Updated on 2022/08/02

写真a

 
HEYA Akira
 
Organization
Graduate School of Engineering Mechanical Systems Engineering 2 Assistant Professor
Graduate School
Graduate School of Engineering
Undergraduate School
School of Engineering Mechanical and Aerospace Engineering
Title
Assistant Professor
Contact information
メールアドレス
External link

Degree 1

  1. Doctor (Engineering) ( 2021.3   Osaka University ) 

Research Interests 3

  1. ハプティクス

  2. アクチュエータ

  3. Multiple-degree-of-freedom system

Research Areas 3

  1. Informatics / Mechanics and mechatronics

  2. Informatics / Robotics and intelligent system

  3. Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering

Current Research Project and SDGs 4

  1. 多自由度アクチュエータにより駆動する高性能ロボット眼球の実現

  2. 超小型3次元力覚提示システムの構築

  3. 磁気ねじアクチュエータのセルフセンシングと力制御

  4. 磁気浮上システムの非線形制御と状態推定

Research History 4

  1. Nagoya University   Graduate School of Engineering, Department of Mechanical Systems Engineering   Assistant Professor

    2022.3

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  2. Osaka University   Graduate School of Engineering, Division of Materials and Manufacturing Science

    2022.3

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  3. Osaka University   Designated assistant professor

    2021.4 - 2022.2

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  4. Japan Society for Promotion of Science

    2018.4 - 2021.3

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Education 1

  1. Osaka University

    2018.4 - 2021.3

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Professional Memberships 3

  1. IEEE

  2. 電気学会

  3. 日本AEM学会

Awards 9

  1. Best Paper Award

    2021.11   24th International Conference on Electrical Machines and Systems   A Linear Electromagnetic Actuator with Three Holding Points for Gear Shift Unit

    Shuto Sakamoto, Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Mineo Kurita

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  2. 日本AEM学会奨励賞

    2021.11   日本AEM学会  

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  3. 大学院研究奨励賞

    2021.3   (公社)自動車技術会  

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  4. 優秀論文発表賞(本部表彰)

    2020.4   (社)電気学会  

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  5. 海外論文発表奨励賞

    2019.10   (一社)生産技術振興協会  

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  6. Best Paper Award

    2019.8   22th International Conference on Electrical Machines and Systems   Development of Triaxial Active Control Magnetic Bearing with Asymmetric Structure

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Atsushi Nakajima

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  7. Best Paper Award

    2019.8   22th International Conference on Electrical Machines and Systems   Design and Analysis of a Six-Degree-of-Freedom Oscillatory Actuator

    Tomoaki Mototsuji, Akira Heya, and Katsuhiro Hirata

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  8. 修士論文発表会 最優秀論文賞

    2018.3   大阪大学大学院工学研究科 知能・機能創成工学専攻  

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  9. 修士論文発表会 ベストプレゼンテーション賞

    2018.3   大阪大学大学院工学研究科 知能・機能創成工学専攻  

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Papers 52

  1. Structural Simplicity and Performance Comparison of Magnetic Lead Screws without Spiral Permanent Magnets Reviewed

    Akira Heya, Yoshihiro Nakata, Hiroshi Ishiguro, Katsuhiro Hirata

    IEEJ Transactions on Electrical and Electronic Engineering   Vol. 16 ( 3 ) page: 464 - 469   2021.3

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Wiley  

    DOI: 10.1002/tee.23317

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    Other Link: https://onlinelibrary.wiley.com/doi/full-xml/10.1002/tee.23317

  2. Triaxial Active Control Magnetic Bearing with Asymmetric Structure Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Atsushi Nakajima

    IEEE Transactions on Industry Applications     page: 1 - 1   2021

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tia.2021.3089557

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  3. Experimental Verification of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata

    Sensors   Vol. 20 ( 9 ) page: 2485 - 2485   2020.4

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:MDPI AG  

    Image deteriorations due to vibrations have become a problem in autonomous systems such as unmanned aerial vehicles, robots, and autonomous cars. To suppress the vibration, a camera stabilizer using a gimbal mechanism is widely used. However, the size and weight of the system increase because the conventional image stabilization systems require some actuators and links to drive in multi-axes. In order to solve these problems, we proposed a novel three-degree-of-freedom (3DOF) electromagnetic actuator for image stabilization. The actuator can be driven by only three-phase and has a simple structure and control system. This paper describes the experimental verification of the proposed actuator. The torque characteristics are clarified, and the analysis and measured torque characteristics are compared to verify the analysis validity. For verifying the dynamic performance, the frequency characteristics are measured. The effectiveness of the proposed magnetic structure and operating principle are investigated.

    DOI: 10.3390/s20092485

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  4. Design and Analysis of a Three-Degree-of-Freedom Linear Oscillatory Actuator Reviewed

    A. Heya, K. Hirata, T. Matsushita, Y. Kono

    IEEE Transactions on Magnetics   Vol. 56 ( 2 ) page: 1 - 4   2020.2

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tmag.2019.2952473

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  5. Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator Reviewed

    Akira Heya, Yoshihiro Nakata, Masahiko Sakai, Hiroshi Ishiguro, Katsuhiro Hirata

    IEEE Transactions on Magnetics   Vol. 54 ( 11 ) page: 1 - 5   2018.11

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tmag.2018.2845455

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  6. Dynamic Modeling and Control of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi

    IEEE Transactions on Magnetics   Vol. 54 ( 11 ) page: 1 - 5   2018.11

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tmag.2018.2845438

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  7. Performance Analysis of a Compact Three‐Degree‐of‐Freedom Oscillatory Actuator for Haptic Device Reviewed

    Ryosuke Nakamura, Akira Heya, Katsuhiro Hirata

    IEEJ Transactions on Electrical and Electronic Engineering   Vol. 17 ( 6 )   2022.3

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Wiley  

    DOI: 10.1002/tee.23577

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    Other Link: https://onlinelibrary.wiley.com/doi/full-xml/10.1002/tee.23577

  8. Robust control of three‐degree‐of‐freedom spherical actuator based on deep reinforcement learning Reviewed

    Hirotsugu Fusayasu, Akira Heya, Katsuhiro Hirata

    IEEJ Transactions on Electrical and Electronic Engineering   Vol. 17 ( 5 )   2022.1

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Wiley  

    DOI: 10.1002/tee.23563

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    Other Link: https://onlinelibrary.wiley.com/doi/full-xml/10.1002/tee.23563

  9. Design and Analysis of Five-Degree-of-Freedom Oscillatory Actuator Reviewed

    Akira Heya, Katsuhiro Hirata

    IEEJ Journal of Industry Applications   Vol. 11 ( 1 ) page: 20 - 26   2022.1

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical Engineers of Japan (IEE Japan)  

    DOI: 10.1541/ieejjia.20004730

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  10. Modeling and Dynamic Analysis of Two-Degree-of-Freedom Voice Coil Actuator Driven by Three-Phase Reviewed

    Akira Heya, Katsuhiro Hirata

    Proceedings of the 23rd International Conference on the Computation of Electromagnetic Fields     page: PD-P1-11   2022.1

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  11. Modeling and Dynamic Analysis of Three-Degree-of-Freedom Spherical Actuator under Deep Reinforcement Learning Control Reviewed

    Hirotsugu Fusayasu, Akira Heya, Katsuhiro Hirata

    Proceedings of the 23rd International Conference on the Computation of Electromagnetic Fields     page: PD-P1-7   2022.1

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  12. A Linear Electromagnetic Actuator with Three Holding Points for Gear Shift Unit Reviewed

    Shuto Sakamoto, Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Mineo Kurita

    Proceedings of the 2021 International Conference on Electrical Machines and Systems     page: I5-2193   2021.11

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  13. Analysis of a Magnetic Lead Screw Actuator with Step Skew Structure Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Yuki Anraku

    Proceedings of the 2021 International Conference on Electrical Machines and Systems     page: I5-2194   2021.11

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  14. A Six-Coil Two-Degree-of-Freedom Actuator Driven by Three-Phase Reviewed

    Shunsuke Kuribayashi, Akira Heya, Katsuhiro Hirata, Mineo Kurita

    Proceedings of the 2021 International Conference on Electrical Machines and Systems     page: I5-2196   2021.11

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  15. Three-Degree-of-Freedom Voice Coil Actuator Driven by Four-Phase Reviewed

    Akira Heya, Katsuhiro Hirata

    Proceedings of the 20th International Symposium on Electromagnetic Fields in Mechatronics, Electrical and Electronic Engineering     page: S07-31   2021.9

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  16. Sensorless attitude estimation of three-degree-of-freedom actuator for image stabilization Reviewed

    Akira Heya, Katsuhiro Hirata

    International Journal of Applied Electromagnetics and Mechanics   Vol. 66 ( 2 ) page: 249 - 263   2021.6

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:IOS Press  

    Space recognition is a crucial issue for autonomous systems such as unmanned aerial vehicles, walking robots, and autonomous cars. These systems are necessary to obtain information using a camera while moving. However, reduction in recognition accuracy and system size increase has created problems. To solve these problems, we proposed the three-degree-of-freedom (DOF) actuator for image stabilization. This paper proposes a novel initial position estimation method and sensorless attitude estimation method for the three-DOF actuator to further downsize and reduce weight. The effectiveness of the proposed methods is verified by a magnetic field analysis, using a three-dimensional finite element method and numerical simulations.

    DOI: 10.3233/jae-201537

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  17. 短ストローク6自由度アクチュエータの実験評価 Reviewed

    元辻友彰, 部矢明, 平田勝弘

    日本AEM学会誌   Vol. 29 ( 2 ) page: 321 - 326   2021.6

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  18. 支持機構の内包による力覚提示デバイス用3自由度振動アクチュエータの基礎検討 Reviewed

    中村亮介, 部矢明, 平田勝弘

    日本AEM学会誌   Vol. 29 ( 2 ) page: 408 - 413   2021.6

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  19. ボイスコイル型多自由度アクチュエータの基礎検討 Reviewed

    部矢明, 平田勝弘

    日本AEM学会誌   Vol. 29 ( 2 ) page: 395 - 40   2021.6

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  20. ローレンツ力を用いた6自由度振動アクチュエータの提案 Reviewed

    部矢明, 平田勝弘

    日本AEM学会誌   Vol. 29 ( 3 ) page: 24 - 29   2021.5

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  21. Design and Analysis of a Three-Degree-of-Freedom Linear Oscillatory Actuator Integrated with Support Mechanism Reviewed

    Ryosuke Nakamura, Akira Heya, Katsuhiro Hirata

    Proceedings of the 2021 IEEE International Magnetics Conference   ( BD-02 )   2021.4

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  22. Proposal of Novel Multiple-Degree-of-Freedom Voice Coil Actuator Reviewed

    Akira Heya, Katsuhiro Hirata

    Proceedings of the 2021 IEEE International Magnetics Conference   ( BD-09 )   2021.4

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  23. 横磁束構造を用いたダブルギャップ型Zθアクチュエータの研究 Reviewed

    森田真仁, 部矢明, 高原一晶, 平田勝弘

    日本AEM学会誌   Vol. 29 ( 1 ) page: 269 - 274   2021.3

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  24. Evaluation of Position Controllability of Triaxial Active Control Magnetic Bearing Using Nonlinear Compensator Reviewed

    Keigo NISHIDE, Akira HEYA, Katsuhiro HIRATA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 29 ( 1 ) page: 124 - 129   2021

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Applied Electromagnetics and Mechanics  

    DOI: 10.14243/jsaem.29.124

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  25. Analysis of a Motor Integrated Magnetically Levitated Lead Screw Reviewed

    Akira Heya, Yoshihiro Nakata, Hiroshi Ishiguro, Katsuhiro Hirata

    Proceedings of the 18th Biennial IEEE Conference on Electromagnetic Field Computation   ( ID-534 )   2020.11

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  26. Two-Degree-of-Freedom Actuator for Robotic Eyes Reviewed

    Akira Heya, Yoshihiro Nakata, Hiroshi Ishiguro, Katsuhiro Hirata

    Proceedings of the 24th International Conference on Electrical Machines   ( SD-008435 )   2020.8

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  27. Edge effect of multi-degree-of-freedom oscillatory actuator driven by vector control Reviewed

    Masayuki Kato, Katsuhiro Hirata, Tomoaki Mototsuji, Akira Heya

    Open Physics   Vol. 18 ( 1 ) page: 346 - 351   2020.7

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Walter de Gruyter GmbH  

    <title>Abstract</title>This article proposes a thrust equation model of two-degree-of-freedom oscillatory actuator considering its edge effect. The proposed thrust equation model clarifies that asymmetric permanent magnet flux linkage and inductance characteristics cause undesirable magnetic thrust and reluctance thrust, respectively.

    DOI: 10.1515/phys-2020-0169

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    Other Link: https://www.degruyter.com/document/doi/10.1515/phys-2020-0169/pdf

  28. Amplitude Control for Linear Resonance Actuator Using Sensorless Load Estimation Method Reviewed

    Tomoaki Mototsuji, Masayuki Kato, Akira Heya, Katsuhiro Hirata

    IEEJ Transactions on Industry Applications   Vol. 140 ( 7 ) page: 534 - 541   2020.7

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

    DOI: 10.1541/ieejias.140.534

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  29. Proposal of a Six-Degree-of-Freedom Actuator using Lorentz Force Reviewed

    Akira Heya, Katsuhiro Hirata

    Proceedings of the 2020 IEEE International Magnetics Conference   ( BD-01 )   2020.5

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  30. Linear Vernier Actuator with Two Movers Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi

    Transportation Systems and Technology   Vol. 6 ( 1 ) page: 63 - 79   2020.3

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:ECO-Vector LLC  

    Background: Linear motion devices for industrial machines and robots are expected to realize their high efficiency drive and simple structure. Usually, a feed screw mechanism composed of a rotary motor and a ball-screw or slide-screw is employed. However, it has some problems such as the decrease of the drive efficiency, flexibility against external forces, noise, etc. Various linear actuators and motors have been developed utilizing the feature of a direct drive.&#x0D;
    Aim: In this paper, we propose a novel linear actuator which 2 movers can be independently controlled using 3-phase and 6-phase superimposed currents for decreasing the size and weight of the system. The proposed linear actuator is driven by the operating principle of a vernier motor which is expected to achieve a high thrust force density per permanent magnet volume.&#x0D;
    Methods: The operating principle and the static thrust force characteristics of the proposed linear actuator are verified by an electromagnetic field analysis using 3-D finite element method, and the back electromotive force characteristics are also analyzed. In addition, the dynamic characteristics under position feedback control are analyzed. The control system uses a vector control using PID controller, and the control input is given by the 3-phase and 6-phase superimposed currents.&#x0D;
    Results: The static force characteristics were investigated. From the analyzed results, the force interference between the two movers was small. Moreover, the interference of the back electromotive force of the 3-phase and 6-phase movers were not observed. The movers could be independently driven under position feedback control using 3-phase and 6-phase superimposed currents. The dynamic characteristics analyses showed that the mover well followed a target position. From a step response, the time constant and the response of the position feedback system were investigated.&#x0D;
    Conclusion: This paper presents a linear vernier actuator with two movers. The basic structure and operating principle of the actuator were described. Moreover, the static characteristics and the dynamic characteristics under position feedback control were analyzed. It was found that the movers can be independently driven.

    DOI: 10.17816/transsyst20206163-79

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  31. Interference suppression of triaxial active control magnetic bearing using nonlinear compensator Reviewed

    Keigo NISHIDE, Akira HEYA, Katsuhiro HIRATA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 28 ( 3 ) page: 219 - 224   2020

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    Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Applied Electromagnetics and Mechanics  

    DOI: 10.14243/jsaem.28.219

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  32. A Magnetically Levitated Lead Screw for Complete Non-Contact Power Transmission Reviewed

    Akira Heya, Katsuhiro Hirata

    Proceeding of the 45th Annual Conference of the IEEE Industrial Electronics Society     page: 682 - 685   2019.10

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    Authorship:Lead author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/iecon.2019.8927701

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  33. Experimental Verification of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata

    Proceedings of the 19th International Symposium on Electromagnetic Fields in Mechatronics, Electrical and Electronic Engineering   ( O4-B-5 )   2019.8

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  34. Experimental Verification of a Consequent-Pole Magnetic Lead Screw Reviewed

    Abe Tetsuya, Akira Heya, Yoshihiro Nakata, Katsuhiro Hirata, Hiroshi Ishiguro

    Proceedings of the 22th International Conference on Electrical Machines and Systems   ( 1570547659 )   2019.8

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/icems.2019.8922479

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  35. Edge Effect of Multi-degree-of-freedom Oscillatory Actuator Driven by Vector Control” Reviewed

    Masayuki Kato, Katsuhiro Hirata, Tomoaki Mototsuji, Akira Heya

    Proceedings of the 19th International Symposium on Electromagnetic Fields in Mechatronics, Electrical and Electronic Engineering     2019.8

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  36. Development of Triaxial Active Control Magnetic Bearing with Asymmetric Structure Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Atsushi Nakajima

    Proceedings of the 22th International Conference on Electrical Machines and Systems   ( 1570547661 )   2019.8

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  37. Design and Analysis of a Six-Degree-of-Freedom Oscillatory Actuator Reviewed

    Tomoaki Mototsuji, Akira Heya, Katsuhiro Hirata

    Proceedings of the 22th International Conference on Electrical Machines and Systems   ( 1570547877 )   2019.8

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  38. Design and Analysis of a Three-Degree-of-Freedom Linear Oscillatory Actuator Reviewed

    Akira Heya, Katsuhiro Hirata, Takahiro Matsushita, Yoshinori Kono

    Proceedings of the 22nd International Conference on the Computation of Electromagnetic Fields   ( PD-M4-7 )   2019.7

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  39. A Magnetic Lead Screw with Variable Stiffness Mechanism Reviewed

    Akira Heya, Yoshihiro Nakata, Katsuhiro Hirata, Hiroshi Ishiguro

    Proceedings of the 12th International Symposium on Linear Drives for Industry Applications   ( We2.A )   2019.7

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    Authorship:Lead author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/ldia.2019.8770992

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  40. Analysis of a Consequent-Pole Magnetic Lead Screw Reviewed

    Akira Heya, Yoshihiro Nakata, Masahiko Sakai, Tetsuya Abe, Hiroshi Ishiguro, Katsuhiro Hirata

    Proceeding of the18th Biennial IEEE Conference on Electromagnetic Field Computation   ( WBP3-10 )   2018.10

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  41. Linear Vernier Actuator with Two Movers Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi

    Proceedings of the 24th International Conference on Magnetically Levitated Systems and Linear Drives   - 66   2018.8

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  42. Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator Reviewed

    Akira Heya, Yoshihiro Nakata, Masahiko Sakai, Hiroshi Ishiguro, Katsuhiro Hirata

    Proceedings of the 2018 IEEE International Magnetics Conference   ( EG-10 )   2018.4

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  43. Dynamic Modeling and Control of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi

    Proceedings of the 2018 IEEE International Magnetics Conference   ( EG-10 )   2018.4

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  44. Dynamic Modeling of Three-Degree-of-Freedom Actuator for Image Stabilization Reviewed

    Akira HEYA, Katsuhiro HIRATA, Noboru NIGUCHI, Takamichi YOSHIMOTO, Tomohiro OTA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 26 ( 2 ) page: 280 - 285   2018

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Applied Electromagnetics and Mechanics  

    DOI: 10.14243/jsaem.26.280

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  45. Dynamic Analysis of High-Speed Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Takamichi Yoshimoto, Tomohiro Ota

    IEEE Transactions on Magnetics   Vol. 53 ( 11 ) page: 1 - 4   2017.11

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tmag.2017.2706942

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  46. Dynamic Analysis of a New Three-Degree-of-Freedom Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata, Shota Ezaki, Tomohiro Ota

    IEEE Transactions on Magnetics   Vol. 53 ( 6 ) page: 1 - 4   2017.6

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tmag.2017.2664144

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  47. Characteristics Analysis of High-Speed Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilizations Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Takamichi Yoshimoto, Tomohiro Ota

    Proceedings of the 21st International Conference on the Computation of Electromagnetic Fields   ( PB-M2-7 )   2017.6

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  48. Dynamic Analysis of High-Speed Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata, Niguchi Niguchi, Takamichi Yoshimoto, Tomohiro Ota

    Proceedings of the 2017 IEEE International Magnetics Conference   ( GH-04 )   2017.4

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  49. Proposal of Three-Degree-of-Freedom Actuator for Image Stabilization Reviewed

    Akira HEYA, Katsuhiro HIRATA, Takamichi YOSHIMOTO, Tomohiro OTA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 25 ( 2 ) page: 273 - 278   2017

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Applied Electromagnetics and Mechanics  

    DOI: 10.14243/jsaem.25.273

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  50. Position Feedback Control of Three-Degree-of-Freedom Actuator for Image Stabilization Reviewed

    Akira HEYA, Katsuhiro HIRATA, Takamichi YOSHIMOTO, Tomohiro OTA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 25 ( 2 ) page: 137 - 142   2017

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Applied Electromagnetics and Mechanics  

    DOI: 10.14243/jsaem.25.137

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  51. Dynamic Analysis of a New Three-Degree-of-Freedom Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata, Shota Ezaki, Tomohiro Ota

      ( TP071-6 )   2016.11

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    Authorship:Lead author   Language:English   Publishing type:Research paper (international conference proceedings)  

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  52. Development of Instantaneously Puncture System for CT Fluoroscopy-Guided Interventional Radiology Reviewed

    Akira Heya, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Akio Gofuku

    Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems     page: 2369 - 2374   2016.10

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    Authorship:Lead author   Language:English   Publishing type:Research paper (international conference proceedings)  

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Research Project for Joint Research, Competitive Funding, etc. 8

  1. 超小型3次元力覚提示アクチュエータの研究開発

    2022.10 - 2023.9

    研究助成2022 

    部矢 明

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    Authorship:Principal investigator 

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  2. 空電ハイブリッド多自由度アクチュエータによる高出力柔軟マニピュレータの実現

    Grant number:22K14223  2022.4 - 2025.3

    科学研究費助成事業 若手研究  若手研究

    部矢 明

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    Authorship:Principal investigator 

    Grant amount:\4680000 ( Direct Cost: \3600000 、 Indirect Cost:\1080000 )

    人のいる環境で組立等の作業を行う協働ロボットの駆動機構には,作業遂行のための高出力・高精度な動作と安全な接触のための柔軟性が求められる。しかし,既存の多自由度機構は多数のモータ・減速機を組み合わせて構成されるため,各モータの制御誤差と機械要素の機械的誤差が累積し,精度低下を招くとともに接触剛性が高く柔軟性に欠ける。そこで本研究では,出力密度が高く空気粘弾性による柔軟性を持った空圧力駆動と俊敏かつ高精度な電磁力駆動のハイブリッド化により,高出力・高精度かつ柔軟動作が可能なな新しい多自由度アクチュエータを開発する。そして,提案アクチュエータを組み合わせた高出力柔軟マニピュレータを実現する。

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  3. ロケットエンジン用液体水素ターボポンプのための多自由度渦電流ダンパの開発

    2022.4 - 2024.3

    特別研究助成 

    部矢 明

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    Authorship:Principal investigator 

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  4. 空圧駆動多自由度アクチュエータの開発

    2022.4 - 2023.3

    研究助成 

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    Authorship:Principal investigator  Grant type:Competitive

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  5. 汎用ドライバで駆動可能な3自由度球面アクチュエータの開発

    2022.3 - 2024.2

    研究助成 

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    Authorship:Principal investigator  Grant type:Competitive

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  6. 超小型3次元力覚提示アクチュエータの研究開発

    2021.10 - 2022.9

    研究助成2021 

    部矢 明

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    Authorship:Principal investigator  Grant type:Competitive

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  7. 多自由度アクチュエータを用いた眼球マスタスレーブシステムによる遠隔操作の高度化

    Grant number:21K20404  2021.8 - 2023.3

    科学研究費助成事業 研究活動スタート支援  研究活動スタート支援

    部矢 明

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\3120000 ( Direct Cost: \2400000 、 Indirect Cost:\720000 )

    ロボットの遠隔操作による協働作業において視覚情報は必要不可欠であり,精確かつ緻密な作業を実行するためには,未知環境の遠隔地でも高い空間認識能力が必要となる。しかし,既存のロボットの立体視システムでは互いに固定された2眼カメラを用いるため,空間認識範囲が狭く,奥行き方向の空間分解能を高めることが困難である。そこで,人が2つの眼球を相対運動させることで認識範囲を拡大し,奥行き方向に高い空間分解能を実現していることに着目した。本研究では,1台で2自由度駆動を生成する眼球アクチュエータを用いた2眼駆動機構を開発し,人とロボットの眼球の協調動作を実現するマスタスレーブ系による視覚システムを構築する。

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  8. 人のような空間認識能力を持つ多自由度アクチュエータ駆動二眼カメラシステムの開発

    Grant number:18J20150  2018.4 - 2021.3

    科学研究費助成事業 特別研究員奨励費  特別研究員奨励費

    部矢 明

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\2800000 ( Direct Cost: \2800000 )

    本研究では,人の眼球と同程度のサイズで人のように高い運動性能を持つ二眼ロボット眼球システムの構築を目的としている。従来のロボット眼球はシリアルリンク機構もしくはパラレルリンク機構を用いて多自由度運動を実現している。しかし,複数のモータとリンクを用いて駆動するため,大型化と重量の増加が課題となる。そこで,一台で多自由度駆動可能な多自由度アクチュエータに着目した。
    従来の多自由度アクチュエータはロボット関節への適用を目的として,高トルク密度化を図るために複雑な構造を有し,大型な制御装置が必要であった。本研究では,それらの課題を解決する多自由度アクチュエータを提案し,試作機による実機検証を行ってきた。昨年度においては,開発した試作機から課題を抽出し,更なる小型化が可能な新しい多自由度アクチュエータを提案した。従来の多自由度アクチュエータは1自由度の駆動に対して2個以上のコイルを用いていた。提案アクチュエータでは,1自由度に対して1個のコイルのみで駆動可能とすることで,最小構成で駆動可能な多自由度アクチュエータを実現した。

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