Faculty Profiles - DOKI, Shinji

Papers - DOKI, Shinji

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Localization of autonomous mobile robot by integration of multiple sensor information based on sensor information reliability map Reviewed

Doki K., Shinya R., Ohashi N., Funabora Y., Doki S., Torii A., Mototani S.

Ieej Transactions on Electronics Information and Systems Vol. 139 ( 12 ) page： 1389 - 1399 2019

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Ieej Transactions on Electronics Information and Systems

We have proposed a localization method of an autonomous mobile robot using multiple sensor information in order to realize robust localization. This method is based on Particle Filter, and bias probability distributions are detected and eliminated before integration of probability distributions for localization. However, the calculation cost is enormous because it is proportional to the number of sensors and particles. In order to reduce the calculation cost for localization, we propose a new localization method using the reliability map of sensor information which is generated based on selection results of sensor information in the previous method in this paper. The usefulness of the proposed method is discussed with some experimental results with a real robot in various real environments.

DOI： 10.1541/ieejeiss.139.1389

Scopus

Control System Based on Contact Force Distribution for Wearable Robot with Tactile Sensor Reviewed

Ito Daiki, Funabora Yuki, Doki Shinji, Doki Kae

2019 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) page： 259-263 2019

Markerless Measurement System of Body Surface Deformation for Structure Determination of Wearable Robot Reviewed

Honda Shota, Funabora Yuki, Doki Shinji, Doki Kae

2019 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) page： 135-140 2019

Detection of contributing object to driving operations based on hidden Markov model Reviewed Open Access

Kohjiro Hashimoto, Tetsuyasu Yamada, Takeshi Tsuchiya, Kae Doki, Yuki Funabora, Shinji Doki

International Journal of Advanced Robotic Systems page： 1-15 2019

Quantification of Contributing Degree to Braking Operation of Driver based on the Hidden Markov Model Reviewed

Hashimoto Kohjiro, Miyosawa Tadashi, Yamada Tetsuyasu, Tsuchiya Takeshi, Doki Kae, Doki Shinji

2019 IEEE 28TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) page： 1711-1716 2019

Efficiency Improvement of Motor Drive System by using a GaN Three Phase Inverter Reviewed

Nakayama Yosuke, Kanazawa Yasuki, Kondo Fumiya, Inoue Masamichi, Ohta Kazuki, Doki Shinji, Shiozaki Koji

2019 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT) page： 1599-1604 2019

Position Sensorless Control of IPMSM in Overall Speed Range by Extended EMF Reviewed

Nimura Takumi, Doki Shinji

2019 21ST EUROPEAN CONFERENCE ON POWER ELECTRONICS AND APPLICATIONS (EPE '19 ECCE EUROPE) page： . 2019

Comparison of Two Types of Extended Electromotive Force Models in Middle / High Speed Ranges Position Sensorless Control Reviewed

Ohta Kazuki, Nimura Takumi, Doki Shinji

2019 21ST EUROPEAN CONFERENCE ON POWER ELECTRONICS AND APPLICATIONS (EPE '19 ECCE EUROPE) page： . 2019

An efficient evaluation of signal injection method for position sensorless control of IPMSMs based on an extended EMF model at low-speed range Reviewed Open Access

Saito R., Yamamoto T., Doki S., Ohnuma T.

Ieej Transactions on Industry Applications Vol. 139 ( 9 ) page： 824 - 831 2019

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Ieej Transactions on Industry Applications

This paper presents signal conditions taking motor efficiency into account for position sensorless control of interior permanent magnet synchronous motors (IPMSMs). Signal injection is necessary for position estimation based on an extended electromotive force (EEMF) model at standstill and low speeds. We have proposed a maximum torque control reference frame and the EEMF model suitable for signal injection, and we executed sensorless control in the entire driving area. However, its effects on motor efficiency have not been evaluated in the previous study. Therefore, in this paper, we optimize the amplitude, phase, and frequency of signal current. Moreover, we applied a signal current amplitude adjusting method. This method makes the signal current amplitude minimum based on the EEMF. As a result, we can maintain constant efficiency including copper loss and other losses of the motor, regardless of the signal frequency. The signal frequency can be freely selected in terms of the motor efficiency, so that the proposed method can improve the flexibility to design the injection signals for the position sensorless control of the IPMSMs.

DOI： 10.1541/ieejias.139.824

Open Access

Scopus

Latest technological trends for electrification of automobile technologies Reviewed

Kaizuka M., Tachibana T., Kosaka T., Doki S., Ota Y.

Ieej Transactions on Industry Applications Vol. 139 ( 6 ) page： 535 - 542 2019

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Ieej Transactions on Industry Applications

Global warming and the risk of depletion of fossil fuels are global concerns. The demand for environmental performance of automobiles is becoming severer year by year. In this regard, automotive manufacturers have designed BEVs, PHVs, HEVs and FCVs to meet CO<inf>2</inf> regulation. This report presents the recent technological trends related to the main components of electrical vehicles.

DOI： 10.1541/ieejias.139.535

Scopus

Comparison of Two Types of Extended Electromotive Force Models in Middle / High Speed Ranges Position Sensorless Control Reviewed International journal

Ohta Kazuki, Nimura Takumi, Doki Shinji

2019 21ST EUROPEAN CONFERENCE ON POWER ELECTRONICS AND APPLICATIONS (EPE '19 ECCE EUROPE) page： . 2019

Control System Based on Contact Force Distribution for Wearable Robot with Tactile Sensor Reviewed International journal

Ito Daiki, Funabora Yuki, Doki Shinji, Doki Kae

2019 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) page： 259-263 2019

Efficiency Improvement of Motor Drive System by using a GaN Three Phase Inverter Reviewed International journal

Nakayama Yosuke, Kanazawa Yasuki, Kondo Fumiya, Inoue Masamichi, Ohta Kazuki, Doki Shinji, Shiozaki Koji

2019 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT) page： 1599-1604 2019

Quantification of Contributing Degree to Braking Operation of Driver based on the Hidden Markov Model Reviewed International coauthorship International journal

Hashimoto Kohjiro, Miyosawa Tadashi, Yamada Tetsuyasu, Tsuchiya Takeshi, Doki Kae, Doki Shinji

2019 IEEE 28TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) page： 1711-1716 2019

Position Sensorless Control of IPMSM in Overall Speed Range by Extended EMF Reviewed International coauthorship International journal

Nimura Takumi, Doki Shinji

2019 21ST EUROPEAN CONFERENCE ON POWER ELECTRONICS AND APPLICATIONS (EPE '19 ECCE EUROPE) page： . 2019

Markerless Measurement System of Body Surface Deformation for Structure Determination of Wearable Robot Reviewed International journal

Honda Shota, Funabora Yuki, Doki Shinji, Doki Kae

2019 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) page： 135-140 2019

Analysis of an application of the extended electromotive force model based position sensorless control on the wound-field synchronous motor with dual-three phases in standstill/low speed region Reviewed International journal

Wang S., Imai K., Doki S.

Proceedings IECON 2018 44th Annual Conference of the IEEE Industrial Electronics Society page： 5789 - 5794 2018.12

Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings) Publisher：Proceedings IECON 2018 44th Annual Conference of the IEEE Industrial Electronics Society

Sensorless control has become a popular research area for ac drives. However, most of the works are attributed to conventional three-phase drives. Given that applications of multiphase machines keep spreading, studies of position sensorless for them are necessary. For the object in this paper, some studies for sensorless control in middle/high speed region are reported. To accomplish a full-speed range sensorless control, a study about the standstill/low speed sensorless control of the target motor is proposed in this paper. Particularly, conventional signal injection methods utilized in three-phase ac drives meet a new issue caused by the inner magnetic couplings of the system when applying to the object in this paper. It may lead to failure of sensorless control and torque ripple enlargement. Therefore, analyses to solve the issue become the main interest of this paper, simulation results are demonstrated in the last section.

DOI： 10.1109/IECON.2018.8591145

Scopus

Evaluation in real world of the measuring position determination for visual inspection using UAV Reviewed International journal

Asa K., Funabora Y., Doki S., Doki K.

Proceedings IECON 2018 44th Annual Conference of the IEEE Industrial Electronics Society page： 2711 - 2716 2018.12

Language：English Publishing type：Research paper (international conference proceedings) Publisher：Proceedings IECON 2018 44th Annual Conference of the IEEE Industrial Electronics Society

This paper evaluates our measuring position determination method of Unmanned Aerial Vehicles (UAVs) for automatic visual inspection through an experimentation in real world. This method is under the assumption that the 3D model of a target facility, required accuracy of gathering data and specs of instruments are given. The triangular polygons for shape description of the 3D model are reconstructed for measurement and the measuring positions: the waypoints that an UAV travels to gather the accurate data of the target facility efficiently are calculated systematically. For basic evaluation of this method, we conducted an experimentation in real world. The measuring positions were calculated for an actual target and a camera. An experimenter brought a camera to the measuring positions and gathered image data. This experimentation result showed the effectivity of the method.

DOI： 10.1109/IECON.2018.8591270

Scopus

Flight path planning of multiple UAVs for robust localization near infrastructure facilities Reviewed International journal

Maeda K., Doki S., Funabora Y., Doki K.

Proceedings IECON 2018 44th Annual Conference of the IEEE Industrial Electronics Society page： 2522 - 2527 2018.12

To realize automatic inspections for infrastructure facilities by an Unmanned Aerial Vehicle (UAV), improvement of localization performance is needed. Especially, automatic flight does not work in environments near facilities such as under the bridge because GNSS signals does not reach the UAV. We research a localization system using subsidiary UAVs that assist localization of an inspection UAV (main UAV). In this system, the positioning of the subsidiary UAVs is important to correctly complement the position information of the main UAV. In this paper, as the first stage of research, we consider a path of a single subsidiary UAV using preliminary information: the 3D geometrical data of a target facility, the inspection path of the main UAV, and the arrangement of GNSS satellites during the inspection. A simple simulation shows that the localization of the main UAV does not collapse through the whole path under the evaluation of the GNSS positioning precision of each UAV.

DOI： 10.1109/IECON.2018.8592710

Scopus

Prototype of Wearable Robot with Tactile Sensor Measurable Contact Force Distribution with User Reviewed International journal

Ito D., Funabora Y., Doki S., Doki K.

2018 15th International Conference on Control Automation Robotics and Vision Icarcv 2018 page： 960 - 965 2018.12

Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings) Publisher：2018 15th International Conference on Control Automation Robotics and Vision Icarcv 2018

To improve safety of wearable assist robots, the authors make a prototype wearable robot suitable for the contact force distribution feedback control system. Because wearable assist robots contact the user and apply force directly, ensuring safety of the user is most important. In order to improve safety from the aspect of control, a contact force distribution feedback control system has been researched. The system controls contact force between the user and a robot directly. Although the system validated in principal with a simple robot model on simulation, validation with an actual robot has not done yet. There are no wearable robots measurable the contact force distribution with user. In order to measure the contact force distribution for the control system, two points: Measurement reproducibility and measurement as distribution, are necessary. In this paper, a prototype robot that satisfies the two points is made. The robot is confirmed to have the two points necessary for the system by measurement experiment.

DOI： 10.1109/ICARCV.2018.8581233

Scopus

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Papers - DOKI, Shinji