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• A pilot study of the stability of the ankle joint moment and M-wave evoked by intermittent stimulation

  Yamamoto N., Nitta M., Tagawa Y., Kuno H.

  2014 IEEE 19th International Functional Electrical Stimulation Society Annual Conference, IFESS 2014 - Conference Proceedings      2014年02月  [査読有り]

   概要を見る

  © 2014 IEEE.We examined the stability of the ankle joint moment (AM) and M-wave amplitude evoked by electrical stimulation of the gastrocnemius and soleus muscle. The use of functional electrical stimulation (FES) is associated with some problems, including the fact that the muscle activity evoked by electrical stimulation decreases with muscle fatigue. Also, when electrical stimulation is delivered via surface electrodes, the stimulation reaching the muscle can vary according to the impedance between the electrode and the skin. In this paper, we performed experiments to (1) examine the relation between AM and stimulation intensity and between M-wave amplitude and stimulation intensity; (2) determine the change in this relation over a long duration; and (3) identify a strategy to allow the muscle to recover from fatigue. In the first experiment, M-wave amplitude and AM changed similarly with respect to the stimulation voltage. In the second experiment, the pattern of the M-wave and AM both showed downward. The pattern, however, was not similar at the soleus. In the third experiment, M-wave and AM remained almost constant compared with fatigued response in the second experiment. We showed that it is possible to generate a stable AM using electrical stimulation of the muscle. To ensure the stability of AM, it is necessary to consider the characteristics of the muscle (e.g., the proportion of fast and slow twitch fibers), the stimulation area, and the state of the muscles (e.g., fatigue).

  DOI Scopus

• Self-localization by baseboard recognition for autonomous moving robot

  Ito S., Murakami M., Premachandra H., Nitta M., Kato K.

  Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering    79 ( 7 ) 671 - 676   2013年07月  [査読有り]

   概要を見る

  Path planning is necessary for an autonomous moving robot to achieve an effective indoor moving and this planning is conducted following the map of moving environment. To develop those maps, robot localization is very important. In this study, robot localization area is extended without depending on the natural features of the environment as conventional approaches. Here, the door positions in the environment are used as landmarks and robot position is measured according to them. The door positions and baseboards in a wall align on a straight line, therefore, long distance landmark positions can be detected following baseboards. These baseboards are detected by an on-robot camera and walls are also detected following them. On the other hand, an on-robot LRF measures the distance between walls and robot. In this paper, the measuring distance of LRF is extended by combining the detected baseboards by the camera. With this extension, long distance landmark detection can be conducted, as a result robot localization area could be extended. Experiments were conducted by operating a robot to confirm the door position detection, and then robot localization area extension was confirmed.

  Scopus

• Systematization of flight instruction and control for autonomous helicopter

  Matsuzawa Y., Tozaki Y., Kameda Y., Nitta M., Kato K.

  International Conference on Control, Automation and Systems      168 - 172   2012年12月  [査読有り]

   概要を見る

  A radio-controlled (RC) helicopter can be used in the fields of aerial crop dusting, aerial photography, and many more. However, controlling a RC helicopter needs advanced techniques. Therefore, a flight instruction system that provides guidance on how to fly a RC helicopter is required. Examples that give flight instructions to an autonomous helicopter have been reported, but those had been designed and developed individually. To extend the application of an autonomous helicopter to an indoor environment, such as a factory, the systematization and standardization of flight instructions are required. From this, each flight instruction generative system that has been prepared for individual use can generate common flight instructions. Likewise, an autonomous helicopter can operate based on the common flight instructions designed for various purposes. In this paper, we have defined flight instruction codes based on the Numerical Control (NC) code system that has been used for a machine tool. In addition, we have systematized instruction codes. To verify such a system, an autonomous flight control system has been developed for indoor use and a flight experiment has been performed. As a result, we were able to confirm that the helicopter flew by executing the flight instructions that have been read. © 2012 ICROS.

  Scopus

• Survey of a controller design method based on experimental data and a proposal of data conversion method

  Koyama N., Kubota K., Kitamuki I., Nitta M., Kato K.

  International Conference on Control, Automation and Systems      873 - 877   2012年12月  [査読有り]

   概要を見る

  Several methods have been proposed for designing a controller using experimental data directly without identifying a controlled plant. Among them, optimal controller design methods from one-time experimental data, such as Virtual Reference Feedback Tuning (VRFT), Fictitious Reference Iterative Tuning (FRIT), and Noniterative Correlation-based Tuning (NCbT), are especially expected to reduce the time and cost of designing a controller. VRFT and FRIT make a reference signal from experimental data. In contrast, NCbT is a method that removes noise influence by determining parameters for the controller so as not to have the interrelation of the correlation function between a reference signal and noise. However, VRFT and FRIT cannot deal with data that include noises. Although NCbT can be used to design an optimal controller from experimental data with noise, it is limited to cases where there is no interrelation between a reference signal and noise. In this paper, we show a summary of the conventional method and argue about a problem where there is noise. We also propose a data conversion method using linearity after applying spline fitting instead of using experimental data directly. In addition, we discuss the advantages of the conventional method and the proposed method. © 2012 ICROS.

  Scopus

• Comparison of VRFT, NCbT and VRFT with spline fitting

  Kubota K., Koyama N., Kitamuki I., Nitta M., Kato K.

  International Conference on Control, Automation and Systems      333 - 336   2012年12月  [査読有り]

   概要を見る

  In order to design an optimal controller for a feedback system with an unknown plant, it is a common way to identify the plant by performing plural experiments. On the contrary, certain methods used to design a controller using the data from one-time experiments have been proposed. Such methods include Virtual Reference Feedback Tuning (VRFT) and Noniterative Correlation-based Tuning (NCbT). These methods are expected to reduce the design cost. However, VRFT cannot be used to design an optimal controller from a data with noise and NCbT is limited in that there is no correlation of a reference signal with noise. An actual plant often has higher harmonics of an input signal as noise. Such noises are correlated with a reference signal. Therefore, a controller design must be able to deal with various kinds of noises. This paper proposes a method of applying spline fitting to VRFT. To verify the effectiveness of this technique, we compared the response of the proposed method with that of VRFT and NCbT on a simulator. Then, we designed each controller using VRFT, NCbT, and VRFT+SF, respectively, by providing white Gaussian noise and periodic noise. As a result, this paper shows that the proposed method surpasses the original VRFT and NCbT based on overall experimental results. © 2012 ICROS.

  Scopus

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• 超関数の概念を用いた減衰正弦波の周波数推定とその応用に関する研究

  若手研究(B)

  研究期間:  2010年04月  -  2012年03月

  研究課題番号:  22760303

• システム同定理論を用いた補償入力の生成に関する研究

  若手研究(スタートアップ)

  研究期間:  2007年04月  -  2009年03月

  研究課題番号:  19860067

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• 超関数周波数推定手法による生体信号の超高速推定

  受託研究

  研究期間:  2014年07月  -  2014年11月

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