Nobutomo Matsunaga

© 2019 The Institute of Electrical Engineers of Japan. It is well known that inverted pendulums are difficult to control because of its non-minimum phase and non-linear characteristics. Car robot type inverted pendulums are developed and it provid...

© 2018 IEEE. The shape of the input signal to be applied is sometimes converted into trapezoidal wave in order to prevent an overload on the robot in FA field. Generally, physical protection of equipments, safety and improving ride quality are ach...

© 2018 IEEE. Recently, welfare vehicles are widely used among the elderly and the aged. However, it is not easy for inexperienced beginners or aged to control the welfare vehicle in narrow places such as elevators and corridors. In this paper, a d...

© ICROS. The driving model is important for understanding driver’s condition and designing a comfortable automatic driving. It is well known that the PID gain of the model is assumed to be varied depending on driver’s gazing distance. The aim of t...

© 2018 The Society of Instrument and Control Enginners - SICE. Networked control has been studied by many researchers in recent years. In our previous research, we have proposed the new control system structure with high design degree of freedom f...

© 2017 Institute of Control, Robotics and Systems - ICROS. When human co-exists with robots, the secure flexible motion will be required for the robots. The soft-actuator will be a key to make a safe robot. McKibben type pneumatic artificial muscl...

© 2017 Institute of Control, Robotics and Systems - ICROS. Recently, welfare vehicles are widely used among the elderly and the aged. However, it is not easy for inexperienced aged to control the welfare vehicle in narrow places such as elevators ...

© 2017 Institute of Control, Robotics and Systems - ICROS. Recently, electrical welfare vehicles with free casters are widely used by patients and elders indoors. However, welfare vehicles may not be able to move well on gravel or dirty roads as s...

© 2017 SICE. In this paper, we propose a filter structure to satisfy velocity and acceleration limitations for arbitrary input signals. The shape of step signals is sometimes converted into trapezoidal wave in order to satisfy velocity limit in FA...

© 2017 The Society of Instrument and Control Engineers-SICE. Recently, welfare vehicles are widely used among the elderly and the aged. However, it is not easy for inexperienced aged to control the welfare vehicle in narrow places such as elevator...

© 2017 SICE. In this study, we propose a method for designing color quantized images for use with digital micromirror device (DMD-based projectors. It is necessary to quantize full-color images if we want to achieve a high frame rate in DMD-based ...

© 2017 Association for Computing Machinery. The vehicle classification contributes in many important aspects of road management. In this paper, we convey our result of the vehicle classification based on the deep net prediction. We finetuned the ...

© Springer International Publishing AG 2017. Limited illumination outdoor and indoor environment leads to the lack of object’s color information. Faced with this situation, it is not always possible to generate superpixel by using RGB or LaB featu...

© 2016 The Society of Instrument and Control Engineers - SICE. Recently, high-performance temperature control for the thermal process is becoming important with high quality of heat-treated product such as semiconductors. The dynamics of the therm...

© 2016 The Society of Instrument and Control Engineers - SICE. The welfare vehicles, for example electric wheelchairs, will take important roles not only to improve the quality of life of patients but also to reduce the load of care workers. The p...

© 2016 Institute of Control, Robotics and Systems - ICROS. To analyze the driving behavior is important for design a comfortable automatic driving. So far, conventional PID models was widely used to steer the vehicle. It had been assumed that the ...

Continuous Passive Motion (CPM) is a surgical treatment or physiotherapy after surgery or trauma. Most of the CPM devices used for treatment of the elbow joint have one degree of freedom in flex-/extension. For this reason, the patients are limite...

© 2016 Institute of Control, Robotics and Systems - ICROS. Recently, welfare vehicles are widely used by patients and elders indoors, and many welfare vehicles with free casters drive indoors. However, the vehicle with free casters may not be able...

© 2016 This study proposes a design method of unilateral control systems under communication rate constraints. In case that it is required to control under a communication rate constraint, the input signal should be minimized in the meaning of the...

© 2016 The Institute of Electrical Engineers of Japan. Recently, welfare vehicles are widely used by patients and elders. Many welfare vehicles are restricted to drive indoor or on a flat road. The vehicle with free casters can not be driven well ...

Electrical wheelchair has been used as a convenient transport device for elderly and handicapped people. Recently, front drive type electric wheelchair has been focused, with which handicapped person get on it from a bed easily. When the wheelchai...

By using dynamic differential force between wheels, lateral motion of the electric vehicle can be controlled with yaw moment. This framework is known as "Direct Yaw-moment Control (DYC)". In many previous researches, DYC method is apprlied for inc...

In the coexistence circumstance with human and robot, sensory and emotional feelings of human should be considered in case of interaction. A typical unpleasant feeling influenced by this interaction is pain. In order to keep this interaction safe ...

CPM (continuous passive motion) is an orthopedic treatment or a physiotherapy after surgery. After surgery to injury of UCL (ulna collateral ligament) in the elbow, excessive extension of the UCL aggravates the injury, and reaction force at hand o...

Thermal distribution in manufacturing processes, which is observed in both steady and transient states, causes inferior quality. To suppress the thermal distribution, parameter tuning method appropriate to the real plant has been required. For the...

Continuous passive motion (CPM) is an orthopedic treatment or a physiotherapy after surgery. After surgery to injury of ulna collateral ligament (UCL) in the elbow, excessive extension of the UCL aggravates the injury, and reaction force at hand o...

It is important to clarify that how are the stiffness and the torque of human arm controlled in the interaction with the environment. Traditionally, the stiffness of human arm has been measured by adding perturbation. However, it is difficult to m...

In the coexistence circumstance with humans and robots, sensory and emotional feelings of human should be considered in case of interaction. A typical unpleasant feeling that stems from this interaction is pain. We have developed a new multi-layer...

It is well known that plants with dead-time are difficult to be controlled by using traditional control method. For this, controller with dead-time have been proposed for the systems with dead-time, e.g. Internal Model Control (IMC), Smith-method....

In the department of computer science and electrical engineering (CSEE), Kumamoto university, a series of student experiments are prepared for 2nd and 3rd graders. In the technical educations, experiments about the computer science and electrical ...

SBW system eliminates the mechanical connection between the driver and the vehicle's front tire. Instead, actuator is located at the pinion shaft of "rack and pinion" part and receive inputs from the control module to turn the wheels accordingly. ...

It is important to clarify how the stiffness and the torque of human arm are controlled in the interaction with the environment. So far, the stiffness of human arm has been measured by adding perturbation. But, it is difficult to measure the stiff...

CPM(Continuous passive motion) is an orthopedic treatment or a physiotherapy after surgery. After surgery for injury of UCL(ulna collateral ligament) in the elbow, excessive extension of the UCL aggravates the injury, and reaction force at hand of...

As is well known there exists the generative force limit on tires, while changes by road surface friction or load to be added to a tire. If the actuators of vehicle generate driving/braking force exceeding this force limit, the vehicle falls into ...

Electric automobile with in-wheel motors have been proposed in recent year. By using diffrential force between left wheel and right wheel can control the yaw moment of the automobile. This framework is known as "Direct Yaw-moment Control (DYC)". I...

Steer-by-wire (SBW) system, in which the conventional mechanical linkages between the steering wheel and the front wheel are removed, is suited to active steering control, improving vehicle stability, dynamics and maneuverability. With conventiona...

The continuous passive motion (CPM) device we developed for the elbow joint implements pro-supination of the forearm naturally accompanying flexion and extension of the elbow joint. As the method of making the curative effect due to accompanying p...

Continuous passive motion (CPM) is an orthopedic treatment or a physiotherapy and is tried to apply after surgery for the injured radial collateral ligament (RCL) in the elbow joint. After the surgery, the reaction force at hand of the patient inc...

Thermal distribution in manufacturing processes, which is observed in both steady and transient states, causes inferior quality. Thus, uniform temperature control is extremely required in many industrial application fields for quality improvement....

Steer-by-wire system (SBW), in which the conventional mechanical linkages between the steering wheel and the front wheel are removed, is suited to active steering control, improving vehicle stability, dynamics and maneuverability. And SBW is appli...

This paper is concerned with dynamic quantizer for controlling plants with discrete-valued input.l∞ norm of error between outputs with continuous-input and with quantized-input was guaranteed by the quantizer proposed by Azuma et al. ...

Continuous passive motion (CPM) is an orthopedic treatment or physiotherapy method that promotes recovery of impaired joints, which is tried to apply for treatment of the shoulder joint disorders. The shoulder joint has a complex structure, where ...

In the coexistence circumstance with humans and robots, sensory and emotional feeling of human should be considered when the robots interact to human.A typical unpleasant feeling at interaction is“pain”. It is difficult to separate the...

Continuous Passive Motion (CPM) is a surgical treatment or physiotherapy after surgery or trauma. Most of the CPM devices used for treatment of the elbow joint have one degree of freedom in flex-/extension. For this reason, the patients are limite...

In thermal processes, thermal distribution on a heating plate is observed in both steady and transient states. Recently, uniform temperature control is extremely required in many industrial application fields for quality improvement. Conventional ...

CPM (Continuous Passive Motion) is a surgical treatment or physiotherapy after operations for disorders. In the rehabilitation with the CPM device for the upper limb, because the musculoskeletal structure of the upper limb is not clarified, the in...

In the rehabilitation with the CPM device for the upper limb, because the musculoskeletal structure of the upper limb is not clarified, the influences of the upper limb joint in CPM are not analyzed. Especially, the influences by accompanying pron...

In the rehabilitation with the CPM device for the upper limb, because the musculoskeletal structure of the upper limb is not clarified, the influences of the upper limb joint in CPM are not analyzed. Especially, the influences by accompanying pron...

CPM(Continuous Passive Motion) is a surgical treatment or physiotherapy following surgery or trauma. CPM devices have been mainly applied to disorders in the lower limbs. One of the problems of CPM devices for upper limbs is that most of CPM devic...

In the coexistence circumstance with humans and robots, sensory and emotional feeling of human should be considered when the robots interact to human. A typical unpleasant feeling at interaction is "pain". We have proposed an artificial superficia...

Uniform temperature control of heating plate with a wide thermal conduction area is required in many industrial application fields. in this paper, a novel approach for uniform heating based on the physical property of thermal conduction is propose...

In the coexistence circumstance with humans and robots, sensory and emotional feeling of human should be considered when the robots interact to human. A typical unpleasant feeling at interaction is "pain". It is difficult to separate the robots fr...

Uniform temperature control of heating plate with a wide thermal conduction area is required in many industrial application fields. In this paper, a novel approach to uniformity of temperature on heating plate is proposed. The main idea of the pro...

An increasing biped robot development may be viewed in terms of realization of autonomous works in real world, where robot motion with lifting and/or carrying of heavy objects must be designed. Such motion control of biped robot working by himself...

© 2004 IFAC. This paper proposes the decentralization of interconnected descriptor system with disturbance under the light constraints. First, the interconnected descriptor system is stabilized by feedback control low and then the system is decomp...