Faculty Profiles - DOKI, Shinji

Papers - DOKI, Shinji

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A New Position Sensorless Control for IPMSM Using Feature Values Measured at Zero Voltage Vector Based on Pattern Matching Method Reviewed International journal

Song Hamin, Doki Shinji

2017 IEEE 12TH INTERNATIONAL CONFERENCE ON POWER ELECTRONICS AND DRIVE SYSTEMS (PEDS) page： 581-586 2017

Sensor Fusion System for Mobile Robot Localization Using Fault Detection Similarity Evaluation of Probability Distribution for Fault Detection Reviewed

OHASHI Nozomu, FUNABORA Yuki, DOKI Shinji, DOKI Kae

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2017 page： 2P2 - C01 2017

Language：Japanese Publishing type：Research paper (other academic) Publisher：The Japan Society of Mechanical Engineers

To realize robust localization of mobile robot, it is important to improve method of integrating position information from various sensors whose dependence on environment is different. In the case of probability localization, such as particle filter, simultaneous probability is used. However, when a sensor is affected by huge noises such as multipath of GPS, simultaneous probability is incorrect. The authors have proposed selective sensor fusion system based on similarity of distributions. This paper proposes a new similarity evaluation method analyzing particles sampled from distribution and verifies its effectiveness by real world localization.

DOI： 10.1299/jsmermd.2017.2P2-C01

Measuring Position Determination using Vector Quantization for Automatic Inspection Systems using UAVs Reviewed

ASA Kotaro, FUNABORA Yuki, DOKI Shinji, DOKI Kae

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2017 page： 1P1 - C01 2017

Language：Japanese Publishing type：Research paper (other academic) Publisher：The Japan Society of Mechanical Engineers

Maintenance of infrastructures is a major problem. In order to streamline it, automation of inspections is researched. For complete automation, the measuring position determination method of inspection machines is necessary. This paper presents a method of measuring position determination using vector quantization for automatic visual inspection systems using Unmanned Aerial Vehicles (UAVs). In the proposed method, it is assumed that the 3D model of the target infrastructure, the specification of measurement and UAV's features are given. Under those assumptions, the 3D model is regarded as the cluster of vectors and the measuring positions are determined using vector quantization. In this paper, the proposed method is compared with the conventional method by a computer simulation assuming visual inspections.

DOI： 10.1299/jsmermd.2017.1P1-C01

A study on position sensorless control without any q-axis inductance by using Extended Electromotive Force with High frequency signal injection Reviewed International journal

Kondo Shota, Doki Shinji, Tomita Mutuwo

2017 19TH EUROPEAN CONFERENCE ON POWER ELECTRONICS AND APPLICATIONS (EPE'17 ECCE EUROPE) page： . 2017

Predictive control of contact state in wearable robot for torso equipped with pressure distribution sensor Reviewed

SATO Asuka, FUNABORA Yuki, UCHIYAMA Naoya, DOKI Shinji, DOKI Kae

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2017 page： 1P2 - K11 2017

Language：Japanese Publishing type：Research paper (conference, symposium, etc.) Publisher：The Japan Society of Mechanical Engineers

The authors aim to realize assistance of complicated body parts as the torso. Securing safety for users is the utmost importance for wearable robots. For safer assistance, it is desirable to directly control the contact state. The contact state is acquired from the pressure distribution sensor on the robot surface, and the robot is controlled to reduce superfluous pressures. In this paper, a novel control method based on predictive is proposed. From current joint angles and pressure distribution of the robot, this method predicts and controls the pressure distribution of the next step. The proposed method is compared with the conventional joint torque control method and the effectiveness of our method is verified.

DOI： 10.1299/jsmermd.2017.1P2-K11

Body Surface Measurement System with Multiple Kinect Sensors for Design of Wearable Robots with Tactile Sensor Reviewed

ITO Daiki, FUNABORA Yuki, DOKI Shinji, DOKI Kae

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2017 page： 1P2 - J07 2017

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

Safety control is considered to be the prior requirement for wearable assist robots. In response to the requirement, a control system based on pressure distribution has been researched. However, a robot structure suitable for the control method measured by tactile sensor has not been cleared. In this paper, in order to consider a suitable structure for wearable assist robots with tactile sensor 3D body surface measurement system is presented. The system consists multiple Kinect v2 sensors to measure user's body surface as high densely point cloud data.By fitting some candidate polygons to the data, a suitable polygon will be determined.

DOI： 10.1299/jsmermd.2017.1P2-J07

Study on the model structure of human machine operation to evaluate a coincident timing skill Reviewed

Kohjiro Hashimoto, Kae Doki, Shinji Doki

IEEJ Transactions on Electronics, Information and Systems Vol. 137 ( 10 ) page： 1353 - 1363 2017

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Institute of Electrical Engineers of Japan

With an increase in the elderly population, traffic accidents caused by elderly drivers have become an important social issue in Japan. The primary factor of traffic accidents by elderly drivers is a reduction in their driving skill. Therefore, elderly drivers are required by law to conduct regularly a driving aptitude tests in Japan. If the driving skill of the driver is inadequacy, he is subject to punishment, such as driver license revoked. However, there is not appropriate evaluation index of driving skill. We have proposed a modeling method of driving behavior to support one. Proposed driving behavior model is generated based on the actual driving data of driver, and the generated model has some kind of habit and pattern of the driver. Therefore, it is considered that it is possible to evaluate driving skill of driver by analyzing the generated model. According this reason, we aim to propose a modeling method of driving behavior to evaluate driving skill. Here, a coincident timing skill of driver is focused as a driving skill. In the case of driving behavior, the execution timing of driving operations is decided based on the prediction of subsequent change of the outside environment information. The accuracy of this decided execution timing of operation depend on the above prediction is called as the coincident timing skill. In the proposed model, the causality between the situation around a person and operation of driver is modeled by Hidden Markov Model, and timing probability distribution is added to Hidden Markov Model in order to evaluate this coincident timing skill. The timing probability distribution expresses the execution timing of next operation of driver. Therefore, it is possible to detect the information of the coincident timing skill of driver from the timing probability distribution. In the experiment, the controller operation of a radio controlled vehicle is modeled by the proposed method, and the usefulness of the proposed model is examined through some experimental results.

DOI： 10.1541/ieejeiss.137.1353

Scopus

Initial Position Estimation for IPMSMs Using Comb Filters and Effects on Various Injected Signal Frequencies Reviewed

Toshiki Suzuki, Masaru Hasegawa, Mutuwo Tomita, Shinji Doki

IEEJ Journal of Industry Applications Vol. 4 ( 3 ) page： 204-211 2015.5

Improved PMSM Model Considering Flux Characteristics for Model Predictive-Based Current Control Reviewed

Akihiro Imura, Tomoya Takahashi, Masami Fujitsuna, Tadanao Zanma, Shinji Doki

IEEJ Trans. on Electrical and Electronic Engineering Vol. 10 ( 1 ) page： 92–100 2015.1

高巻線係数と高占積率を両立する新しい巻線構造を持つ永久磁石同期モータ

牧田真治,伊藤靖英,青山知弘,道木慎二

電気学会論文誌D Vol. 134 ( 12 ) page： 1031-1037 2014.12

三次元磁路と環状巻線からなる簡素なステータ構造を有する新しいモータ Reviewed

牧田真治, 高橋英介, 梨木政行, 道木慎二

電気学会論文誌Ｄ Vol. 134 ( 3 ) page： 363-369 2014.3

Refinement of inverter model considering dead-time for performance improvement in predictive instantaneous current control

Akihiro Imura, Tomoya Takahashi, Masami Fujitsuna, Tadanao Zanma, Shinji Doki

IEEJ Trans. on Electrical and Electronic Engineering Vol. 9 ( 1 ) page： 83–89 2014.1

Position Sensorless Control of IPMSMs using Full-Order Flux Observer Based on an Algebraic Design Method

Atsushi Matsumoto, Masaru Hasegawa, Mutuwo Tomita, Shinji Doki

IEEJ Journal of Industry Applications Vol. 2 ( 3 ) page： 141-149 2013.5

サービスロボットの構造変化に対する適応動作の高速生成

舟洞　佑記,矢野　良和,道木　慎二,大熊　繁

日本機械学会論文集Ｃ編 Vol. 78 ( 793 ) page： 152-163 2012.9

センサレス制御やパラメータ同定のための信号重畳に適した電流制御系 Reviewed

鄭淅化, 大沼巧, 道木慎二, 大熊繁, 藤綱雅己

電気学会論文誌Ｄ部門 Vol. 132 ( 3 ) page： 418-425 2012.3

サービスロボットの機械的な構造変化に対する自律的な動作適応

舟洞　佑記,矢野　良和,道木　慎二,大熊　繁

日本機械学会論文集ｃ編 Vol. 78 ( 786 ) page： 583-594 2012.2

Estimation of next action and its timing based on the human action model considering time series information of the situation Reviewed

K. Hashimoto S. Doki K. Doki

Journal of Artificial Intelligence and Soft Computing Research Vol. 2 ( 3 ) page： 223-233 2012.1

サービスロボットの動作適応における動作の自己評価法

舟洞　佑記,矢野　良和,道木　慎二,大熊　繁

電気学会論文誌C Vol. 131 ( 12 ) page： 2072-2081 2011.12

永久磁石同期モータの電流制御系に対するモデル予測制御の適用

門田充弘，道木慎二，大熊繁

電気学会論文誌C Vol. 131-C ( 4 ) page： 860-869 2011.4

状況と行動の因果関係に着目した人間の行動モデル化手法─多次元時系列信号で表現された状況と離散事象で表現された行動の場合─

橋本幸二郎，道木加絵，道木慎二，大熊繁，鳥井明宏

電気学会論文誌C Vol. 131-C ( 3 ) page： 635-643 2011.3

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Papers - DOKI, Shinji