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A Basis Generation for Nonlinear Visual Feedback without Geometric features

Research Project

Project/Area Number 17K06227
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Dynamics/Control
Research InstitutionShinshu University

Principal Investigator

SAKAI Satoru  信州大学, 学術研究院工学系, 准教授 (90400811)

Project Period (FY) 2017-04-01 – 2020-03-31
Project Status Completed (Fiscal Year 2019)
Budget Amount *help
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2019: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2018: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2017: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Keywords視覚 / モデリング / 制御 / 油圧ロボット / 機械力学・制御 / 制御工学 / 知能ロボティックス / 農業工学
Outline of Final Research Achievements

For a visual feedback without geometric features, this study suggests to apply a new basis made by an optimization problem to improve the input-output linearity on matrix space or polynomial space, and so on. The validity is confirmed by the experimental feedback for non-planar sloshing.

Academic Significance and Societal Importance of the Research Achievements

現在もスロッシングは鋳造ライン,タンカー,液体ロケットなどに存在する重要な対象である.最近では原子力発電所の災害・事故の直後に想定される余震によるスロッシングは,設計段階とは異なる未知の境界条件のもと,許容不可能な大きなリスクである.提案法の応用範囲はスロッシングに限定されず他の連続体を含む.特に,設計段階とは異なる未知の境界条件のもと,物理パラメータ同定が不要な連続体形状応答シミュレーションも可能である.

Report

(4 results)
  • 2019 Annual Research Report   Final Research Report ( PDF )
  • 2018 Research-status Report
  • 2017 Research-status Report
  • Research Products

    (25 results)

All 2019 2018 2017 Other

All Int'l Joint Research (2 results) Journal Article (5 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 5 results) Presentation (15 results) (of which Int'l Joint Research: 9 results) Book (1 results) Remarks (1 results) Patent(Industrial Property Rights) (1 results)

  • [Int'l Joint Research] Washington State University(米国)

    • Related Report
      2018 Research-status Report
  • [Int'l Joint Research] University of Twente(オランダ)

    • Related Report
      2018 Research-status Report
  • [Journal Article] Visual Feedback Without Geometric Features Against Occlusion: A Walsh Basis2019

    • Author(s)
      Sakai Satoru, Ando Masayuki, Kobashi Shunsuke
    • Journal Title

      IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY

      Volume: 27 Issue: 2 Pages: 864-871

    • DOI

      10.1109/tcst.2017.2780176

    • NAID

      120007100255

    • Related Report
      2019 Annual Research Report 2018 Research-status Report 2017 Research-status Report
    • Peer Reviewed
  • [Journal Article] Piston Asymmetry vs. Pipeline Asymmetry in Hydraulic Cylinder Dynamics2019

    • Author(s)
      Satoru Sakai
    • Journal Title

      International Journal of Hydromechatronics

      Volume: 2-3 Issue: 3 Pages: 260-270

    • DOI

      10.1504/ijhm.2019.102895

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Direct Teaching Control via Casimir of Force Sensorless Hydraulic Arms2019

    • Author(s)
      Satoru Sakai
    • Journal Title

      Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics

      Volume: - Pages: 211-216

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 油圧アームの非定常流量要素の最適行列同定とオンライン推定への応用2019

    • Author(s)
      那花優将, 永井一輝, 酒井悟
    • Journal Title

      日本フルードパワーシステム学会論文集

      Volume: 印刷中

    • NAID

      130007746096

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Visualization of Hydraulic Cylinder Dynamics by a Structure Preserving Nondimensionalization2018

    • Author(s)
      Sakai Satoru, Stefano Stramigioli
    • Journal Title

      IEEE-ASME TRANSACTIONS ON MECHATRONICS

      Volume: 23 Issue: 5 Pages: 2196-2206

    • DOI

      10.1109/tmech.2018.2854751

    • NAID

      120007100254

    • Related Report
      2018 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Presentation] Toward a Faster MPC of Hydraulic Arms2019

    • Author(s)
      Masaki Obara, Koji Sekiguchi, Satoru Sakai
    • Organizer
      Proceedings of SICE AC
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 幾何的特徴量を用いない視覚制御のためのWalsh基底の一選定2019

    • Author(s)
      杉井敦司, 酒井悟
    • Organizer
      日本機械学会運動と振動の制御シンポジウム講演論文集
    • Related Report
      2019 Annual Research Report
  • [Presentation] 油圧アームの非定常流量要素の最適行列同定の精度向上2019

    • Author(s)
      髙橋康輝, 永井一輝, 酒井悟
    • Organizer
      令和元年度秋季フルードパワーシステム講演会講演論文集
    • Related Report
      2019 Annual Research Report
  • [Presentation] Visual Modeling of Non-Planar Sloshing via a Linearizing Basis2019

    • Author(s)
      Shota Morozumi, Kumho Lee, Satoru Sakai
    • Organizer
      SICE International Symposium on Control Systems
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Modeling of Hydraulic Robots with an Open-Center Dynamics2019

    • Author(s)
      Akihiro Tatsuoka, Satoru Sakai, Qin Zhang
    • Organizer
      SICE International Symposium on Control Systems
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Further Result on the Fast Computation of a Class of Hydro-Mechanical Systems2018

    • Author(s)
      Satoru Sakai
    • Organizer
      IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] On the Fast Computation of Hydraulic Cylinder Optimizations2018

    • Author(s)
      Cheng Hongsheng, Satoru Sakai
    • Organizer
      SICE Annual Conference
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] 油圧アームの非定常流量要素の最適行列同定2018

    • Author(s)
      永井一輝,那花優将,酒井悟
    • Organizer
      フルードパワーシステム講演会講演論文集
    • Related Report
      2018 Research-status Report
  • [Presentation] 水平1自由度油圧アームの力センサレス直接教示2018

    • Author(s)
      西村祐希,酒井悟
    • Organizer
      フルードパワーシステム講演会講演論文集
    • Related Report
      2018 Research-status Report
  • [Presentation] 幾何的特徴量を用いない行列空間上の視覚制御のための斜交基底2017

    • Author(s)
      青木遼平 酒井悟
    • Organizer
      計測自動制御学会中部支部シンポジウム2017講演論文集, pp. 10-12
    • Related Report
      2017 Research-status Report
  • [Presentation] A structure preserving nondimensionalization of hydraulic rotational joints2017

    • Author(s)
      Satoru Sakai
    • Organizer
      IEEE ICRA 2017
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] 鉛直油圧アームの交差検証とオンライン故障検出2017

    • Author(s)
      塩井優, 渥美翔太, 酒井悟
    • Organizer
      平成29年度春季フルードパワーシステム講演会講演論文集, pp.57-59
    • Related Report
      2017 Research-status Report
  • [Presentation] Casimir based gravity compensations for hydraulic arms2017

    • Author(s)
      Yu Shioi, Satoru Sakai
    • Organizer
      SICE Annual Conference 2017
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] An application of the special nondimensionalization for hydraulic cylinders2017

    • Author(s)
      Hongsheng Cheng, Satoru Sakai
    • Organizer
      SICE Annual Conference 2017
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] A Validation of the Practical Non-Bernoulli Modeling for Asymmetric Hydraulic Arms2017

    • Author(s)
      Yusuke Nabana, Satoru Sakai
    • Organizer
      SICE MSCS 2018 (March)
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Book] ロボット制御ハンドブック第25章農業用支援ロボット2017

    • Author(s)
      酒井 悟
    • Total Pages
      1024
    • Publisher
      近代科学社
    • ISBN
      9784764904736
    • Related Report
      2017 Research-status Report
  • [Remarks]

    • URL

      http://soar-rd.shinshu-u.ac.jp/profile/ja.upymghye.html

    • Related Report
      2018 Research-status Report
  • [Patent(Industrial Property Rights)] 制御流量推定用ルックアップテーブルおよび圧力推定方法2018

    • Inventor(s)
      酒井 悟
    • Industrial Property Rights Holder
      酒井 悟
    • Industrial Property Rights Type
      特許
    • Filing Date
      2018
    • Related Report
      2018 Research-status Report

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Published: 2017-04-28   Modified: 2022-01-27  

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