A5063403718- Robotic Locomotion and Control
- Robot Manipulation and Learning
- Robotic Mechanisms and Dynamics
- Teleoperation and Haptic Systems
- Dynamics and Control of Mechanical Systems
- Soft Robotics and Applications
- Robotic Path Planning Algorithms
- Surgical Simulation and Training
- Augmented Reality Applications
- Prosthetics and Rehabilitation Robotics
- Robotics and Automated Systems
- Robotics and Sensor-Based Localization
- Anatomy and Medical Technology
- Space Satellite Systems and Control
- Semiconductor materials and devices
- Modular Robots and Swarm Intelligence
- Iterative Learning Control Systems
- Advanced Vision and Imaging
- Automotive and Human Injury Biomechanics
- Vibration and Dynamic Analysis
- Educational Robotics and Engineering
- Control and Dynamics of Mobile Robots
- Silicon Carbide Semiconductor Technologies
- Adaptive Control of Nonlinear Systems
- Soil Mechanics and Vehicle Dynamics
Hokkaido University
2016-2025
Hokkaido Information University
2019
Hokkaido University of Science
2016
Carnegie Mellon University
2014
Tohoku University
2005-2014
Hokkaido Sapporo Shinkawa High School
2010
Toshiba (Japan)
2006-2009
Vaughn College of Aeronautics and Technology
2004
Toho University
2004
The University of Tokyo
1996-2002
With its industrial adaptability, epitaxial graphene (EG), formed by a UHV annealing of SiC substrates, is attracting recent attention. While hexagonal bulk substrates have been solely used for this purpose, benefits in use 3C-SiC virtual substrate founded on Si could be enormous. We succeeded fabricating film 3C-SiC(111) substrate, which was preformed Si(110) gas-source molecular beam epitaxy using monomethyl silane. The geometrical matching configuration greatly suppresses the strain film,...
Quad tilt rotor Unmanned Aerial Vehicle (UAV) solves the problem of underacuated system in general quadrotor UAV. The quad UAV can control position and attitude independently by tilting directions propellers. However, flight a wide range attitudes has not been discussed yet, e.g. flying hovering with 90 [°] pitch angle flip over when motor rotates enough. In this paper, we present transition for angles ranging 0 to since condition significantly differs from that conventional flight, then...
The application range of UAVs (unmanned aerial vehicles) is expanding along with performance upgrades. Vertical take-off and landing (VTOL) aircraft has the merits both fixed-wing rotary-wing aircraft. Tail-sitting simplest way for VTOL maneuver since it does not need extra actuators. However, conventional hovering control a tail-sitter UAV robust enough against large disturbance such as blast wind, bird strike, so on. It experimentally observed that quaternion feedback often fails to keep...
Abstract This paper addresses an engineering attempt of utilizing multiple robot arms in the assembly deformable parts. The system developed this research simulates a practically existing process automobile plant where wrapped cables (wire harness) have to be fixed on body car. operation is performed by skilled workers and considered difficult for automation. In paper, synthetic robotized solution proposed process. For first time, it realizes complex object under condition similar actual...
By conducting a 1200°C vacuum annealing of 3C-SiC(111) ultrathin film preformed on Si(110) surface, we have succeeded in forming graphene layer Si substrate. Raman-scattering spectrum from this surface presents distinct 2D band, whose deconvolution into four subcomponents indicates that the mostly consists two-layer graphene. The peak position is blue-shifted free-standing formed by mechanical exfoliation method, suggesting compressive stress film. [DOI: 10.1380/ejssnt.2009.107]
This paper presents development of a quad rotor tail-sitter VTOL UAV (Vertical Takeoff and Landing Unmanned Aerial Vehicle) which is composed four rotors fixed wing. The conventional UAVs have drawback in the accuracy attitude control stationary hovering because they were developed based on fixed-wing aircraft used surfaces, such as aileron, elevator, rudder for control. To overcome drawback, we UAV. realizes high with like helicopter achieves level flight airplane. remarkable characteristic...
Quadrotor unmanned aerial vehicles (UAVs) have been actively used in various fields. However, only the altitude and attitude three degrees of freedom can be independently controlled since quadrotor UAVs are underactuated systems. A quad tilt rotor UAV solves problem an system a general UAV. The control both position by tilting directions propellers. flight wide range attitudes has not discussed yet, for example fly hover with 90 pitch angle, it even flip over when thrust direction is tilted...
Abstract Background Our aim was to characterize the motions of multiple laparoscopic surgical instruments among participants with different levels experience in a series wet-lab training drills, which need perform range procedures including grasping tissue, tissue traction and dissection, applying Hem-o-lok clip, suturing/knotting, digitize level competency. Methods Participants performed dissection around aorta, dividing encountered vessels after (Task 1), renal parenchymal closure 2:...
Our aim was to build a skill assessment system, providing objective feedback trainees based on the motion metrics of laparoscopic surgical instruments.Participants performed tissue dissection around aorta (tissue task) and renal parenchymal closure (parenchymal-suturing task), using swine organs in box trainer under capture (Mocap) system. Two experts assessed recorded movies, according formula global operative skills (GOALS: score range, 5-25), mean scores were utilized as variables...
A hybrid simulation, which is also referred to as a hardware-in-the-loop (HIL) includes hardware experiment within numerical simulation loop. The an effective method test space robotic operations providing virtual microgravity environment on the ground. However, generally suffers from problem of energy increase when two hardwares in loop collide with each other because delay times. This paper presents compensation for problem. dead time model that represents various times system introduced...
Abstract This paper presents the vertical takeoff, landing and transition between level flight hovering of a tail-sitter takeoff (VTOL) aerial robot. The is suitable for micro vehicles because it does not need any extra equipment VTOL maneuver. developed robot equipped with four actuators controlling ailerons, an elevator, rudder propeller. A computer, various sensors battery are mounted on autonomous without support from ground system. strategy constructed so that finishes in shortest time...
The neutron spallation cross sections of 12C and 209Bi have been measured in the quasi-monoenergetic p-7Li fields 20- 150-MeV energy range. irradiation experiments were performed at four cyclotron facilities: (a) Institute for Nuclear Study (INS), University Tokyo; (b) Cyclotron Radioisotope Center, Tohoku University; (c) Takasaki Research Establishment (TIARA), Japan Atomic Energy Institute; (d) Physical Chemical (RIKEN). spectrum has with time-of-flight method using an organic liquid...
In neurosurgery, dissection and retraction are basic techniques for approaching the site of pathology. These carefully performed in order to avoid damage nerve tissues or blood vessels. However, novice surgeons cannot train such using haptic cues existing training systems. This paper proposes a real-time simulation scheme when opening brain fissure, which is procedure creating working space before treating an affected area. this procedure, spatulas commonly used perform blunt tissue...
The purpose of this study was to find a utility newly developed 3D-printed sinus model and evaluate the educational benefit simulation training with models for functional endoscopic surgery (FESS).
In order to verify orbital operations of a dual-arm space robot on the ground, hybrid simulator (hardware in loop simulator) is developed. The includes 14-degrees-of-freedom (14-DOF) and 9-DOF motion table. A has great advantage simulating complicated collision with multiple contacts, because it difficult for numerical simulation get reliable accurate results such phenomena. this paper, system architecture planning three tables are presented. Two experiments performed confirm basic simulate...
A novel encountered-type haptic interface for surgical simulators is proposed. This has a container of MR (Magneto–Rheological) fluid, and an operator puts instrument into the fluid can feel resistance force. The advantage this that move freely when it does not contact with change instruments easily. If mounted mechanically on driven by servomotors, difficult to tools. On other hand, developed device require procedure changing tools increase sense reality. However, cannot display large...
A symmetry position/force hybrid control framework for cooperative object transportation tasks with multiple humanoid robots is proposed in this paper. In a leader-follower type cooperation, follower plan their biped gaits based on the forces generated at hands after leader robot moves. Therefore, if moves fast (rapidly pulls or pushes carried object), some of may lose balance and fall down. The cooperation discussed paper solves problem because it enables all to move synchronously. verified...
In order to meet the demand of a research platform for intelligent robotics, humanoid robot named Saika-3 has been developed. It is self-sustaining biped with dual arms and robotic head. equipped PC (IBM PC/AT clone), batteries, wireless ethernet modem, gyroscope motor drivers inside its body. can be teleoperated via wireless' communication. A graphic dynamic simulator also developed study control strategy. The paper presents an outline hardware simulation result.
Human beings utilize a whole body motion such as weight shift to generate large force while doing heavy works. Momentum is harnessed increase an action the object. This paper discusses cooperative motions of humanoid robot for works and static stability during motion. Pushing wall twisting valve are taken examples in this study. Several patterns examined using dynamic simulator, which efficiently solves equations serial rigid system O(n) algorithm. Static evaluated through simulation results...
This paper deals with the design and dynamic control simulation of a new type 4-DOFs parallel mechanism providing 3 translations 1 rotation for high-speed handling machining. is named as H4. A model-based scheme developed to improve accuracy trajectory tracking. simplified model used H4 robot decrease cost computation. performed using ADAMS/sup TM/. In addition, adept motion benchmark test evaluate effect control. The results show that dramatically improves tracking accuracy.