SAGARA Shinichi

写真a

Title

Professor

Laboratory

1-1 Sensui-cho, Tobata-ku, Kitakyushu-shi, Fukuoka

Research Fields, Keywords

Manipulator, Underwater Robot, Space Robot, Digital Control, Control Engineering

E-mail

E-mail address

Phone

+81-93-884-3189

Fax

+81-93-861-1159

Scopus Paper Info  
Total Paper Count: 0  Total Citation Count: 0  h-index: 7

Citation count denotes the number of citations in papers published for a particular year.

Undergraduate Education 【 display / non-display

  • 1987.03   Kyushu Institute of Technology   Faculty of Engineering   Department of Control Engineering   Graduated   JAPAN

Post Graduate Education 【 display / non-display

  • 1989.03  Kyushu Institute of Technology  Graduate School, Division of Engineering  Control Engineering  Master's Course  Completed  JAPAN

Degree 【 display / non-display

  • Kyushu Institute of Technology -  Doctor of Engineering  1993.06

Biography in Kyutech 【 display / non-display

  • 2017.04
    -
    2018.03

    Kyushu Institute of TechnologyGraduate School of Engineering  

  • 2016.05
    -
    Now

    Kyushu Institute of TechnologyFaculty of Engineering   Department of Mechanical and Control Engineering   Professor  

  • 2008.04
    -
    2016.04

    Kyushu Institute of TechnologyFaculty of Engineering   Department of Mechanical and Control Engineering   Associate Professor  

  • 2007.04
    -
    2008.03

    Kyushu Institute of TechnologySchool of Engineering   Department of Mechanical and Control Engineering   Associate Professor  

  • 1995.05
    -
    2007.03

    Kyushu Institute of TechnologySchool of Engineering   Associate Professor (as old post name)  

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Biography before Kyutech 【 display / non-display

  • 1989.04
    -
    1990.10

    National Fisheries University   Research Assistant   JAPAN

Academic Society Memberships 【 display / non-display

  • 1989.02
    -
    Now
     

    The Japan Society of Mechanical Engineers  JAPAN

  • 1988.08
    -
    Now
     

    The Society of Instrument and Control Engineers(SICE)  JAPAN

  • 1992.06
    -
    Now
     

    The Robotics Society of Japan  JAPAN

  • 1998.07
    -
    Now
     

    IEEE  UNITED STATES

Specialized Field (scientific research fund) 【 display / non-display

  • Intelligent mechanics/Mechanical systems

 

Research Career 【 display / non-display

  • Study on Digital Control of Robot Manipulator

    Robot,Manipulator,Digital Control  

    Project Year: 1989.04  -  Now 

  • Study on Dynamics and Control of Underwater Robot Manipulator

    Underwater Robot,Underwater Manipulator,Control  

    Project Year: 1989.04  -  Now 

  • Digital Control of Space Robot Manipulators

    Space Robot, Manipulator, Digital Control  

    Project Year: 1995.04  -  Now 

Publications (Article) 【 display / non-display

  • Comparison of position control methods for UVMS using a dual-arm 3-link underwater robot (jointly worked)

    Yuki Takazaki, Shinichi Sagara, Yuta Hanazawa, Radzi Ambar

    Proceedings of The 26th International Symposium on Artificial Life and Robotics      613 - 618   2021.01  [Refereed]

    Japan  Beppu (Online)  2021.01  -  2021.01

  • Design of Rimless Wheel Walking Robots for 3D Printing (jointly worked)

    Yuta Hanazawa, Shinichi Sagara

    Proceedings of The 26th International Symposium on Artificial Life and Robotics      630 - 633   2021.01  [Refereed]

    Japan  Beppu (Online)  2021.01  -  2021.01

  • Design of an impedance controller for an underwater vehicle-manipulator system with a differently-controlled vehicle (jointly worked)

    Yuichiro Taira, Shinichi Sagara, Masahiro Oya

    Proceedings of The 26th International Symposium on Artificial Life and Robotics      624 - 629   2021.01  [Refereed]

    Japan  Beppu (Online)  2021.01  -  2021.01

  • Force control of a floating underwater robot equipped with 3-link manipulator (jointly worked)

    Taiga Yamasaki, Ryouma Mizoguchi, Yuta Hanazawa, Shinichi Sagara, Yuichiro Taira, Radzi Ambar

    Proceedings of The 26th International Symposium on Artificial Life and Robotics      619 - 623   2021.01  [Refereed]

    Japan  Beppu (Online)  2021.01  -  2021.01

  • Cooperative manipulation of a floating object by two underwater robots with arms

    Sagara S., Takahashi T., Ambar R.

    2021 IEEE/SICE International Symposium on System Integration, SII 2021      250 - 255   2021.01  [Refereed]

    日本  Iwaki (Online)  2021.01  -  2021.01

     View Summary

    In future ocean development, it is considered that many tasks will be achieved by cooperative motions of several underwater robots. However, no research has been studied on the cooperative work of underwater robots. We have proposed a cooperative control method for space robots. In this paper, as the first step of development of cooperative control methods for underwater robots, our proposed resolved acceleration control method for underwater vehicle-manipulator system is applied to cooperative manipulations of a floating object by underwater robots. To validate the control method, computer simulations are done. The simulation results show the effectiveness of the control method.

    DOI Scopus

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Conference Prsentations (Oral, Poster) 【 display / non-display

  • Experiments of position based impedance control of a 3-link underwater robot

    2021.06  -  2021.06 

  • Implementation of the altitude maintenance system for a towed underwater robot

    2021.06  -  2021.06 

  • Experiments of position control for 3-link dual-arm underwater robot

    2021.06  -  2021.06 

  • 浮遊型3リンク水中ロボットの位置制御ベースインピーダンス制御

    ◎溝口 竜馬,相良 慎一,花澤 雄太,平 雄一郎

    第21回計測自動制御学会システムインテグレーション部門講演会  (福岡市(オンライン))  2020.12  -  2020.12  計測自動制御学会システムインテグレーション部門

  • 浮遊型水中ロボットに搭載した3リンクアームのインピーダンス制御

    ◎溝口竜馬, 相良慎一, 花澤雄太, 平雄一郎

    第39回計測自動制御学会九州支部学術講演会  (Web開催)  2020.11  -  2020.11  公益社団法人 計測自動制御学会 九州支部

     View Summary

     地表表面の約 7 割を占める海洋は,さまざまな目的で海洋開発が進められている.しかし,水中は人間にとって極限環境であり,人間が直接作業を行うことは危険である.そこで人間に代わって作業を行う,マニピュレータを搭載した水中ロボット(UVMS; Underwater Vehicle-Manipulator System)に関する研究が行われている.筆者らも位置制御法として UVMS 用分解加速度制御(RAC; Resolved Acceleration Control)法を提案している.
     さて,UVMS の作業には環境との接触も考えられ,マニピュレータ手先の接触力の制御も必要である.そこで,筆者らは UVMS用RAC法を用いた位置制御ベースインピーダンス制御系を提案している.本稿では UVMS用RACの位置制御系のロボットモデルにマニピュレータ手先外力を組み込んだ力制御系を構成し,その有効性をシミュレーションにより示す.

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Honors and Awards 【 display / non-display

  • Best Paper Award, ICT-ROBOT 2018

    2018.09.07     KOREA REPUBLIC OF

    Winner: Yuichiro Taira, Shinichi Sagara, Masahiro Oya

  • AROB (International Symposium on Artificial Life and Robotics) Best Paper Award

    2008.02.02     JAPAN

    Winner: S. Sagara,Y. Taira

Grants-in-Aid for Scientific Research 【 display / non-display

  • Development of force control method for underwater vehicle-manipulator sytem

    Grant-in-Aid for Scientific Research(C)

    Project Year:  2016.04  -  2019.03

    Project Number:  16K06186

  • Experimental study on control of underwater robot considering of manipulator dynamics

    Grant-in-Aid for Scientific Research(C)

    Project Year:  2004.04  -  2007.03

    Project Number:  16560227

 

Activities of Academic societies and Committees 【 display / non-display

  • 2006.08
    -
    Now

    The Japan Society of Mechanical Engineers  

  • 2021.03
    -
    Now

    The Japan Society of Mechanical Engineers  

  • 2021.01
     
     

    2021 IEEE/SICE International Symposium on System Integration   Session Co-Chair: System Integration for Underwater Investigation (Special Session)

  • 2020.10
    -
    2020.12

    The Society of Instrument and Control Engineers(SICE)   Program Committee Member, SICE SI2020

  • 2020.08
    -
    2021.01

    2021 IEEE/SICE International Symposium on System Integration   Associate editor, International Program Committee, 2021 IEEE/SICE International Symposium on System Integration

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