A Basis Generation for Nonlinear Visual Feedback without Geometric features

• Project/Area Number: 17K06227
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Shinshu 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: ¥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．

Research Products

• [Int'l Joint Research] Washington State University(米国)
• [Int'l Joint Research] University of Twente(オランダ)
• [Journal Article] Visual Feedback Without Geometric Features Against Occlusion: A Walsh Basis (2019)
  • 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
  • Peer Reviewed
• [Journal Article] Piston Asymmetry vs. Pipeline Asymmetry in Hydraulic Cylinder Dynamics (2019)
  • Author(s): Satoru Sakai
  • Journal Title: International Journal of Hydromechatronics Volume: 2-3 Issue: 3 Pages: 260-270
  • DOI: 10.1504/ijhm.2019.102895
  • Peer Reviewed
• [Journal Article] A Direct Teaching Control via Casimir of Force Sensorless Hydraulic Arms (2019)
  • Author(s): Satoru Sakai
  • Journal Title: Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics Volume: - Pages: 211-216
  • 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
  • Peer Reviewed
• [Journal Article] Visualization of Hydraulic Cylinder Dynamics by a Structure Preserving Nondimensionalization (2018)
  • 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
  • Peer Reviewed / Int'l Joint Research
• [Presentation] Toward a Faster MPC of Hydraulic Arms (2019)
  • Author(s): Masaki Obara, Koji Sekiguchi, Satoru Sakai
  • Organizer: Proceedings of SICE AC
  • 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
• [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
• [Presentation] Visual Modeling of Non-Planar Sloshing via a Linearizing Basis (2019)
  • Author(s): Shota Morozumi, Kumho Lee, Satoru Sakai
  • Organizer: SICE International Symposium on Control Systems
  • Int'l Joint Research
• [Presentation] Modeling of Hydraulic Robots with an Open-Center Dynamics (2019)
  • Author(s): Akihiro Tatsuoka, Satoru Sakai, Qin Zhang
  • Organizer: SICE International Symposium on Control Systems
  • Int'l Joint Research
• [Presentation] Further Result on the Fast Computation of a Class of Hydro-Mechanical Systems (2018)
  • Author(s): Satoru Sakai
  • Organizer: IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
  • Int'l Joint Research
• [Presentation] On the Fast Computation of Hydraulic Cylinder Optimizations (2018)
  • Author(s): Cheng Hongsheng, Satoru Sakai
  • Organizer: SICE Annual Conference
  • 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
• [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
• [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
• [Presentation] A structure preserving nondimensionalization of hydraulic rotational joints (2017)
  • Author(s): Satoru Sakai
  • Organizer: IEEE ICRA 2017
  • 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
• [Presentation] Casimir based gravity compensations for hydraulic arms (2017)
  • Author(s): Yu Shioi, Satoru Sakai
  • Organizer: SICE Annual Conference 2017
  • Int'l Joint Research
• [Presentation] An application of the special nondimensionalization for hydraulic cylinders (2017)
  • Author(s): Hongsheng Cheng, Satoru Sakai
  • Organizer: SICE Annual Conference 2017
  • Int'l Joint Research
• [Presentation] A Validation of the Practical Non-Bernoulli Modeling for Asymmetric Hydraulic Arms (2017)
  • Author(s): Yusuke Nabana, Satoru Sakai
  • Organizer: SICE MSCS 2018 (March)
  • 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
• [Remarks]
  • URL: http://soar-rd.shinshu-u.ac.jp/profile/ja.upymghye.html
• [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