage Path Planning Method for Surface Inspection Using Unmanned Aerial Vehicles 査読有り国際誌

Wu, WT; Funabora, Y; Doki, S; Doki, K; Yoshikawa, S; Mitsuda, T; Xiang, JY

IEEE ACCESS 12 巻頁： 16753 - 16766 2024年

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Access

We implemented and evaluated our previous path planning method for inspection using unmanned aerial vehicles (UAVs) in real-world, and identified its shortcomings in handling positioning errors. Then, we proposed an enhanced method to address this problem. The previous method theoretically guaranteed complete coverage of targets and data quality. However, we verified it in bridge inspection experiments and found that the former has not been ensured. The crucial factors of data omission are clarified as the errors in UAV positioning. Our previous method relies on appropriately setting ideal allowances to counteract positioning errors, which is challenging in practice. Therefore, we proposed an enhanced path planning method, which adaptively adjusts allowances according to positioning error to prevent omission while minimizing waypoints. In the simulation including positioning disturbances, the enhanced method consistently achieved full coverage in 1000 times simulation with over 28% waypoints less than the previous one.

DOI： 10.1109/ACCESS.2024.3359056

Funabot-Suit: A bio-inspired and McKibben muscle-actuated suit for natural kinesthetic perception 査読有り国際誌

Peng Y., Sakai Y., Nakagawa K., Funabora Y., Aoyama T., Yokoe K., Doki S.

Biomimetic Intelligence and Robotics 3 巻 ( 4 ) 頁： 100127 - 100127 2023年12月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Biomimetic Intelligence and Robotics

In recent years, there has been extensive utilization of actuators driven by artificial muscles in wearable devices. However, the muscle distribution configurations of most wearable devices have been specifically designed and are difficult to generalize. Consequently, wearable devices that allow direct installation of actuators onto existing clothing are better suited for a wider range of application scenarios. This letter presents the development and evaluation of Funabot-Suit, a human muscle configuration inspired wearable assist device that employs McKibben artificial muscles to induce natural kinesthetic perception in the wearer's torso. By integrating thin McKibben muscles into an existing motion capture suit, the Funabot-Suit is capable of generating four fundamental motions: forward and backward bending, and left and right twisting. The suit's performance was assessed through experiments involving three subjects who wore the suit while standing and seated, with the subjects reporting the direction of their kinesthetic perception. The subjects also rated the perceived ease of kinesthetic perception direction on a five-point scale. Our results demonstrate that the Funabot-Suit successfully induces kinesthetic perceptions for the wearer, with a one hundred percent detection ratio for accurate responses in the command direction across all subjects and positions. We observed variations in the sensitivity of left–right and up-down sensations, which can be attributed to the positioning of artificial muscles and individual differences.

DOI： 10.1016/j.birob.2023.100127

Model predictive current control with a finite set of novel voltages and modulator in permanent magnet synchronous motor drives 査読有り国際共著国際誌

Kawai, H; Cordier, J; Kennel, R; Doki, S

IET ELECTRIC POWER APPLICATIONS 17 巻 ( 9 ) 頁： 1197 - 1211 2023年9月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IET Electric Power Applications

Finite control set model predictive control (FCS–MPC) has been deployed extensively in electric motor drives and power electronics applications. Many advantages, including fast transient response, have been reported. However, the improvement of its steady-state performance, that is, suppression of current ripple, is one of the main problems of a conventional FCS–MPC strategy. This article presents a current control strategy based on FCS–MPC using the concept of variable voltage smoothing. In the proposed method, a finite set of novel voltage vectors, produced by the smoothing process, are introduced as candidate control input candidates, and the controller generates the optimum output voltage using a modulator integrated with the FCS–MPC scheme. Thus, the voltage candidates are generated flexibly, and a suitable voltage for acceptable steady-state performance is determined as the control input. In addition, the smoothness in the proposed concept can be updated automatically depending on the drive situation, that is, transient, or steady-state operation, thus avoiding degradation of dynamic performance. Simulation and experimental results obtained with a permanent magnet synchronous motor drive system demonstrate that the proposed control strategy is effective to achieve current control with fast tracking performance while suppressing current ripple.

DOI： 10.1049/elp2.12335

Direct Speed Control Based on Finite Control Set Model Predictive Control With Voltage Smoother 査読有り国際共著国際誌

Kawai, H; Zhang, ZB; Kennel, R; Doki, S

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70 巻 ( 3 ) 頁： 2363 - 2372 2023年3月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Transactions on Industrial Electronics

A direct speed control strategy based on finite control set model predictive control (FCS-MPC) with a voltage smoother is presented herein. In the proposed concept, a finite set of smoothed voltage vectors characterized by an adjustable amplitude and a movable origin is introduced as voltage candidates in the FCS-MPC scheme. The controller predicts the future current and speed and outputs the optimal smoothed voltage using pulse-width modulation. Owing to this control scheme, an abrupt change in the output voltage, which causes a large current ripple, is avoided without additional computational costs. Simulation and experimental results obtained using a permanent magnet synchronous motor fed by a two-level three-phase inverter show that the proposed method effectively reduces the current ripple while achieving a high dynamic drive compared with the conventional FCS-MPC scheme.

DOI： 10.1109/TIE.2022.3174298

A Novel Decoupling Control Scheme for Non-Salient Multi-Three-Phase Synchronous Machines Based on Multi-Stator Model 査読有り国際誌

Wang Shen, Imai Koji, Doki Shinji

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS 59 巻 ( 1 ) 頁： 886 - 896 2023年1月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Transactions on Industry Applications

As competitive alternatives to conventional three-phase synchronous machines, synchronous multi-three-phase machines (MTPMs) are gaining increasing interests in various fields such as electrified transportation and power generation. The modular configuration is preferred for multi-three-phase drives in specific applications regarding the availability of advanced three-phase power electronics techniques and the superior capability of fault tolerance. The multi-stator (MS) modelling would be an ideal solution for the control of such modular drives as it facilitates power sharing among winding sets in a straightforward way and enables simple post fault strategies compared with the well-known vector space decomposition (VSD) modelling approach. Nevertheless, the strong magnetic coupling existing in MS model has hindered its use due to the instability and the performance deterioration issue. To solve the problem, a new decoupling control scheme directly applied in MS frame is proposed in this paper. The proposed method can deal with non-salient multi-three-phase machines whose three-phase winding sets can be identical or different, under the assumption of the sinusoidal airgap flux. Furthermore, it is shown by analysis the proposed method is characterized by significant simplicity and flexibility compared with the existing decoupling methods. The effectiveness of the proposed method has been verified through experiments including a single-side operation, a power-sharing test, and a post fault tolerant operation on a non-salient dual three-phase permanent magnet synchronous machine with quasi sinusoidal air gap flux.

DOI： 10.1109/TIA.2022.3211827

Active Damping Control Method for Different Dual-Parallel-SPMSM Systems with Single Inverter 査読有り国際誌

Park, C; Doki, S

IEEJ JOURNAL OF INDUSTRY APPLICATIONS 12 巻 ( 1 ) 頁： 73 - 83 2023年

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEJ Journal of Industry Applications

This paper presents a stabilization method for different dual parallel surface permanent magnet synchronous motor (SPMSM) systems with a single inverter. When a single inverter drives two synchronous motors, disturbance can cause a torque difference between the two motors. This can cause the motor’s electrical and mechanical resonance. Several damping control methods have been proposed to suppress such resonance. However, such methods consider that the parameters of the two motors are identical. When a single inverter controls two motors with different parameters, the damping control performance deteriorates. Besides, the motor’s resonance sound and current ripple increase. To address these problems, this paper proposes a control method for dual-parallel-SPMSM drive systems with a single inverter.

DOI： 10.1541/ieejjia.22006418

Extended EMF Observer of Dual Three-Phase Permanent Magnet Synchronous Motor Operable in Overmodulation Drive 査読有り国際誌

Imai, K; Doki, S; Kondo, K; Aoki, Y

IEEJ JOURNAL OF INDUSTRY APPLICATIONS 12 巻 ( 5 ) 頁： 901 - 913 2023年

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEJ Journal of Industry Applications

This paper proposes a novel extended electromotive force (EEMF) observer of a dual three-phase permanent magnet synchronous motor (DTP-PMSM) operable to the position sensorless overmodulation drive. The overmodulation drive occurs in current harmonics, and the estimated EEMF also contains harmonic components, leading to ripple error in the estimated position. Based on the vector space decomposition (VSD) utilized in DTP-PMSM current control, the proposed method can decrease the current harmonics in the overmodulation and the harmonic components in the estimated EEMF, and it can also improve position estimation. The effectiveness of the proposed EEMF observer and the improvement in the position estimation were experimentally verified.

DOI： 10.1541/ieejjia.22005441

Clustering Method of Driving Scenes based on Road Shape by using Road Map Images 査読有り国際誌

Hashimoto K., Yanagihara D., Kuniyuki H., Doki K., Funabora Y., Doki S.

4th International Conference on Electrical, Communication and Computer Engineering, ICECCE 2023 2023年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：4th International Conference on Electrical, Communication and Computer Engineering, ICECCE 2023

Currently, vehicles are equipped with various sensors that can collect a series of driving behavior data while driving. The driving behavior data obtained in this way can be used to analyze the causes of traffic accidents and evaluate driver skills. However, when performing the above analysis, a specific driving scene is defined and driving behavior data for that driving scene is required. On the other hand, the series of driving behavior data obtained during one driving operation is enormous, and it is not easy to pick up desired driving scene data from among them. This research aims to establish a driving scene clustering method for a series of driving behavior data. In this paper, a driving scene is defined as a scene in which road shape and operation are associated, and propose a driving scene clustering method considered road shape. Here, a road map image is acquired from position information obtained from a GPS sensor, and the relationship between the road map image and operation data is clustered based on Coupled-GP-HSMM.

DOI： 10.1109/ICECCE61019.2023.10442604

Capacitor Current Reduction in Dual Three-Phase PMSM Drive System by Model Predictive Control Considering Dead Time 査読有り国際誌

Sakauchi R., Doki S., Imai K., Kondo K., Aoki Y.

2023 25th European Conference on Power Electronics and Applications, EPE 2023 ECCE Europe 2023年

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2023 25th European Conference on Power Electronics and Applications, EPE 2023 ECCE Europe

This paper proposes a novel capacitor current reduction method in Dual Three-Phase PMSM Drive System. By using Model Predictive Control considering the dead time on the premise of implementation, the method modifies the three-phase voltage command generated by the PI current controller for the current reduction. The effectiveness is verified by simulation and experiment.

DOI： 10.23919/EPE23ECCEEurope58414.2023.10264351

Arm-Mounted Assistive Robot for Measuring Contact Force and Evaluating Wearer Safety 査読有り国際誌

Masaoka, S; Funabora, Y; Doki, S

IEEE ACCESS 11 巻頁： 114855 - 114863 2023年

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Access

We developed a wearable assistive robot that directly measures the contact force acting between the robot and the human body, aiming to enhance the safety of such wearable devices. The force acting on the body is not directly measured, instead, it is estimated by measuring the torque acting on the robot joint in the wearable assistive robot. Despite the risk of failing to recognize dangerous forces due to modeling errors, the forces actually at work have not been examined. Here, we developed an arm-mounted assistive robot that directly measures the contact force as the distribution information to build a system and evaluate safety; in addition, the contact state between the robot and the human body was discussed. Accordingly, two experiments were conducted with 10 subjects. The first verified the contact force measurement performance of the robot, while the second demonstrated the application of contact force information to check the safety of the robot. The proposed robot can accurately measure the contact force, and the robot movement is safe under general control, for example, using the pain tolerance limit as the safety index. This eliminated the risk of not directly monitoring the forces acting on the surface of the human body. Furthermore, our result have implication for evaluating structural problems of the robot by evaluating contact conditions during movements.

DOI： 10.1109/ACCESS.2023.3324417

Application of Finite Control Set-Model Predictive Control for Servo Brake Motion in PMSM Drives 査読有り国際共著国際誌

Kawai, H; Cordier, J; Kennel, R; Doki, S

IEEE CANADIAN JOURNAL OF ELECTRICAL AND COMPUTER ENGINEERING 46 巻 ( 2 ) 頁： 117 - 129 2023年

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Canadian Journal of Electrical and Computer Engineering

Finite control set-model predictive control (FCS-MPC) has a simple and intuitive optimization procedure. Therefore, FCS-MPC is increasingly being applied to control strategies for electrical drive systems. This article presents a method for servo brake control of a permanent magnet synchronous motor (PMSM) based on FCS-MPC. Accordingly, we propose a reference trajectory introduced in a cost function for brake motions and an alternating procedure with speed control. Moreover, this article clarifies the problem peculiar to servo-brake control using FCS-MPC, i.e., the reduction in tracking performance near the brake position because of the low resolution of the output voltage. In addition to the conventional method, a finite number of smoothed voltages were applied as candidate voltages for FCS-MPC to improve the tracking performance near the brake position. The smoothed voltages can effectively increase the resolution of the output voltage, which results in fewer steady-state errors in angular position tracking during servo brake motion. The simulation and experimental results obtained using a PMSM drive system reveal that the proposed strategy exhibited high performance in tracking the reference target during the operation of servobrakes and the ability to seamlessly alternate between servo brake and motor operations.

DOI： 10.1109/ICJECE.2022.3233029

Modeling of Novel Dual Three Phase PMSM with Pseudo-Triple Winding Structure and its Current Vector Control 査読有り国際誌

Aiba K., Doki S., Kato H., Isogai K.

2023 25th European Conference on Power Electronics and Applications, EPE 2023 ECCE Europe 2023年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2023 25th European Conference on Power Electronics and Applications, EPE 2023 ECCE Europe

In this paper, we propose the control model for a novel dual three-phase PMSM with pseudo-triple winding structure(DTP-PMSM with PTWS) which is one of the new multiple stator winding machines. The proposed control model is represented as the extended form of the conventional dual three-phase winding machine, and the validity is demonstrated by being compared with magnetic field analysis results. Furthermore, the current vector controller for the control model is designed and its performance is confirmed by simulation.

DOI： 10.23919/EPE23ECCEEurope58414.2023.10264324

Performance Evaluation of Position Sensorless Control System with Initial Speed Estimator for Overall Speed Startup 査読有り国際誌

Hao R., Doki S., Asahina K., Ide A.

2023 25th European Conference on Power Electronics and Applications, EPE 2023 ECCE Europe 2023年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2023 25th European Conference on Power Electronics and Applications, EPE 2023 ECCE Europe

Position sensorless control for Permanent-magnet synchronous motors has been investigated in numerous studies, but the issues of flying start at high speed are still a major problem. In our previous research, the issues on conventional position control are presented, and the reasons for these issues are distinguished as the initial response of the speed estimation. Based on this discussion, an initial speed estimation method is proposed as a solution. In this paper, the whole position sensorless control system with the initial speed estimation is presented, which enables the startup from overall speed, and the evaluation experiments are reported.

DOI： 10.23919/EPE23ECCEEurope58414.2023.10264244

Optimal Current Control Methods for Single-Inverter Dual-Parallel-SPMSM with Different Parameters 査読有り国際誌

Park, C; Doki, S

IEEJ JOURNAL OF INDUSTRY APPLICATIONS 12 巻 ( 5 ) 頁： 961 - 970 2023年

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEJ Journal of Industry Applications

This paper presents optimal current-control methods for driving two different synchronous motors using a single inverter. When one inverter drives two motors, system efficiency will deteriorate if their loads are not identical. Moreover, even with identical loads, system efficiency will deteriorate if the parameters of the two motors are not identical. To address this issue, this paper proposes optimal current-control methods for systems with two different motors driven by a single inverter.

DOI： 10.1541/ieejjia.22010492

Optimal Current Control Methods for Dual-Parallel-SPMSM with Different Parameters Using a Single Inverter 査読有り国際誌

Park C., Doki S.

ICPE 2023-ECCE Asia - 11th International Conference on Power Electronics - ECCE Asia: Green World with Power Electronics 頁： 211 - 220 2023年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：ICPE 2023-ECCE Asia - 11th International Conference on Power Electronics - ECCE Asia: Green World with Power Electronics

When one inverter drives both motors, the system efficiency deteriorates if both motors have different loads. Moreover, even if their loads are the same, the system efficiency would also deteriorate if the parameters of both motors are different. To address this issue, this paper proposes optimal current control methods for both different motors using a single inverter.

DOI： 10.23919/ICPE2023-ECCEAsia54778.2023.10213583

Turning a Functional Cloth Into an Actuator by Combining Thread-Like Thin Artificial Muscles and Embroidery Techniques 査読有り国際誌

Nakagawa, K; Sakai, Y; Funabora, Y; Doki, S

IEEE ROBOTICS AND AUTOMATION LETTERS 7 巻 ( 3 ) 頁： 5827 - 5833 2022年7月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Robotics and Automation Letters

In this letter, we propose to turn various existing cloths, especially functional cloths, into actuators by combined embroidery technology and thin McKibben artificial muscles. Most of the textile sensors so far are made by weaving active yarns into each other or into other base cloths. These devices have a limited choice of cloths that can be actuated. We create a prototypical actuator that can be deformed in three dimensions using thin artificial muscles and embroidery techniques on a functional cloth used for hook-and-loop fasteners and textiles that can observe pressure. Our experimental results indicate that the force of the artificial muscles can be transmitted to the cloth using fixation by embroidery and that the actuator can be variously deformed in three dimensions. We show that functional cloths can be made into actuators while maintaining their own functions using the proposed method.

DOI： 10.1109/LRA.2022.3157401

Basic Verification of Contact Force-Based Control with Full Body-Worn Assistive Robot 査読有り国際誌

Masaoka S., Funabora Y., Doki S.

2022 IEEE/SICE International Symposium on System Integration, SII 2022 頁： 144 - 149 2022年1月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2022 IEEE/SICE International Symposium on System Integration, SII 2022

This paper evaluates the performance of contact force-based control with developed wearable assistive robots enabling the contact force measurement between the wearer and the robot. Almost all the conventional assistive robots are controlled with their joint torque measured via torque sensors. These robots have risks exerting excessive force on the wearer because torque sensors cannot detect contact force exerting the wearer. Our research group developed the contact force-based control and evaluated its performance only on the simulation. Also, we developed a prototype of a wearable robot enabling to measure and detect the contact force. In this paper, tracking performance to the wearer's movements, one of the basic performances of wearable robots, is confirmed via the experience. As a result, contact force-based control can operate in full accordance with the command of zero contact force.

DOI： 10.1109/SII52469.2022.9708851

Current Control System with High-Frequency Signal Injection for Dual Three-Phase Permanent Magnet Synchronous Motor 査読有り国際誌

Imai, K; Doki, S; Kondo, K; Aoki, Y

IEEJ JOURNAL OF INDUSTRY APPLICATIONS 11 巻 ( 1 ) 頁： 27 - 40 2022年

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEJ Journal of Industry Applications

Dual three-phase permanent magnet synchronous motors have the characteristics of multi-phase and permanent magnet synchronous motors, whose double- and decoupled-winding models based on the vector space decomposition have been reported. High-frequency signal injection methods enable position sensorless control, parameter identification, and the search for maximum torque per ampere operating points. However, the current control system with high-frequency signal injection for a dual three-phase permanent magnet synchronous motor has not yet been sufficiently discussed. This study compares the double- and decoupled-winding models for the current control system with the high-frequency signal injection and proposes a current control system with high-frequency signal injection. Furthermore, this study proposes a position sensorless control method at low speed based on the high-frequency voltage injection as an application of the proposed current control system with the high-frequency signal injection. Experiments verify the effectiveness of the proposed current control system with the high-frequency signal injection and the proposed position sensorless control method.

DOI： 10.1541/ieejjia.20012955

AR Image Presentation based on Gaze Information for Operator support in teleoperation 査読有り国際誌

Doki K., Funabora Y., Doki S., Yano Y.

SAMI 2022 - IEEE 20th Jubilee World Symposium on Applied Machine Intelligence and Informatics, Proceedings 頁： 395 - 400 2022年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：SAMI 2022 - IEEE 20th Jubilee World Symposium on Applied Machine Intelligence and Informatics, Proceedings

The authors have been tackling a new teleoperation system with a head-mounted display (HMD) and an omnidirectional camera to reduce the workload of an operator. Some experimental results verified that presentation of AR images based on sensor information could reduce the workload and prevent the deterioration of the task quality due to the transmission delay of images. However, the range of the field of view (FOV) of an HMD is narrower than that of a human. This difference might cause accidents by overlooking hazards that are outside the FOV of the HMD. To solve this problem, the authors propose a new method of AR image presentation based on gaze information not to overlook hazards. Some experimental results using a driving simulator verified the usefulness of the proposed method.

DOI： 10.1109/SAMI54271.2022.9780732

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