研究者詳細 - 古賀　雅伸

論文 - 古賀　雅伸

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Can ChatGPT Pass Classical Control Theory Exam? 査読有り

Ogo I., Koga M.

2024 SICE Festival with Annual Conference, SICE FES 2024 1073 - 1078 2024年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

With the advancement of AI technology, generative AI has made remarkable progress in its ability to process multiple languages and adapt to creative tasks. It has also demonstrated its strength in academic fields, such as passing the national medical examinations. In this study, we tested the extent to which ChatGPT (GPT-4) can accurately answer classical control theory questions offered in undergraduate courses. The experimental results showed that GPT-4 showed a correct response rate of under 70% for quiz exercises in classical control theory, and that the correct response rate was lower for problems whose solutions were specific or required step-by-step thinking. In addition, since GPT-4 is a Transformer-based model, and the answers are based on mere prediction, it may give incorrect answers for problems that require complex calculations. In this study, we proposed a method to improve the response accuracy by developing a customized GPT specialized for classical control theory and using prompt engineering. The proposed method was applied to a university undergraduate final exam in undergraduate course, and the results showed that the correct response rate was improved and a passing score (60% or higher) was obtained.

Scopus

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Can ChatGPT Pass Modern Control Theory Exam? 査読有り

Ogo I., Koga M.

International Conference on Control, Automation and Systems 1287 - 1292 2024年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Large language models (LLMs), such as GPT models, have been rapidly studied in recent years and are expected to be applied to academic fields such as mathematics and engineering. In this study, we examined how accurately ChatGPT (GPT-4o) can answer modern control theory questions at the undergraduate-level. A set of 98 questions on modern control theory was used to evaluate GPT-4o's problem-solving ability on modern control theory. The results revealed that the GPT-4o showed a 49.0% correct response rate to the undergraduate-level modern control theory exercises, and that the correct response rate tended to be lower for problems involving calculations, especially those that require step-by-step thinking and complex computation. This may be attributed to the Transformer architecture of the GPT model, which generates answers based on probabilistic predictions. In this study, we proposed a method to improve response accuracy by developing a customized GPT which leverages prompt engineering methods to address these issues. In order to evaluate the proposed method, a question set consisting of 45 graduate school entrance exam questions on modern control theory was developed. The results of the evaluation showed that the correct response rate was improved by 26.6 points, yielding a 64.4% correct response rate.

DOI： 10.23919/ICCAS63016.2024.10773183

Scopus

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AR技術を用いたシミュレータによるメカトロニクス教育支援査読有り

鶴直輝, 古賀雅伸

計測自動制御学会論文集 ( 公益社団法人計測自動制御学会 ) 59 ( 8 ) 372 - 378 2023年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（学術雑誌）

<p>With the increased interest of manufacturing education and creative education, the number of education programs for experiential learning on mechatronics is on the rise. Most programs introduce the experiment and practical training with actual robots into education for the purpose of enhancing educational effects. However, the burden of preparing and maintaining the robot is not small and sharing an actual robot with some students increases the risk of infection from Coronavirus (COVID-19) in recent years. In this research we have developed a new simulator that supports education of mechatronics using AR technology. By using the simulation, the cost of preparing and managing the actual robot can be significantly reduced and the risk of infection disease is also reduced. In addition the AR technology makes it possible for students to make experience as they control the actual robots.</p>

DOI： 10.9746/sicetr.59.372

CiNii Research

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Development of a Web Application to Support Validation of Indoor Robots Using AR 査読有り

Hirose K., Koga M.

International Conference on Control, Automation and Systems 694 - 699 2023年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In this paper we report on the web application which was developed to help users considering the purchase of an indoor robot to verify the effectiveness of the robot in their environment of use. The application uses a robot model in RDTF format that works in a web browser. For the simulation calculations, it use a physical calculation engine compiled with WebAssembly or other tools to run at high speed, so that the robot can run at high speed even in a web browser. Similarly, for animation, it use a library compatible with WebGL, which enables high-speed display on a Web browser. In order to enable users to check the results of the indicated task and confirm the validity of the robot's purchase by checking the 3D animation in the operating environment, the trajectory of the task is generated in conjunction with ROS.

DOI： 10.23919/ICCAS59377.2023.10316875

Scopus

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Collision-Aware AR Telemanipulation Using Depth Mesh 査読有り

Piyavichayanon C., Koga M., Hayashi E., Chumkamon S.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022-July 386 - 392 2022年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Remotely operating a robot in Augmented Reality (AR) is a challenging problem due to the limited information about the environment around the robot. The current AR teleoperation interface lacks the collision checking between the virtual robot model and the environment. This work aims to overcome that problem by using depth mesh generation to reconstruct the environment from a single pair of RGB and Depth images. By presenting the generated mesh with the virtual manipulator model in AR, we introduce three collision-aware features, i.e., collision checking, AR guidance, and ray casting distance calculation, to support the operator in the manipulation task. The reconstruction can be done instantly on the smartphone, allowing the system to be used on mobile AR applications. We evaluate our system with the pick-and-place task. The accuracy of the reconstruction is enough for the user to succeed in the operation. In addition, the collision-aware features reduce the task completion time, lower workload, and enhance the system's usability.

DOI： 10.1109/AIM52237.2022.9863385

Kyutacar

Scopus

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Augmented Reality Display of Robot with Graphs of Property Response Using Its USD Model 査読有り

Tsukamoto K., Koga M.

International Conference on Control, Automation and Systems 2022-November 955 - 959 2022年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This study proposes a method that can easily grasp the relationship between the actual machine and the graphs. In recent years, there has been a lot of research on augmented reality displays. The fields of research range from education to welfare. In the development of control systems, when evaluating the performance of a system by simulation or experiment, the results are often checked as graphs. Since the graphs are checked on a PC using CAD or other means, it is difficult to know which part of the actual machine each graph corresponds to. Therefore, we developed a tool that displays graphs in augmented reality around the actual machine through a camera on a mobile terminal. To display graphs in augmented reality, it is important to obtain the coordinates of the actual machine and display them in a location associated with the device. Therefore, a USD model with the same shape and size as the actual machine is used. This is achieved by displaying the USD model in augmented reality so that it is superimposed on the actual machine. The accuracy of the tool was also examined and its usefulness was evaluated.

DOI： 10.23919/ICCAS55662.2022.10003675

Scopus

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An algorithm to modify consistent initialization of differential-algebraic equations obtained by pantelides algorithm using minimally singular subsets 査読有り国際誌

Keisuke Shimako, Masanobu Koga

SICE Journal of Control, Measurement, and System Integration 14 ( 1 ) 189 - 195 2021年07月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

In this paper, an algorithm for index reduction of differential algebraic equations (DAE) is proposed. Pantelides algorithm has already been proposed as an algorithm for this purpose. This conventional algorithm has succeeded in reducing the calculation time required for index reduction. However, there exist some DAE systems whose index cannot be reduced correctly with the conventional algorithm because it uses sufficient condition to reduce the index. We propose an algorithm to modify the solution obtained by Pantelides algorithm to deal with a wider class of DAE systems. The proposed algorithm deals with DAE systems by using the necessary and sufficient condition to reduce the index systematically that cannot be reduced by the conventional algorithm. We implemented the proposed algorithm as the functions on Maxima and evaluated the algorithm by using some examples.

DOI： 10.1080/18824889.2021.1945367

Scopus

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Validation of Robot Model with Mobile Augmented Reality 査読有り

Piyavichayanon C., Koga M.

2021 6th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2021 1 - 5 2021年07月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Augmented Reality has excellent potential for many robotic applications, including the validation of robot models in working environments. However, a dedicated depth sensor is only available on a high-end mobile device. Hence, the realistic AR experience for robotic applications is not available for a wide range of mobile phones. This paper presents a way to use a robot control algorithm on a virtual robot model in AR without the need for a depth sensor while keeping the depth required feature such as an occlusion. The connection between the AR and the robot operating system allows the exiting control algorithm to be applied to the augmented robot model. The navigation of a mobile robot with the AR interface was used as an example of robot validation in real-world spaces. Despite some communication delays, the virtual robot can be controlled and navigated in the real world with a certain degree of accuracy. It has been shown that visualizing and controlling a robot in an AR scene can be done with this method. Future work on the interaction between the virtual robot and the real environment should be conducted to expand the application of robot validation with AR.

DOI： 10.1109/ACIRS52449.2021.9519362

Scopus

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An Extension of Pantelides Algorithm for Consistent Initialization of Differential-Algebraic Equations Using Minimally Singularity 査読有り

Shimako K., Koga M.

2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020 1676 - 1681 2020年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

DOI： 10.23919/sice48898.2020.9240430

Scopus

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An Extension of glTF for Robot Description 査読有り

Izawa R., Koga M.

International Conference on Control, Automation and Systems 2019-October 1010 - 1014 2019年10月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

© 2019 Institute of Control, Robotics and Systems - ICROS. In this paper, we propose a new 3D file format RDTF, which is compatible with glTF and can be used for robots simulation. Since RDTF is an extension of glTF, RDTF file can be used with tools that support glTF. It is worth mentioning that there are many existing glTF models[3] which can be transformed to RDTF.

DOI： 10.23919/ICCAS47443.2019.8971739

Scopus

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Numerical computation for control system design using smart devices 査読有り国際誌

Hashimoto H., Koga M.

2017 International Automatic Control Conference, CACS 2017 2017-November 1 - 3 2018年02月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

© 2017 IEEE. The purpose of this study was developing useful calculation tool running on smart device and enlarging the width of utility by cooperating with smart watch. On this research, we suggest a function which can receive notification of calculation result on calculation tool by smart watch. We implemented proposal technique on MATX-mnbile running on Android device.

DOI： 10.1109/CACS.2017.8284235

Scopus

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A numerical algorithm for computing quasi-weierstrass form of descriptor systems 査読有り

Mutsuro A., Koga M.

2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 2018-January 3194 - 3199 2018年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

© 2017 IEEE. In this paper a numerical algorithm for computing quasi-Weierstrass form of descriptor systems is presented. A conventional algorithm depends on QZ algorithm that needs iterative computation until convergence. Since the proposed algorithm avoids QZ algorithm, the computational time will not be influenced even with repeated eigenvalues or close eigen-values whereas the conventional one will be. Furthermore, the proposed algorithm is numerically stable. Numerical examples are given to confirm the validity of the proposed algorithm.

DOI： 10.1109/CDC.2017.8264127

Scopus

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An improved algorithm for computing transfer function matrices of descriptor systems 査読有り国際誌

Mutsuro A., Koga M.

International Conference on Control, Automation and Systems 0 634 - 637 2017年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

© 2016 Institute of Control, Robotics and Systems - ICROS.In this paper, we propose a numerically reliable algorithm for computing the transfer function matrix of a descriptor system. Descriptor system has widely been used. The system often arises when modelling a linear system. Linear systems such as inversion are often represented in terms of descriptor systems. Although the representation is useful, it is not appropriate for simulation and experiment. A remedy for the problem is transforming proper descriptor system into state space system by way of transfer function matrix. Numerical algorithm for computing the transfer function matrix of a descriptor system has been reported. The algorithm makes use of QZ decomposition which can be used for computing generalized eigenvalues of a matrix pencil. However, when matrices have the repeated eigenvalues, numerical errors can be generated by using the method. Furthermore, since the theory of the algorithm is based on power method which needs iterative computation, the convergence time would be slower at that time. We propose an algorithm that avoids solving generalized eigenvalue problem. Since our algorithm avoids QZ decomposition, the repeated eigenvalues does not matter. Moreover, the computational time can be estimated.

DOI： 10.1109/ICCAS.2016.7832384

Scopus

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結合線形システムのディスクリプタシステム表現および状態空間表現による数式モデルの導出査読有り

古賀雅伸, 江角貴宏, 矢野健太郎

計測自動制御学会論文集 49 ( 12 ) 1147 - 1153 2013年12月

UMLと補足ドキュメントによる生産実行システムにおけるMDA開発査読有り

水岡研二, 古賀雅伸

日本機会学会論文集(C編) 79 ( 802 ) 2174 - 2189 2013年07月

Validated region pole assignment method based on verified numerical computation 査読有り

Yano K., Koga M.

Proceedings of the SICE Annual Conference 1591 - 1594 2012年11月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper proposed validated control system design method based on verified numerical computation. The proposed method designs and validates a controller using verified numerical computation. By using the proposed methods, it is possible to guarantee numerical quality about design of control system. And, this paper applied a proposed method to region pole assignment method. © 2012 SICE.

Scopus

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オブジェクト指向数値計算VI -- オブジェクト指向数値計算の可能性 --

古賀雅伸, 矢野健太郎

システム制御情報学会誌 ( システム制御情報学会 ) 56 ( 1 ) 42 - 49 2012年01月

Automatic method of finding tolerance for verified LQ control method based on verified numerical computation 査読有り

Yano K., Koga M.

Proceedings of the SICE Annual Conference 1740 - 1743 2011年11月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper proposed validated control system design method based on verified numerical computation. The proposed method designs and validates a controller using verified numerical computation. We also proposed a method to find the smallest tolerance automatically. And, this paper applied a proposed method to LQ control problem. © 2011 SICE.

Scopus

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オブジェクト指向数値計算V-- 制御系のモデリングとシミュレーションツール --

古賀雅伸, 矢野健太郎

システム制御情報学会誌 ( システム制御情報学会 ) 55 ( 11 ) 486 - 493 2011年11月

オブジェクト指向数値計算IV-- 制御系のモデリングとシミュレーション --

古賀雅伸, 矢野健太郎

システム制御情報学会誌 ( システム制御情報学会 ) 55 ( 9 ) 392 - 399 2011年09月

オブジェクト指向数値計算III-- 数値計算のためのプログラミング言語 --

古賀雅伸, 矢野健太郎

システム制御情報学会誌 ( システム制御情報学会 ) 55 ( 7 ) 284 - 291 2011年07月

オブジェクト指向数値計算II-- オブジェクト指向数値計算ライブラリ --

古賀雅伸, 矢野健太郎

システム制御情報学会誌 ( システム制御情報学会 ) 55 ( 5 ) 204 - 211 2011年05月

オブジェクト指向数値計算I-- 数値計算におけるオブジェクト指向技術 --

古賀雅伸,矢野健太郎

システム制御情報学会誌 ( システム制御情報学会 ) 55 ( 3 ) 100 - 107 2011年03月

生産実行システム向けMDA開発におけるタグデータベース利用による再利用の支援

水岡研二, 古賀雅伸

日本生産管理学会論文誌 17 ( 3 ) 41 - 46 2011年03月

生産実行システムのMDA開発におけるリソース再利用の支援-- シミュレーション機能について --

水岡研二, 古賀雅伸

日本生産管理学会論文誌 18 ( 1 ) 107 - 112 2011年01月

MDA development of Manufacturing Execution System based on automatic code generation 査読有り

Mizuoka K., Koga M.

Proceedings of the SICE Annual Conference 3103 - 3106 2010年11月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper proposes a method to automatically generate the code for the software of MES (Manufacturing Execution System) which strongly depends on the interface to the lower-level control system and verifies the validity of the method by comparing the conventional method with the proposed one. © 2010 SCIE.

Scopus

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Validated pole assignment method based on verified numerical computation 査読有り

Yano K., Koga M., Nakashima H.

Proceedings of the SICE Annual Conference 951 - 954 2010年11月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper proposes validated control system design method based on verified numerical computation. The proposed method designs a controller and validates it using verified numerical computation. We also propose a method to find the numerically most design-specification satisfied controller quickly by using multiple-precision arithmetic. And, this paper applies a proposed method to pole assignment problem. © 2010 SICE.

Scopus

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Symbolic Descriptor and State Space Model of Interconnected Linear Systems with Algebraic Loops 査読有り

Masanobu Koga,Satoru Anan

2010 IEEE CACSD 1690 - 1695 2010年09月

多倍長演算を用いた高精度な精度保証付き数値計算に基づく制御系設計

古賀雅伸,矢野健太郎

計測と制御 ( 未設定 ) 49 ( 5 ) 303 - 308 2010年05月

任意精度保証計算のための多倍長演算における仮数部のビット長の適応制御の提案と評価査読有り

中島大雅,古賀雅伸,矢野健太郎

情報処理学会論文誌コンピューティングシステム 3 ( 3 ) 22 - 30 2010年04月

USB-Bootable Learning Support System for Real-Time Control 査読有り

Kentaro Yano,Masanobu Koga,Hitoshi Taniguchi

IFAC ACE2009 (8th IFAC Symposium on Advances in Control Education) 2009年10月

LQ制御問題の精度保証付き数値計算査読有り

矢野健太郎,古賀雅伸

計測自動制御学会論文集 45 ( 5 ) 261 - 267 2009年05月

Numerical and Symbolic State Space Realizations of Linear Systems with Algebraic Loops 査読有り

Masanobu Koga,Satoru Anan,Kentaro Yano

IEEE 2008 CACSD 1 ( 1 ) 132 - 137 2008年09月

LQ Control Problem based on Numerical Computation with Guaranteed Accuracy 査読有り

Kentaro Yano,Masanobu Koga

17th IFAC World Congress 1 ( 1 ) 2156 - 2161 2008年07月

Integrated Environment of Simulation and Real-Time Control Experiment for Control System 査読有り

Kentaro Yano,Masanobu Koga

IEEE International Conference on Mechatronics ICM2007 1 ( 1 ) 1 - 6 2007年05月

Java Simulation Platform for Control System based on Block Diagram 査読有り

Masanobu Koga,Yusuke Tsutsui,Jun Yabuuchi

IEEE 2006 CCA/CACSD 1 ( 1 ) 2304 - 2308 2006年10月

Javaによる高炉統合シミュレータ

大貝晴俊,古賀雅伸,小川雅俊,伊藤雅浩,松崎眞六

計測と制御 ( 未設定 ) 45 ( 1 ) 37 2006年01月

Javaによる高炉統合シミュレータと統合可視化システム査読有り

小川雅敏,大貝張俊,古賀雅伸,伊藤雅浩,松崎眞六,内田健康,田島和典

計測自動制御学会産業論文集 4 ( 13 ) 91 - 97 2005年10月

Integrating Java-Based Simulator for Blast Furnace 査読有り

Masanobu Koga,Masatoshi Ogawa,Harutoshi Ogai,Masahiro Ito

16th World Congress of IFAC 1 ( 1 ) 2005年07月

Development of the Blast Furnace Integrated Java-Based Simulator 査読有り

Masanobu Koga,Harutoshi Ogai,Masatoshi Ogawa,Masahiro Ito,Kenko Uchida,Shinroku Matsuzaki

Proceedings of IEEE 2004 CCA/ISIC/CACSD 1 ( 1 ) 1290 - 1295 2004年09月

Simultaneous Control of Position and Orientation for Ball-Plate Manipulation Problem based on Time-State Control Form 査読有り

Hisashi Date,Mitsuji Sampei Masato Ishikawa,Masanobu Koga

IEEE Transaction on Robitics and Automation 20 ( 3 ) 465 - 479 2004年06月

制御系の開発プロセス全体を支援する制御系CAD -- Javaによる制御系の開発 --

古賀雅伸

システム制御情報学会誌 ( 未設定 ) 48 ( 4 ) 138 2004年04月

2004 IEEE Conference on Control Application/International Symposium on Intelligent Control/Computer-Aided Control Systems Design の報告

古賀雅伸

計測と制御 ( 未設定 ) 44 ( 2 ) 153 2004年02月

制御系CAD

古賀雅伸

日本フルードパワーシステム学会誌 ( 未設定 ) 252 - 256 2003年07月

計算能力を活用した制御系設計

古賀雅伸

明専会報 ( 未設定 ) 5 - 7 2002年11月

行列のジョルダン標準形の数値計算法査読有り

大竹剛,古賀雅伸,三平満司

システム制御情報学会 15 ( 7 ) 320 - 326 2002年07月

初期角運動量を有する劣駆動飛遊系の姿勢制御査読有り

古賀　雅伸

日本ロボット学会誌 19 ( 4 ) 461 - 467 2001年04月

Control of the motion of an acroboto approaching a horizontal bar 査読有り

Masahiro Miyazaki,Mitsuji Sampei,Masanobu Koga

Advanced Robotics 15 ( 4 ) 467 - 480 2001年04月

制御系構築のためのMaTXの展開

古賀雅伸

システム制御情報学会誌 ( 未設定 ) 2000年06月

動的可操作性を考慮した多関節へび型ロボットの自律推進制御査読有り

星義克,三平満司,古賀雅伸

日本ロボット学会誌 18 ( 8 ) 1133 - 1140 2000年04月

Manipulation problem of a ball between two parallel plates based on time-state control form 査読有り

Hisashi Date, Mitsuji Sampei, Daisuke Yamada, Masato Ishikawa, Koga Masanobu

The 38th IEEE Conference on Decision and Control 2120 - 2125 1999年12月

非線形H∞状態フィードバックをもちいた線形システムに対する非線形制御則の一設計法査読有り

古賀　雅伸

計測自動制御学会論文集 35 ( 3 ) 333 - 339 1999年04月

双線形システムに対する非線形H∞状態フィードバック制御則の一設計法査読有り

古賀　雅伸

計測自動制御学会論文集 35 ( 9 ) 1155 - 1161 1999年04月

非線形H∞出力フィードバックをもちいた線形システムに対する非線形制御則の一設計法査読有り

古賀　雅伸

計測自動制御学会論文集 35 ( 6 ) 762 - 771 1999年04月

行列方程式e^x-A=0の一般解を用いた離散時間系から連続時間系への変換査読有り

古賀雅伸,内山温子,三平満司

電気学会論文誌 119-C ( 12 ) 1561 - 1566 1999年04月

Identification of Distillation Process Model using a Transformation from the Discrete-Time Model to Continuous-Time Model 査読有り

古賀　雅伸

14th World Congress of IFAC H 193 - 198 1999年04月

MaTX/RtMaTX : A Freeware for Integrated CACSD 査読有り

古賀　雅伸

1999 IEEE International Symposium on Computer Aided Control System Design 451 - 456 1999年04月

A Design Method of a Nonlinear H-infinity State Feedback Controller for Linear Systems 査読有り

Etsuro Shimizu, Mitsuji Sampei, Masanobu Koga

The 37th IEEE Conference on Decision and Control 3525 - 3526 1998年12月

An Integrated Software Environment for Design and Real-Time Control of Mechatronic Systems 査読有り

Masanobu Koga, Mitsuji Sampei

The 3rd International Conference on Advanced Mechatronics 466 - 471 1998年08月

Nonlinear H-infinity Output Feedback Controller synthesis for bilinear systems using nonlinear weights 査読有り

Etsuro Shimizu, Mitsuji Sampei, Masanobu Koga

The 4th IFAC Nonlinear Control Systems Design Symposium 181 - 184 1998年07月

An Integrated Software Environment for Design and Real-Time Implementation of Control Systems 査読有り

Masanobu Koga,Hiroaki Toriumi,Mitsuji Sampei

Control Engineering Practice 6 ( 10 ) 1287 - 1293 1998年06月

制御系のシミュレーション環境とリアルタイム制御環境の融合査読有り

古賀　雅伸

電気学会論文誌 118 ( 4 ) 551 - 557 1998年04月

転がりを用いた球体の姿勢制御査読有り

水野伸太郎, 三平満司, 古賀雅伸, 石川将人

日本ロボット学会誌 16 ( 1 ) 118 - 123 1998年01月

Observer Based Design of a Nonlinear Hoo Output Feedback Controller for linear Systems with Nonlinear Weights 査読有り

Etsuro Shimizu, Mitsuji Sampei, Masanobu Koga

The 36th IEEE Conference on Decision and Control 2311 - 2316 1997年12月

An Adaptive Control of a Nonholonomic Space Robot 査読有り

Takayuki Nakagawa, Hiromitsu Kiyota, Mitsuji Sampei, Masanobu Koga

The 36th IEEE Conference on Decision and Control 3632 - 3633 1997年12月

Design of a Nonlinear Hoo State Feedback Controller for Bilinear Systems with Nonlinear Weight 査読有り

Etsuro Shimizu, Mitsuji Sampei, Masanobu Koga

The 36th IEEE Conference on Decision and Control 2323 - 2324 1997年12月

An Integrated Software Environment for Design and Real-Time Implementation of Control Systems 査読有り

Masanobu Koga, Hiroaki Toriumi, Mitsuji Sampei

he 11th IFAC Symposium on System Identification 1603 - 1609 1997年07月

Nonlinear Hoo output feedback control for linear systems using nonlinear weight 査読有り

Etsuro Shimizu, Mitsuji Sampei, Masanobu Koga

1997 American Control Conference 1682 - 1686 1997年06月

A Control of a Class of Nonholonomic Systems Subject to Velocity Constraints Using Acceleration Inputs 査読有り

Mitsuji Sampei, Hiromitsu Kiyota, Shintarou Mizuno, Masanobu Koga

1997 American Control Conference 2301 - 2302 1997年06月

A Numerical Computational Approach on Hamilton Jacobi Isaacs Equation in Nonlinear Hoo Control Problems 査読有り

Laosuwan Patpong, Mitsuji Sampei, Masanobu Koga, Etsuro Shimizu

The 35th IEEE Conference on Decision and Control 3774 - 3779 1996年12月

Necessary and Sufficient Conditions for Transformation of Nonholonomic System into Time-State Control Form 査読有り

Mitsuji Sampei, Hiromitsu Kiyota, Masanobu Koga, Masahiro Suzuki

The 35th IEEE Conference on Decision and Control 4745 - 4746 1996年12月

2板間に挟まれて運動する剛球の位置制御査読有り

三平満司, 水野伸太郎, 石川将人, 古賀雅伸

日本ロボット学会誌 14 ( 8 ) 1237 - 1242 1996年08月

Advances In CAD Software In Control Education And Research 査読有り

G.F.Franklin, K.Furuta, M.Koga, G.Honderd, W.Levine

The 13th World Congress of IFAC 247 - 248 1996年06月

On-line tuning of controllers with state observer using a real-time CAD of Control Systems 査読有り

古賀　雅伸

Proceedings of the 11th KACC(Korean Automatic Control Conference) 60 - 63 1996年04月

Real-time CAD of Control Systems Achieving Cooperation of Modeling and Design of Controllers 査読有り

古賀　雅伸

Proceeding of 1996 IEEE International Symposium on Computer-Aided Control System Design 457 - 462 1996年04月

A Compiler of MATLAB to MATX 査読有り

古賀　雅伸

Proceedings of IEEE/IFAC Joint Symposium on Computer-Aided Control System Design 137 - 142 1994年04月

複素システムを用いた離れた領域への極クラスタリング査読有り

古賀　雅伸

計測自動制御学会論文集 29 ( 3 ) 326 - 333 1993年04月

数値処理と数式処理を融合した制御系CAD言語MATX 査読有り

古賀　雅伸

計測自動制御学会論文集 29 ( 10 ) 1191 - 1198 1993年04月

Coordinated Motion Control of Robot Arms Based on the Virtual Internal Model 査読有り

Masanobu Koga, Kazuhiro Kosuge, Katsuhisa Furuta, Kageharu Nosaki

EEE Transaction on Robotics and Automation 8 ( 1 ) 77 - 85 1992年01月

Generalization of a Complex-System by Equivalent Transform in Discrete Sense 査読有り

Masanobu Koga, Katsuhisa Furuta

The 30th IEEE Conference on Decision and Control 2818 - 2819 1991年12月

MaTX: A High-Performance Interactive software package for Scientific and Engineering Compuation 査読有り

Masanobu Koga, Katsuhisa Furuta

The 5th IFAC/IMACS Symposium on Computer Aided Design on Control Systems 39 - 44 1991年07月

仮想内部モデルに基づくロボットアームの協調制御査読有り

小菅一弘, 古賀雅伸, 古田勝久, 野崎景春

計測自動制御学会論文集 27 ( 1 ) 93 - 100 1991年01月

A Complex System Approach to Root Clustering in Separate Regions 査読有り

Masanobu Koga, Katsuhisa Furuta,

The 29th IEEE Conference on Decision and Control 2912 - 2917 1990年12月

Coordinated motion control of robot arm based on virtual internal model 査読有り

Katsuhisa Furuta, Kazuhiro Kosuge, Masanobu Koga, Kageharu Nosaki

1989 IEEE International Conference on Robotics and Automation 1097 - 1102 1989年05月

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