研究者詳細 - 道木　慎二

論文 - 道木　慎二

分割表示 283 件中 201 - 220 件目／全件表示 >>

外れ値処理を用いた確率的位置情報の統合による移動ロボットのロバストな位置推定査読有り

大橋臨, 舟洞佑記, 道木慎二, 道木加絵

ロボティクス・メカトロニクス講演会講演概要集 2017 巻頁： 2P2 - C01 2017年

記述言語：日本語掲載種別：研究論文（その他学術会議資料等）出版者・発行元：一般社団法人日本機械学会

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

インフラ設備外観自動点検システムのためのベクトル量子化を利用した無人飛行体の計測位置決定査読有り

麻晃太朗, 舟洞佑記, 道木慎二, 道木加絵

ロボティクス・メカトロニクス講演会講演概要集 2017 巻頁： 1P1 - C01 2017年

記述言語：日本語掲載種別：研究論文（その他学術会議資料等）出版者・発行元：一般社団法人日本機械学会

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 査読有り国際誌

Kondo Shota, Doki Shinji, Tomita Mutuwo

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

A New Position Sensorless Control for IPMSM Using Feature Values Measured at Zero Voltage Vector Based on Pattern Matching Method 査読有り国際誌

Song Hamin, Doki Shinji

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

表面圧力分布センサを搭載した体幹部装着型ロボットにおける接触力分布の予測制御査読有り

佐藤飛鳥, 舟洞佑記, 内山直哉, 道木慎二, 道木加絵

ロボティクス・メカトロニクス講演会講演概要集 2017 巻頁： 1P2 - K11 2017年

記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）出版者・発行元：一般社団法人日本機械学会

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

装着型アシストロボットの接触部位形状検討のための複数台のKinectを用いた体表面形状計測査読有り

伊藤大輝, 舟洞佑記, 道木慎二, 道木加絵

ロボティクス・メカトロニクス講演会講演概要集 2017 巻頁： 1P2 - J07 2017年

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：一般社団法人日本機械学会

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 査読有り

Hashimoto K., Doki K., Doki S.

IEEJ Transactions on Electronics, Information and Systems 137 巻 ( 10 ) 頁： 1353 - 1363 2017年

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEJ Transactions on Electronics, Information and Systems

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 査読有り

Toshiki Suzuki, Masaru Hasegawa, Mutuwo Tomita, Shinji Doki

IEEJ Journal of Industry Applications 4 巻 ( 3 ) 頁： 204-211 2015年5月

Improved PMSM Model Considering Flux Characteristics for Model Predictive-Based Current Control 査読有り

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

IEEJ Trans. on Electrical and Electronic Engineering 10 巻 ( 1 ) 頁： 92–100 2015年1月

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 134 巻 ( 12 ) 頁： 1031-1037 2014年12月

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査読有り

牧田真治, 高橋英介, 梨木政行, 道木慎二

電気学会論文誌Ｄ 134 巻 ( 3 ) 頁： 363-369 2014年3月

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 9 巻 ( 1 ) 頁： 83–89 2014年1月

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 2 巻 ( 3 ) 頁： 141-149 2013年5月

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 78 巻 ( 793 ) 頁： 152-163 2012年9月

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査読有り

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 132 巻 ( 3 ) 頁： 418-425 2012年3月

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 78 巻 ( 786 ) 頁： 583-594 2012年2月

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

K. Hashimoto S. Doki K. Doki

Journal of Artificial Intelligence and Soft Computing Research 2 巻 ( 3 ) 頁： 223-233 2012年1月

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 131 巻 ( 12 ) 頁： 2072-2081 2011年12月

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 131-C 巻 ( 4 ) 頁： 860-869 2011年4月

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 131-C 巻 ( 3 ) 頁： 635-643 2011年3月

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