研究者詳細 - 相良　慎一

論文 - 相良　慎一

分割表示147 件中 41 - 60 件目／全件表示 >>

Improved adaptive lane-keeping control for four-wheel steering vehicles without lateral velocity measurements (共著) 査読有り国際誌

Shu P., Sagara S., Wang Q., Oya M.

International Journal of Robust and Nonlinear Control 27 ( 17 ) 4154 - 4168 2017年11月

記述言語：英語掲載種別：研究論文（学術雑誌）

Copyright © 2017 John Wiley & Sons, Ltd. Previously, we developed an adaptive lane-keeping controller for vehicles without using lateral velocity measurements. However, the construction of the controller is very complex and not suitable for practical applications. To overcome this problem, we propose an improved adaptive lane-keeping controller that is much simpler than the conventional controller. To obtain the improved controller, we propose an improved vehicle dynamic expression. In this dynamic expression, fewer elements are estimated adaptively as containing unknown vehicle parameters compared with the conventional expression. Moreover, a control performance improvement method is described theoretically. Finally, we report numerous simulations that validated the effectiveness of the improved controller. Copyright © 2017 John Wiley & Sons, Ltd.

DOI： 10.1002/rnc.3824

Scopus

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An adaptive observer for a spacecraft–manipulator system using a camera mounted on its spacecraft (共著) 査読有り国際誌

Taira Y., Sagara S., Oya M.

Artificial Life and Robotics 22 ( 2 ) 247 - 258 2017年06月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2016, ISAROB. This paper deals with a motion control system for a space robot with a manipulator. Many motion controllers require the positions of the robot body and the manipulator hand with respect to an inertial coordinate system. In order to measure them, a visual sensor using a camera is frequently used. However, there are two difficulties in measuring them by means of a camera. The first one is that a camera is mounted on the robot body, and hence it is difficult to directly measure the position of the robot body by means of it. The second one is that the sampling period of a vision system with a general-purpose camera is much longer than that of a general servo system. In this paper, we develop an adaptive state observer that overcomes the two difficulties. In order to investigate its performance, we design a motion control system that is constructed by combining the observer with a PD control input, and then conduct numerical simulations for the control system. Simulation results demonstrate the effectiveness of the proposed observer.

DOI： 10.1007/s10015-016-0340-3

Scopus

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Design of a motion and force controller for underwater vehicle-manipulator systems including thruster dynamics (共著) 査読有り

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of The 22nd International Symposium on Artificial Life and Robotics 872 - 877 2017年01月

Gain adjustment of vehicle controller for a semi-autonomous UVMS (共著) 査読有り

Masataka Urabe, Shinichi Sagara, Radzi Bin Ambar

Proceedings of The 22nd International Symposium on Artificial Life and Robotics 866 - 871 2017年01月

Object capturing experiment of a semi-autonomous underwater robot with dual arm (共著)

Kazunori Kakumu, Shinichi Sagara, Radzi Bin Ambar

Proceedings of International Conference on Information and Communication Technology Robotics ThBT1.4 (4 pages) 2016年09月

Symmetric bilateral control of a 3-link arm equipped to underwater robot (共著)

Masataka Urabe, Rinya Yukawa, Shinichi Sagara, Radzi Bin Ambar

Proceedings of International Conference on Information and Communication Technology Robotics ThBT1.5 (4 pages) 2016年09月

Development of an automatic detection method for crown-of-thorns starfish using contour information (共著) 査読有り

Masahiro Suganuma, Shinichi Sagara

Proceedings of The 21st International Symposium on Artificial Life and Robotics 400 - 404 2016年01月

Development of an altitude maintenance system for underwater robots using laser beams (共著) 査読有り

R. Taba, K. Hirayama, F. Takemura, S. Tansuriyavong, K. Kawabata, S. Sagara, K. Ogasawara

Proceedings of The 21st International Symposium on Artificial Life and Robotics 395 - 399 2016年01月

Observer-based tracking control of a spacecraft-manipulator system using a camera mounted on its spacecraft (共著) 査読有り

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of The 21st International Symposium on Artificial Life and Robotics 389 - 394 2016年01月

Development of a master controller for a 3-link dual-arm underwater robot (共著) 査読有り

Radzi Bin Ambar, Shinichi Sagara

Artificial Life and Robotics, Springer 20 ( 4 ) 327 - 335 2015年12月

Robust controller with a fixed compensator for underwater vehicle-manipulator systems including thruster dynamics (共著) 査読有り

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

International Journal of Advanced Mechatronic Systems 6 ( 6 ) 258 - 268 2015年12月

Accuracy Verification of the Image-Based an Underwater Object Position Measurement (共著) 査読有り

Kazuma Noha, Fumiaki Takemura, Kuniaki Kawabata, Satoru Takahashi, Norimitsu Sakagami, Shinichi Sagara

Proceedings of 2015 International Conference on Intelligent Informatics and BioMedical Sciences 457 - 462 2015年11月

A Basic Experiment for Image-Based Position Measurement of Objects at Sea (共著) 査読有り

Fumiaki Takemura, Natsuki Uechi, Kazuma Noha, Norimitsu Sakagami, Kuniaki Kawabata, Satoru Takahashi, Shinichi Sagara, Rintaro Ono, Chiaki Katagiri, Yumiko Nakanishi

Proc. of 41st Annual Conference of the IEEE Industrial Electronics Society (IECON 2015) 1394 - 1399 2015年11月

Development of an acetic acid injection device for crown-of-thorns starfish controlled by a remotely operated underwater robot (共著) 査読有り国際誌

Takemura F., Kobashigawa S., Hirayama K., Kawabata K., Sagara S., Yamashiro H., Kuraya E.

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 27 ( 5 ) 571 - 578 2015年10月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2015, Fuji Technology Press. All rights reserved. We have been studying and developing an underwater robot for coral reef conservation. This paper describes the development of an acetic acid injection device mounted on an underwater robot for use in exterminating crown-of-thorns starfish that damage corals. First, we outlined the ecology and morphology of the crown-of-thorns starfish to identify requirements for the acetic acid injection device. Based on the requirements identified, we designed and prototyped an acetic acid injection device to be installed on an underwater robot. Next, we installed the developed injection device on a remotely operated vehicle and injected acetic acid into crown-of-thorns starfish under water. We describe the effectiveness of this acetic acid injection device for exterminating crown-of-thorns starfish. The experimental results prove that the developed acetic acid injection device can inject acetic acid into crown-of-thorns starfish just as intended, and that an underwater robot installed with such device can be used effectively to aid in the extermination of crown-of-thorns starfish.

DOI： 10.20965/jrm.2015.p0571

Scopus

CiNii Article

CiNii Research

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Coordinated motion control of a 3-link dual-arm underwater vehicle-manipulator system using resolved acceleration control method (共著) 査読有り

Bin Ambar R., Sagara S., Takemura F.

Proceedings of the International Offshore and Polar Engineering Conference 2015-January 598 - 605 2015年06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）

USA Waikoloa 2015年06月21日 - 2015年06月26日

Copyright © 2015 by the International Society of Offshore and Polar Engineers (ISOPE). This paper presents a digital resolved acceleration control method for coordinated motion control of an underwater vehicle equipped with manipulators. Using this method, in spite of large position and attitude errors of the underwater vehicle, good control performances of the end-tips of the manipulators to follow a pre-planned trajectory can be achieved. In this work, theoretical work of the proposed method is described. Then, the effectiveness of the proposed method is demonstrated through experimental work using a 3-link dual-arm underwater robot in actual underwater environment.

Scopus

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Experiment on a dual-arm underwater robot using resolved acceleration control method (共著) 査読有り

Radzi Bin Ambar, Shinichi Sagara, Kenichi Imaike

Artificial Life and Robotics, Springer 20 ( 1 ) 34 - 41 8 pages 2015年02月

Design of an adaptive controller for free-flying spacecraft-manipulator systems including spacecraft actuator dynamics (共著) 査読有り

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of The 20th International Symposium on Artificial Life and Robotics 684 - 689 2015年01月

Development of a master controller for a dual-arm underwater robot (共著) 査読有り

Radzi Bin Ambar, Shinichi Sagara

Proceedings of The 20th International Symposium on Artificial Life and Robotics 678 - 683 2015年01月

A Robust Controller with Integral Action for Underwater Vehicle-Manipulator Systems Including Thruster Dynamics (共著) 査読有り

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of the 2014 International Conference on Advanced Mechatronic Systems 415 - 420 2014年08月

Digital resolved acceleration control of underwater robot with multiple manipulators (共著) 査読有り

Sagara S., Ambar R.

International Conference on Advanced Mechatronic Systems, ICAMechS 232 - 237 2014年08月

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

日本 Kumamoto 2014年08月10日 - 2014年08月12日

© 2014 IEEE. Since Underwater Vehicle-Manipulator Systems (UVMS) are expected to make important roles in ocean exploration, many studies about control of single arm UVMSs have been reported. We have also been proposed digital Resolved Acceleration Control (RAC) methods for a single arm UVMS. In this paper, we propose a discrete time RAC method for multiple arms UVMS. Simulation results show the effectiveness of the proposed control method.

DOI： 10.1109/ICAMechS.2014.6911656

Scopus

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