Updated on 2024/10/23

写真a

 
HASHIMOTO Hideki
 
Organization
Faculty of Science and Engineering Professor
Other responsible organization
Electrical, Electronic, and Communication Engineering Course of Graduate School of Science and Engineering, Master's Program
Electrical Engineering and Information Systems Course of Graduate School of Science and Engineering, Doctoral Program
Contact information
The inquiry by e-mail is 《here
External link

Degree

  • 芸術学士 ( 京都造形芸術大学(現京都芸術大学) )

  • 工学博士 ( 東京大学 )

  • 工学修士 ( 東京大学 )

Education

  • 2017.3
     

    京都造形芸術大学(現京都芸術大学)   芸術学部   芸術学科   completed

  • 1987.3
     

    The University of Tokyo   Graduate School of Engineering   doctor course   completed

  • 1984.3
     

    The University of Tokyo   Graduate School of Engineering   master course   completed

  • 1981.3
     

    The University of Tokyo   Faculty of Engineering   graduated

  • 1976.3
     

    桐朋高等学校   graduated

  • 1974.10
     

    山口県立下関西高等学校   理数科   others

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Research History

  • 2014.3 -  

    ブダペスト工科経済大学客員教授

  • 2010.4 - 2013.3

    名古屋大学客員教授

  • 2010.11 - 2012.3

    首都大学東京客員研究員

  • 2009.11 - 2012.3

    Seoul National University,Distingushed Visiting Scholar

  • 2010.5 - 2011.5

    ブダペスト工科経済大学客員教授

  • 2011.4 -  

    中央大学理工学部教授

  • 2007.4 - 2011.3

    東京大学生産技術研究所准教授

  • 1990.7 - 2007.3

    東京大学生産技術研究所助教授

  • 1987.4 - 1990.7

    東京大学生産技術研究所講師

  • 1986.4 - 1987.3

    日本学術振興会特別研究員

  • 1981.4 - 1981.5

    中国電力

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Professional Memberships

  •   - Now

    IEEE

  •   - Now

    計測自動制御学会

  •   - Now

    電気学会

  •   - Now

    日本感性工学会

  •   - Now

    日本機械学会

  •   - Now

    日本ロボット学会

  • システム制御情報学会

  • 日本e-Learning学会

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Research Interests

  • 知能機械

  • ロボティクス

  • Electrical Engineering

  • Control Engineering

Research Areas

  • Informatics / Intelligent robotics  / Intelligent robotics

  • Informatics / Perceptual information processing  / 知覚情報処理

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering  / Control engineering/System engineering

  • Informatics / Mechanics and mechatronics  / 知能機械学・機械システム

  • Informatics / Robotics and intelligent system  / 知能機械学・機械システム

Papers

  • Silent Speech Recognition Using Facial Surface EMG Reviewed

    Ryosuke Kimoto, Takashi Ohhira, Hideki Hashimoto

    Proceedings of 10th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2024)   2024.3

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  • Non-Contact Blood Pressure Estimation using Wi-Fi Channel State Information Reviewed

    Koya Negishi, Kazuya Tsubota, Takashi Ohhira, Hideki Hashimoto

    Proceedings of 16th IEEE/SICE International Symposium on System Integration (SII2024)   2024.1

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  • Driver Drowsiness Detection Using a Gyroscope Attached to a Seatbelt Reviewed

    Ryota Fujita, Mitsuo Yasushi, Takashi Ohhira, Hideki Hashimoto

    2023.10

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  • Magnetic Absolute Encoder with Magnet of Different Magnetic Flux Densities and AMR Sensors Reviewed

    Yusuke Sakuma, Kohei Takashima, Takashi Ohhira, Hideki Hashimoto

    Proceedings of 16th IEEE/SICE International Symposium on System Integration (SII2024)   2023.10

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  • Tracked-Wheeled Inverted-Pendulum Mobile Robot Control Considering Uneven Terrain Reviewed

    Fumiya Itagaki, Soichiro Nagata, Takashi Ohhira, Hideki Hashimoto

    Proceedings of The 9th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2023)   2023.3

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  • Levenberg-Marquardt method based Precise Angle Estimation for Eccentric Magnetic Absolute Encoders Reviewed

    Akishi Takeyama, Shota Komatsuzaki, Takashi, Hideki Hashimoto

    Proceedings of IEEE International Conference On Mechatronics (ICM2023)   2023.3

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  • Developing power-assisted two-wheeled luggage-carrying robot for stair-lifting using admittance control Reviewed

    Kazu Nagaya, Takashi Ohhira, Hideki Hashimoto

    Proceedings of IEEE International Conference On Mechatronics (ICM2023)   2023.3

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  • Stable Electrocardiogram Measurement Using Capacitive-Coupled Electrodes Reviewed

    Ryoto Fujita, Takashi Ohhira, Hideki Hashimoto

    Proceedings of IEEE International Conference On Mechatronics (ICM2023)   2023.3

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  • A Coil Temperature Estimation for Disk Rotor Type Brushless DC Motors Reviewed

    Momodayu Hattori, Subaru Murakami, Takashi Ohhira, Hideki Hashimoto

    Proceedings of IEEE International Conference On Mechatronics (ICM2023)   2023.3

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  • Finger bending estimation for gesture recognition by wrist shape motion Reviewed

    Daichi Komiyama, Takashi Ohhira, Hideki Hashimoto

    Proceedings of the 9th International Symposium on Affective Science and Engineering (ISASE2023)   2023.3

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  • Classification of silent speech words considering walking using VMD applied facial EMG Reviewed

    Hiroki Ikeda, Takashi Ohhira, Hideki Hashimoto

    Proceedings of the 9th International Symposium on Affective Science and Engineering (ISASE2023)   2023.3

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  • High-Torque Electric Motors with Coil Cooling via Thermal Model and Peltier Element Reviewed

    Subaru Murakami, Momodayu Hattori, Takashi Ohhira and, Hideki Hasimoto

    Proceedings of 2023 IEEE/SICE International Symposium on System Integrations (SII 2023)   295 - 300   2023.1

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  • Heart Rate Variability and Body-Movement Extractions Using Wi-Fi Channel State Information Reviewed

    Kazuya Tsubota, Ohhira Takashi, Hideki Hashimoto

    Proceedings of 2023 IEEE/SICE International Symposium on System Integrations (SII 2023)   473 - 483   2023.1

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  • Near-Infrared iPPG Body Motion Compensation Using Head Euler Angles During Sleep Reviewed

    Keisuke Terai, Takashi Ohhira and, Hideki Hashimoto

    Proceedings of 2023 IEEE/SICE International Symposium on System Integrations (SII 2023)   264 - 269   2023.1

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  • Acoustic analysis of jet atomization for uniform dispersion of nano- and micro-droplets Reviewed

    Hiroshi Matsuura, Hiromitsu Frukawa, Atsushi Kondo, Tamio Tanikawa, Hideki Hashimoto

    Journal of Applied Physics   2022.11

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  • Optimal conditions and generation mechanism of jet atomization for uniform distribution of nano- and micro-droplets Reviewed

    Hiroshi Matsuura, Hiromitsu Furukawa, Yoshinori Watanabe, Shin Murakami, Yuji Ishihara, Tamio Tanikawa, Hideki Hashimoto

    Japanese Journal of Applied Physics   61 ( 8 )   2022.7

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  • Dynamics and transformation control of a wheeled inverted pendulum mobile robot Reviewed

    Tong Lu, Fumiya Itagaki, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)   463 - 468   2022.7

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  • Autoencoder for Driver Drowsiness Detection Using Heart Rate Variability Reviewed

    Takaya Arai, Mitsuo Yasushi, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of IEEJ International Workshop on Sensing, Actuation, MotionControl, and Optimization (SAMCON2022)   163 - 166   2022.3

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  • Cooperative movement of an inverted two-wheeled vehicle with a human using force control with variable viscosity Reviewed

    Kota Ito, Fumiya Itagaki, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of the 8th International Symposium on Affective Science and Engineering (ISASE 2022)   2022.3

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  • IPPG BP Estimation Model Considering Hydrostatic Pressure Reviewed

    Keita Hirano, Keisuke Terai, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of 2022 IEEE 4th Global Conference on Life Sciences and Technologies   361 - 365   2022.3

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  • Improvement in Noncontact Heart Rate Measurement Accuracy via Infrared Camera Considering Body Movement During Sleep Reviewed

    Keisuke Terai, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of IEEJ International Workshop on Sensing, Actuation, MotionControl, and Optimization (SAMCON2022)   167 - 172   2022.3

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  • Proposal of a Method for Non-Contact Electrocardiogragh Measurement System by Sensor Fusion Reviewed

    Ryoto Fujita, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of IEEJ International Workshop on Sensing, Actuation, MotionControl, and Optimization (SAMCON2022)   173 - 178   2022.3

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  • Development of a Device that Suppresses Painful Stimuli Using the Masking Effect of Phantom Sensation Reviewed

    Hiroaki Takebe, Mitsuo Yasushi, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of International Symposium on Affective Science and Engineering 2022   1 - 4   2022.3

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  • Development of Capacitive Coupled Electrocardiograph in the state of wearing Clothes Reviewed

    Naoki Ishiyama, Ryoto Fujita, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of Advanced Motion Control(AMC2022)   2022.2

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  • Biometric Information Acquisition System Using VMD in Wi-Fi Channel Status Information Reviewed

    Kazuya Tsubota, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of IECON2021-47th Annual Conference of the IEEE Industrial Electronics Society   2021.10

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  • A Study on Motor Control Method within Temperature Limit of Coil for Improving Motor Performance Reviewed

    Kenta Iizuka, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of IECON2021-47th Annual Conference of the IEEE Industrial Electronics Society   2021.10

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  • Absolute Angle Calculation for Magnetic Encoder Based On Magnetic Flux Density Difference Reviewed

    Shota Komatsuzaki, Akishi Takeyama, Keita Sado, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of IECON2021-47th Annual Conference of the IEEE Industrial Electronics Society   2021.10

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  • Development of a Magnetic Absolute Encoder Using Eccentric Structure and Long Short-Term Memory Reviewed

    Akishi Takeyama, Shota Komatsuzaki, Keita Sado, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of IECON2021-47th Annual Conference of the IEEE Industrial Electronics Society   2021.10

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  • Number of Magnetic Poles and Sensors in an Absolute Magnetic Encoder Using Eccentric Structures Reviewed

    Keita Sado, Akishi Takeyama, Shota Komatsuzaki, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)   2021.7

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  • Human Cooperation Control of Two-Wheeled Robot for Stairs Riding Up Reviewed

    Hironori Matsubara, Fumiya Itagaki, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)   2021.7

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  • Wakefulness State Estimation Method Using Eye Movement and Deep Learning Reviewed

    Yutaka Tsuzuki, Naoya Ishida, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)   2021.6

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  • Lateral Movement Method of Inverted Two-wheeled Vehicles for Narrow Roads Using Pivot Turn Reviewed

    Kazutaka Murakoshi, Hironori Matsubara, Yuki Nagatsu, Hideki Hashimoto

    IEEJ Journal of Industry Application   10 ( 3 )   184 - 191   2021

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  • Verification of the Usefulness of Eccentric Structure in the Magnetic Encoders Using a Multipole Magnet Reviewed

    Kazuki Otomo, Yusuke Deguchi, Keita Sado, Yuki Nagatsu, Hideki Hashimoto

    IEEJ Journal of Industry Applications   2021

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  • Bilateral Control by Transmitting Force Information with Application to Time-delay Systems and Human Motion Reproduction Reviewed

    Yuki Nagatsu, Hideki Hashimoto

    IEEJ Journal of Industry Applications   10 ( 2 )   165 - 177   2021

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  • Multilateral Haptic Feedback Control by Transmission of Force Information, Reviewed

    Yuki Nagatsu, Hideki Hashimoto

    Proceedings of the 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)   2020.7

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  • A Two-Wheeled Type Vehicle to Carry Luggage in Cooperation with Human Reviewed

    Hironori Matsubara, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)   2020.7

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  • Development of Magnetic Absolute Encoder Using Eccentric Structure : Improvement of Resolution by Multi-Polarization Reviewed

    Keita Sado, Yusuke Deguchi, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)   2020.7

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  • Bilateral Haptic Feedback for Different Working Ranges by Transmission of Force Information Reviewed

    Yuki Nagatsu, Hideki Hashimoto

    Proceedings of the 2020 13th International Conference on Human System Interaction (HSI)   162 - 167   2020.6

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  • Bilateral Control by Transmission of Force Information with Application to Time-delay System and Human Motion Reproduction Reviewed

    Yuki Nagatsu, Hideki Hashimoto

    Proceedings of the 6th IEEJ International Workshop on Sensing,Actuation,Motion Control,and Optimization (SAMCON2020)   2020.3

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  • Lateral Movement Method of the Inverted Two-wheeled Vehicle for Narrow Road Using Pivot Turn Reviewed

    K.Murakoshi, H.Matsubara, Y.Nagatsu, H.Hashimoto

    Proceedings of IEEJ International Workshop on Sensing,Actuation,Motion Control,and Optimization   2020.3

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  • Highly Efficient Driving of DDISA by Switching Using Zero-axis Voltage Reviewed

    Goshi Isshiki, Yuki Nagatsu, Hideki Hashimoto

    Proceedings of IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization   2020.3

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  • Environmental Disturbance Compensation based on High-order Disturbance Estimation in Force Control Reviewed

    Yuki Nagatsu, Hideki Hashimoto, Seiichiro Katsura

    Proceedings of the 2nd International Symposium on Applied Abstraction and Integrated Design AAID2020   2020.3

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  • "Verification of Ultra-High Resolution Magnetic Absolute Encoder Using Eccentric Structure and Neural Network Reviewed

    Yusuke Deguchi, Goshi Isshiki, Keita Sado, Yuki Nagatsu, Shinji Ishii, Hideki Hashimoto

    Proceedings of IEEE/SICE International Symposium on System Integration   2020.1

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  • Friction and noise suppression for force control system based on integration of observer and force sensor information Reviewed

    Yuki Nagatsu, Hideki Hashimoto

    Robomech Journal   7 ( 7 )   1 - 16   2020

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  • Acceleration-based Disturbance Observer for Hybrid Control of Redundant Systems Reviewed

    Yuki Nagatsu, Seiichiro Katsura, Hideki Hashimoto

    IEEE Transactions on Industrial Electronics   2020

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  • 倒立二輪・安定走行モードを有する移動ロボットの柔軟着地制御 Reviewed

    長津 裕己, 松下 幸寛, 松原 央尭, 村越 司昂, 橋本 秀紀

    精密工学会誌   掲載決定   2019.12

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  • Hopping Rover Navigation Method for Rugged Environments Reviewed

    Gabor Kovacs, Yasuharu Kunii, Hideki Hashimoto

    Recent Innovations in Mechatronics   6 ( 1 )   1 - 6   2019.12

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  • Sleepiness Detection System Based on Facial Expressions Reviewed

    Y. Tsuzuki, M. Mizusako, M. Yasushi, H. Hashimoto

    Proceedings of IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society   2019.10

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  • Force Control for Vehicle Robot With Inverted Two-wheeled and Stable Travelling Modes, Reviewed

    Y. Nagatsu, H. Hashimoto

    Proceedings of the IECON 2019-45th Annual Conference of the IEEE Industrial Electronics Society   2019.10

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  • Healing and Awakening Effects by Vibration Based on Subjective Evaluation of Music -Application to Massage Reviewed

    S. Nonomura, M. Yasushi, H. Hashimoto

    IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society   2019.10

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  • Sleepiness Detection System Based on Facial Expressions Reviewed

    Y. Tsuzuki, M. Mizusako, M. Yasushi, H. Hashimoto

    IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society   2019.10

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  • RRI Real-Time Measurement System Using Capacitive Coupled Electrodes - Consideration on Body Movement Reviewed

    N. Ishiyama, M. Mizusako, Y. Nagatsu, H. Hashimoto

    IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society   2019.10

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  • Sleepiness Estimation Method of Driver Considering Stay-awake Effort Reviewed

    M. Mizusako, Y. Tsuzuki, M. Yasushi, H. Hashimoto

    IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society   2019.10

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  • Load-Side Sensor-less Disturbance Estimation Based on Integration of Motor-Side Velocity and Acceleration Information for Flexible Manipulators Reviewed

    Y. Nagatsu, H. Hashimoto

    Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)   2019.7

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  • Arousal level Estimation Using Heart Rate Variation and Eye Movement by Unconstrained Measurement Reviewed

    Suguru Miyamoto Yuki, Nagatsu Mitsuo, Yasushi, Hideki Hashimoto

    Proceedings of IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization   2019.3

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  • Estimation of Drowsiness Using Steering Fluctuation Data Reviewed

    Wataru Hatori, Yuki Nagatsu, Kota Kakisaka

    Proceedings of IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization   2019.3

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  • Verification of Healing Effect of Rabbit-type Pet Robot using Harmonic Vibration Reviewed

    K. Yoshikawa, S. Nonomura, M. Yasushi, Y. Nagatsu, H. Hashimoto

    Proceedings of IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization   1 - 4   2019.3

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  • Development of the DDISA(Direct Drive Intelligent Servo Actuator)ーExperimental Evaluation of Independent Connection Drive Systemー Reviewed

    N.Kita,S.Ishii, Y.Nagatsu, H.Hashimoto

    Proceedings of IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization   2019.3

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  • Development of Magnetic Absolute Encoder using Eccentric Structure with Multipolar Magnet Reviewed

    K.Otomo, Y.Deguchi, Y.Nagatsu, H.Hashimoto

    Proceedings of IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization   2019.3

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  • Switching Control of Personal Vehicle with Two wheels and Three Wheels Modes Reviewed

    Y.Nagatsu, Y.Matsushita, K.Murakoshi, H Hashimoto

    Proceedings of IEEJ International Workshop on Sensing,Actuation,Motion Control,and Optimization (SAMCON2019)   TT10-6   2019.3

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  • Saliency and spatial information-based landmark selection for mobile robot navigation in natural environments Reviewed

    Gábor Kovács, Yasuharu Kunii, Takao Maeda, Hideki Hashimoto

    Advanced Robotics   33 ( 10 )   520 - 535   2019

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  • A particle-assisted plasma-induced reaction for functional three dimensional (3D) printing Reviewed

    Matsuura,H, Tanikawa T, H. Furukawa, Hashimoto H

    Japanese Journal of Applied Physics   58 ( 5 )   050909-1 - 050909-4   2019

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  • Formation of jet atomization using a steel plate vibrated by weakly coupled ultrasonic transducer through water Reviewed

    Matsuura,H. Furukawa, H. Tanikawa T, Hashimoto H

    Japanese Journal of Applied Physics   58 ( 10 )   100906-1 - 100906-5   2019

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  • Efficient atomization method using a rectangular electrode on an ultrasonic transducer Reviewed

    Matsuura,H, Tanikawa T, H. Furukawa, Hashimoto H

    The Journal of the Acoustical Society of America   146 ( 1 )   626 - 639   2019

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  • Performance of five ultrasonic transducers modified for efficient atomization Reviewed

    Matsuura,H. Furukawa, H. Tanikawa T, Hashimoto H

    The Journal of the Acoustical Society of America   146 ( 1 )   626 - 639   2019

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  • 容量結合型電極を用いた非接触心電図計測による車載用眠気予測システムの開発

    水迫幹, 安士光男, 橋本秀紀

    月刊車載テクノロジー   77 - 83   2018.12

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  • 偏心構造を利用した磁気式アブソリュートエンコーダの開発 Reviewed

    山本航大, 大友 一輝, 出口 裕輔, 橋本秀紀

    電気学会論文誌D   2018.12

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  • Investigation of Non-Contact Biometric System Using Capacitive Coupling Electrodes Reviewed

    Motoki Mizusako, Mitsuo Yasushi, Hideki Hashimoto

    The 44th Annual Conference of the IEEE Industrial Electronics Society   2018.10

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  • Evaluation of Magnetic Absolute Encoder Using an Eccentric Structure with Feedback Correction Reviewed

    Yusuke Deguchi, Kodai Yamamoto, Kazuki Otomo, Yuki Nagatsu

    The 44th Annual Conference of the IEEE Industrial Electronics Society   2018.10

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  • Healing Effects by 1/f Fluctuating Vibration - Applications of voice-coil-type vibrator Reviewed

    Shun Nonomura, Mitsuo Yasushi, Hideki Hashimoto

    The 44th Annual Conference of the IEEE Industrial Electronics Society   2018.10

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  • Force Control in Time-delay Systems Based on Equivalent Torsional and Elastic Forces Feedback Reviewed

    Y. Nagatsu, H. Hashimoto

    2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM),   2018.7

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  • Study on Sliding Mode Switching |rn|Pattern Generation Focusing on Neutral Point Voltage Reviewed

    K. Akiho, Y. Nagatsu, H. Hashimoto

    IEEJ International |rn|Workshop on Sensing, Actuation, Motion Control, and Optimization |rn|(SAMCON2018)   2018.3

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  • Drowsiness Estimation using RR Interval Variation for Vehicle Reviewed

    T. Sano, K. Kurosawa, M. Yasushi, H. Hashimoto

    IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2018)   2018.3

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  • Investigation of Healing by Vibration in a Rabbit-type Pet Robot Reviewed

    H. Akedo, K. Yamamoto, M. Yasushi, H. Hashimoto

    IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2018)   2018.3

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  • Drowsiness prediction system for vehicle using capacity |rn|coupled electrode type non-invasive ECG measurement Reviewed

    K. Kurosawa, N. Takezawa, T. Sano, S. Miyamoto, M. Yasushi, H. Hashimoto

    IEEE/SICE |rn|International Symposium on System Integration (SII 2017)   2017.12

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  • Q Controllable Antenna as a Potential Means for Wide-Area Sensing and Communication in Wireless Charging via Coupled Magnetic Resonances Reviewed

    Sousuke Nakamura, Masato Namiki, Yasuhiro Sugimoto, Hideki Hashimoto

    IEEE TRANSACTIONS ON POWER ELECTRONICS   32 ( 1 )   218 - 232   2017.1

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    Recently, wireless charging via coupled magnetic resonances gains attention because it has a potential of efficient mid-range wireless charging. Here, functions such as sensing at the transmitter and wireless communication from the target are the essential elements to realize the standard wireless charging system. Currently, the sensing and communication protocol of hardware (i.e., high-frequency power source and antenna configuration) compatible with wireless charging is gaining attention in terms of cost and space reduction due to the use of common components in multiple functions. However, these protocols have the problem of narrow effective areas. Therefore, this paper presents a method for wide-area sensing and communication with slight modification of the configuration. The basic concept is to expand the effective area related to antenna Q factor by using the Q controllable antenna acting as though the Q factor increased. The underlying theory was described with electric circuit theory. The experimental results showed that the Q factor can be increased until the resonance collapses, and the increase of Q factor has the potential to widen the effective area of sensing and communication.

    DOI: 10.1109/TPEL.2016.2535259

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  • VR技術を用いた身体位置感覚の較正によるパッティングトレーニングシステムに関する研究 Reviewed

    佐野 高也, 依田 淳也, 中村 壮亮, 橋本 秀紀

    日本機械学会論文集   Vol.83 ( No.848 )   16 - 00293   2017

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  • 磁界共振結合方式の無線充電システムにおけるセンシング機能の広域化手法の提案 Reviewed

    並木政人, 中村壮亮, 橋本秀紀

    電気学会論文誌D   136 ( 7 )   485 - 493   2016.3

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  • Signal Processing Method for Car-mounted Vital Signs Monitor System Reviewed

    TetsNAKAMURA, Sousuke NAKAMURA, Masahide TERADA, Hideki HASHIMOTO

    計測自動制御学会論文集   第52巻 ( 第4号 )   228 - 233   2016.3

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  • Prototype System for Energy Management of Mobile Device via Wireless Charging Robot Reviewed

    Sousuke Nakamura, Taito Suzuki, Yoshinori Kakinuma, Seiya Saruwatari, Koudai Yamamoto, Kazuhiro Arai, Keita Akiho, Hideki Hashimoto

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   727 - 732   2016

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    Until now, energy management of the mobile device has been researched in two approaches; energy saving and energy charging. In terms of energy charging, energy harvesting and wireless charging technologies have been proposed to free the users from annoying task of connecting the wires for charging. However, these technologies could not satisfy all of the criteria; location-free, connection-free, reliable and human-safe. In response, the authors are proposing a new energy management method for mobile device based on the Wireless Charging Robot (i.e., mobile robot which mounts magnetic coupled resonances based wireless charging function). It operates in the combination of two charging tasks; charging the mobile device from robots (i.e., mobile device charging task), and charging the robot from charging stations connected to power system (i.e., self charging task). In this manner, robots mediate the energy delivery from the power system to the mobile devices, and consequently, the system satisfies all of the criteria. This paper introduces the design method of the system which can handle mobile device charging task. The effectiveness has been verified through experiment on energy management of three LEDs. We succeeded to keep the LEDs lit for 10 minutes while it normally goes off in 4 minutes without charging.

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  • Prototype Design of Energy Management System for Mobile Device via Wireless Charging Robot Reviewed

    S. Nakamura, Y. Kakinuma, K. Akiho, H. Hashimoto

    41th Annual Conference on IEEE Industrial Electronics Society (IECON 2015)   2015.11

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  • AR肢体を用いた身体①感覚更新が運動軌道に与える影響の評価 Reviewed

    依田淳也, 中村壮亮, 昆野友樹, 望月典樹, 橋本秀紀

    日本機械学会学会誌   2015.8

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  • Error Characteristics of Passive Position Sensing via Coupled Magnetic Resonances Assuming Simultaneous Realization With Wireless Charging Reviewed

    Sousuke Nakamura, Hideki Hashimoto

    IEEE SENSORS JOURNAL   15 ( 7 )   3675 - 3686   2015.7

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    Recently, wireless charging via coupled magnetic resonances has gained attention because it offers the possibility of efficient midrange wireless charging. However, recent studies have shown that the use of a position sensor is helpful in realizing efficient power transmission. In response, we have proposed a passive position sensing method that shares a common structure with a wireless charging system, enabling cost reduction, and space reduction because of integration of multiple functions into a single system and batteryless and cost-effective transponders because of passive sensing. The sensing method is useful for efficient wireless charging or even long-range navigation for mobile robots such as automated guided vehicles. However, the error characteristics of the sensor have not been previously studied. Therefore, the error characteristics of the position sensing were derived through error analysis in this paper. Moreover, the first actual experiment of 3-D position estimation was conducted to demonstrate the appropriateness of the position sensing method and to analyze the error characteristics.

    DOI: 10.1109/JSEN.2015.2397971

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  • Leading a Person Using Ethologically Inspired Autonomous Robot Behavior Reviewed

    Soh Takahashi, Gacsi Marta, Peter Korondi, Hideki Hashimoto, Mihoko Niitsuma

    ACM/IEEE International Conference on Human-Robot Interaction   02-05-   87 - 88   2015.3

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    This study considered a leading behavior of a robot. To lead a person when the person's attention is initially elsewhere, the robot's behavior needs to be designed so that it seeks the person's attention and seamlessly brings him or her to the target location. Therefore we implement a leading behavior for a robot inspired the dog's action sequence. We evaluate the robot behavior through an experiment.

    DOI: 10.1145/2701973.2701985

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  • The Concept, Configuration and Operation Procedure of the Energy Management System for Mobile Devices via Wireless Charging Robot Reviewed

    Sousuke Nakamura, Taito Suzuki, Shun Hashimoto, Hideki Hashimoto

    2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   1772 - 1777   2015

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    In recent years, energy management of the mobile device is researched in two approaches; energy saving and energy charging. In terms of energy charging, though the wireless charging and the energy harvesting technologies have been proposed, these technologies could not satisfy all of the criteria; location-free, connection-free, reliable and human-safe. In response, the authors are proposing a new energy management method for mobile device based on the Wireless Charging Robot (i.e., mobile robot with wireless charging function via magnetic coupled resonances). It operates in the combination of two charging tasks; charging the mobile device from robots (i.e., mobile device charging task), and charging the robot from charging stations connected to power system (i.e., self charging task). In this manner, robots mediate the energy delivery from the power system to the mobile devices, and consequently, the system satisfies all of these criteria. This paper introduces the concept, configuration, operation procedure and developmental results of some functions.

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  • 重心移動履歴に基づくパーソナルビークル搭乗者の感覚推定に関する実現可能性の検討 Reviewed

    鰺坂 志門, 中村 壮亮, 久保田 孝, 橋本 秀紀

    日本感性工学会論文誌   13 ( 5 )   621 - 627   2014.12

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  • Research on Updating of Body Schema using AR Limb and Measurement of the Updated Value Reviewed

    S. Nakamura, N. Mochizuki, T. Konno, J. Yoda, H. Hashimoto

    IEEE Systems Journal   2014.12

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  • A New Design and Development of Portable Personal Vehicle Reviewed

    S. Ajisaka, S. Nakamura, T. Kubota, H. Hashimoto

    Journal of Asian Electric Vehicles   12 ( 2 )   1693 - 1698   2014.12

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  • Reduction of phase shifting for range expansion in magnetic resonance coupling-based distance sensor with adjustable sensing range Reviewed

    S. Nakamura, M. Namiki, H. Hashimoto

    IEEE/SICE International Symposium on System Integration (SII 2014)   2014.12

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  • Micro/nanorobotic manufacturing of thin-film NEMS force sensor Reviewed

    Gilgueng Hwang, Hideki Hashimoto

    Smart Materials-Based Actuators at the Micro/Nano-Scale: Characterization, Control, and Applications   9781461466840   229 - 249   2014.7

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    This chapter presents the fabrication and characterization of piezoresistive force sensors based on helical nanobelts. The three-dimensional helical nanobelts are self-formed from 27-nm-thick n-type InGaAs/GaAs bilayers using rolled-up techniques and assembled onto electrodes on a micropipette using nanorobotic manipulation. Patterned gold electrodes were fabricated using thermal evaporation or fountain-pen-based gold nanoink deposition. Nanomanipulation inside a scanning electron microscope was conducted to locate small metal pads of helical nanobelts to be connected to the fabricated pipette-type electrodes. Gold nanoink was deposited under optical micrograph using the fountain-pen method. Nanomanipulation inside a scanning electron microscope using a calibrated atomic force microscope cantilever was conducted to calibrate the assembled force sensors, and the values were compared with finite-element-method simulation results. With their strong piezoresistive response, low stiffness, large-displacement capability, and good fatigue resistance, these force sensors are well suited to function as sensing elements for high-resolution and large-range electromechanical sensors.

    DOI: 10.1007/978-1-4614-6684-0_11

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  • An Approach to Path Planning and Real-Time Redundancy Control for Human-Robot Collaboration Reviewed

    Audun Ronning Sanderud, Trygve Thomessen, Hideki Hashimoto, Hisashi Osumi, Mihoko Niitsuma

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   1018 - 1023   2014

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    This paper presents a control system for redundant robot manipulators that handles the path planning and redundancy control in two separate loops. The goal is to simplify industrial programming of redundant robots, by decomosing it to a familiar path planning loop, and an autonomous redundant control loop. The familiar path planning is done using an industrial robots native control system, which is already known to the operator. An external feedback loop acts as a secondary task control loop so that the redundancy in the robot is used automatically. The secondary task control is expanded from the null space projection method to a method where a parallel space to task space is modeled in joint space. The system was implemented and experimentally verified on a NACHI MR20 7-axes industrial robot with AX20 Controller. The secondary task in the experiments was an obstacle avoidance task that was tested in unknown dynamic and static environments.

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  • Basic development of magnetic resonance coupling-based distance sensor with adjustable sensing range using active quality factor control Reviewed

    Sousuke Nakamura, Masato Namiki, Hideki Hashimoto

    IECON 2014 - 40TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   2327 - 2332   2014

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    Recently, various types of mobile robots have clearly gained attention and some are readily available. In response to this, the authors have been studying on realizing both wireless charging and self-localization as an integrated compact system using magnetic resonance coupling. However, due to the fact that sensing range depends on the fixed quality factor of antenna, the narrow sensing range of the current system was a problem in the practical use. Therefore, the authors are considering a new method which enables the control of the sensing range by active quality factor control. However, the introduced theory and simulation results were preliminary so far. In response to this, this paper introduces an advanced sensing algorithm for overall sensor system with the experimental results of the prototype setup. As a result, it was proved that the quality factor could be controlled with the proposed method.

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  • Physiological estimation of body balance for Affinitive Personal Vehicle Reviewed

    Shimon Ajisaka, Sosuke Nakamura, Takashi Kubota, Hideki Hashimoto

    IEEE International Symposium on Industrial Electronics   1030 - 1035   2014

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    Recently, personal vehicles have received a lot of attention to expand our mobility for low carbon society and diversification of individual mobility. So far several small vehicles have been developed. However a new thesis of designing and controlling personal vehicles is required, because there are some difference between general vehicle-used environment and personal vehicle-used environment like mixed traffic. In such new kinds of environment, vehicles should have close relationship with drivers. To have closer relationship, personal vehicles must be smaller and lighter. In addition, designing personal vehicle's motion by considering driver's psychological evaluation, we can provide more comfortable vehicle's interface. The author defined these kinds of personal vehicle as Affinitive Personal Vehicle and focused on driver's sense of balance to estimate driver's psychological evaluation. In this paper, author shows that change of vehicle's motion effects on driver's sense of balance, and there is relation between driver's sense of balance and Kaisei evaluation. © 2014 IEEE.

    DOI: 10.1109/ISIE.2014.6864754

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  • Preliminary development of an Energy Logistics as a new wireless power transmission method Reviewed

    S. Nakamura, H. Hashimoto

    IECON 2013-39th Annual Conference of the IEEE Industrial Electronics Society   2013.11

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  • A representation of occlusion between real objects and virtual information in Intelligent Room-for AR Reviewed

    M. Arai, S. Nakamura

    IECON 2013-39th Annual Conference of the IEEE Industrial Electronics Society   2013.11

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  • 磁界共振結合による中継アンテナを用いた位置センサの提案と実験的検討 Reviewed

    中村壮亮, 胡間遼, 鰺坂志門, 久保田孝, 橋本秀紀

    計測自動制御学会論文集   Vol.49 ( No.6 )   646 - 654   2013.6

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  • Simultaneous localization assistance for mobile robot navigation in real, populated environments Reviewed

    Peshala G. Jayasekara, Hideki Hashimoto, Takashi Kubota

    Advances in Intelligent Systems and Computing   208   493 - 504   2013

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    Developing autonomous mobile robots that can coexist with human in populated environments is still considered a big challenge. To address this problem the authors propose a novel scheme to assist mobile robots by providing localization information externally. This scheme combines the autonomous navigation and target tracking research fields to arrive at a structured assistance system for autonomous mobile robots. In the proposed scheme, the environment is sensed using a laser range finder and camera based sensor unit. Using Rao-Blackwellized particle filter technique, the robots that need assistance are continuously tracked. In contrast with conventional laser range finder based tracking systems, the placement of sensor is changed to a level above average human height and the mobile robots are modified by attaching a cylindrical pole. The experiments show the validity of the proposed scheme for simultaneous localization assistance for multiple mobile robots. Two mobile robots were simultaneously navigated in given trajectories using assistance data, successfully. © 2013 Springer-Verlag.

    DOI: 10.1007/978-3-642-37374-9_48

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  • Basic study of magnetic resonance coupling-based distance sensor with adjustable sensing range using active quality factor control Reviewed

    Sousuke Nakamura, Hideki Hashimoto

    2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   688 - 693   2013

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    Recently, various types of mobile robots have clearly gained attention and some are readily available. In response to this, the authors have been studying on the system which provides both power and self-position : the essential quantities for the mobile robot, by single non-restraint device. The proposed system realized the wireless power transmission and position sensing simultaneously using magnetic resonance coupling. However, due to the fact that sensing range depends on the fixed quality factor of antenna, the narrow sensing range of the current system was a problem in the practical use. Therefore, the authors are considering a new approach which enables the control of the sensing range by active quality factor control. In this paper, the system configuration, basic theories and circuit analysis results of the active quality factor control approach are introduced.

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  • An accurate and efficient pile driver positioning system using laser range finder Reviewed

    Xiangqi Huang, Takeshi Sasaki, Hideki Hashimoto, Fumihiro Inoue, Bo Zheng, Takeshi Masuda, Katsushi Ikeuchi

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   7854   158 - 167   2013

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    Real-time positioning a pile for accurate pile driving is desirable for modern construction foundation work, but it suffers from the deficiency of the traditional systems because surveying instruments are manually used to mark the pile positions in which the accuracy heavily depends on the worker's experience. The paper confronts this problem by proposing a highly efficient positioning system using a Laser Range Finder (LRF). Over the traditional systems ours is superior to automatically detect the position of the pile or pile driver in real time with high accuracy. To this end, we first develop LRF based surveying system to scan the construction site in real time and gather the 2D laser point data. Then we detect target object such as pile or pile driver by fast fitting a circle-like geometric model to the data based on Maximum Likelihood Estimation (MLE) inference. The performance of the algorithm is validated by both synthesized and real data set. The results demonstrate the potentials on feasibility of our method in future construction field. © 2013 Springer-Verlag.

    DOI: 10.1007/978-3-642-40303-3_17

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  • An accurate and efficient pile driver positioning system using laser range finder Reviewed

    Xiangqi Huang, Takeshi Sasaki, Hideki Hashimoto, Fumihiro Inoue, Bo Zheng, Takeshi Masuda, Katsushi Ikeuchi

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   7854   158 - 167   2013

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    Real-time positioning a pile for accurate pile driving is desirable for modern construction foundation work, but it suffers from the deficiency of the traditional systems because surveying instruments are manually used to mark the pile positions in which the accuracy heavily depends on the worker's experience. The paper confronts this problem by proposing a highly efficient positioning system using a Laser Range Finder (LRF). Over the traditional systems ours is superior to automatically detect the position of the pile or pile driver in real time with high accuracy. To this end, we first develop LRF based surveying system to scan the construction site in real time and gather the 2D laser point data. Then we detect target object such as pile or pile driver by fast fitting a circle-like geometric model to the data based on Maximum Likelihood Estimation (MLE) inference. The performance of the algorithm is validated by both synthesized and real data set. The results demonstrate the potentials on feasibility of our method in future construction field. © 2013 Springer-Verlag.

    DOI: 10.1007/978-3-642-40303-3_17

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  • External Force Assisted Nanorobotic Assembly of Helical Nanobelts" Microelectronic Engineering Reviewed

    Gilgueng Hwang, Hideki Hashimoto

    Microelectronic Engineering   ( 108 )   16 - 23   2013

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  • Multimodal human-robot interface with gesture-based virtual collaboration Reviewed

    Young Eun Song, Mihoko Niitsuma, Takashi Kubota, Hideki Hashimoto, Hyoung Il Son

    Advances in Intelligent Systems and Computing   208   91 - 104   2013

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    This paper proposes an intuitive teleoperation scheme by using human gesture in conjunction with multimodal human-robot interface. Further, in order to deal with the complication of dynamic daily environment, the authors apply haptic point cloud rendering and the virtual collaboration to the system. all these functions are achieved by a portable hardware that is proposed by authors newly, which is called "the mobile iSpace". First, a surrounding environment of a teleoperated robot is captured and reconstructed as the 3D point cloud using a depth camera. Virtual world is then generated from the 3D point cloud, which a virtual teleoperated robot model is placed in. Operators use their own whole-body gesture to teleoperate the humanoid robot. The Gesture is captured in real time using the depth camera that was placed on operator side. The operator recieves both the visual and the vibrotactile feedback at the same time by using a head mounted display and a vibrotactile glove. All these system components, the human operator, the teleoperated robot and the feedback devices, are connected with the Internet-based virtual collaboration system for a flexible accessibility. This paper showcases the effectiveness of the proposed scheme with experiment that were done to show how the operators can access the remotely placed robot in anytime and place. © 2013 Springer-Verlag.

    DOI: 10.1007/978-3-642-37374-9_10

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  • Hybrid force-assisted 3-D assembly of helical nanobelts Reviewed

    Gilgueng Hwang, Hideki Hashimoto

    Microelectronic Engineering   108   16 - 23   2013

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    Freestanding flexible thin-film nanostructures are promising candidates for many potential applications, such as in the fields of electromechanical sensing, optical detection, tweezer, controlled release, and drug delivery. In this paper three-dimensional (3-D) suspended helical nanobelts (HNBs) with ultra-high flexibility are assembled by the external field guidance. Electromagnetic (EM) and electrostatic (ES) force by external potential are characterized quantitatively to guide the assembly of HNBs to create tweezer and sensing probe. Both ends of HNBs and target electrodes are attached with ferromagnetic metal connector. By the help of this hybrid assembly approach, we could successfully realize tweezer function and create sensing probe by parallel aligning and closing HNBs and soldering to interconnect HNBs onto electrodes. Adhesive force between HNBs and electrodes are characterized to show its assembly performance can be improved quantitatively. The demonstrated approach shows that the hybrid force assisted assembly is an effective and non-clean room way for assisting serial 3-D robotic assembly of ultra-flexible nanostructures, interconnection soldering which may potentially reduce the production cost and time for future manufacturing realization.© 2013 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.mee.2013.03.047

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  • Human balance control ability for affinitive personal vehicle Reviewed

    Shimon Ajisaka, Takashi Kubota, Hideki Hashimoto

    2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013   503 - 508   2013

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    Recently personal vehicles have received a lot of attention to expand our mobility for low carbon society and diversification of individual mobility. So far several small vehicles have been developed. However a new thesis of designing and controlling personal vehicles is required, because there are some difference between general vehicle-used environment and personal vehicle-used environment like mixed traffic. In such new kinds of environment, vehicles should have close relationship with drivers. To have closer relationship, personal vehicles must be smaller and lighter. In addition, psychological and biological status should be considered to control vehicles, but there is few method to measure and estimate such status. The authors define such personal vehicles as Affinitive Personal Vehicle and try to estimate balance control ability of driver. In this study, the authors focus on vehicle's posture and body sway of a driver to observe driver's status and get some knowledge on balance control ability. © 2013 IEEE.

    DOI: 10.1109/URAI.2013.6677323

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  • Simultaneous Localization Assistance for Mobile Robot Navigation in Real, Populated Environments Reviewed

    Peshala Jayasekara, Takeshi Sasaki, H. Hashimoto, Takashi Kubota

    SICE Journal of Control, Measurement and System Integration   Vol.5 ( No.6 )   349 - 358   2012.11

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  • 中継アンテナを用いた磁界共振結合距離センサの誤差解析 Reviewed

    胡間 遼, 中村 壮亮, 久保田 孝, 橋本 秀紀

    電気学会論文誌D   Vol.132 ( No.11 )   1033 - 1038   2012.11

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  • Proposal of sleep-promoting robot using vibratory pressure and sound stimulation Reviewed

    Sousuke Nakamura, Takuma Nakano, Moriki Mochizuki, Hitomi Araki, Hideki Hashimoto

    IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society   2012.10

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  • 磁界共振結合を用いた位置センサの提案と実験的検討 Reviewed

    中村 壮亮, 胡間 遼, 久保田 孝, 橋本 秀紀

    計測自動制御学会論文集   Vol.48 ( No.9 )   545 - 552   2012.9

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  • Exploratory behavior in ethologically inspired robot behavioral model Reviewed

    R. Numakunai, T. Ichikawa, M. Gacsi, P. Korondi, M. Niitsuma, Hideki Hashimoto

    IEEE RO-MAN2012   2012.9

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  • Circle Fitting Based Pile Positioning and Machine Pose Estimation from Range Data for Pile Driver Navigation Reviewed

    Takeshi Sasaki, Hiroshi Kawahara, Fumihiro Inoue, Hideki Hashimoto

    10th IFAC World Congress on Robot Control (Syroco '12)   2012.9

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  • Effect of Impedance-Shaping on Perception of Soft Tissues in Macro-Micro Teleoperation Reviewed

    Hyoung Il Son, Tapomayukh Bhattacharjee, Hideki Hashimoto

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   59 ( 8 )   3273 - 3285   2012.8

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    This paper aims at analyzing the effect of widely known impedance-shaping (IS) control method on the perception of soft tissues in telemicrosurgical applications. The generalized teleoperation control architecture has been modified to include the IS term. New performance index has been defined based on the two proposed indices for the detection and the discrimination of the soft environments to analyze the effect of this modified control on the kinesthetic perception of soft tissues. The effect is then theoretically analyzed on the conventional position-position, force-position, and four-channel control architectures based on the newly defined index. The effectiveness of this newly proposed kinesthetic perception index is also verified using psychophysics experiments. The theoretical analysis of the effects of the IS method on the perception of soft tissues is then validated using the proposed index by experiments with phantom soft tissues for conventional teleoperation architectures.

    DOI: 10.1109/TIE.2011.2148672

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  • Editorial: Special Issue on Cognitive Infocommunications Reviewed

    Péter Baranyi, Hideki Hashimoto, Gyula Sallai

    Journal of Advanced Computational Intelligence and Intelligent Informatics   16 ( 2 )   2012.3

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  • 磁界共振結合を用いた距離センサの提案とその誤差評価 Reviewed

    中村 壮亮, 胡間 遼, 久保田 孝, 橋本 秀紀

    電気学会論文誌D   Vol.132 ( No.3 )   437 - 444   2012.3

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  • Basic verification of body sway characteristics for personal vehicle drivers Reviewed

    Shimon Ajisaka, Sosuke Nakamura, Takashi Kubota, Hideki Hashimoto

    3rd IEEE International Conference on Cognitive Infocommunications, CogInfoCom 2012 - Proceedings   611 - 614   2012

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    Today, because of spread of large-scale indoor environment (e.g. shopping male, university and airport), personal vehicle to expand our mobility is needed. In this research, we especially focused on psychological status of driver and body sway to estimate driver's psychological status using body sway of drivers. In this paper, we investigate relationship between trans-velocity of vehicle and body sway. And its result shows that there is non-liner characteristics between transit velocity and RMS area of body sway. Using this characteristics, there is possibility to establish personal vehicle control system including driver's state anxiety. © 2012 IEEE.

    DOI: 10.1109/CogInfoCom.2012.6422052

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  • Design of Social Behavior of Physical Agent in Intelligent Space Reviewed

    Mihoko Niitsuma, Takuya Ichikawa, Ryuichi Numakunia, Akira Onodera, Peter Korondi, Hideki Hashimoto

    38TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2012)   5523 - 5528   2012

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    This paper presents the social behavior of a physical agent in intelligent space. Intelligent Space (iSpace) is a space in which many intelligent devices, called distributed intelligent network devices (DINDs) and including not only sensors but also actuators, are installed. Robotic devices, which provide services to users, are considered as physical agents in iSpace. For facilitating long-term communication between users and a robot, we focus on building a social relationship between a user and a robot. Toward this end, a methodology for designing social behaviors of the robot is required. Therefore, we have used an ethologically inspired approach to construct a robot behavioral model for an is pace-based elderly monitoring support system. In this paper, the robot behavioral model is presented and implementation of robot behaviors is discussed.

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  • Multimodal Multi-user Human-Robot Interface for Virtual Collaboration Reviewed

    Young Eun Song, Mihoko Niitsuma, Takashi Kubota, Hideki Hashimoto, Hyoung Il Son

    2012 9TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAL)   18 - 22   2012

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    We present a intuitive teleoperation scheme by using human gesture and multimodal multi-user human-robot interface. Further, in order to deal with the dynamic daily environment, we apply haptic point cloud rendering and virtual collaboration and all these functions are achieved by portable hardwares which is called "mobile iSpace". First, a surrounding environment of a teleoperated robot is captured and reconstructed as the 3D point cloud using a depth camera. Virtual world is then generated from the 3D point cloud, and a virtual teleoperated robot model is placed in there. An user uses their own whole body gesture to teleoperate the humanoid type robot. The gesture is captured by the depth camera placed in user-side in real time. And the user has the visual and vibrotactile feedback at the same time by using a head mounted display and a vibrotactile glove. All these system components e. g. the human user, the teleoperated robot and the feedback devices are connected with the Internet-based virtual collaboration system to support a flexible accessibility. So eventually, this makes possible that users can access the remote placed robot whenever and wherever they want.

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  • Mobile Multimodal Human-Robot Interface for Virtual Collaboration Reviewed

    Young Eun Song, Mihoko Niitsuma, Takashi Kubota, Hideki Hashimoto, Hyoung Il Son

    3RD IEEE INTERNATIONAL CONFERENCE ON COGNITIVE INFOCOMMUNICATIONS (COGINFOCOM 2012)   627 - 631   2012

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    This paper proposes an intuitive teleoperation scheme by using human gesture in conjunction with multimodal human-robot interface. Further, in order to deal with the complication of dynamic daily environment, the authors apply haptic point cloud rendering and the virtual collaboration to the system. all these functions are achieved by a portable hardware that is proposed by authors newly, which is called "the mobile iSpace". First, a surrounding environment of a teleoperated robot is captured and reconstructed as the 3D point cloud using a depth camera. Virtual world is then generated from the 3D point cloud, which a virtual teleoperated robot model is placed in. Operators use their own whole-body gesture to teleoperate the humanoid robot. The Gesture is captured in real time using the depth camera that was placed on operator side. The operator recieves both the visual and the vibrotactile feedback at the same time by using a head mounted display and a vibrotactile glove. All these system components, the human operator, the teleoperated robot and the feedback devices, are connected with the Internet-based virtual collaboration system for a flexible accessibility. This paper showcases the effectiveness of the proposed scheme with experiment that were done to show how the operators the remotely placed robot in anytime and place.

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  • Robust facial expression recognition using near infrared cameras Reviewed

    Laszlo A. Jeni, Hideki Hashimoto, Takashi Kubota

    Journal of Advanced Computational Intelligence and Intelligent Informatics   16 ( 2 )   341 - 348   2012

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    In human-human communication we use verbal, vocal and non-verbal signals to communicate with others. Facial expressions are a form of non-verbal communication, recognizing them helps to improve the human-machine interaction. This paper proposes a system for pose-and illumination-invariant recognition of facial expressions using near-infrared camera images and precise 3D shape registration. Precise 3D shape information of the human face can be computed by means of Constrained Local Models (CLM), which fits a dense model to an unseen image in an iterative manner. We used a multi-class SVM to classify the acquired 3D shape into different emotion categories. Results surpassed human performance and show poseinvariant performance. Varying lighting conditions can influence the fitting process and reduce the recognition precision. We built a near-infrared and visible light camera array to test the method with different illuminations. Results shows that the near-infrared camera configuration is suitable for robust and reliable facial expression recognition with changing lighting conditions.

    DOI: 10.20965/jaciii.2012.p0341

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  • Spatial memory for augmented personal working environments Reviewed

    Young Eun Song, Peter Kovacs, Mihoko Niitsuma, Hideki Hashimoto

    Journal of Advanced Computational Intelligence and Intelligent Informatics   16 ( 2 )   349 - 357   2012

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    Augmented Personal Working Environments (APWEs) are 3D environments in which the physical surroundings of the user are overlaid with representations of a virtual reality. With the rapid technological evolution of personal informatics devices as well as a growing demand for more comfortable and efficient working environments, the partial virtualization of resources used in our everyday work settings is expected to gradually become inevitable. Irrespective of whether someone is working in an office environment or in industrial settings, this trend in virtualization is expected to lead to more collaborative working environments in which the available resources and the interfaces for dealing with those resources can be both physical and virtual in nature. SpatialMemory, which is a memory system embedded in 3-dimensional physical reality, may without doubt be a central subsystem of future APWEs. In this paper, our goal is to contribute to the development of a theoretical background for Spatial Memory from a cognitive infocommunications perspective, and to outline the future research directions of Spatial Memory in APWEs based on some key applications.

    DOI: 10.20965/jaciii.2012.p0349

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  • Error analysis of proposed magnetic-resonance-coupling-based distance sensor using relay antenna Reviewed

    Ryo Koma, Sousuke Nakamura, Takashi Kubota, Hideki Hashimoto

    IEEJ Transactions on Industry Applications   132 ( 11 )   3 - 1038   2012

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    In this paper, the theoretical error evaluation of a coupling coefficient is discussed to establish the design method for a novel magnetic-resonance- coupling-based distance sensor using a relay antenna. In the proposed system, the target position is estimated by measuring the coupling coefficient between the transmitter part and the target antenna. The contributions of this paper are as follows. First, a new configuration of a novel magnetic-resonance-coupling- based distance sensor using a relay antenna is proposed. Second, the error rate of the estimated coupling coefficient is formulated on the basis of the equivalent circuit model. Finally, the theoretical formula of the error rate of the estimated coupling coefficient is validated through experiments. © 2012 The Institute of Electrical Engineers of Japan.

    DOI: 10.1541/ieejias.132

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  • Proposal and error evaluation of distance sensor based on magnetic resonance coupling Reviewed

    Sousuke Nakamura, Ryo Koma, Takashi Kubota, Hideki Hashimoto

    IEEJ Transactions on Industry Applications   132 ( 3 )   437 - 444   2012

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    The contributions of this study are the proposal of a distance sensor based on magnetic resonance coupling with a novel configuration and error evaluation of the proposed sensor. Since the measuring device and their batteries are connected to the target side in conventional distance sensors based on magnetic resonance coupling, the batteries need to be changed during long-term operation. Therefore, in this paper, a distance sensor that integrates the measuring device into the transmitter side is proposed
    in this sensor, external attachments or batteries on the target side are not required. In addition, the distance error in the proposed sensor is evaluated by theory and experiment. In these evaluations, the effect of the Q factor on the relation between the distance error and the distance is the main consideration. Apparently, high-Q-factor antennas can reduce the distance error for long distances but increase the error for short distances. The obtained result can be used as a guideline for designing distance sensors. © 2012 The Institute of Electrical Engineers of Japan.

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  • Ethologically inspired human-robot communication for monitoring support system in intelligent space Reviewed

    Takuya Ichikawa, Wataru Beppu, Szilveszter Kovács, Peter Korondi, Hideki Hashimoto, Mihoko Niitsuma

    IFAC Proceedings Volumes (IFAC-PapersOnline)   45 ( 22 )   58 - 63   2012

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    This paper presents human-robot communication for a monitoring support system in an Intelligent Space. An Intelligent Space (iSpace) is a space in which many intelligent devices are installed to observe the user's environment. In this paper, we apply the iSpace observation function to a monitoring system used for maintaining the safety of elderly persons receiving home-care support. In addition, we use a mobile robot as a tool to deliver monitoring results to care assistants. We focus on an ethological approach for designing robot behaviors for human-robot communication. The implementation of these robot behaviors based on an ethological approach, and the results of an experiment conducted to evaluate these behaviors, are then presented. © 2012 IFAC.

    DOI: 10.3182/20120905-3-HR-2030.00136

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  • Enhancement in Operator's Perception of Soft Tissues and Its Experimental Validation for Scaled Teleoperation Systems Reviewed

    Hyoung Il Son, Tapomayukh Bhattacharjee, Hideki Hashimoto

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   16 ( 6 )   1096 - 1109   2011.12

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    This paper focuses on scaled teleoperation systems interacting with soft tissues and presents an optimal control scheme to maximize the operator's kinesthetic perception of remote soft environments while maintaining the stability in macro-micro interactions. Two performance metrics are defined to quantify the kinesthetic perception of the surgeons and the position tracking ability of themaster-slave system. Kinesthetic perception is defined based on psychophysics by using two metrics, which relate to the detection and discrimination of stimulus. This paper then employs a multiconstrained optimization approach to get an optimal solution in the presence of the stability-performance tradeoff wherein the objective is to enhance the kinesthetic perception while maintaining the tracking and robust stability for interactions between macro and microworlds. Simplified stability constraints for scaled teleoperation systems are designed based on Llewellyn's absolute stability criterion for the optimization procedure, which provides easy and effective design guidelines for selecting control gains. Experiments with phantom soft tissues have been conducted using scaled force-position control architecture, scaled position-position control architecture, and scaled four-channel control architecture to verify the proposed control scheme. Results prove the effectiveness of this algorithm in enhancing the kinesthetic perception of surgeons for scaled teleoperation systems. Psychophysical experiments were then performed to compare our approach with similar contemporary research methods that further validated its efficacy.

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  • 移動ロボットに遊歩道を自律走行させるつくばチャレンジー公開草稿実験の考え方と2010年度の結果

    油田信一, 水川 真, 橋本秀紀, 田代泰典, 大久保剛史

    システム制御情報学会   55 ( 7 )   278 - 283   2011.7

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  • Monitoring System Based on Ethologically Inspired Human-Robot Communication in Intelligent Space Reviewed

    M. Niitsuma, Wataru Beppu, Peter Korondi, Szilveszter Kovács, Hideki Hashimoto

    Proceedings of 2011 8th Asian Control Conference (ASCC)   700 - 705   2011.5

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  • ロボティクスの自動車への展開は?

    橋本 秀紀, 佐々木 毅

    ロボット   ( 199 )   11 - 16   2011.3

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  • Object Tracking for Calibration of Distributed Sensors in Intelligent Space Reviewed

    Takeshi Sasaki, Hideki Hashimoto

    INTECH   ( 12 )   229 - 244   2011.2

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  • An open experiment of mobile robot autonomous navigation at the pedestrian streets in the city - Tsukuba Challenge Reviewed

    Shin'ichi Yuta, Makoto Mizukawa, Hideki Hashimoto, Hirofumi Tashiro, Tsuyoshi Okubo

    2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011   904 - 909   2011

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    We have been organizing the "Tsukuba Challenge, " every year since 2007 in Tsukuba, Japan. The "Tsukuba Challenge" is a Real World Robot Challenge which aims at intelligent robot technology for realizing a practical autonomous robot that works in the real environment of daily life. As the objective task of the Tsukuba Challenge, the robots were required to make their way, safely and autonomously, over 1 km down a pedestrian street and through a park in Tsukuba. In 2010, more than 60 autonomous mobile robots participated in this challenge, and seven robots completed the autonomous navigation of the designated course at the center area in Tsukuba City. © 2011 IEEE.

    DOI: 10.1109/ICMA.2011.5985710

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  • Implementation of Robot Behaviors Based on Ethological Approach for Monitoring Support System in Intelligent Space Reviewed

    Mihoko Niitsuma, Wataru Beppu, Takuya Ichikawa, Szilveszter Kovacs, Peter Korondi, Hideki Hashimoto

    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   536 - 541   2011

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    This paper presents a monitoring support system in Intelligent Space. Intelligent Space (iSpace) is a space in which many intelligent devices, called distributed intelligent network devices (DINDs), are placed to observe the environment. Communicating with individual DINDs enable iSpace to apprehend and understand events in this space and to activate intelligent agents such as mobile robots, computer devices, and digital equipment to provide information and services to users based on observed information. Using the iSpace observation function, we can obtain multiple humans' positions and postures at the same time, even if the humans are in different places in iSpace. Therefore, in this paper we use the iSpace to monitor daily environments with the purpose of home care support. Also, we apply a mobile robot as a tool to deliver monitoring results to users. For designing human-robot communication to achieve continuous and intuitive communication between a user and a mobile robot, we present an ethologically inspired human-robot communication model involving an experiment and implementation of robot behaviors.

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  • An Approach for Extraction of Human Walking Path in Intelligent Space Reviewed

    Hiromu Kobayashi, Hideki Hashimoto, Andmihoko Niitsuma

    4TH INTERNATIONAL CONFERENCE ON HUMAN SYSTEM INTERACTION (HSI 2011)   281 - 286   2011

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    This paper presents an approach to extract human walking paths independently from the orientation of the paths in a global coordinate system. Previously, observing human walking, connectivity between the spaces (areas) has been obtained. In this paper, we regard human walking paths as a feature to represent patterns of activities. Observing and describing human activities can be considered as useful information for intelligent environments to enable the environments to provide suitable support to the users corresponding to their actual situations. In this paper, we present an approach to extract human walking paths independently from the orientation of the paths in a global coordinate system. More specifically, we propose a similarity measurement based on AMSS (Angular Metrics for Shape Similarity), then classify human walking paths using a hierarchical clustering method. Experimental results show that the proposed approach achieves rotation invariant extraction of human walking paths.

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  • In situ Characterizations of Thin-film Nanostructures with Large-range Direct Force Sensing Reviewed

    Gilgueng Hwang, Juan Camilo Acosta, Hideki Hashimoto, Stephane Regnier

    Signal Measurement and Estimation Techniques: Micro and Nanotechnology, Springer   6   2011

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  • Efficient Wireless Power Transmission based on Position Sensing using Magnetic Resonance Coupling Reviewed

    S. Nakamura, R. Koma, H. Hashimoto

    SICE Journal of Control, Measurement and System Integration   2011

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  • 磁界共振結合を用いた距離センサの提案とその誤差評価 Reviewed

    中村壮亮, 胡間遼, 久保田孝, 橋本秀紀

    電気学会論文誌D   2011

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  • Design of Interaction for Simply Operating Smart Electric Wheelchair in Intelligent Space Reviewed

    Mihoko Niitsuma, Terumichi Ochi, Masahiro Yamaguchi, Hideki Hashimoto

    4TH INTERNATIONAL CONFERENCE ON HUMAN SYSTEM INTERACTION (HSI 2011)   70 - 75   2011

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    This paper presents interaction between a user and a smart electric wheelchair. We propose a personal mobility tool (PMT) which integrates autonomous mobile robot navigation technology with intuitive and cognitive interaction between a user and a smart wheelchair. An intuitive and noncontinuous input method to enable a user to specify a direction in which he/she wants to go is proposed. Using an acceleration sensor and a pressure sensor, a user gives direction to the PMT. Then, the PMT determines a goal position in an environmental map based on the direction. Also, to help a user interpret robot behaviors, an output interface to realize informative communication between a user and the PMT is described. In this paper, we present an improved vibrotactile interface to provide environmental information from a smart wheelchair to the user. We conducted experiments to evaluate users' performance using the output vibrotactile interface. In the experiments, users tried to detect distance and angle toward obstacles based on vibration stimuli. Through the experiments, we could confirm that the improved vibrotactile interface could improve users' performance well.

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  • Basic Analysis of the Circuit Model Using Relay Antenna in Magnetic Resonance Coupling Position Sensing System Reviewed

    Ryo Koma, Sousuke Nakamura, Shimon Ajisaka, Hideki Hashimoto

    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   25 - 30   2011

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    In this paper, a novel position sensing method using relay antenna in "magnetic resonance coupling position sensing system" is proposed. Basic system is based on a novel position sensing of the target using arrayed power transmitters. In such case, the positional accuracy is significant factors to determine the capability of the system. Using "relay sensing method" it is expected that the position accuracy and a degree of freedom will be improved. The contributions of this paper are follows. Details of the basic part of the proposed method are introduced with the equivalent circuit model and the equations which form the foundation of this novel system. Experimental and simulation results are shown to validate the proposed model and theory. Applying the "relay sensing method", it is possible to be the basic technology to realize the "highly efficient power transmission system based on position sensing and navigation for electric mobile vehicles in the space"

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  • Design and implementation of basic framework for integration of Robot Technology elements in intelligent Space Reviewed

    Takeshi Sasaki, Yoshihisa Toshima, Hideki Hashimoto

    Journal of Robotics and Mechatronics   23 ( 4 )   523 - 531   2011

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    This paper considers design and implementation of intelligent Space (iSpace) which is a space with many distributed sensors and actuators. iSpace system should have flexibility and scalability so that we can easily change the configuration of embedded devices and switch applications based on the situation. To realize such a system, iSpace framework requirements are discussed and a layered structure which consists of four layers - the sensor node, basic information server, application and actuator layers - is proposed. The structure makes it possible to fuse information extracted by each sensor node effectively and provides system flexibility and scalability. A componentbased iSpace implementation is also addressed. The designed framework is implemented using RT (Robot Technology) middleware.

    DOI: 10.20965/jrm.2011.p0523

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  • Electromechanical property characterisation of three-dimensional helical nanobelts by in situ gold nanoink soldering Reviewed

    Gilgueng Hwang, H. Hashimoto

    MICRO & NANO LETTERS   5 ( 5 )   309 - 312   2010.10

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    dimensional thin-film nanostructures and electrodes for their assembly of nanoelectromechanical systems. Helical nanobelts are placed onto as-fabricated gold electrodes using nanomanipulation inside a SEM then deposited with gold nanoink to improve the electrical conductivity and mechanical stability. Electromechanical characterisations of helical nanobelts and nanowires reveal the reduced contact resistance and mechanically strong assembly. It is promising to the application of prototype device assembly and manipulations of various nanostructures.

    DOI: 10.1049/mnl.2010.0066

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  • Human Behavior Based Mobile Agent Control in Intelligent Space Reviewed

    P.Szemes, Peter Korondi, Hideki Hashimoto

    Periodica Politechnica, Trans. on Automatic Control & Computer Science   49 ( 63 )   5 - 11   2010.4

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  • Human-Observation-Based Extraction of Path Patterns for Mobile Robot Navigation Reviewed

    Takeshi Sasaki, Drazen Brscic, Hideki Hashimoto

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   57 ( 4 )   1401 - 1410   2010.4

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    In this paper, a mobile robot navigation method based on the observation of human walking is presented. The proposed method extracts paths that are frequently used by human and builds a topological map of the environment from the observed human walking paths. Unlike the conventional methods, the proposed method enables us to generate paths which are practical, have no obstacles, and are natural for humans since the paths reflect the motion of persons. For realizing the human observation in a large area, in this paper, multiple vision sensors are placed in space. By using distributed sensors, people can be observed even when the robot is not near them or if they are hidden behind obstacles. Mobile robot navigation based on the topological map is also performed with the support of the distributed sensors. The global position of the mobile robot can be directly measured by using external sensors, which makes the localization problem much easier. Based on the position information, the mobile robot can follow the generated paths and reach the goal point while avoiding obstacles.

    DOI: 10.1109/TIE.2009.2030825

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  • Camera pose estimation for human interface Reviewed

    Kazuyuki Morioka, Hideki Hashimoto

    Kyokai Joho Imeji Zasshi/Journal of the Institute of Image Information and Television Engineers   64 ( 12 )   1805 - 1808   2010

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    DOI: 10.3169/itej.64.1805

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  • 3D-Based Internet Communication and Control Reviewed

    Peter Korondi, Peter Baranyi, Hideki Hashimoto, Bjorn Solvang

    COMPUTATIONAL INTELLIGENCE IN ENGINEERING   313   47 - +   2010

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    Nowadays the main center of Research and Development are universities and academic institutions. The development of the Internet and network technologies made possible for research institutes to improve their cooperation and communication. The aim of this paper is to present the foundations of a uniform system for international collaboration, based on 3D Internet. The aim of the network is to create a cooperative and testable connection between mechatronical and industrial robot systems even in continental distances. In this paper we introduce a virtual laboratory which provides a suitable environment for distant institutions' laboratories for a close collaboration.

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  • Position Estimation Based on the Target Shape Information Using Laser Range Finders for Intelligent Space Reviewed

    Takeshi Sasaki, Hajime Tamura, Hideki Hashimoto, Fumihiro Inoue

    2010 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   2010

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    Intelligent Space (iSpace) is a space which has ubiquitous sensory intelligence. In iSpace, positions of objects inside the space are one of the most basic information to implement various applications. This paper describes a method to localize the target objects using distributed laser range finders. Since data from a laser range finder is only distances and angles to object surfaces, we need to estimate the object center position based on its contour. To do this accurately, information of the target shape is utilized since there exist various iSpace applications where we can select the shape of the target object or attach markers of the selected shape to the object in advance. An experimental result is performed to evaluate the proposed method. Applications of the proposed method are also shown.

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  • 空間知能化における空間内の事象の観測と記述 Reviewed

    新妻実保子, 橋本秀紀

    計測と制御   48 ( 12 )   877 - 883   2009.12

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  • Object Tracking Based Calibration of Poses of Distributed Laser Range Finders for Intelligent Space Reviewed

    Takeshi Sasaki, Drazen Brscic, Hideki Hashimoto

    SICE Journal of control, measurement, and system integration   2 ( 6 )   341 - 347   2009.11

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  • Computational relaxed TP model transformation: restricting the computation to subspaces of the dynamic model Reviewed

    Szabolcs Nagy, Zoltan Petres, Peter Baranyi, Hideki Hashimoto

    Asian Journal of Control   11 ( 5 )   461 - 475   2009.9

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  • Observation of Human Activities Based on Spatial Memory in Intelligent Space Reviewed

    Mihoko Niitsuma, Hideki Hashimoto

    Journal of Robotics and Mechatronics   21 ( 4 )   515 - 523   2009.8

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  • Piezoresistive InGaAs/GaAs Nanosprings with Metal Connectors Reviewed

    Gilgueng Hwang, five others

    Nano Letter   2 ( 6 )   2009.1

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  • Mobile robot as physical agent of Intelligent Space Reviewed

    Dražen Brščić, Hideki Hashimoto

    Journal of Computing and Information Technology   17 ( 1 )   81 - 94   2009

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    The Intelligent Space is an area (room, public space, etc.) that has networked distributed sensors, which can be used for observing and gathering information from the space. The main objective for the introduction of Intelligent Space is to provide services to humans inside the space. These services can be either informational, such as the ones provided by displays, or physical. In order to be able to provide physical services mobile robots are introduced in the Intelligent Space as actuators. The network of distributed sensors in the space can therefore be utilized to provide data from the space needed for the control of the robot. Here we present our implementation of an Intelligent Space system that uses spatially distributed laser range finders for tracking the mobile robot and humans inside the space and building the map of the space. Based on these measurements, the control of mobile robot acting as physical agent of the Intelligent Space is developed.

    DOI: 10.2498/cit.1001158

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  • Calibration of distributed laser range finders based on object tracking Reviewed

    Takeshi Sasaki, Hideki Hashimoto

    IFAC Proceedings Volumes (IFAC-PapersOnline)   42 ( 16 )   239 - 244   2009

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    In this research, we address the calibration of laser range finders distributed in Intelligent Space (iSpace) which is a space with multiple embedded and networked sensors and actuators. In order to realize automated calibration, we utilize moving objects that are not limited to mobile robots in the space. Moving objects can cover wide areas of the environment so there is no need to place many landmarks in exactly known positions beforehand. The calibration is performed based on the positions of moving objects in overlapping observable areas of different sensors. The relative position and orientation of sensors are first estimated from a set of corresponding points. The global poses of the sensors are then calculated from the relative pose estimations. Experimental results show the validity of the proposed method.

    DOI: 10.3182/20090909-4-JP-2010.00042

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  • Design and Implementation of Distributed Sensor Network for Intelligent Space Based on Robot Technology Components Reviewed

    Takeshi Sasaki, Hideki Hashimoto

    HSI: 2009 2ND CONFERENCE ON HUMAN SYSTEM INTERACTIONS   397 - 402   2009

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    In this paper, component based design and implementation of Intelligent Space (iSpace) are described. iSpace has distributed sensors and actuators that are utilized for providing both physical and informative services to users based on observation of humans and environments. Although the essential functions of iSpace are "observation," "recognition/understanding" and "actuation " this paper focuses on development of components for observation function. We present our iSpace system developed by using RT (Robot Technology) Middleware that is a platform for development support of robot systems.

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  • Describing Human-Object Interaction in Intelligent Space Reviewed

    Mihoko Niitsuma, Kazuki Yokoi, Hideki Hashimoto

    HSI: 2009 2ND CONFERENCE ON HUMAN SYSTEM INTERACTIONS   392 - 396   2009

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    This paper presents an observation system of human-object interaction in the Intelligent Space (iSpace). Object information is necessary to describe events and human activities which happen in environments. Especially, names, colors, size and shapes of objects can be described manually because we can consider that the information will not change. On the other hand, information such as locations of objects, frequency of use of the objects, the users and motion patterns while using the objects can not be described manually because they depend on individuals and contexts when the objects are used. Therefore, we decided to obtain these kinds of object information through observation of human-object interaction. We show an improvement of the observation system and experimental results to verify the system.

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  • Comparison of Visual and Vibration Displays for Finding Spatial Memory in Intelligent Space Reviewed

    Mihoko Niitsuma, Hideki Hashimoto

    RO-MAN 2009: THE 18TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2   879 - +   2009

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    We have proposed the spatial memory which is a human interface to operate iSpace agents such as mobile robots, computer displays, etc. Spatial memory enables users to store computerized information ranging from digital files and commands for robots in real space by assigning digital information to a three-dimensional position. Users can retrieve the information by pointing the locations using their own bodies directly. The accessed information will be delivered to a suitable iSpace agent who should execute it. We named information arranged into real space "Spatial-Knowledge-Tag" (SKT). In order to encourage people to share useful information via spatial memory, they need to retrieve pre-arranged SKTs which are arranged by somebody. In this paper, firstly we show possibility of finding SKTs through seeing other users' actions, but not using any display to show locations and content types of SKT. Then, we present two kinds of displays to show users locations and content types of SKTs. Specifically, one is a visualization using computer graphics (we call "graphical display"), the other is a display using vibration (we call "vibration display"). Experiments to compare the efficiency of the methods to find SKTs are shown.

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  • Calibration of Laser Range Finders Based on Moving Object Tracking in Intelligent Space Reviewed

    Takeshi Sasaki, Hideki Hashimoto

    2009 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL, VOLS 1 AND 2   614 - 619   2009

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    In this research, we address the calibration of laser range finders distributed in Intelligent Space (iSpace) which is a space with multiple embedded and networked sensors and actuators. In order to realize automated calibration, we utilize the mobile robots in the space. The mobility of mobile robots allows us to cover wide areas of the environment without placing many landmarks in the exact positions beforehand. The calibration is performed based on the positions of the mobile robots in world coordinate system and their corresponding points in local coordinate system. We also extend this approach to utilize general moving objects such as humans and not limited to mobile robots. The relative position and orientation of sensors are calculated based on the tracking result of moving objects in overlapping observable areas of different sensors. Experimental results show the validity of the proposed method.

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  • Component Based Integration of Intelligent Space and its Application to Mobile Robot Navigation Reviewed

    Takeshi Sasaki, Hideki Hashimoto

    2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3   1479 - 1484   2009

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    In this paper, component based design and implementation of Intelligent Space (iSpace) are described. iSpace has distributed sensors and actuators that are utilized for providing various services to users based on observation of humans and environments. We present our iSpace system implemented by using RT (Robot Technology) Middleware that is a platform for development support of robot systems. First we discuss the component design of functions of iSpace and present the operation of the developed components. The application of the system to the mobile robot navigation is then presented. The mobile robot navigation functions are also implemented by using RT components. The developed system navigates mobile robots based on information obtained by iSpace and the mobile robots.

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  • Sensing in Intelligent Spaces: Joint Use of Distributed and Onboard Sensors Reviewed

    Drazen Brscic, Hideki Hashimoto

    AUTOMATIKA   50 ( 3-4 )   205 - 214   2009

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:KOREMA  

    This work considers the joint use of robot onboard sensors and a network of sensors distributed in the environment for tracking the position of the robot and other objects. This is motivated by our research on Intelligent Spaces, which combine the use of distributed sensors with mobile robots to provide various services to users. Here we analyze the distributed sensing using the extended information filter and computation issues that arise due to correlations between estimates. In turn we show how the correlations can be resolved with the use of Covariance Intersection at a cost of conservative estimates, and analyze two special cases where the issues related to correlations can be reduced.

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  • Adaptive, Safe Mobile Robot Programming in the Intelligent Space Reviewed

    Laszlo A. Jeni, Zoltan Istenes, Mate Tejfel, Peter Korondi, Hideki Hashimoto

    HSI: 2009 2ND CONFERENCE ON HUMAN SYSTEM INTERACTIONS   418 - 423   2009

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    This paper describes how the safe mobile code technology can be integrated into the Intelligent Space environment. In the Intelligent Space, several Distributed Intelligent Network Devices communicate and share their information about a human environment. In this environment mobile robots can be controlled with mobile code technology. The mobile code is a program-component obtained from a remote system, transferred across a network and dynamically downloaded and executed on the robots. This code is created, verified, stored and transmitted to the robot using the Certified Proved-Property-Carrying Code architecture, where properties and their proofs also attached to the code. The receiver can verify the proofs and it can decide whether to use or to refuse the received mobile component. Information about the robot's environment is also sent to the robot from the Intelligent Space. Robots contain explicit and formally expressed security requirements. Explicit and formal properties of the mobile code are attached to the mobile code. Then a formal verification system can verify the mobile code properties correspondence against the robots requirements. The robot refuses to execute those mobile code tasks violating it's requirements.

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  • a Substitution of Haptic Gloves Using Audio Interfaces in Robot Control Reviewed

    Adam Csapo, Barna Resko, Peter Baranyi, Hideki Hashimoto

    ISIE: 2009 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS   402 - +   2009

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    We refer to channels of communication which link the user to various electronic appliances and computers as cognitive communication channels. One especially interesting research topic related to cognitive communication channels deals with a special application called sensory substitution, when information is conveyed through a channel other than the one that is normally used. Besides offering a glimpse of hope to those living with injured sensory organs, sensory substitution can have benefits when designing user interfaces in terms of cost-effectiveness, the reduction of network delays, as well as the prevention of channel overloading. One such application in robot control could be the substitution of haptic feedback gloves (which are costly, bulky and have relatively few vibration states) using parameter-rich audio interfaces. In this paper, we propose the foundations of a framework for user-directed, interactive experimentation with haptic feedback using auditory cognitive communiation channels. Within the presented framework, the paper deals with an approach to describe the relationship between physical parameters and coding parameters that can be used to convey control information through auditory cognitive channels.

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  • Observation of human-object interaction using distributed sensors Reviewed

    Mihoko Niitsuma, Kazuki Yokoi, Hideki Hashimoto

    IFAC Proceedings Volumes (IFAC-PapersOnline)   42 ( 16 )   257 - 262   2009

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    This paper presents an observation system of human-object interaction. In intelligent environments, describing and recognizing human activity are one of the important issues in order for the environment to provide suitable services for users. To describe user activity in more details, we have focused on objects' information. We can consider that objects' information consists of both static information such as names, size, colors, and shapes of objects and non-static information such as use of frequency, users, locations, and ways to use them. Static information of objects can be given because we can consider that it will not change. Non-static information, however, depends on actual situation in which objects are utilized by people. We therefore focus on obtaining such non-static information via human-object interaction. This paper addresses an improvement of an observation system of humanobject interaction.

    DOI: 10.3182/20090909-4-JP-2010.00045

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  • 歩行経路観測に基づく重要点抽出による移動ロボットナビゲーション Reviewed

    佐々木毅, 橋本秀紀

    計測自動制御学会論文集   44 ( 4 )   368 - 376   2008.4

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  • Tracking of Humans and Robots Using Laser Range Finders Reviewed

    Drazen Brscic, Takeshi Sasaki, Hideki Hashimoto

    SICE Jornal of control, Measurement, and system integration   1 ( 5 )   383 - 392   2008

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  • Observation System of Human-Object Relations in Intelligent Space Reviewed

    Kouhei Kawaji, Kazuki Yokoi, Mihoko Niitsuma, Hideki Hashimoto

    2008 6TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS, VOLS 1-3   1405 - 1410   2008

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    In this paper, Intelligent Space based human-object relations observation system is proposed and constructed. Intelligent Space is the environment that has distributed sensors for observing and actuators for acting in the space, in order to provide various services to human. In addition, the verification experiments of proposed system are done and the efficiency of this system is discussed.

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  • 3-D InGaAs/GaAs HELICAL NANOBELTS FOR OPTOELECTRONIC DEVICES Reviewed

    Gilgueng Hwang, Cedric Dockendorf, Dominik Bell, Lixin Dong, Hideki Hashimoto, Dimos Poulikakos, Bradley Nelson

    INTERNATIONAL JOURNAL OF OPTOMECHATRONICS   2 ( 2 )   88 - 103   2008

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:TAYLOR & FRANCIS INC  

    This article systematically characterizes conductometric InGaAs/GaAs helical nanobelts for use with optoelectronic sensing. The responsiveness, energy conversion efficiency, and external quantum efficiency are improved compared to conventional sensors by reducing the length of 3-D helical nanobelts without losing exposure area. Nanorobotic assembly and characterization of 3-D helical in/out-of-plane nanobelt photodetectors allowed for stable intrinsic property characterizations. When compared to nanotube bundles, impovement in properties such as energy conversion efficiency, responsiveness, and external quantum efficiency are experimentally demonstrated in both an optical microscope and scanning electron microscope. A probe-type photodetector was assembled using nanorobotic manipulation and in-situ gold nanoparticle ink soldering. The highly efficient and sensitive 3-D InGaAs/GaAs helical nanobelt photodetectors enable many optoelectronic device applications such as being the probes for the near field optical microscopy, confocal microscopy, fluorescence microscopy, or spatial detection with further characterizations.

    DOI: 10.1080/15599610802081795

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  • Observation of Multiple Objects Based on Human-Object Interaction in Intelligent Space Reviewed

    Mihoko Niitsuma, Kouhei Kawaji, Hideki Hashimoto

    2008 CONFERENCE ON HUMAN SYSTEM INTERACTIONS, VOLS 1 AND 2   779 - 784   2008

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    This paper presents a method for multiple objects localization in the Intelligent Space (iSpace). The localization is realized by using two types of information. One is acceleration data which is used to determine whether an object is being operated. Acceleration data is acquired by using sensor network system. The other is hand position information of a nearest user to one object. By combining the information, positions of objects are able to be estimated by corresponding positions of user hands. In this method, determination of objects initial position is a first problem. In order to solve it, we use correlation of acceleration data among user hands and objects. Initial position of each object is given based on user's hand position which is scored high correlation.

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  • Model Based Robot Localization Using Onboard and Distributed Laser Range Finders Reviewed

    Drazen Brscic, Hideki Hashimoto

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS   1154 - 1159   2008

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    In this paper we present a method for estimating the position of mobile robots using a combination of both robot's onboard sensors and sensors at fixed locations in the environment, where we use laser range finders as sensors. This is a situation which arises in so-called Intelligent Spaces, where there are both static sensors and mobile robots present. The method we present extends the robot localization methods based on occupancy grids, however here occupancy grids are used to represent not only the geometry of the environment but also that of the robot. For tracking the robot we employ a particle filter. The details of the method are given and experimental results are shown to illustrate the method.

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  • Localization of Human Hand by Using Inertial Sensors Reviewed

    Kazuki Yokoi, Mihoko Niitsuma, Hideki Hashimoto

    2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7   1741 - +   2008

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    In this research, we propose a method to localize human hand position. In order to provide many types of services for human in the Intelligent Space, human observation is needed. Many applications, such as Spatial Memory, use human hand position for the indicator and to get hand position, the ultrasound localization system is used. When transceiver inclines, the accuracy decreases. To extend the function of spatial memory to iSpace simulator, the new hand localization is needed. In this paper, we will describe the human band localization system by using inertial sensors and also the evaluation by the ultrasonic system.

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  • Fuzzy-Based Camera Selection for Object Tracking in a Multi-Camera System Reviewed

    Kazuyuki Morioka, Szilveszter Kovacs, Joo-Ho Lee, Peter Korondi, Hideki Hashimoto

    2008 CONFERENCE ON HUMAN SYSTEM INTERACTIONS, VOLS 1 AND 2   773 - +   2008

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    The research field on intelligent environments that consist of many distributed sensors and robots has been expanding. An intelligent environment is the space where we can easily interact with computers and robots. And we can get useful service from them. In such an environment, location information is very important. In order to achieve that, multiple camera system is promising for seamless object tracking and location system in intelligent environments. In this paper, cooperation method of cameras for seamless object tracking is described. Fuzzy-based handing over of tracking authority for a tracked object is proposed and some simulation results are shown.

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  • Enhancement of Spatial Memory Using Human-Object Relations Reviewed

    Mihoko Niitsuma, Takeshi Sasaki, Hideki Hashimoto

    2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7   3358 - 3362   2008

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    This paper describes enhancement of the spatial memory system in order to improve human activities observation. In previous approach, human activities using the spatial memory in the real world can be observed, but activities using physical objects can not be observed. Therefore, we will focus on interaction among humans and objects. By attaching small sensor nodes to humans' hand and physical objects, the observation will be achieved. In order to realize uniformed methodology for the observation of human activities based on the spatial memory, we introduce Object-based Spatial- Knowledge-Tags (O-SKTs). History of human-object interaction is described by using an O-SKT including 4W1H (who, what, when, where and how) information. This paper presents a system to observe human-object interaction and experimental results of the observation.

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  • Extraction of Human - Object Relations in Intelligent Space Reviewed

    Mihoko Niitsuma, Kouhei Kawaji, Kazuki Yokoi, Hideki Hashimoto

    2008 17TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2   520 - 525   2008

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    This paper describes an observation system of human-objects interactions to extract relations among humans and physical objects in Intelligent Space (iSpace). The purpose is to obtain information of physical objects which can not be described in advance, in other words, depends on usage history of individual users. It is important issue for the iSpace to recognize human activities and design services for humans. In this paper, a method for multiple objects localization in the Intelligent Space is presented. The localization is realized by using two types of information. One is acceleration data which is used to determine whether an object is being operated. Acceleration data is acquired by using sensor network system. The other is hand position information of a nearest user to one object. By combining the information, positions of objects are able to be estimated by corresponding positions of user hands. In this method, determination of objects initial position is a first problem. In order to solve it, we use correlation of acceleration data among user hands and objects. Initial position of each object is given based on user's hand position which is scored high correlation.

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  • Robot Navigation Framework Based on Reinforcement Learning for Intelligent Space Reviewed

    Laszlo A. Jeni, Zoltan Istenes, Peter Szemes, Hideki Hashimoto

    2008 CONFERENCE ON HUMAN SYSTEM INTERACTIONS, VOLS 1 AND 2   767 - +   2008

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    Navigation in an unknown environment is still a hard problem, because mobile robots need topological maps in order to operate in the environment. Building a map of the environment while also using it for learning is of prime importance for mobile robots but until recently, it has only been confined to small-scale environments.
    This paper describes a mobile robot navigation framework integrated into the Intelligent Space environment. In the Intelligent Space, several Distributed Intelligent Network Devices communicate and share their information about the environment. In this environment mobile robots can be tracked with ultrasonic positioning system and the topological map can be build using laser range finders.

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  • Comparison of Robot Localization Methods Using Distributed and Onboard Laser Range Finders Reviewed

    Drazen Brscic, Hideki Hashimoto

    2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3   746 - 751   2008

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    In this paper we discuss methods for estimating the position of objects in environments that have both distributed sensing devices as well as mobile robots equipped with sensors - Intelligent Spaces. The aim is to use both types of devices for the estimation. We focus on the utilization of laser range finder devices as sensors, due to their good sensing characteristics. Our main interest here is in the localization of mobile robots and we consider two estimation methods. One is based on a heuristic determination of the center of the tracked object and utilizes a Kalman filter based estimation approach. The other method is based on geometric models of both the environment and the robot, and the position is estimated using a particle filter. The methods are described and experimental results are shown, and their comparison is given.

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  • Versatile Robotic Biomanipulation with Haptic Interface Reviewed

    Gilgueng Hwang, Preeda Chantanakajornfung, Hideki Hashimoto

    Journal of Robotics and Mechatronics   19 ( 5 )   585 - 591   2007.10

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  • Development of a human-robot-shared controlled teletweezing system Reviewed

    Gilgueng Hwang, Hideki Hashimoto

    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY   15 ( 5 )   960 - 966   2007.9

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    This brief proposes a process of implementing a teletweezing system using multiple slaves for deformable object manipulation such as bio tweezing tasks. The multiple slave feature is desirable to improve both the manipulation dexterity and stable grasping force control capability. A flexible,multiple robot connection environment is assured in a very quick and easy manner using an RT-Middleware platform. In this brief, we propose the control strategy for a single-master multislave telemicrotweezer. Also, several simulations and experiments are performed to prove the validity of the proposed control scheme and the design methodology. These involve biomanipulation tasks such as Ikura (salmon roe) tweezing, which is a magnified version of a wide variety of bio-cell tweezing. To realize the Ikura remote tweezing using a single-master multislave system and a human's dexterous operation skill, we first decompose the dynamics of multiple slaves into two decoupled systems, which are the shape system describing cooperative tweezing aspect and the locked system that preserves energetic passivity. Scattering-based communication is used to passify the master-slave communication delay. Last, a preliminary pick-and-place experiment and some simulation results are provided to verify the validity of the proposed control method.

    DOI: 10.1109/TCST.2007.902960

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  • Hybrid tracking based on color histogram for intelligent space Reviewed

    Kazuyuki Morioka, Joo-Ho Lee, Yoichi Kuroda, Hideki Hashimoto

    Artificial Life and Robotics   11 ( 2 )   204 - 210   2007.7

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    The vision sensor network is expected to achieve a contact-free wide-area location system without any additional burden on users in intelligent environments. In this article, a tracking algorithm for a location system in an intelligent environment is described. A modified color tracker based on a Kalman filter and a mean shift procedure is proposed in order to improve the robustness for occlusion and rapid movement. To handle the sudden change in object movement, we propose a hybrid tracking algorithm, including an adaptive feedback loop, based on the statistics of color histogram models after the mean-shift process. Experimental results showed that the proposed method achieves more robust tracking of multiple objects than the conventional method. © ISAROB 2007.

    DOI: 10.1007/s10015-007-0429-9

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  • Trajectory tracking by TP model transformation: Case study of a benchmark problem Reviewed

    Zoltan Petres, Peter Baranyi, Peter Korondi, Hideki Hashimoto

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   54 ( 3 )   1654 - 1663   2007.6

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    The main objective of this paper is to study the recently proposed tensor-product-distributed-compensation (TPDC)-based control design framework in the case of tracking control design of a benchmark problem. The TPDC is a combination of the tensor product model transformation and the parallel distributed compensation framework. In this paper, we investigate the effectiveness of the TPDC design. We study how it can be uniformly and readily executed without analytical derivations. We show that the TPDC is straightforward and numerically tractable, and is capable of guarantying various different control performances via linear matrix inequality (LMI) conditions. All these features are studied via the state feedback trajectory control design of the translational oscillations with an eccentric rotational proof mass actuator system. The trajectory tracking capability for various tracking commands is optimized here by decay rate LMI conditions. Constraints on the output and control of the closed-loop system are also considered by LMI conditions. We present numerical simulations of the resulting closed-loop system to validate the control design.

    DOI: 10.1109/TIE.2007.894697

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  • Complexity relaxation of the tensor product model transformation for higher dimensional problems Reviewed

    Peter Baranyi, Zoltan Petres, Peter Korondi, Yeung Yam, Hideki Hashimoto

    ASIAN JOURNAL OF CONTROL   9 ( 2 )   195 - 200   2007.6

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    The Tensor Product (TP) model transformation method was proposed recently as an automated gateway between a class of non-linear models and linear matrix inequality based control design. The core of the TP model transformation is the higher order singular value decomposition of a large sized tensor, which requires high computational power that is usually outside of a regular computer capacity in cases of higher dimensionality. This disadvantage restricts the utilization of the TP model transformation to models having smaller dimensionality. The aim of this paper is to propose a computationally relaxed version of the TP model transformation. The paper also presents a 6 dimensional example to show the effectiveness of the modified transformation.

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  • Spatial memory as an aid system for human activity in intelligent space Reviewed

    Mihoko Niitsuma, Hiroshi Hashimoto, Hideki Hashimoto

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   54 ( 2 )   1122 - 1131   2007.4

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    This paper presents the spatial memory that aids human activities in a working environment. The spatial memory enables humans to store computerized information into the real world by assigning a 3-D position as the memory address. By storing computerized information into the real world, users can manipulate the information in similar ways as physical objects. Consequently, we can retrieve stored knowledge by indicating the point using our own arms, which we name "human indicator." This paper shows a prototype of the spatial memory system, which has potential to enhance desk work. The implemented system is evaluated through two types of experiments by using human subjects. Experimental results verify the efficiency and the effectiveness of our spatial memory framework based on a statistical test.

    DOI: 10.1109/TIE.2007.892730

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  • 手のハプティックインタフェースによる周辺障害物認識システムを用いた歩行器 Reviewed

    橋本洋志

    計測自動制御学会論文集   43 ( 3 )   180 - 188   2007.3

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  • 遠隔微細操作システムに関する研究 Reviewed

    橋本秀紀

    日本ロボット学会誌   25 ( 2 )   2007.3

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  • モバイル社会とは何か Reviewed

    未来心理研究会, 橋本秀紀, 佐々木毅, 新妻実保子

    Mobile Society Review 未来心理   9   54 - 61   2007.3

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  • 手のハプティックインタフェースによる周辺障害物認識システムを用いた歩行器 Reviewed

    橋本洋志, 松永俊雄, 佐々木智典, 石井千春, 新妻実保子, 橋本秀紀

    計測自動制御学会論文集   43 ( 2 )   1 - 9   2007

  • Development of a single-master multi-slave tele-micromanipulation system Reviewed

    Gilgueng Hwang, Peter Tamas Szemes, Noriaki Ando, Hideki Hashimoto

    ADVANCED ROBOTICS   21 ( 3-4 )   329 - 349   2007

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    This paper proposes the development of a human-robot cooperative tele-micromanipulation system through a network. We have developed a novel single-master (PHANToM haptic device) multi-slave (6-d.o.f. parallel manipulator) scaled tele-micromanipulation system which enables human operators to perform meso or small-size object manipulation such as assembly or manufacturing with sufficient telepresence. It is expected to improve the human's operability and the overall dexterity of conventional tele-micromanipulation systems. To overcome the problems of the multiple parallel mechanism manipulator, virtual kinematic mapping is considered, based on the manipulability analysis of the workspace. The pick-and-place experiment results prove the validity of the developed single-master multi-slave system.

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  • Spatial memory for collaboration support system in intelligent space - User identification based on spatial memory Reviewed

    Mihoko Niitsuma, Hideki Hashimoto

    PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8   3064 - 3070   2007

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    This paper presents an implementation of the spatial memory system for supporting collaboration activity in Intelligent Space. In this paper, a design of the new spatial memory system is described based on three requirements for a collaboration system: (1) sharing information for multi-users and multi-terminals, (2) access privileges for SKTs and (3) user identification. User identification method is one of the most important functions for sharing information systems. Therefore, this paper proposes a new user identification method by using the spatial memory system. More specifically, users create their own key-Spatial-Knowledge-Tags (SKTs) as passwords to use the spatial memory system. The new user identification method is evaluated through user experiments. Experimental results show high effectiveness of the method.

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  • Map building and object tracking inside Intelligent Spaces using static and mobile sensors Reviewed

    Drazen Brscic, Hideki Hashimoto

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9   3757 - 3762   2007

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    This paper deals with the problem of object tracking and environment mapping inside a space with distributed sensors - Intelligent Space. In a conventional approach the distributed sensors are used for these tasks, however since the sensors are static this has several disadvantages. In this paper in addition to static sensors we introduce the use of a mobile robot as mobile sensor to gather additional information and improve the estimation performance. We discuss the characteristics of such a tracking system, mainly concentrating on a system that uses laser range finders as both mobile and static sensors. Estimation methods based on Kalman Filter and Covariance Intersection are presented and analyzed. Finally, the presented methods are experimentally tested.

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  • Tracking of humans inside intelligent space using static and mobile sensors Reviewed

    Drazen Brscic, Hideki Hashimoto

    IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS   10 - 15   2007

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    In this paper we present an approach to tracking of humans in spaces with ubiquitous distributed sensors and actuators - Intelligent Spaces. In order to be able to implement services that depend on the position of humans, a reliable tracking method is needed. In addition to the sensors distributed in space, mobile sensors are also considered. A mobile sensor is a mobile robot equipped with onboard sensors, which can be used to improve the estimate. Here we present an implementation based on laser range finders and track the position of humans, as well as the mobile robot, using a Kalman filter. Characteristics of such a tracking system are analyzed and experimental results are shown.

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  • Extraction of space-human activity association for design of intelligent environment Reviewed

    Mihoko Niitsuma, Hideki Hashimoto

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10   1814 - +   2007

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    This paper presents a classification of human activities based on usage history of the spatial memory system and a numerical expression of each human activity in order to estimate individual human's intended purpose of an environment. We named the intended purposes for a place "spacehuman activity association". Intended purposes for a place will be different depending on the purpose of activities, even if observed activities are almost the same. Therefore, estimation of space-human activity association is important for intelligent environments to design services provided for individual human according to his/her current situation. The spatial memory system enables human users to store computerized information into the real world by assigning a three-dimensional position to the information, and to retrieve the information by directly indicating the point using their own hands. In the spatial memory system, what associates computerized information with a three-dimensional position is called "Spatial-Knowledge-Tag (SKT)". The users actively create SKTs based on their need. As a result, arranged SKTs in a specified environment correspond to activity histories of the users. Also, users' intended purposes for the environment are reflected in the arrangement. Therefore, classification of arranged SKTs leads to classification of human activities, and accordingly estimation of intended purposes for places. In this paper, we describe two approaches to classify human activities. More specifically, the first approach is a classification of arranged SKTs by using only SKTs' information. The second approach is a classification of arranged SKTs by using both SKTs' information and usage history of the spatial memory system. As a result, the classification based on usage history of the spatial memory system showed multiple activities in the same area. On the other hand, the first approach resulted in a single cluster in the same area. We, then, give numerical values to SKT's content type, and obtained numerical expression of each human activity.

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  • Color based tracking vision for the intelligent space Reviewed

    Kazuyuki Morioka, Takeshi Sasaki, Hideki Hashimoto

    SYSTEMS MODELING AND SIMULATION: THEORY AND APPLICATIONS, ASIA SIMULATION CONFERENCE 2006   420 - +   2007

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    We proposed the intelligent space as the human-robot coexistent system. The intelligent space is the space where many intelligent devices, such as computers and sensors like the color CCD cameras, are distributed. The Intelligent Space requires functions of identifying and tracking the multiple objects seamlessly in order to realize appropriate services to users under the multi-camera environments. In this paper, color based tracking vision modules of the intelligent space are described. MeanShift method is applied for tracking of the objects. Object tracking performance depends on the configuration of the color histograms because this method calculates the object movement between frames based on the color histogram models of objects. This paper investigates how the quantization level of the color histogram affects the tracking performance using the Meanshift method. Then, color based tracking vision system is developed and the tracking results are shown.

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  • Hierarchical framework for implementation of intelligent space Reviewed

    Takeshi Sasaki, Hideki Hashimoto

    IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS   28 - 33   2007

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    In this paper, the problem of implementation of Intelligent Space (iSpace) is considered. iSpace is a room or area where many intelligent sensors and actuators are distributed and networked. In iSpace, the embedded sensors can monitor the whole environment by communicating with each other through the network. Based on the observed information, the actuators provide informative and physical services to users. Such a system should have flexibility and scalabitity so that we can easily change the configuration of embedded devices and switch applications depending on the situation. It is also important for the system to have a function that fuses the information acquired by each sensor and share it with other devices efficiently. We present a basic framework of Intelligent Space and show the current configuration developed in our laboratory. Some experimental results are also shown.

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  • A description of human activities using spatial memory in intelligent space Reviewed

    Mihoko Niitsuma, Hideki Hashimoto

    IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS   16 - 21   2007

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    This paper presents a classification of human activities based on usage history of the spatial memory system in order to estimate individual human's intended purpose of an environment. We named the intended purposes for a place "space-human activity association". Intended purposes for a place will be different depending on the purpose of activities, even if observed activities are almost the same. Therefore, estimation of space-human activity association is important for intelligent environments to design services provided for individual human according to his/her current situation. The spatial memory system enables human users to store computerized information into the real world by assigning a three-dimensional position to the information, and to retrieve the information by directly indicating the point using their own hands. In the spatial memory system, what associates computerized information with a three-dimensional position is called "Spatial-Knowledge-Tag (SKT). The users actively create SKTs based on their need. As a result, arranged SKTs in a specified environment correspond to activity histories of the users. Also, users' intended purposes for the environment are reflected in the arrangement. Therefore, classification of arranged SKTs leads to classification of human activities, and accordingly estimation of intended purposes for places. In this paper, in order to investigate usefulness of the proposed classification method, we consider two types of environments, and arranged SKTs are classified.

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  • Acting in Intelligent Space - Mobile robot control based on sensors distributed in space Reviewed

    Drazen Brscic, Takeshi Sasaki, Hideki Hashimoto

    2007 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3   542 - 547   2007

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    This paper presents our implementation of the control of mobile robot as actuator in Intelligent Space. The Intelligent Space has distributed sensors that can be used for tracking and mapping the space. Furthermore, it can use these measurements to control a mobile robot in the space. This way physical acting inside the space can be achieved. Here we present our developed Intelligent Space system that uses laser range finders for tracking and a mobile robot as actuator. Methods and obtained results are described.

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  • Implementation of distributed sensor network for intelligent space Reviewed

    Takeshi Sasaki, Drazen Brscic, Hideki Hashimoto

    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS   160 - 165   2007

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    In this paper, we introduce a basic framework of Intelligent Space (iSpace) and automated calibration of the distributed sensors using mobile robots. iSpace is a room or area where many intelligent sensors and actuators are distributed and networked. In iSpace, the embedded sensors can monitor the whole environment by communicating with each other through the network. Based on the observed information, the actuators provide informative and physical services to users. In order to implement such a system, a basic framework which realizes a close cooperation among distributed devices has to be considered. We propose a layered structure which consists of four layers - the sensor node layer, the basic information sever layer, the application layer and the actuator layer. The structure makes it possible to fuse information extracted by each sensor node effectively and provides flexibility and scalability to the system. Moreover, one of the major problems when setting up the devices is calibration of the sensors. In order to solve this, we utilize mobile robots in iSpace. The mobility of mobile robots allows us to cover wide areas of the environment without placing many landmarks in exactly known positions beforehand. Automated calibration of distributed laser range Enders is performed based on the positions of the mobile robot in world coordinate system and their corresponding points in local coordinate system.

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  • Computational relaxed TP model transformation by restriction of the computation to subspaces of the dynamic model Reviewed

    Szabolcs Nagy, Zoltan Petres, Peter Baranyi, Hideki Hashimoto

    ISCIII '07: 3RD INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS, PROCEEDINGS   11 ( 5 )   99 - +   2007

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    The Tensor-Product (TP) model transformation is a recently proposed numerical method capable of transforming linear parameter varying state-space models to the Higher Order Singular Value Decomposition (HOSVD) based canonical form of polytopic models. It is also capable of generating various types of convex TP models as well for linear matrix inequality based control design. The crucial point of the TP model transformation is that its computational load exponentially explodes with the dimensionality of the parameter vector of the state-space model. In this paper we propose a modified TP model transformation that computes the HOSVD-based canonical form by dimensionality reduced sub-spaces of the parameter vector that leads to the considerable reduction of the computation. A numerical example is also given to show how the modified TP model transformation can readily be executed in cases when the original TP model transformation fails.

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  • Acquisition of objects' properties in Intelligent Space Reviewed

    Kouhei Kawaji, Mihoko Niitsuma, Akio Kosaka, Hideki Hashimoto

    PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8   258 - +   2007

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    In this research, we aim to describe objects' properties for designing services of Intelligent Space. Intelligent Space is the environment that has distributed sensors for observing and actuators for acting in the space, in order to provide various services to human. In order to realize that, we focus on physical interaction between human and objects. Physical interaction between human and objects can be observed by attaching sensor nodes to physical objects in a sensor networked environment. In this paper, we estimate an object handled by human based on the acceleration data. In addition, the methods that classify human actions are evaluated

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  • Human-following robot using the particle filter in ISpace with distributed vision sensors Reviewed

    Tae Seok Jin, Kazuyuki Morioka, Hideki Hashimoto

    Artificial Life and Robotics   10 ( 2 )   96 - 101   2006.11

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:the Robotics Society of Japan  

    We present a method for representing tracking and human-following by fusing distributed multiple vision systems in intelligent space, with applications to pedestrian tracking in a crowd. In this context, particle filters provide a robust tracking framework under ambiguous conditions. The particle filter technique is used in this work, but in order to reduce its computational complexity and increase its robustness, we propose to track the moving objects by generating hypotheses not in the image plan but on a top-view reconstruction of the scene. Comparative results on real video sequences show the advantage of our method for multiobject tracking. Simulations are carried out to evaluate the proposed performance. Also, the method is applied to the intelligent environment, and its performance is verified by experiments. © ISAROB 2006.

    DOI: 10.1007/s10015-005-0362-8

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  • 空間メモリ~人とシステムの循環経路~ Reviewed

    新妻実保子

    Mobile Society Review 未来心理   7   12 - 21   2006.9

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  • Haptic-Assisted SMMS Telemicromanipulation Using Virtual Fixture Reviewed

    Gilgueng Hwang, Hideki Hashimoto

    Journal of Robotics and Mechatronics   18 ( 4 )   368 - 374   2006.8

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  • Position control of mobile robot for human-following in intelligent space with distributed sensors Reviewed

    TS Jin, JM Lee, H Hashimoto

    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS   4 ( 2 )   204 - 216   2006.4

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS  

    Latest advances in hardware technology and state of the art of mobile robot and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. And mobile service robot requires the perception of its present position to coexist with humans and support humans effectively in populated environments. To realize these abilities, robot needs to keep track of relevant chancres in the environment. This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace) is used in order to achieve these goals. This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot, and the Kalman filtering scheme is used to estimate the location of moving robot. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot. Its performance is verified by computer Simulation and experiment.

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  • Operability Evaluation of Shared Controlled Multiple Cooperative Robots Reviewed

    Gilgueng Hwang, Hideki Hashimoto

    Trans.of the Society of Instrument and Control Engineers   42 ( 4 )   304 - 309   2006.4

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  • 空間メモリ:知識活用を支援する空間知能化 Reviewed

    新妻実保子, 橋本洋志, 橋本秀紀

    計測自動制御学会論文集   42 ( 4 )   367 - 375   2006.4

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  • Mobile agent Control in intelligent space based on observed human behavior Reviewed

    Peter T.Szemes, Hideki Hashimoto, Peter Korondi

    CEAIjournal   7 ( 3 )   15 - 23   2006.3

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  • 色情報処理手法の自動選択による複数物体対追跡 Reviewed

    森岡一幸, 黒田陽一, 李周浩, 橋本秀紀

    電気学会論文誌C(電子・情報・システム部門誌)   126 ( 2 )   210 - 219   2006.2

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  • まつわりつきロボット動作の心理的評価 Reviewed

    橋本洋志

    電気学会論文誌C(電子・情報・システム部門誌)   126 ( 1 )   83 - 90   2006.1

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  • Implementation of mobile robot control in intelligent space Reviewed

    Drazen Brscic, Takeshi Sasaki, Hideki Hashimoto

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13   5590 - +   2006

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    In this paper we present the implementation of mobile robot control in the Intelligent Space (iSpace). The mobile robot in iSpace is primarily used as a mean of offering physical services to users, or as a mobile sensor for providing more details about the space. On the other hand, the distributed sensors in iSpace offer advantages in standard robot control tasks. In this paper the details of the engagement of mobile robots in iSpace are given. Moreover, the details of the implementation of the mobile robot localization mapping and navigation are described in detail and experimental results are given.

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  • Spatial Memory: an Aid System for Human Activity in Intelligent Space. Reviewed

    Mihoko Niitsuma, Hiroshi Hashimoto, Hideki Hashimoto

    Proceedings of the 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, May 15-19, 2006, Orlando, Florida, USA   4258 - 4263   2006

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  • Position estimation of a mobile robot using images of a moving target in intelligent space with distributed sensors Reviewed

    Tae-Seok Jin, Jang-Myung Lee, Hideki Hashimoto

    ADVANCED ROBOTICS   20 ( 6 )   737 - 762   2006

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:TAYLOR & FRANCIS LTD  

    Latest advances in hardware technology and state-of-the-art of mobile robots and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. A mobile service robot requires the perception of its present position to co-exist with humans and support humans effectively in populated environments. To realize this, a robot needs to keep track of relevant changes in the environment. This paper proposes localization of a mobile robot using images recognized by distributed intelligent networked devices in intelligent space (ISpace) in order to achieve these goals. This scheme combines data from the observed position, using dead-reckoning sensors, and the estimated position, using images of moving objects, such as a walking human captured by a camera system, to determine the location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the ISpace. Using the a priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated robot's position are derived. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot, and the Kalman filtering scheme is used for the estimation of the mobile robot location. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in determining the location of a mobile robot, and its performance is verified by computer simulation and experiment.

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  • Human hierarchical behavior based mobile agent control in ISpace with distributed network sensors Reviewed

    SangJoo Kim, TaeSeok Jin, Hideki Hashimoto

    NEURAL INFORMATION PROCESSING, PT 3, PROCEEDINGS   4234   856 - 865   2006

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:SPRINGER-VERLAG BERLIN  

    The aim of this paper is to investigate a control framework for mobile robots, operating in shared environment with humans. The Intelligent Space (iSpace) can sense the whole space and evaluate the situations in the space by distributing sensors. The mobile agents serve the inhabitants in the space utilizes the evaluated information by iSpace. The iSpace evaluates the situations in the space and learns the walking behavior of the inhabitants. The human intelligence manifests in the space as a behavior, as a response to the situation in the space. The iSpace learns the behavior and applies to mobile agent motion planning and control. This paper introduces the application of fuzzy-neural network to describe the obstacle avoidance behavior learned from humans. Simulation and experiment results are introduced to demonstrate the efficiency of this method.

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  • Distributed sensor network for multi-agent motion tracking in intelligent space Reviewed

    Tae-Seok Jin, Kazuyuki Morioka, Hideki Hashimoto

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13   1873 - +   2006

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    Latest advances in hardware technology and state of the art of mobile agent, and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. The Intelligent Space(ISpace) is the space where many intelligent devices, such as computers and sensors, are distributed. According to the cooperation of many intelligent devices, the environment, it is very important that the system knows the location information to offer the useful services. In order to achieve these goals, we present a method for representing, tracking and human following by fusing distributed multiple vision systems in ISpace, with application to pedestrian tracking in a crowd. And the article presents the integration of color distributions into particle filtering. Particle filters provide a robust tracking framework under ambiguity conditions. We propose to track the moving objects by generating hypotheses not in the image plan but on the top-view reconstruction of the scene. Comparative results on real video sequences show the advantage of our method for multi-object tracking. Simulations are carried out to evaluate the proposed performance. Also, the method is applied to the intelligent environment and its performance is verified by the experiments.

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  • Human observation based mobile robot navigation in intelligent space Reviewed

    Takeshi Sasaki, Hideki Hashimoto

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12   1044 - +   2006

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    In this paper, we investigate a mobile robot navigation system which can localize the mobile robot correctly and navigate based on observation of human walking in order to operate in the human shared space with minimal disturbance to humans. To realize this system, we utilize many intelligent devices embedded in the environment. The human walking paths are obtained from distributed vision systems and frequently used paths in the environment are extracted. The mobile robot navigation based on observation of human is also performed with the support of the system. The position and orientation of the mobile robot are estimated from wheel encoder and 3D ultrasonic positioning system measurement data using extended Kalman filter. The system navigates the mobile robot along the frequently used paths by tracking control.

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  • Position uncertainty reduction of mobile robot based on DINDs in intelligent space Reviewed

    TaeSeok Jin, Primoz Podrzaj, Hideki Hashimoto

    2006 IEEE International Symposium on Industrial Electronics, Vols 1-7   2603 - 2607   2006

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    This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace). This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a-priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot.

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  • Spatial segmentation of human activities in intelligent space Reviewed

    Mihoko Niitsuma, Hideki Hashimoto

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13   5584 - +   2006

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    This paper presents approaches using the spatial memory to classify human activities spatially and characteristically for recognizing "space-human activity association". The spatial memory enables humans to store computerized information such as digital files and commands into the real world by assigning three-dimensional position as the memory addresses. Humans can retrieve and store such information by directly indicating the point using their own body e.g. user's hand and user's head. A virtual tag, which associates a digital data with a spatial location, is called Spatial-Knowledge-Tag (SKT). SKT is created by a human based on his policy and his purpose in an environment. SKTs including locations and contents describe human activities at places. To design and implement services for inhabitants in an intelligent environment, it is required to know purposes which people intend to use the places. This paper applies two approaches to classify human activities spatially and characteristically. More specifically, one is a classification of arranged SKTS by using only spatial memory addresses and the size of accessible regions, the other is a classification of arranged SKT based on observation of human activities and forms of spatial memory data.

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  • Occlusion avoidance of information display system in intelligent space Reviewed

    Yoshihisa Toshima, Qinhe Wang, Noriaki Ando, Hideki Hashimoto

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13   287 - +   2006

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    This paper presents occlusion avoidance of information display system in Intelligent Space using RT-Components. Intelligent Space is an environmental system realized by cooperation of RT components (robots, sensors or actuators) inside a space (room, corridor or street) and can gather various kinds of information, especially the position of human and objects. When Intelligent Space observes a human, it is able to provide interactive information to him. Occlusion problem is needed to be solved to provide interactive information according the human movement. We developed the occlusion avoidance algorithm for the active projector. And this paper proposes a system in Intelligent Space using RT-Components which is useful and easy to integrate for system user or developer.

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  • Developing dexterous bilateral nanomanipulation system using haptic interface Reviewed

    Gilgueng Hwang, Hideki Hashimoto

    2006 IEEE INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE   434 - +   2006

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    To build complex 3D nano device such as nano scale force sensor or actuators, it requires dexterous 3D nanoassembly technology adding to 2D microfabrication or self-assembly of nano particles. We have two nanomanipulators which can be also setup either inside Scanning Electro Microscope and optical microscope. Using multiple nanomanipulators, human-friendly haptic interface, and electro statically actuated MEMS micro gripper, 3D nanoassembly can be realized. By functionalizing tips in each nanomanipulator, a complex nanoassembly work can be done in a simplified manner. We adopt two nanomanipulators and electromagnetically functionalized probe tip and glue functionalized tip.

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  • Mobile robot control using fuzzy-neural-network for learning human behavior Reviewed

    TaeSeok Jin, YoungDae Son, Hideki Hashimoto

    NEURAL INFORMATION PROCESSING, PT 3, PROCEEDINGS   4234   874 - 883   2006

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    The knowledge of human walking behavior has primary importance for mobile agent in order to operate in the human shared space, with minimal disturb of other humans. This paper introduces such an observation and learning framework, which can acquire the human walking behavior from observation of human walking, using CCD cameras of the Intelligent Space. The proposed behavior learning framework applies Fuzzy-Neural Network(FNN) to approximate observed human behavior, with observation data clustering in order to extract important training data from observation. Preliminary experiment and results are shown to demonstrate the merit of the introduced behavior.

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  • Tracking of objects in intelligent space using laser range finders Reviewed

    Drazen Brscic, Hideki Hashimoto

    2006 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-6   1651 - +   2006

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    In this paper we present an approach to tracking of humans and mobile robots in spaces with ubiquitous distributed sensors and actuators - Intelligent Spaces. In order to be able to implement services that depend on the position of humans, a reliable tracking method is needed. Also, for the implementation of mobile robot control it is important to know both the robot's and human's positions. In this work we present an implementation based on laser range finders. Firsts a short survey of the existing tracking methods, and their applicability to tracking of objects in intelligent environments is presented. Based on those results, we chose laser range finders for measurement. The method we use is based on clustering of the foreground of the measurement and tracking the position using a Kalman filter. Experimental results of tracking mobile robots and humans are given which confirm the applicability of the presented method.

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  • Camera calibration using mobile robot in intelligent space Reviewed

    Takeshi Sasaki, Hideki Hashimoto

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13   300 - +   2006

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    In this paper, we describe an automated camera calibration method by using mobile robots. In the recent years, the research field on smart environments, which is a space with many embedded and networked sensors, has been expanding. Such a system should have flexibility and scalability so that we can easily add, remove or replace devices depending on the size of the space, application, technological advances, and so on. One of the major problems when setting up the devices is a calibration of the sensors. In order to reduce this, we utilize color markers installed on a mobile robot to calibrate distributed vision sensors. The mobility of mobile robots allows us to cover wide areas of the environment without placing many landmarks in the exact positions beforehand. The position and orientation of the mobile robot are estimated from wheel encoder and an ultrasonic 3D positioning system measurement data using Extended Kalman Filter (EKF). Automated camera calibration is performed based on the positions of the color markers in world coordinate system and their corresponding points in image coordinate system. Experimental result shows the validity of this method.

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  • Pedestrian-behavior-based mobile agent control in Intelligent Space Reviewed

    PT Szemes, H Hashimoto, P Korondi

    IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT   54 ( 6 )   2250 - 2257   2005.12

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    This paper investigates a human walking behavior-based mobile robot control system. The Intelligent Space (iSpace) is a distributed sensory system, which is the background infrastructure to observe human walking in a limited area. The observation of human walking behavior is applied to train fuzzy-neural networks (FNN). The trained FNNs are applied to approximate the obstacle avoidance behavior of human walking. The paper introduces the iSpace and the mobile agents, which are mobile robots, utilizing the intelligence of the iSpace. The observed and trained human walking behaviors are applied to control the mobile agent in a human-robot shared environment. Experimental results demon-strate the effectiveness of the FNN-based control system.

    DOI: 10.1109/TIM.2005.858824

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  • Mobile Agent Control in Intelligent Space Based on Observed Human Behavior Reviewed

    Peter T.Szemes, Peter Korondi, Hideki Hashimoto

    Control Engineering and Applied Informatics   7 ( 3 )   15 - 23   2005.9

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  • 空間の知能化とシステムインテグレーション Reviewed

    橋本秀紀

    計測と制御   8 ( 44 )   568 - 573   2005.8

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  • 空間知能化―インテリジェント・スペース― Reviewed

    橋本秀紀, 新妻実保子, 佐々木毅

    日本ロボット学会誌   6 ( 23 )   674 - 677   2005.7

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  • SICEのIT運営モデル構築について Reviewed

    橋本秀紀

    計測と制御   6 ( 44 )   420 - 421   2005.6

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  • モバイル社会におけるロボティクス Reviewed

    橋本秀紀

    Mobile Society Review 未来心理   ( 1 )   32 - 39   2005.3

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  • Global Asymptotic Stabilisation of the Prototypical Aeroelastic Wing Section via TP Model Transformation Reviewed

    Peter Baranyi, Peter Korondi, Hideki Hashimoto

    Asian Journal of Control   2 ( 7 )   2005

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  • Mobile agent in the intelligent space which can learn human walking behavior Reviewed

    PT Szemes, T Sasaki, H Hashimoto

    2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2   1227 - 1232   2005

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    The knowledge of human walking behavior has primary importance for mobile agent in order to operate in the human shared space, with minimal disturb of other humans. This paper introduces such an observation and learning framework, which can acquire the human walking behavior from observation of human walking, using CCD cameras of the Intelligent Space. The proposed behavior learning framework applies Fuzzy-Neural Network to approximate observed human behavior, with observation data clustering in order to extract important training data from observation.
    Preliminary experiment is shown to demonstrate the merit of the introduced behavior.

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  • An Evaluation of Spatial Memory Based on Human Performance Reviewed

    M.Niitsuma, Hiroshi Hashimoto, Hideki Hashimoto

    IEEE Industrial Electronics Society (IECON'05)   2005

  • Global Asymptotic Stabilisation of the Prototypical Aeroelastic Wing Section via TP Model Transformation Reviewed

    Peter Baranyi, Peter Korondi, Hideki Hashimoto

    Asian Journal of Control   2 ( 7 )   2005

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  • Networked telemicromanipulation systems "Haptic Loupe" Reviewed

    N Ando, P Korondi, H Hashimoto

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   51 ( 6 )   1259 - 1271   2004.12

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    In this paper, "Haptic Loupe" telemicromanipulation systems are proposed.
    We have developed telemicromanipulation systems that enable human operators to perform micro tasks, such as assembly or manufacturing without stress [1]-[4]. These systems are based on a scaled bilateral teleoperation system between different structures.
    The systems are composed of an original six-degrees-of-freedom (6-DOF) parallel link manipulator to carry out micromanipulation and a 6-DOF haptic interface with force feedback.
    A parallel mechanism is adopted as a slave micromanipulator because of its good features of accuracy and stiffness. The haptic master interface is developed for micromanipulation systems. Haptic device system modeling and a model reference adaptive controller are implemented to compensate for friction forces, which spoil the free motion performance and force response isotropy of the system.
    Total system performance as a telemicromanipulator system is evaluated by performing some primitive manipulation tasks in a teleoperation experiment. Experimental results are presented and discussed.

    DOI: 10.1109/TIE.2004.837858

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  • Editorial Reviewed

    Shigeki Sugano, Hideki Hashimoto

    IEEE/ASME Transactions on Mechatronics   9 ( 3 )   465 - 466   2004.9

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  • Cooperation of distributed intelligent sensors in intelligent environment Reviewed

    JH Lee, K Morioka, N Ando, H Hashimoto

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   9 ( 3 )   535 - 543   2004.9

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    We propose an architecture of intelligent space based on distributed intelligent sensors. Intelligent space is an environmental system able to support humans in informative and physical ways. Since an intelligent space should adapt to the various sizes and shapes of an environment, an architecture based on distributed intelligent sensors is designed. The proposed architecture satisfies not only scalability but also reconfigurability, modularity, easy maintenance, and affinity problems in building an intelligent space. Intelligent sensors are-distributed among a space and they provide functions based on position information. According to the particular situation, cooperation among intelligent sensors or cooperation among function modules in the intelligent sensors are performed. Selected demonstrations are described in the paper.

    DOI: 10.1109/TMECH.2004.834655

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  • Editorial Reviewed

    Shigeki Sugano, Hideki Hashimoto

    IEEE/ASME Transactions on Mechatronics   9 ( 3 )   465 - 466   2004.9

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  • Surface deformation displays for virtual environment using the fuzzy model Reviewed

    MK Park, H Hashimoto

    IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS   E87D ( 6 )   1422 - 1432   2004.6

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    In this paper, a new method for displaying a surface deformation is proposed to provide sufficient realism in virtual environment. The approach selected in this paper is based on the fuzzy model and it is sufficient that only one additional rule be added to the fuzzy model to display a surface deformation. Furthermore, designers can easily determine which parameters should be used and how much they should be changed in order to alter shapes as required. The proposed method, thus, is a simple, but effective technique that can also be applied to real time operation and makes it possible to act on several surface points simultaneously. The results of the computer simulation are also given to demonstrate the validity of the proposed algorithm.

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  • Trade-off between approximation accuracy and complexity for TS fuzzy models Reviewed

    P Baranyi, P Korondi, RJ Patton, H Hashimoto

    ASIAN JOURNAL OF CONTROL   6 ( 1 )   21 - 33   2004.3

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    This paper proposes a transformation method that serves the trade-off between the modelling complexity and accuracy of multi-variable Takagi-Sugeno fuzzy inference operator-based modelling (TS fuzzy modelling). The relation between the number of fuzzy rules and the modelling accuracy is defined in the paper. The proposed transformation method is capable of finding the minimal number of fuzzy rules for a given accuracy of a given TS fuzzy model. A case study, focusing on a benchmark problem of fault diagnosis, developed in the framework of EC-founded Research Training Network DAMADICS, of an actuator in a sugar factory, is presented to provide feasibility of the proposed method.

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  • Human-following mobile robot in a distributed intelligent sensor network Reviewed

    K Morioka, JH Lee, H Hashimoto

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   51 ( 1 )   229 - 237   2004.2

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    The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, humans and robots need to be in close proximity to each other as much as possible. Moreover, it is necessary for their interactions to occur naturally. It is desirable for a robot to carry out human following, as one of the human-affinitive movements. The human-following robot requires several techniques: the recognition of the target human, the recognition of the environment around the robot, and the control strategy for following a human stably. In this research, an intelligent environment is used in order to achieve these goals. An intelligent environment is a space in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The control law based on the virtual spring model is proposed to mitigate the difference of movement between the human and the mobile robot. The proposed control law is applied to the intelligent environment and its performance is verified by the computer simulation and the experiment.

    DOI: 10.1109/TIE.2003.821894

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  • 知能化空間における移動ロボットの人間追従制御 Reviewed

    森岡一幸, 李周浩, 橋本秀紀

    日本ロボット学会誌   22 ( 1 )   103 - 111   2004.1

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  • Spatial Human Interface in Working Environment - Spatial-Knowledge-Tags to Access Memory of Activity Reviewed

    Mihoko Niitsuma, Hiroshi Hashimoto, Hideki Hashimoto, Akiko Watanabe

    IECON 2004: 30TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOL 2   1284 - 1288   2004

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    The Spatial Human Interface (SHI) is a relatively new system that enables us to facilitate human activity in a working environment. The SHI stores human activity data as knowledge and activity history of human into the Spatial Memory in a working environment as three-dimensional space where one acts, and loads them with the Spatial-Knowledge-Tags(SKT) by supporting the enhancement of human activity. To realize this, the SHI purpose is to construct a new relationship among human and distributed networks computers and sensors that is based on intuitive and simultaneous interactions. In this paper, the specified functions of SKT and the realization method of SKT are explained. The experimental results using SKT are shown.

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  • iCAN: Pursuing Technology for Near-Future ITS Reviewed

    Massaki Wada, Xuchu Mao, Hideki Hashimoto, Mami Mizutani, Masaki Saito

    IEEE Intelligent Systems   19 ( 1 )   18 - 23   2004

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    DOI: 10.1109/MIS.2004.1265880

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  • Editorial note Reviewed

    Shigeki Sugano, Hideki Hashimoto

    DEUTSCHE ENTOMOLOGISCHE ZEITSCHRIFT   9 ( 3 )   IX - IX   2004

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  • Artificial Neural Network based Object Tracking Reviewed

    Barna Resko, four others

    Periodica Politechnica, Trans. on Automatic Control & Computer Science   49 ( 63 )   125 - 130   2004

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  • Controlling mobile robots in distributed intelligent sensor network Reviewed

    JH Lee, H Hashimoto

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   50 ( 5 )   890 - 902   2003.10

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    Mobile robots need sufficient sensors and information on the environment in order to navigate. In this paper, we propose a system of mobile robots, which is controlled in a distributed intelligent sensor network. In such a networked space, the environment is divided by distributed sensors. Each area is monitored by a distributed sensor device, which connects with other distributed sensor devices and robots throughout the network. As a result, the mobile robots are able to accomplish tasks simply by following orders from the sensor devices in the networked environment, although the mobile robots are not self-contained with information on the environment and sensors for self-positioning and control. We test several situations to verify the proposed system.

    DOI: 10.1109/TIE.2003.817488

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  • Parking Assistance Systems using Human Guidance Reviewed

    Massaki Wada, Hideki Hashimoto, Kang Sup Yoon

    IEEJ Transactions on Industry Applications   123 ( 3 )   227 - 237   2003.9

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    This paper dicusses the problem of parking assistance system development. Firstly, we propose the driver assistance systems general architecture based on path planning and human interface modules. A path generation method based on parking possibility area, is developed for the parking assistance systems. The human interface designed for the parking assistance systems is then described. A prototype of the parking assistance systems based on the proposed architecture and approaches have been constructed. Proposed algorithms and implementation solutions in the prototype construction are described. The lane and row parking experimental results obtained with the prototype systems are also shown. © 2003, The Institute of Electrical Engineers of Japan. All rights reserved.

    DOI: 10.1541/ieejias.123.227

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  • Research Activities Hashimoto Lab at the University of Tokyo Reviewed

    Joo-Ho Lee, Hideki Hashimoto

    IEEE Transactions on Industrial Electronics   50 ( 5 )   2003.9

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  • Teleoperated touch feedback from the surfaces at the nanoscale: Modeling and experiments Reviewed

    M Sitti, H Hashimoto

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   8 ( 2 )   287 - 298   2003.6

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    In this paper, a teleoperated nanoscale touching system is proposed, and continuum nanoscale contact mechanics models are introduced. The tele-nanorobotic system consists of a piezoresistive nanoprobe with a sharp tip as the nanorobot and force and topology sensor, a custom-made 1-degree-of-freedom haptic device for force-feedback, three-dimensional (3-D) virtual reality (VR) graphics display of the nano world for visual feedback, and force-reflecting servo type scaled teleoperation controller. Using this system, one-dimensional and 3-D touching experiments and VR simulations are realized. Scaling of nanoforces is one of the major issues of the scaled teleoperation system since nanometer scale forces are dominated by surface forces instead of inertial forces as in the macro world. As the force scaling approach, a heuristic rule is introduced where nanoforces are linearly scaled with an experimentally determined scaling parameter. Simulation results and preliminary experiments of touching to silicon and InAs quantum dot nanostructures show that adhesion forces at the nanoscale can be felt repeatedly at the operator's hand, and the proposed system can successfully enable the nanoscale surface topography and contact and noncontact nanoforce feedback.

    DOI: 10.1109/TMECH.2003.812828

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  • ヒューマンガイダンスを用いた駐車支援システム Reviewed

    ワダマサキ, 尹康燮, 橋本秀紀

    電気学会論文誌D産業応用部門誌   123 ( 3 )   227 - 237   2003.3

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  • Development of advanced parking assistance system Reviewed

    M Wada, KS Yoon, H Hashimoto

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   50 ( 1 )   4 - 17   2003.2

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    This paper is the first to apply a multilevel driver assistance system in the development of a system to aid in the parking process. The development of this system is described within the WAN (intelligent CAr Navigation Systems) project framework.
    A parking assistance system, parking administration system, and employed sensor system are described. The general architecture of a driver assistance system based on path planning and human-machine interface (HMI) modules is proposed. The paper follows describing the parking assistance system development using this architecture. The parking possibility region-based path-planning method proposed for implementing the proposed architecture is described, as is the design of the system's HMI.
    A prototype of the parking assistance system based on the proposed architecture was constructed. The adopted hardware, software, and implementation solutions in this prototype construction are described. Finally, the results of lane and row parking experiments conducted using the prototype system are shown.

    DOI: 10.1109/TIE.2002.807690

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  • Scaled teleoperation system for nano-scale interaction and manipulation Reviewed

    M Sitti, B Aruk, H Shintani, H Hashimoto

    ADVANCED ROBOTICS   17 ( 3 )   275 - 291   2003

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    In this paper, a visual and haptic human-machine interface is proposed for teleoperated nano-scale object interaction and manipulation. Design specifications for a bilateral scaled teleoperation system with slave and master robots, sensors, actuators and control are discussed. The Phantom(TM) haptic device is utilized as the master manipulator, and a piezoresistive atomic force microscope probe is selected as the slave manipulator and as topography and force sensors. Using the teleoperation control system, initial experiments are realized for interacting with nano-scale surfaces. It is shown that fine structures can be felt on the operator's finger successfully, and improved nano-scale interaction and manipulation using visual and haptic feedback can be achieved.

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  • 遠隔マイクロマニピュレーション Reviewed

    橋本秀紀, 安藤慶昭

    精密工学会誌「特集微小物体マニピュレーション」(解説)   68 ( 11 )   1406 - 1410   2002.11

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  • Mobile Robot Control in Intelligent Space for People Support Reviewed

    Joo-Ho Lee, Kazuyuki Morioka, Hideki Hashimoto

    Journal of Robotics and Mechatronics   14 ( 4 )   390 - 399   2002.8

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  • Haptic Interface を用いた微細作業システムの開発 Reviewed

    安藤慶昭, 太田昌宏, Peter KORONDI, 橋本秀紀

    電気学会論文誌C(電子・情報・システム部門誌)   122 ( 8 )   1341 - 1350   2002.8

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  • Fuzzy Rule-Based Obstacle Avoidance Algorithm for Mobile Robots in Intelligent Space Reviewed

    Joo-Ho Lee, Hideki Hashimoto

    Machine Intelligence & Robotic Control   4 ( 1 )   27 - 34   2002.3

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  • Intelligent Space - concept and contents Reviewed

    JH Lee, H Hashimoto

    ADVANCED ROBOTICS   16 ( 3 )   265 - 280   2002

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    This paper describes our concept of Intelligent Space. Intelligent Spaces are rooms or areas that are equipped with sensors, which enable the spaces to perceive and understand what is happening in them. With such features. people or systems in the Intelligent Space can use additional functions that are afforded by the space. This research field itself is not particularly related to robotics, but we believe robots under Intelligent Spaces have many interesting features. Intelligent Spaces are expected to have a broad range of applications such as in homes, offices, factories, etc. Thus, we can consider that a robot, which will be used in our general living environment, is related to the concept of Intelligent Space. Several applications of Intelligent Space are shown in this paper with descriptions.

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  • Workspace Analysis of Parallel Manipulator for Tele-Micromanipulation Systems Reviewed

    Noriaki Ando, Masahiro Ohta, Kouhei Gonda, Hideki Hashimoto

    Journal of Robotics and Mechatronics   3 ( 5 )   488 - 496   2001.12

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  • Development of micromanipulator and haptic interface for networked micromanipulation Reviewed

    N Ando, P Korondi, H Hashimoto

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   6 ( 4 )   417 - 427   2001.12

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    In this paper, telemicromanipulation systems with haptic feedback, which are connected through network, are proposed. It is based on scaled bilateral teleoperation systems between different structures. These systems are composed of an original 6 degree of freedom (DOF) parallel link manipulator to carry out micromanipulation and a 6-DOF haptic interface with force feedback. A parallel mechanism is adopted as a slave micromanipulator because of its good features of accuracy and stiffness. The system modeling and control of the parallel manipulator system are conducted. Parallel manipulator feasibility as micromanipulator, positioning accuracy and device control characteristics are investigated. The haptic master interface is developed for micromanipulation systems. System modeling and model reference adaptive controller are conducted to compensate friction force, which spoils free motion performance and force response isotropy of the haptic interface. These systems aim to make the micromanipulation more productive constructing a better human interface through the microenvironment force and scale expansion.

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  • 分散感覚知能アーキテクチャに基づく情報の再構成とITSへの応用 Reviewed

    山口亨, 平山健一郎, 橋本秀紀

    電気学会論文誌D産業応用部門誌   121 ( 9 )   956 - 963   2001.9

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  • 空間知能化に関する研究動向 Reviewed

    橋本秀紀

    電気学会論文誌D産業応用部門誌   121 ( 9 )   917 - 922   2001.9

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  • Development of Advanced Parking Assistance System in the iCAN Framework Reviewed

    Masaaki Wada, Kang Sup Yoon, Hideki Hashimoto

    Journal of Robotics and Mechatronics   13 ( 4 )   402 - 408   2001.8

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  • MASTER DEVICE FOR MICRO TELE-OPERATION SYSTEMS Reviewed

    Peter Korondi, Noriaki Ando, Peter T. Szemes, Hideki Hashimoto

    Journal of Electrical Engineering   1 ( 2 )   57 - 62   2001.4

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  • Friction Compensation for Micro Tele-Operation Systems Reviewed

    Peter T.Szemes, Peter Korondi, Noriaki Ando, Hideki Hashimoto

    Automatica, Journal of Control, Measurement, Electronics, Computing and Communications   42 ( 1-2 )   23 - 27   2001

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  • Sliding mode friction compensation for a 20 DOF sensor glove Reviewed

    P Korondi, PT Szemes, H Hashimoto

    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME   122 ( 4 )   611 - 615   2000.12

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    A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom. [S0022-0434(00)01104-7].

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  • AFMによるナノ操作のためのVRインターフェースの検討 Reviewed

    堀口智史, メティン シッティ, 橋本秀紀

    電気学会論文誌   120-C ( 12 )   1948 - 1956   2000.12

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  • ハプティックデバイスのための非線形外乱の補償 Reviewed

    大橋俊之, Peter Korondi, 橋本秀紀

    電気学会論文誌   120-C ( 8-9 )   1188 - 1194   2000.8

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  • Image-based visual servoing control of a SCARA robot Reviewed

    SH Han, MH Lee, H Hashimoto

    KSME INTERNATIONAL JOURNAL   14 ( 7 )   782 - 788   2000.7

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:KOREAN SOC MECHANICAL ENGINEERS  

    In this paper, we present a new approach to visual feedback control using image-based visual servoing with stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only around a desired location but also at other locations. The suggested technique can guide a robot manipulator to the desired location without providing a priori knowledge such as the relative distance to the desired location or the model of an object even when the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by experimental results and compared with conventional control methods for an assembly robot.

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  • Controlled pushing of nanoparticles: Modeling and experiments Reviewed

    M Sitti, H Hashimoto

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   5 ( 2 )   199 - 211   2000.6

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    In this paper, a nano-robotic manipulation system using an atomic force microscope probe as the pushing manipulator and force and topology sensor is proposed. The task is the two-dimensional positioning of nanometer-size particles on a substrate in ambient conditions. Thus, the modeling of interaction forces and dynamics during the pushing operation is analyzed, and compared with the experimental results for an improved understanding of the nano scale physical phenomenon which is different from macro scale physics. Simulations and experiments are held for determining the conditions and strategies for reliable manipulation and determining the affecting parameters. The results show that the latex particles with 242- and 484-nm radii can be positioned on Si substrates successfully with around 30-nm accuracy, and the behavior of the particle motion during pushing can be predicted from the experimental data.

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  • <追悼>一人のインストラクショナル・デザイナー Reviewed

    橋本秀紀

    日本ディスタンスラーニング学会誌   2   53 - 217   2000.3

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  • Sliding mode design for motion control Reviewed

    P Korondi, H Hashimoto

    APPLIED ELECTROMAGNETICS AND COMPUTATIONAL TECHNOLOGY II, PROCEEDINGS   16   221 - 232   2000

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    Motion control has been a fruitful ground for applying Variable Structure Systems (VSS) theory. This paper provides an assessment of the state of the art of the relevant theoretical results for motion control, and through a number of control design problems (namely classical, discrete-time, observer based discrete-time and frequency shaped sliding mode control) demonstrates the practical use of sliding mode in solving a number of critical design problems which are universal to both motion control and robotic manipulator control. Experimental results of a DSP-controlled single-degree-of-freedom motion-control system are presented.

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  • Investigation of electric drive system of rail vehicles Reviewed

    T Gajdar, P Korondi, C Burlacu, H Hashimoto

    APPLIED ELECTROMAGNETICS AND COMPUTATIONAL TECHNOLOGY II, PROCEEDINGS   16   264 - 275   2000

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    In this paper an AC drive system of a commuter train is investigated from the point of view of load and line side perturbations. A simple drive and longitudinal train dynamical system has been developed, where the motor is driven by a voltage type inverter. This paper, as the first instant, describes and outlines the effects of load side perturbances, encountered as friction coefficient changes and normal load variations. As the next step, the effects of line side disturbances, such as overvoltage and voltage drop due to the loss of contact between pantograph and catenary, are investigated.

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  • Two-dimensional fine particle positioning under an optical microscope using a piezoresistive cantilever as a manipulator Reviewed

    Metin Sitti, Hideki Hashimoto

    Journal of Micromechatronics   1 ( 1 )   25 - 48   2000

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  • Macro to nano Tele-Manipulation towards Nanoelectromechanical Systems Reviewed

    Metin Sitti, Hideki Hashimoto

    Journal of Robotics and Mechatronics   12 ( 3 )   209 - 217   2000

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  • Haptic Interafaces for Telemanipulation Reviewed

    Peter T.Szemes, Peter Korondi, Hideki Hashimoto

    Transactions on Automatic control and Computer Science   45 ( 1 )   81 - 86   2000

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  • ITSとメカトロニクス・ロボティクス Reviewed

    橋本秀紀

    日本機械学会誌   102   1999.8

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  • Integrated wiring system for construction equipment Reviewed

    JM Lee, S Lee, MH Lee, KS Yoon

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   4 ( 2 )   187 - 195   1999.6

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    Advances in electronic technology have brought numerous changes in design of most types of construction equipment. The first wave of the changes can be represented by the proliferation of electronic devices, including microprocessors. Their applications include information display, engine control, and hydraulic control. Due to these electronic devices and electric loads such as lamps and motors, a typical construction vehicle has many wires and connectors. The second wave of the changes will be focused on how to reduce these complex wires by using digital communications. This paper presents the development of an integrated wiring system for construction equipment. More specifically, an excavator that has more than 40 devices has been chosen in order to apply the concept of the integrated wiring system, After grouping electrical devices by their locations and functions, two communication controllers, i,e., an instrument controller and an engine-hydraulic controller have been defined. Two test controllers have been developed in order to prove the concept.

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  • インテリジェント・メカトロニクスの展開 Reviewed

    橋本秀紀

    塑性と加工(日本塑性加工学会誌)   40   18 - 24   1999.1

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  • Park Vector Based Sliding Mode Control of UPS With Unbalanced and Nonlinear Load Reviewed

    Hideki Hashimoto, Peter Korondi

    Periodica Politechnica Ser. El. Eng.   43 ( 1 )   65 - 79   1999

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  • Tele-nanorobotics using an atomic force microscope as a nanorobot and sensor Reviewed

    M Sitti, H Hashimoto

    ADVANCED ROBOTICS   13 ( 4 )   417 - 436   1999

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    In this paper, a tele-nanorobotic system using an atomic force microscope (AFM) as the nanorobot and sensor has been proposed. Modeling and control of the AFM cantilever, and modeling of nanometer scale forces have been realized for telemanipulation applications. In addition to three-dimensional virtual reality visual feedback in the user interface, a 1 d.o.f. haptic: device has been constructed for nano-scale haptic sensing. For feeling the nano forces, a bilateral teleoperation control system with virtual impedance approach has been introduced. Initial experiments and simulations on the AFM and teleoperation system show that the system can be utilized for different tele-nanomanipulation applications such as two-dimensional nano particle assembly or biological object manipulation.

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  • Human-Machine Interfaces and Telerobots Reviewed

    Condensed Matter News From nano-to macroscale sciences and technology   85   28 - 33   1999

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  • Mobile Robot Architecture in Intelligent Space Reviewed

    Joo-Ho Lee, Noriaki Ando, Hideki Hashimoto

    Journal of Robotics and Mechatronics   11   165 - 170   1999

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  • Guest Editorial Reviewed

    Hideki Hashimoto

    IEEE/ASEM Transaction on Mechatronics   3   1998.6

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  • 第5回可変構造システム国際ワークショップ Reviewed

    橋本秀紀

    電気学会論文誌D産業応用部門誌   119   1998.4

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  • Fuzzy Rule Base Reduction for Robot Finger Furnished with Shape Memory Alloy Reviewed

    Peter Baranyi, four others

    Transactions on Automatic Control and Computer Science   43(57)   17 - 22   1998.4

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  • Preface Reviewed

    Hideki Hashimoto

    Advanced Robotics The International Journal of the Robotics Society of Japan   11   741 - 742   1998

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  • Preface Reviewed

    Hideki Hashimoto

    Advanced Robotics The International Journal of the Robotics Society of Japan   11   741 - 742   1998

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  • Chaotic Evolutionary Parallel Computation on Intelligent Agents Reviewed

    Naoki Kohata, Toru Yamaguchi, Takanobu Baba, Hideki Hashimoto

    Journal of Robotics and Mechatronics   10   424 - 430   1998

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  • Robot obstacle avoidance in n-dimensional space using planar harmonic artificial potential fields Reviewed

    J Guldner, Utkin, VI, H Hashimoto

    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME   119 ( 2 )   160 - 166   1997.6

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    Autonomous operation of robots requires on-line obstacle avoidance. A wide-spread tool for obstacle avoidance, employed both for mobile robots and for manipulator arms, is the artificial potential field method. This paper extends previous results for planar problems to the general n-dimensional case. A significant decrease in computational complexity is achieved by projecting the n-dimensional workspace into a two-dimensional subspace called the operation plane. Furthermore, only the closest obstacle is taken into account when designing the artificial potential field. The effects of the required switching between potential fields of different obstacles are examined using sliding mode theory. A tracking controller is presented which allows exact following of the gradient of the artificial potential field. The methodology is illustrated with several numerical examples.

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  • 握手マシンの開発およびインターネットを介した遠隔握手 Reviewed

    國井康晴, マノロックンスラデー, 橋本秀紀

    電気学会論文誌C 電子・情報システム部門誌、電気学会   117C ( 5 )   500 - 505   1997.5

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  • Industrial Application of Position Sensorless Active Magnetic Bearings Reviewed

    Peter Korondi, Hideki Hashimoto, Vadim I.Utkin

    IEEE Trans. of Industrial Electronics   45 ( 2 )   291 - 296   1997.4

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  • Path Generation for Mobile Robot Using Genetic Algorithm Reviewed

    D.kang, Hideki Hashimoto, Fumio Harashima

    電子学会論文誌C(電子・情報・システム部門誌)   117 ( 2 )   102 - 109   1997.2

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  • Industrial application of position sensorless active magnetic bearings Reviewed

    T Mizuno, H Bleuler, H Tanaka, H Hashimoto, F Harashima, H Ueyama

    ELECTRICAL ENGINEERING IN JAPAN   117 ( 5 )   124 - 133   1996.11

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    Active magnetic bearings (AMBs) are applied to turbomolecular pumps (TMPs) and milling spindles. However, their application areas are limited because they are costlier and require larger space than conventional mechanical bearings. Omitting position sensors from AMBs is one of the promising methods to solve such problems. An additional merit is that rotors can be shortened to have a higher critical speed by removing sensor targets from the rotor. The sensorless operation of AMBs has already been achieved in several instruments developed for experimental study. In this research, the sensorless magnetic suspension method is applied to a TMP manufactured as an industrial product, and it is demonstrated that sensorless AMBs can suspend a highspeed rotor.

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  • モデルパラメータ追従制御に関する考察 - すべり動作制御 ・ 外乱オブザーバー制御 ・ 学習制御の関連について - Reviewed

    川口圭史, 橋本秀紀, H.Hemami

    日本ロボット学会誌   14 ( 7 )   156 - 162   1996.10

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  • Dextrous hand grasping force optimization Reviewed

    M Buss, H Hashimoto, JB Moore

    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION   12 ( 3 )   406 - 418   1996.6

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    A key goal in dextrous robotic hand grasping is to balance external forces and at the same time achieve grasp stability and minimum grasping energy by choosing an appropriate set of internal grasping forces, Since it appears that there is no direct algebraic optimization approach, a recursive optimization, which is adaptive for application in a dynamic environment, is required.
    One key observation in this paper is that friction force limit constraints and force balancing constraints are equivalent to the positive definiteness of a certain matrix subject to linear constraints, Based on this observation, we formulate the task of grasping force optimization as an optimization problem on the smooth manifold of linearly constrained positive definite matrices for which there are known globally exponentially convergent solutions via gradient flows. There are a number of versions depending on the Riemannian metric chosen, each with its advantages, Schemes involving second derivative information for quadratic convergence are also studied.
    Several forms of constrained gradient flows are developed for point contact and soft-finger contact friction models, The physical meaning of the cost index used for the gradient flows is discussed in the context of grasping force optimization, A discretized version for real-time applicability is presented, Numerical examples demonstrate the simplicity, the good numerical properties, and optimality of the approach.

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  • State Estimation for Mobile Robot Using Parially Observable Markov Decision Process Reviewed

    D. Kang, Hideki Hashimoto, Fumio Harashima

    Journal of Robotics and Mechatronics   8 ( 3 )   272 - 277   1996.6

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  • 多自由度Haptic Interfaceのためのダイナミック・フォース・シミュレータ Reviewed

    國井康晴, 橋本秀紀

    電気学会論文誌C(電子・情報・システム部門誌)   116-C ( 6 )   706 - 712   1996.6

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  • グラディエントフローによる2次曲面のポーズ推定 Reviewed

    白文鴻

    計測自動制御学会論文集   32 ( 3 )   389 - 395   1996.3

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  • Intelligent control for human-machine systems Reviewed

    M Buss, H Hashimoto

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   1 ( 1 )   50 - 55   1996.3

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    In this article we try to summarize the field of intelligent control (IC) for human-machine systems (HMS) from a subjective point of view. Mechatronic components have become intelligent from integrating mechanical, electrical and software intelligence in minimum space, certainly an important step in building IC systems, Taking this and recent successes using artificial neural networks, fuzzy logic and genetic algorithms, so called soft computing, the field of IC is exciting with a bright future. This article attempts to anticipate this future and discusses directions of research to approach the realization of more intelligent systems, Human inclusion in such IC systems is as important as to increase autonomy, flexibility, and fault-tolerance, Iterative improvement over trials and optimal system design are important issues, The authors' research to realize IC of dextrous manipulation is briefly reviewed discussing the hey results and lessons.

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  • 距離画像データを用いた2次曲面の位置・姿勢推定 Reviewed

    白文鴻, 橋本秀紀, 原島文雄, ジョンムーア

    電気学会論文誌C(電子・情報システム部門誌)   116-C ( 2 )   267 - 274   1996.2

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  • VSS theory-based parameter identification scheme for MIMO systems Reviewed

    JX Xu, H Hashimoto

    AUTOMATICA   32 ( 2 )   279 - 284   1996.2

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:PERGAMON-ELSEVIER SCIENCE LTD  

    A new identification methodology, the variable structure system-based identification method, is proposed for multi-input multi-output systems. The developed identifier can successfully estimate unknown system parameters for both linear and some kinds of nonlinear systems that may not be linear in parametric space. The new identifier is essentially a closed-loop system with variable structure control. One major advantage of the proposed identification algorithm is that it provides effective identification for those nonlinear plants if only they are linear in parameter space while in sliding mode, in contrast to other identification algorithms, which usually require that the original nonlinear plants be linear in parameter space. Another advantage of the identification algorithm is that, owing to the robustness of variable structure control, systems with high parameter uncertainties and nonlinearities are not controllable, and consequently identifiable.

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  • Dynamic force simulator for multifinger force display Reviewed

    Y Kunii, H Hashimoto

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   43 ( 1 )   74 - 80   1996.2

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    In this paper we present a dynamic force simulator (DFS) for force feedback in human-machine systems, We propose a virtual world model with two force flows: one is the force flow from human to an object, the other is the force flow from an object to human, To use this model, DFS simulates object dynamics, contact models, and friction characteristics of the human hand interacting with the object in Virtual Reality, After derivation of kinematic and force relations between hand and object space, we balance the two forces: one from the human and the other from the object in the contact force space in Virtual World and then realize the adequate feedback forces to human operator, Interaction with DFS allows calculation and feedback of appropriate forces to the force controlled actuators of the sensor glove we have developed, In this paper grasping of a cylinder in the virtual world is presented, During object grasping, we measure joint angles and torques using the sensor glove system, In the future we will use this system to analyze human dextrous manipulations called Human Skill.

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  • 変位センサレス磁気軸受の実用化に関する研究 Reviewed

    水野毅

    電気学会論文誌D産業応用部門誌   116-D ( 1 )   35 - 41   1996.1

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  • Sliding mode controller for parallel resonant dual converters Reviewed

    P Korondi, SH Yang, H Hashimoto, F Harashima

    JOURNAL OF CIRCUITS SYSTEMS AND COMPUTERS   5 ( 4 )   735 - 746   1995.12

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    The classical DC drive control structure (outer speed control loop and fast inner current control loop) is applied for induction motors. This paper focuses on the inner current control (indirect current control) loop. Three Park vector based VSC (Variable Structure Control) methods (one for input rectifier two for the output inverter) are studied. In the three cases, a complex error vector, a complex sliding surface and a complex distance vector (which indicates the distance of the actual state from the sliding surface) are defined. The inverter is switched in such a way that the system trajectory gets as close to the sliding surface as possible. In spite of the fact that the error vectors have different physical meanings, similar switching strategies can be applied to all cases due to the similarity of mathematical equations. By the proposed method both the low-order harmonics and the audio noise can be reduced.

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  • 「人口生命の近未来」書評 Reviewed

    橋本秀紀

    日本ロボット学会誌   13 ( 5 )   1995.7

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  • Path generation for mobile robot navigation using genetic algorithm Reviewed

    DH Kang, H Hashimoto, F Harashima

    PROCEEDINGS OF THE 1995 IEEE IECON - 21ST INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1 AND 2   117 ( 2 )   167 - 172   1995

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  • ON THE GUARANTEED STABILITY BASED ADAPTIVE-CONTROL OF ROBOTIC MANIPULATORS - CONTINUITY AND BOUNDEDNESS Reviewed

    Y STEPANENKO, CY SU, H HASHIMOTO

    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL   17 ( 1 )   51 - 56   1995

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    Based on the guaranteed stability approach, a modified adaptive controller is presented for robotic manipulators. The developed control strategy guarantees uniform ultimate boundedness of the tracking errors and parameter errors in the presence of a class of slate-dependent uncertainties, and the tracking error can be made arbitrarily small, rt is shown that with resettable design parameters and a low-pass-filter form of update equation the performance degradation and destabilisation of robotic systems can be prevented effectively in the practical situation.

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  • リニアDCモータによるワイヤ駆動系のロバスト制御 Reviewed

    池田 誠人, 橋本 秀紀

    電気学会論文誌D   114 ( D )   1115 - 1121   1994.11

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  • 日本の学生・外国の学生 Reviewed

    橋本秀紀

    電気学会雑誌   114 ( 6 )   394 - 396   1994.1

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  • 私のロボット研究 Reviewed

    橋本秀紀

    日本ロボット学会誌   12 ( 1 )   45 - 46   1994.1

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  • SKILL ACQUISITION-SYSTEM FOR THE INTELLIGENT ASSISTING SYSTEM - IAS Reviewed

    M BUSS, H HASHIMOTO

    ADVANCED ROBOTICS   8 ( 2 )   157 - 171   1994

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    In this paper we propose a new forthcoming research topic, the Intelligent Assisting System-IAS. Using this system, we are approaching the identification and analysis of human manipulation skills to be used for intelligent human operator assistance. A manipulation skill database enables the IAS to perform complex manipulations at the motion control level. Through repeated interaction with the operator for unknown environment states, the manipulation skills in the database can be increased on-line. A model for manipulation skill based on the grip transformation matrix is proposed, which describes the transformation between the object trajectory and the contact conditions. Tle dynamic behaviour of the grip transform is regarded as the essence of the performed manipulation skill. We describe the experimental system set-up of a skill acquisition and transfer system as a first approach to the IAS. A simple example of manipulation shows the feasibility of the proposed manipulation skill model. Furthermore, this paper derives a control algorithm that realizes object task trajectories, and its feasibility is shown by simulation.

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  • フォースディスプレイとロボットハンド 展望 Reviewed

    橋本秀紀

    日本ロボット学会誌   11 ( 7 )   943 - 946   1993.10

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  • 使える (!?) 非線型制御の論理 - Ⅲ - スライディングモード制御 Reviewed

    橋本秀紀

    システム/制御/情報   37 ( 6 )   51 - 58   1993.6

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  • PARAMETER-IDENTIFICATION METHODOLOGIES BASED ON VARIABLE STRUCTURE CONTROL Reviewed

    JX XU, H HASHIMOTO

    INTERNATIONAL JOURNAL OF CONTROL   57 ( 5 )   1207 - 1220   1993.5

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    This paper proposes two identification methodologies, the VSS-based direct and indirect identification methods, to deal with the parameter identification problems of both linear and nonlinear systems. Parameter identifiability and convergence are studied. The validity of proposed algorithms is confirmed through some numerical simulation examples.

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  • VSSによるモーションコントロール Reviewed

    橋本秀紀

    日本ロボット学会誌   11 ( 4 )   35 - 40   1993.5

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  • Editorial Reviewed

    Hideki Hashimoto, K.Ohishi

    Advanced Robotics The International Journal   7 ( 6 )   523 - 524   1993

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  • Editorial Reviewed

    Hideki Hashimoto, K.Ohishi

    Advanced Robotics The International Journal   7 ( 6 )   523 - 524   1993

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  • 静電ポテンシャル法及びSliding Mode を用いた多自由度マニピュレータの障害物回避追従制御 Reviewed

    橋本秀紀

    日本ロボット学会誌   11 ( 8 )   117 - 124   1993

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  • VISUAL CONTROL OF ROBOTIC MANIPULATOR BASED ON NEURAL NETWORKS Reviewed

    H HASHIMOTO, T KUBOTA, M SATO, F HARASHIMA

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   39 ( 6 )   490 - 496   1992.12

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    This paper describes a control scheme for a robotic manipulator system that uses visual information to position and orientate the end-effector. The control system directly integrates visual data into the servoing process without subdividing the process into determination of the position and orientation of the workpiece and inverse kinematic calculation. The feature of the control scheme is the use of neural networks for the determination of the change in joint angles required in order to achieve the desired position and orientation. The proposed system is able to control the robot so that it can approach the desired position and orientation from arbitrary initial ones. Simulation for the robotic manipulator with six degrees of freedom is done. The validity and the effectiveness of the proposed control scheme are verified by computer simulations.

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  • 人工現実感とロボット Reviewed

    橋本秀紀

    日本ロボット学会誌   10 ( 7 )   903 - 908   1992.11

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  • Position control of an electrostatic linear actuator using rolling motion Reviewed

    Hiroyuki Fujita, Akito Omodaka, Kwee Bo Sim, Hideki Hashimoto

    Mechatronics   2 ( 5 )   495 - 502   1992

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    A microactuator consisting of a plane wafer with striped electrodes covered with an insulation layer and a thin cylindrical roller was fabricated. The silicon micromachining techniques were utilized to make the micro electrode patterns and the insulation layer on the plane wafer. Rollers were machined and assembled mechanically. The diameter of the roller was 0.4 mm and the width of driving electrodes was 34 μm. The position of the roller was determined by measuring the capacitance coupling between the roller and each electrode. Voltage up to 110 V was applied to the electrodes just beneath the roller and in the driving direction. The roller was kept at the ground potential and rotated towards the direction where the electric field attracted it. The driving performance, like stepping motors, was examined. The actuator was applied to an electric micro relay. © 1992.

    DOI: 10.1016/0957-4158(92)90014-F

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  • Design of Sliding Mode Dynamics in the Frequency domain Reviewed

    Yuske Konno, Hideki Hashimoto

    Advanced Robotics   7 ( 6 )   587 - 598   1992

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    A new method for the sliding surface design of variable structure control systems (VSS) using frequency criteria of Hš€theory is presented in this paper. Hš€theory is a well-known tool for forming desired frequency character in linear controller designs. We show that an Hš€state feedback solution is available for sliding plane design. The idea of augmented control plants, where the system states are increased by appropriate frequency weights, is also useful for sliding mode control. With this approach, frequency shaping which agrees with the specification of the response can be designed. © VSP and Robotics Society of Japan 1993.

    DOI: 10.1163/156855393X00393

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  • Self-Organizing Visual Servo System Based on Neural Networks Reviewed

    Hideki Hashimoto, Takashi Kubota, Fumio Harashima, Masaaki Kudou

    IEEE Control Systems   12 ( 2 )   31 - 36   1992

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    DOI: 10.1109/37.126850

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  • ファジィ補償を用いたロボットアームの位置/力の加速度分解制御 Reviewed

    許建新, 橋本秀紀, 沈貴宝, 原島文雄

    日本ロボット学会誌   9 ( 3 )   16 - 26   1991.6

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  • Predictive control of position servo system using DSP Reviewed

    Hideki Hashimoto, Hiroshi Kuroyanagi, Fumio Harashima

    Electrical Engineering in Japan   111 ( 2 )   135 - 141   1991

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:電気学会  

    DOI: 10.1002/eej.4391110215

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  • A SCHEME FOR VISUAL TRACKING OF ROBOT MANIPULATOR USING NEURAL NETWORK Reviewed

    H HASHIMOTO, T KUBOTA, MH BAEG, F HARASHIMA

    1991 IEEE INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1-3   1073 - 1078   1991

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  • DSPを用いたサーボシステムの予測制御(位置サーボ系による軌道追従実験) Reviewed

    橋本秀紀, 畔柳洋, 原島文雄

    電気学会論文誌   110-D ( 9 )   990 - 996   1990.9

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  • 視覚情報によるマニピュレータの位置・姿勢制御(ニューラルネットワークの利用) Reviewed

    橋本秀紀, 久保田孝, 佐藤基夫, 原島文雄

    日本ロボット学会誌   8 ( 4 )   390 - 396   1990.8

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  • 可変構造理論に基づくパラメータ同定アルゴリズム Reviewed

    許建新, 橋本秀紀

    計測自動制御学会論文集   26 ( 7 )   749 - 756   1990.7

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  • ニュートラルネットワークのロボットへの応用 Reviewed

    橋本秀紀

    日本機械学会誌   93 ( 856 )   218 - 222   1990.3

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  • 未知要素と非線形要素を有するシステム状態推定 Reviewed

    許建新, 橋本秀紀, 原島文雄

    計測自動制御学会論文集   26 ( 1 )   1990.1

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  • VISUAL CONTROL OF A ROBOTIC MANIPULATOR USING NEURAL NETWORKS Reviewed

    H HASHIMOTO, T KUBOTA, M KUDOU, F HARASHIMA

    PROCEEDINGS OF THE 29TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6   3295 - 3302   1990

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  • Path searching for a mobile robot by local planning Reviewed

    Takashi Kubota, Hideki Hashimoto, Fumio Harashima

    Advanced Robotics   5 ( 4 )   397 - 410   1990

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    This paper describes a local path planning method for a mobile robot to search for a path in an unknown environment by using visual information. The mobile robot system has a hierarchical path planning system which searches for a path efficiently in an uncertain environment. The planning system consists of a global planner and a local planner. The global planner gives a global path in terms of a sequence of visual sub-goals. Then the local planner generates a local path between the sub-goals with the help of a visual sensor. The main focus of this paper is on local path planning, which provides real-time guidance to the system. A visual sensor can provide useful information about the environment. So, an algorithm is proposed to generate avoiding points by using visual information to bypass unknown obstacles in the local path planning. Local path planning in a simple environment is simulated by using three-dimensional graphics. A simple experiment is also done for the case where there are two obstacles. The validity of the proposed method is verified by these simulations and experimental results. © VSP and Robotics Society of Japan 1991.

    DOI: 10.1163/156855391X00287

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  • Predictive Control of Position Servo System Using DSP Reviewed

    Hideki Hashimoto, Hiroshi Kuroyanagi, Fumio Harashima

    IEEJ Transactions on Industry Applications   110 ( 9 )   990 - 996   1990

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    Generalized predictive control (GPC) developed by Clarke et al. is a powerful control method. It is known that GPC has a strong robustness to the parameter mismatch, model order, dead time, etc. In this paper, the authors implement this method to a servo system using DSP (Digital Signal Processor). The predictor used here predicts the future trajectory points. The control input is then determined by minimizing the norm of future errors (i.e. the differences between future trajectory points and reference trajectory points) over a future control horizon. The algorithm is easy to be implemented in a computer, especially in a DSP system. In the experiments, DSP is used to calculate the voltage to be applied to the servo motor. The experimental results show that accurate trajectory following is possible in spite of the simplification imposed to the predictor model and ignorance of the payload. © 1990, The Institute of Electrical Engineers of Japan. All rights reserved.

    DOI: 10.1541/ieejias.110.990

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  • 可変構造系のブラシレスサーボモータ制御への適用 Reviewed

    橋本秀紀, 中山朝法, 近藤正示, 原島文雄

    電気学会論文誌D産業応用部門誌   109-D ( 11 )   802 - 808   1989.11

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  • ローカルプランニングによる移動ロボットの経路探索 Reviewed

    久保田孝, 橋本秀紀, 原島 文雄

    日本ロボット学会誌   7 ( 4 )   3 - 10   1989.8

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  • 視覚センサとレンジセンサとの協調による移動ロボットのナビゲーション Reviewed

    久保田孝, 橋本秀紀, 原島文雄

    日本ロボット学会誌   7 ( 4 )   11 - 19   1989.8

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  • IMPLEMENTATION OF VSS CONTROL TO ROBOTIC MANIPULATORS - SMOOTHING MODIFICATION Reviewed

    JX XU, H HASHIMOTO, JJE SLOTINE, Y ARAI, F HARASHIMA

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   36 ( 3 )   321 - 329   1989.8

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  • On the Design Of a Vss Observer For Nonlinear Systems Reviewed

    J.X.Xu, Hideki Hashimoto, Fumio Harashima

    計測自動制御学会論文集   25 ( 2 )   211 - 217   1989.2

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  • VISUAL SERVO CONTROL OF ROBOTIC MANIPULATORS BASED ON ARTIFICIAL NEURAL NETWORK Reviewed

    H HASHIMOTO, T KUBOTA, M SATO, F HARASHIMA

    IECON 89, VOLS 1-4   770 - 774   1989

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  • フレキシブルアームの振動抑制制御 Reviewed

    橋本秀紀, 原島文雄

    日本ロボット学会誌   6 ( 5 )   443 - 447   1988.9

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  • BRUSHLESS SERVO MOTOR CONTROL USING VARIABLE STRUCTURE APPROACH Reviewed

    H HASHIMOTO, H YAMAMOTO, S YANAGISAWA, F HARASHIMA

    IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS   24 ( 1 )   160 - 170   1988.1

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  • A MICROPROCESSOR-BASED ROBOT MANIPULATOR CONTROL WITH SLIDING MODE Reviewed

    H HASHIMOTO, K MARUYAMA, F HARASHIMA

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   34 ( 1 )   11 - 18   1987.2

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  • Tracking Control of Robot Manipulators Using Sliding Mode Reviewed

    Fumio Harashima, Jian-Xin Xu, Hideki Hashimoto

    IEEE Transactions on Power Electronics   PE-2 ( 2 )   169 - 176   1987

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    A new methodology using the theory of variable structure systems is developed for accurate tracking control of robotic manipulators. The proposed method, based on a sliding mode controller, produces a discontinuity control input so that the nonlinear interactions and influence caused by unknown parameter variations can be depressed whereas the resulting control law is simple and easy to apply to online computer control. The digital simulation results of a three-degree-of-freedom manipulator show the validity of accurate tracking capability and robust performance of the system with the developed control scheme. Copyright © 1987 by The Institute of Electrical and Electronics Engineers, Inc.

    DOI: 10.1109/TPEL.1987.4766351

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  • Sliding Mode Control of Manipulator with Time-Varying Switching Surface Reviewed

    Fumio Harashima, Hideki Hashimoto, K. Maruyama

    計測自動制御学会論文集   22 ( 3 )   1986.3

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  • Sliding Modeとその応用-Ⅱ Reviewed

    原島文雄, 橋本秀紀

    システムと制御   29 ( 4 )   242 - 250   1985.4

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  • Sliding Modeとその応用-Ⅰ Reviewed

    原島文雄, 橋本秀紀

    システムと制御   29 ( 2 )   94 - 103   1985.2

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  • MOSFET CONVERTER-FED POSITION SERVO SYSTEM WITH SLIDING MODE CONTROL Reviewed

    F HARASHIMA, H HASHIMOTO, S KONDO

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   32 ( 3 )   238 - 244   1985

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Books

  • ロボット制御学ハンドブック

    松野文俊, 大須賀公一, 松原仁, 野田五十樹, 稲見昌彦( Role: Joint author)

    近代科学社  2017.12 

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    Total pages:999   Responsible for pages:3   Language:Japanese  

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  • (雑誌)英語教育|rn|「ロジックの力で」

    大修館  2013.5 

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    Responsible for pages:94   Language:Japanese   Book type:Scholarly book

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  • モバイル社会の未来|rn|「変わらない風景」

    NTT出版  2013.3 

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    Responsible for pages:87-105   Language:Japanese   Book type:Scholarly book

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  • (雑誌)草のみどり第257号|rn|「大学院に行くべきか?」

    中央大学父母連絡会  2012.7 

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    Responsible for pages:1   Language:Japanese  

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  • ロボット情報学ハンドブック

    松原仁, 野田五十樹, 松野文俊, 稲見昌彦, 大須賀公一( Role: Joint author第12章 865頁~870頁、インテリジェントスペース)

    株式会社ナノオプトニクス・エナジー  2010.3 

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  • ロボット情報学ハンドブック

    松原仁, 野田五十樹, 松野文俊, 稲見昌彦, 大須賀公一( Role: Joint author12章 763頁~768頁、知能化と構造化:空間知能化の観点から)

    株式会社ナノオプトニクス・エナジー  2010.3 

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  • Mechatronic Systems Applications

    Takeshi Sasaki, Hideki Hashimoto( Role: Joint authorDesign and Implementation of Intelligent Space: a Component Based Approach)

    INTECH  2010.3 

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  • ロボット情報学ハンドブック

    新妻 実保子, 橋本 秀紀( Role: Joint author第12章 812頁~820頁、インテリジェントスペース(空間メモリ))

    株式会社ナノオプトニクス・エナジー  2010.3 

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  • ロボット情報学ハンドブック

    松原仁, 野田五十樹, 松野文俊, 稲見昌彦, 大須賀公一( Role: Joint author第12章 826頁~831頁、環境構造化におけるローカライゼーション)

    株式会社ナノオプトニクス・エナジー  2010.3 

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  • Robotics 2010: Current and Future Challenges

    Drazen Brscic, Hideki Hashimoto( Role: Joint authorRobot Localization Using Distributed and Onboard Sensors)

    Houssem Abdellatif  2010.2 

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  • Human System Interaction through Distributed Devices in Intelligent Space

    Takeshi Sasaki, Yoshihisa Toshima, Mihoko Niitsuma, Hideki Hashimoto( Role: Joint authorAdvances in Human-Robot Interaction)

    INTECH  2009.12 

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  • <Contest>Non-Linear Maximum Likelihood Estimation Based Long-Distance Position Measurement System Using Laser Range Finder

    ( Role: Sole author)

    IEEE Seoul Section 2009 International Student Paper Contest  2009.12 

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  • <Contest>Development of an Autonomous Mobile Robot Navigation System for“Real World Robot Challenge 2009”

    ( Role: Sole author)

    IEEE Seoul Section 2009 International Student Paper Contest  2009.12 

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  • エレクトロニクスシリーズ「ヒューマンインタフェースのための計測と制御」

    新妻 実保子, 橋本 秀紀( Role: Joint author第17章、空間の観測に基づく人間の活動支援)

    シーエムシー出版  2009.3 

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  • <Workshop>Spatial Memory in Intelligent Space -Observation of Human‐Object

    ( Role: Sole author)

    Korea-Japan Joint Workshop  2008.9 

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  • Parallel Manipulators, New Developments

    Gilgueng Hwang, Hideki Hashimoto( Role: Joint author17章2節331頁~348頁、Multiscale Manipulations with Multiple Parallel Mechanism Manipulators)

    I-Tech Education and Publishing  2008.4 

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  • <学会誌付録>学界情報

    ( Role: Sole author)

    電気学会論文誌D産業応用部門誌 付録  2008.2 

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  • ロボット研究者からのメッセージ

    ( Role: Sole author)

    オーム社  2007.7 

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  • <雑誌>「ロボコンマガジン」名物研究者から未来の研究者へのメッセージ 第29回

    ( Role: Sole author)

    日本ロボット学会  2006.8 

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  • <情報誌>「テクノカレント」417号「空間知能化-情報通信とロボティクスの融合-」2006年5月1日発行

    ( Role: Sole author)

    財団法人 世界経済情報サービス  2006.5 

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  • <パネル討論>「安全安心快適社会を築くためのIRS技術」

    ( Role: Sole author)

    NPO 法人国際レスキューシステム研究機構  2006.3 

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  • <座談会>「機械と人との在り方とは何か」空間知能化とロボティクスの視点から

    ( Role: Sole author)

    Mobile Society Review 未来心理  2005.12 

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  • <日本学術会議>ユビキタスメカトロニクスの提言 -人間機械コンテンツ構築活用機能の創生-

    ( Role: Sole author)

    人工物設計・生産研究連絡委員会メカトロニクス専門委員会  2005.7 

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  • 空間知能化のデザイン : 建築・ロボティクス・ITの融合

    橋本, 秀紀, 渡邊, 朗子

    NTT出版  2004.12  ( ISBN:4757101457

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    Total pages:v, 201p   Language:Japanese  

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  • Internet-based Telemanipulation”,The Industrial Information Technology Handbook

    Peter Korondi, Peter T.Szemes, Hideki Hashimoto

    CRC Press  2004.11  ( ISBN:0849319854

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    Total pages:1 v. (various pagings)   Language:English  

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  • Intelligent Space and Mobile Robots

    Joo-Ho Lee, Kazuyuki Morioka, Hideki Hashimoto

    CRC Press  2004.11  ( ISBN:0849319854

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    Total pages:1 v. (various pagings)   Language:English  

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  • 空間情報化から空間知能化へ -人間の身体とダイレクトに繋がる空間

    橋本 秀紀, 渡邊 朗子(No.105,pp.42-44)

    AXIS  2003 

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  • 水ディスプレイの研究(分担)

    ( Role: Sole author)

    培風館  2000.2 

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  • Intelligent Tele-Robotics, Recent Advances on Mechatronics(分担)

    ( Role: Sole author)

    Springer-Verlag  1996 

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  • 可変構造系(分担)

    ( Role: Sole author)

    丸善  1995.2 

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  • 人工現実感の展開(分担)

    ( Role: Sole author)

    コロナ社  1994.10 

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  • Robust Control of Robot Arm with Sliding Mode Engineering Design Consideration(分担)

    ( Role: Sole author)

    ELSEVIER Science Publishers B. V.  1994 

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MISC

  • 機械学習を用いたドライバのリアルタイム眠気推定と精度向上技術

    水迫幹, 安士 光男, 橋本 秀紀

    車載HMIの開発動向と自動運転、ADASへの応用   111 - 122   2019

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    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (trade magazine, newspaper, online media)  

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  • 日本美の未来:感性の変容とイノベーション

    井上治, 太田達, 笹岡隆甫, 庄司裕子, 土佐尚子, 富田直秀, 中津良平, 橋本秀紀

    日本感性工学会誌   16 ( 1 )   27 - 32   2018.3

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  • 特集「感性から和のコンテンツを探る」に寄せて

    橋本秀紀

    日本感性工学会誌   16 ( 1 )   2018.3

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  • 現代における和のコンテンツをめぐって

    橋本秀紀

    日本感性工学会誌   16 ( 1 )   3 - 7   2018.3

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  • ロボットシステムによる持続可能な社会の実現

    橋本秀紀

    日本ロボット学会誌   Vol. 36 ( No. 1 )   13 - 18   2018.1

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  • Multiple objects tracking based on auto-selection of color image processing methods

    Kazuyuki Morioka, Yoichi Kuroda, Joo-Ho Lee, Hideki Hashimoto

    IEEJ Transactions on Electronics, Information and Systems   126 ( 2 )   210 - 219   2006

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    Language:English   Publishing type:Book review, literature introduction, etc.   Publisher:Institute of Electrical Engineers of Japan  

    In order to achieve the applications using vision sensors, it is impotrant to extract and track the moving objects from image sequences. Some tracking systems often prepare the models of the objects in advance. It is difficult to adopt this model based tracking in the general environment where many kinds of objects exist. On the other hand, model based tracking is efficient for the tracking in the crowded environment. We propose the color histogram based tracking system including the object model construction and object correspondence between frames by the fusion of the bottom-up process and top-down process. In this paper, two processes that configure the tracking sysytem are described. Then, process selection method in the proposed tracking system is explained. Finally, experimental results of objects are shown and effect of the proposed tracking system is also explained.

    DOI: 10.1541/ieejeiss.126.210

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  • Space Human Interface Using Body in Intelligent Space

    Niitsuma M, Hashimoto H, Hashimoto H, Watanabe A

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2004 ( 0 )   143 - 144   2004

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  • さらなるエレクトロニクス化へ

    橋本秀紀

    建設業界   48 - 50   1994.7

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Presentations

  • 弾性ハンドルを有する人間協調型移動ロボットの振動抑制制御

    立﨑遥己, 大平 峻, 橋本 秀紀

    ロボット学会  2024.9 

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    Event date: 2024.9    

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • ニューラルネットワークを用いたモータ内のコイルの温度推定

    假水統馬, 大平 峻, 橋本 秀紀

    電気学会産業応用部門大会  2024.8 

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    Event date: 2024.8    

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 誘起電圧オブザーバによるセンサレス制御の高精度化

    稲田祐希, 大平 峻, 橋本 秀紀

    電気学会産業応用部門大会  2024.8 

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    Event date: 2024.8    

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 倒立二輪型荷物搬送ビークルのトルク配分による人間協調制御に関する研究

    小越 皆理, 大平 峻, 橋本 秀紀

    ロボティクス・メカトロニクス講演会2024  2024.5 

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    Event date: 2024.5 - 2024.6

    Language:Japanese  

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  • モータの高トルク化のためのコイル温度推定に関する研究

    服部桃太夫, 村上昴, 大平峻, 橋本秀紀

    第24回計測自動制御学会システムインテグレーション部門講演会(SI2023)  2023.12 

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    Event date: 2023.12    

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  • 温度推定による適応型電流制限を用いたモータの高トルク化に関する研究

    村上昴, 服部桃太夫, 大平峻, 橋本秀紀

    第24回計測自動制御学会システムインテグレーション部門講演会(SI2023)  2023.12 

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    Event date: 2023.12    

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  • Wi-Fi チャネル状態情報を用いた人の屋内位置推定に関する研究

    志賀 駿也, 根岸 航也, 大平 峻, 橋本 秀紀

    第24回計測自動制御学会システムインテグレーション部門講演会(SI2023)  2023.12 

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    Event date: 2023.12    

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  • 弾性ハンドルを有する荷物搬送ビークルにおける人間協調制御

    立﨑遥己, 大平峻, 橋本秀紀

    第41回日本ロボット学会学術講演会(RSJ2023)  2023.9 

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    Event date: 2023.9    

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  • 重心変動補償を行う倒立二輪型ロボットの動作制御

    新戸部志也, 鈴木剛, 大平峻, 橋本秀紀

    第41回日本ロボット学会学術講演会(RSJ2023)  2023.9 

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    Event date: 2023.9    

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  • 人間と協調して階段を昇る荷物搬送ロボットの制御

    長田宗一郎, 新戸部志也, 大平峻, 橋本秀紀

    第41回日本ロボット学会学術講演会(RSJ2023)  2023.9 

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    Event date: 2023.9    

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  • 操作者の筋電位を用いた荷物搬送型倒立二輪ビークルの制御

    田中康斗, 竹内朝音, 立崎 遥己, 大平峻, 橋本秀紀

    第41回日本ロボット学会学術講演会(RSJ2023)  2023.9 

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    Event date: 2023.9    

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  • 補助輪を有する倒立二輪型変形ロボットの安定化制御

    鈴木剛, 新戸部志也, 大平峻, 橋本秀紀

    第41回日本ロボット学会学術講演会(RSJ2023)  2023.9 

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    Event date: 2023.9    

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  • トルク飽和を考慮した倒立二輪型荷物搬送ビークルの制御

    竹内朝音, 田中康斗, 大平峻, 橋本秀紀

    第41回日本ロボット学会学術講演会(RSJ2023)  2023.9 

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    Event date: 2023.9 -  

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  • RGBカメラを用いたサポートベクトル回帰に基づく非接触SpO2推定

    江守太一, 大平峻, 橋本秀紀

    第40回センシングフォーラム計測部門大会  2023.8 

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    Event date: 2023.8 - 2023.9

    Language:Japanese  

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  • 電流微分値を用いたPMSMのセンサレス制御の高精度化

    山下朋佳, 大平峻, 橋本秀紀

    2023年電気学会産業応用部門大会  2023.8 

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  • モータの電気角と多極マグネットを用いた磁気式エンコーダの絶対角度算出

    渡辺悠斗, 高島航平, 大平峻, 橋本秀紀

    2023年電気学会産業応用部門大会  2023.8 

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  • 偏心型磁気式アブソリュートエンコーダの内部磁気センサ数削減

    高島航平, 渡辺悠斗, 大平峻, 橋本秀紀

    2023年電気学会産業応用部門大会  2023.8 

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  • 磁束密度に差のついた永久磁石を用いたSPMSM

    佐久間裕介, 大平峻, 橋本秀紀

    2023年電気学会産業応用部門大会  2023.8 

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  • AMRセンサと磁束密度に差のついた磁石を用いた磁気式アブソリュートエンコーダの提案

    佐久間裕介, 小松崎翔太, 竹山耀之, 大平峻, 橋本秀紀

    第23回計測自動制御学会システムインテグレーション部門講演会(SI2022)  2022.12 

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  • 人間協調を用いた車輪型移動ロボットの段差乗り上げ動作の解析

    路 通, 大平峻, 橋本秀紀

    第23回計測自動制御学会システムインテグレーション部門講演会(SI2022)  2022.12 

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  • 容量結合型電極とマイクロ波ドップラーセンサを用いた非接触型車載心電情報計測システムの開発

    藤田燎人, 坪田和也, 深井優美, 大平峻, 橋本秀紀

    第23回計測自動制御学会システムインテグレーション部門講演会(SI2022)  2022.12 

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  • 画像とロール・ピッチを用いた PV の遠隔操作の性能向上

    長屋佳寿, 大平峻, 橋本秀紀

    第23回計測自動制御学会システムインテグレーション部門講演会(SI2022)  2022.12 

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  • 近赤外線カメラを用いた睡眠時における常時非接触心拍数測定

    寺井奎祐, 大平峻, 橋本秀紀

    第23回計測自動制御学会システムインテグレーション部門講演会(SI2022)  2022.12 

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    Event date: 2022.12    

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  • Wi-Fi チャネル状態情報を用いたテンソル分解 -CP 分解 - に基づく複数人の呼吸数推定手法

    坪田 和也, 大平峻, 橋本秀紀

    第23回計測自動制御学会システムインテグレーション部門講演会(SI2022)  2022.12 

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  • ADALINE Neural Network を用いた偏心型磁気式アブソリュートエンコーダの開発

    竹山耀之, 小松崎翔太, 大平峻, 橋本秀紀

    第23回計測自動制御学会システムインテグレーション部門講演会(SI2022)  2022.12 

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    Event date: 2022.12    

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  • "磁力差多極磁気式エンコーダの絶対角度算出法

    小松崎翔太, 竹山耀之, 大平峻, 橋本秀紀

    第23回計測自動制御学会システムインテグレーション部門講演会(SI2022)  2022.12 

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  • 筋電位による歩行時の影響を考慮した無声発話認識

    池田弘樹, 大平峻, 橋本秀紀

    第23回計測自動制御学会システムインテグレーション部門講演会(SI2022)  2022.12 

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    Event date: 2022.12    

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  • 倒立二輪型ビークルの階段乗り上げ時の運動解析

    長屋佳寿, 大平峻, 橋本秀紀

    第40回日本ロボット学会学術講演会  2022.9 

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    Event date: 2022.9    

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  • 重心移動型階段昇降ロボットの移動制御に関する研究

    板垣郁弥, 大平峻, 橋本秀紀

    第40回日本ロボット学会学術講演会  2022.9 

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  • 非線形モデル予測制御のクローラータイプ階段昇降ロボットへの適用に関する研究

    長田宗一郎, 板垣郁弥, 長津裕己, 橋本秀紀

    ロボティクス・メカトロニクス講演会2022  2022.6 

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    Event date: 2022.6    

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 倒立二輪ビークルの人間追従に関する手法の提案

    田中康斗, 長屋佳寿, 長津裕己, 橋本秀紀

    ロボティクス・メカトロニクス講演会2022  2022.6 

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  • トライスターホイールを用いたロボットによる階段降下に関する検討

    鈴木剛, 路通, 長津裕己, 橋本秀紀

    ロボティクス・メカトロニクス講演会2022  2022.6 

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  • Wi-Fiチャネル状態情報を用いた人の屋内位置推定システムの検討

    志賀駿也, 坪田和也, 長津裕己, 橋本秀紀

    ロボティクス・メカトロニクス講演会2022  2022.6 

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    Event date: 2022.6    

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  • 変形車体を用いた階段昇降ロボットの提案

    路通, 長津裕己, 橋本秀紀

    ロボティクス・メカトロニクス講演会2022  2022.6 

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  • 人間と協調する倒立二輪型ビークルの階段乗り上げ手法に関する研究

    長屋佳寿, 長津裕己, 橋本秀紀

    ロボティクス・メカトロニクス講演会2022  2022.6 

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  • Wi-Fiチャネル状態情報を用いた睡眠段階推定システム

    坪田和也, 長津裕己, 橋本秀紀

    ロボティクス・メカトロニクス講演会2022  2022.6 

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  • 偏心型磁気式アブソリュートエンコーダの Look-up Table における計算量削減

    竹山耀之, 小松崎 翔太, 長津裕己, 橋本秀紀

    ロボティクス・メカトロニクス講演会2022  2022.6 

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  • 磁力差型磁気式エンコーダのセンサ数削減に関する提案

    小松崎翔太, 竹山耀之, 長津裕己, 橋本秀紀

    ロボティクス・メカトロニクス講演会2022  2022.6 

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  • 人間の直感性を考慮したPVの操作法の提案

    長屋佳寿, 兼田一希, 長津裕己, 橋本秀紀

    ロボット・メカトロニクス講演会2021  2021.6 

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  • 重心移動を用いた階段昇降機能を有するロボットの提案

    板垣郁弥, 松原央尭, 石井眞二, 長津裕己, 橋本秀紀

    ロボット・メカトロニクス講演会2021  2021.6 

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  • LeapMotion を用いた PMV における 3 次元入力操作の検討

    兼田一希, 長屋佳寿, 長津裕己, 橋本秀紀

    ロボット・メカトロニクス講演会2021  2021.6 

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  • 生体情報取得のためのチューブ型圧力センサの改良 -充填物及び保持基板の検討―

    荒井隆也, 安士光男, 長津裕己, 橋本秀紀

    ロボティクスメカトロニクス講演会2020  2020.5 

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  • 表情の画像情報と生体情報を用いた眠気推定システムの提案

    第20回計測自動制御学会システムインテグレーション部門講演会  2019.12 

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  • 顔表情による眠気推定に基づいた振動フィードバックシステムの開発

    第20回計測自動制御学会システムインテグレーション部門講演会  2019.12 

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  • 人間と協調する倒立二輪型荷物搬送ビークルの実現

    第20回計測自動制御学会システムインテグレーション部門講演会  2019.12 

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  • 表情認識により動作する小型ペットロボットの開発

    武部 弘明, 水迫 幹, 安士 光男, 長津 裕己, 橋本 秀紀

    第37回日本ロボット学会学術講演会  ( 東京 )   2019.9  日本ロボット学会

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  • 倒立2輪ビークルにおける横移動手法の検討'

    第37回日本ロボット学会学術講演会  2019.9 

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  • NNを用いた負荷推定による倒立二輪型ビークルの制御

    第37回日本ロボット学会学術講演会  2019.9 

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  • ロボット・IoTのための小型エンコーダを一体化したダイレクトドライブサーボアクチュエータの開発

    第37回日本ロボット学会学術講演会  2019.9 

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  • 倒立二輪型荷物搬送ビークルの開発

    松原央尭, 村越司昂, 長津裕己, 橋本秀紀

    ロボティクスメカトロニクス講演会2019  ( 広島市 )   2019.6  日本機械学会

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  • 柔軟構造を有するマスター・スレーブシステムにおける人間動作の保存と再現における検討

    佐渡啓太, 長津裕己, 橋本秀紀

    ロボティクス・メカトロニクス講演会2019  ( 広島市 )   2019.6  日本機械学会

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  • The Estimation of Driver’s Arousal and Healing by Vibration Massage

    2019 JSAE Annual Congress (Spring)  2019.5 

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  • Evaluation of Magnetic Absolute Encoder Using an Eccentric Structure with Feedback Correction

    Yusuke Deguchi, Kodai Yamamoto, Kazuki Otomo, Yuki Nagatsu

    The 44th Annual Conference of the IEEE Industrial Electronics Society  2018.10 

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  • Healing Effects by 1/f Fluctuating Vibration - Applications of voice-coil-type vibrator International conference

    Shun Nonomura, Mitsuo Yasushi, Hideki Hashimoto

    The 44th Annual Conference of the IEEE Industrial Electronics Society  2018.10 

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  • Investigation of Non-Contact Biometric System Using Capacitive Coupling Electrodes

    Motoki Mizusako, Mitsuo Yasushi, Hideki Hashimoto

    The 44th Annual Conference of the IEEE Industrial Electronics Society  2018.10 

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  • 機械学習を用いたリアルタイム眠気推定システムに関する研究

    水迫幹, 菅谷和実, 垣坂皓太, 竹内吉和, 安士光男, 橋本秀紀

    公益社団法人自動車技術会 2018年秋季大会学術講演会  2018.10 

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  • 二輪・三輪モードを有するビークルロボットの柔 軟着地制御

    長津 裕己, 松下 幸寛, 村越 司昂, 橋本 秀紀

    第36回日本ロボット学会学術講演会  2018.9 

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  • うさぎ型ペットロボットにおける振動を用いた癒 しの検討

    吉川 佳佑, 明渡 肇, 野々村 峻, 安士 光男, 橋本 秀紀

    第37回日本ロボット学会学術講演会  2018.9 

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  • 運転時における振動刺激を用いた眠気覚醒手法の提案

    水迫幹, 高琳太郎, 安士光男, 橋本秀紀

    第18回日本生活支援工学会大会 日本機械学会 福祉工学シンポジウム2018 第34回ライフサポート学会大会LIFE2018  2018.9 

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  • Force Control in Time-delay Systems Based on Equivalent Torsional and Elastic Forces Feedback

    Y. Nagatsu, H. Hashimoto

    2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM),  2018.7 

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  • Drowsiness Estimation using RR Interval Variation for Vehicle

    T. Sano, K. Kurosawa, M. Yasushi, H. Hashimoto

    IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2018)  2018.3 

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  • Investigation of Healing by Vibration in a Rabbit-type Pet Robot

    H. Akedo, K. Yamamoto, M. Yasushi, H. Hashimoto

    IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2018)  2018.3 

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  • Study on Sliding Mode Switching |rn|Pattern Generation Focusing on Neutral Point Voltage

    K. Akiho, Y. Nagatsu, H. Hashimoto

    IEEJ International |rn|Workshop on Sensing, Actuation, Motion Control, and Optimization |rn|(SAMCON2018)  2018.3 

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  • Development of |rn|Absolute Magnetic Rotary Encoder with Eccentric Rotation

    K. Yamamoto, Kazuki Otomo, Y. Deguchi, H. Hashimoto

    IEEJ |rn|International Workshop on Sensing, Actuation, Motion Control, and |rn|Optimization (SAMCON2018)  2018.3 

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  • Development |rn|of the DDISA (Direct Drive Intelligent Servo Actuator) ~Investigation of |rn|usefulness of independent current control~

    K. Arai, K. Yamamoto, N. Kita, S. Ishii, H. Hashimoto

    IEEJ International Workshop |rn|on Sensing, Actuation, Motion Control, and Optimization (SAMCON2018)  2018.3 

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  • A Proposal of |rn|Two-Wheeled Inverted Vehicle with Two Stable Running Modes

    T. Kato, H. Hashimoto, Y. Nagatsu, S. Ajisaka

    IEEJ |rn|International Workshop on Sensing, Actuation, Motion Control, and |rn|Optimization (SAMCON2018)  2018.3 

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  • Drowsiness prediction system for vehicle using capacity |rn|coupled electrode type non-invasive ECG measurement

    K. Kurosawa, N. Takezawa, T. Sano, S. Miyamoto, M. Yasushi, H. |rn|Hashimoto

    IEEE/SICE |rn|International Symposium on System Integration (SII 2017)  2017.12 

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  • DDISA (Direct Drive Intelligent Servo Actuator)の開発

    北 直樹, 山本 航大, 新井 一博, 石井 眞二, 橋本 秀紀

    第18回計測自動制御学会システムインテグレーション部門講演会(SI2017)  2017.12 

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  • 偏心構造を利用した磁気式エンコーダの開発

    大友 一輝, 山本 航大, 出口 裕輔, 石井 眞二, 橋本 秀紀

    第18回計測自動制御学会システムインテグレーション部門講演会(SI2017)  2017.12 

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  • 振動を用いた感覚の創出に関する提案

    羽鳥 航, 野々村 峻, 田中 大和, 田中 秀典, 安士 光男, 橋本 秀紀

    第18回計測自動制御学会システムインテグレーション部門講演会(SI2017)  2017.12 

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  • 容量結合型電極を用いた車載用眠気計測のための R波計測システムの検討

    水迫 幹, 佐野 高也, 安士 光男, 長津 裕己, 橋本 秀紀

    第18回計測自動制御学会システムインテグレーション部門講演会(SI2017)  2017.12 

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  • DCモータの位置制御によるSTSMCとSMCの比較

    一色 豪士, 秋保 敬太, 長津 裕己, 橋本 秀紀

    第18回計測自動制御学会システムインテグレーション部門講演会(SI2017)  2017.12 

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  • うさぎ型ペットロボットにおける振動による癒しの検討

    明渡 肇, 山本 航大, 安士 光男, 橋本 秀紀

    第35回日本ロボット学会学術講演会  2017.9 

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  • 容量結合型電極を用いた非接触心電図計測による車載用眠気予測システムの開発

    宮本優, 竹澤直剛, 佐野高也, 安士光男, 橋本秀紀

    ロボティクスメカトロニクス講演会2017  2017.5 

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  • 偏心構造を利用した小型かつ高性能な磁気式アブソリュートエンコーダの開発

    大友一輝, 山本航大, 石井眞二, 橋本秀紀

    ロボティクスメカトロニクス講演会2017  2017.5 

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  • 搭乗者の姿勢を保つ座り式倒立振子型Personal Vehicleの開発

    吉川佳佑, 猿渡誠也, 山中海, 石井眞二, 橋本秀紀

    ロボティクスメカトロニクス講演会2017  2017.5 

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  • 新たな電力管理システムにおける充電ロボットの制御

    松下幸寛, 加藤拓光, 唐夕凱, 橋本秀紀

    ロボティクスメカトロニクス講演会2017  2017.5 

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  • Study on Sliding Mode Switching Pattern Generation Focusing on Neutral Point Voltage

    2017.3 

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  • 倒立振子制御を用いた歩行空間に親和性のある座り乗り式小型パーソナルモビリティの開発

    猿渡 誠也, 山中 海, 石井 眞二, 佐々木 毅, 橋本 秀紀

    SI2016  2016.12 

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  • Sliding Mode Control による無線電力伝送の実現

    秋保 敬太, 大和田 拳人, 高橋 怜保, 橋本 秀紀

    SI2016  2016.12 

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  • Location Free and Connection Free"無線充電ロボットシステム

    大和田 拳人, 柿沼 克孝, 唐 夕凱, 秋保 敬太, 加藤 拓光, 橋本 秀紀

    SI2016  2016.12 

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  • 無線充電ロボットに関する通信システムの構築

    唐 夕凱, 大和田 拳人, 松下 幸寛, 橋本 秀紀

    SI2016  2016.12 

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  • Super Twisting Sliding Mode Control 適用による DC モータの位置制御の検討

    橋下 正隆, 橋本 秀紀

    第17回計測自動制御学会システムインテグレーション部門講演会  2016.12 

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  • ダイレクトドライブインテリジェントサーボアクチュエータの開発

    新井 一博, 山本 航大, 北 直樹, 大友 一輝, 石井 眞二, 橋本 秀紀

    第17回計測自動制御学会システムインテグレーション部門講演会  2016.12 

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  • 容量結合型電極を用いた心電図計測による車載搭載用居眠り検知システムの開発

    竹澤 直剛, 安士 光男, 佐野 高也, 黒澤 光希, 橋本 秀紀

    第17回計測自動制御学会システムインテグレーション部門講演会  2016.12 

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  • 【基調講演】「遊びとロボット」を巡る議論の報告

    第34回日本ロボット学会学術講演会  2016.9 

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  • モバイル機器電力管理のための無線送電機能搭載ロボットにおける無線送電部の開発

    秋保 敬太, 柿沼 克孝, 中村 壮亮, 橋本 秀紀

    ロボティクスメカトロニクス講演会2016  2016.9 

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  • 相互インダクタンスマッピングによる無線充電ロボットの高効率電力伝送の提案

    柿沼 克孝, 大和田 拳人, 橋本 秀紀

    第34回日本ロボット学会学術講演会  2016.9 

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  • 人を癒すうさぎ型ペットロボットの開発

    明渡 肇, 山本 航大, 橋本 秀紀

    第34回日本ロボット学会学術講演会  2016.9 

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  • ダイレクトドライブインテリジェンストサーボアクチュエータの提案

    山本 航大, 新井 一博, 大友 一輝, 北 直樹, 石井 眞二, 橋本 秀紀

    第34回日本ロボット学会学術講演会  2016.9 

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  • 容量結合型電極を用いた心電図計測による車載等採用眠気予測システム

    佐野 高也, 竹澤 直剛, 黒澤 光希, 青木 亮, 宮本 優, 安士 光男, 橋本 秀紀

    第34回日本ロボット学会学術講演会  2016.9 

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  • VR技術を用いた身体映像隠消下でのパッティング習熟システムの開発

    佐野高也, 依田淳也, 中村壮亮, 橋本秀紀

    ロボティクスメカトロニクス講演会2016  2016.6 

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  • 人を元気にするロボティクスガジェットの開発ーうさぎロボットー

    明渡肇, 中村壮亮, 橋本秀紀

    ロボティクスメカトロニクス講演会2016  2016.6 

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  • VRを用いた前腕における寸法感覚更新の個人差に関する基礎研究

    加藤拓光, 佐藤謙太, 中村壮亮, 橋本秀紀

    ロボティクスメカトロニクス講演会2016  2016.6 

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  • 容量結合型電極を用いた心電計の試作と評価

    ロボティクスメカトロニクス講演会2016  2016.6 

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  • モバイル機器電力管理のための無線送電機能搭載ロボットにおける無線送電部の開発

    秋保 敬太, 柿沼 克孝, 中村 壮亮, 橋本 秀紀

    ロボティクスメカトロニクス講演会2016  2016.6 

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  • 磁界共鳴方式を用いた無線電力伝送システムにおける広域 データ送信手法の提案と基礎開発

    勝又 雅仁, 中村 壮亮, 並木 政人, 橋本 秀紀

    第16回計測自動制御学会システムインテグレーション部門講演会 (SI2015)  2015.12 

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  • 倒立振子型パーソナルビークルへのスーパーツイスティングスライディングモード制御適用に関する基礎検討

    橋下 正隆, 中村 壮亮, 橋本 秀紀

    第16回計測自動制御学会システムインテグレーション部門講演会 (SI2015)  2015.12 

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  • 呼吸運動のタイミング制御によるリラクゼーション手法の基礎検討

    中尾 竜治, 中村 壮亮, 橋本 秀紀

    第16回計測自動制御学会システムインテグレーション部門講演会 (SI2015)  2015.12 

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  • 多段式共振器構造を用いた磁界共振結合方式による高効率無 線電力伝送のための磁界結合度推定に関する研究

    大和田 拳人, 中村 壮亮, 橋本 秀紀

    第16回計測自動制御学会システムインテグレーション部門講演会 (SI2015),  2015.12 

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  • 身体位置感覚更新を用いた没入操縦の作業効率向上手法の提案

    第16回計測自動制御学会システムインテグレーション部門講演会 (SI2015),  2015.12 

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  • 身体図式更新技術に基づく体性感覚主導でのパタートレーニングシステムの基礎検討

    第16回計測自動制御学会システムインテグレーション部門講演会 (SI2015)  2015.12 

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  • Prototype Design of Energy Management System for Mobile Device via Wireless Charging Robot

    S. Nakamura, Y. Kakinuma, K. Akiho, H. Hashimoto

    41th Annual Conference on IEEE Industrial Electronics Society (IECON 2015)  2015.11 

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  • 身体位置感覚更新における部位選択性の基礎調査

    第33回日本ロボット学会学術講演会 (RSJ2015),  2015.9 

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  • 身体位置感覚更新の触力覚提示による影響

    第33回日本ロボット学会学術講演会 (RSJ2015)  2015.9 

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  • スライディングモード制御導入によるマイクロ・パーソナルビークルのロバスト性向上に関する提案

    第33回日本ロボット学会学術講演会 (RSJ2015)  2015.9 

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  • 充電対象の位置制約を要しない無線充電システムのための相対位置推定手法

    第33回日本ロボット学会学術講演会 (RSJ2015),  2015.9 

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  • The concept, configuration and operation procedure of the energy management system for mobile devices via wireless charging robot

    AIM2015  2015.7 

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  • 前後方向の床反力制御による仮想空間での歩行感覚提示シューズの提案

    2015.5 

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  • 磁界共振結合を用いた無線電力伝送システムのための広域通信手法の提案と基礎開発

    ロボメカ2015  2015.5 

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  • 多段式共振器アンテナ構造における磁界共振結合を用いたワイヤレス電力伝送と距離センシングの同時実現

    ロボメカ2015  2015.5 

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  • 無線充電ロボットを用いたモバイル機器への自動充電システムにおけるナビゲーション機能の提案

    2015.5 

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  • 自律神経活動度に基づく呼吸パターン指示によるリラクゼーション・システムの提案

    ロボメカ2015  2015.5 

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  • 無線電力伝送との同時実現を想定した磁界共振結合を用いた位置センシングの広域化

    2015.5 

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  • Reduction of phase shifting for range expansion in magnetic resonance coupling-based distance sensor with adjustable sensing range

    S. Nakamura, M. Namiki, H. Hashimoto

    IEEE/SICE International Symposium on System Integration (SII 2014)  2014.12 

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  • 知能化空間におけるモバイル機器への自動充電システムの構築

    今西 淳一, 中村 壮亮, 鈴木 泰斗, 橋本 駿, 橋本 秀紀

    第15回計測自動制御学会システムインテグレーション部門講演会 (SI2014)  2014.12 

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  • 搭乗時におけるパーソナルビークルの人物追尾機能の検討

    大野 寛和, 中村 壮亮, 今井 孝徳, 橋本 秀紀

    第15回計測自動制御学会システムインテグレーション部門講演会 (SI2014)  2014.12 

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  • AR 肢体を用いた身体寸法感覚更新の運動軌跡への影響度評価 ~評価方法の提案~

    依田 淳也, 中村 壮亮, 昆野 友樹, 望月 典樹, 橋本 秀紀

    第15回計測自動制御学会システムインテグレーション部門講演会 (SI2014)  2014.12 

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  • Basic development of magnetic resonance coupling-based distance sensor with adjustable sensing range using active quality factor control

    S. Nakamura, M. Namiki, H. Hashimoto

    40th Annual Conference on IEEE Industrial Electronics Society (IECON 2014),  2014.10 

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  • 知能化空間内における無線給電ロボットを用いたユビキタス充電システムに関する基礎検討

    橋本 駿, 中村 壮亮, 橋本 秀紀

    第32回 日本ロボット学会学術講演会  2014.9 

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  • AR肢体を用いた寸法感覚の更新に関する基礎検討

    中村 壮亮, 望月 典樹, 昆野 友樹, 依田 淳也, 橋本 秀紀

    第32回 日本ロボット学会学術講演会  2014.9 

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  • 仮想Q値制御による磁界共振型距離センサの広域化手法

    並木 政人, 中村 壮亮, 橋本 秀紀

    第32回 日本ロボット学会学術講演会  2014.9 

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  • 共用可能な超小型パーソナルビークルの自動乗り継ぎによるエネルギマネジメント手法に関する基礎検討

    中村 壮亮, 鈴木 泰斗, 今西 淳一, 新井 雅海, 田村 裕, 橋本 秀紀

    ロボメカ2014, 3P1-U01  2014.5 

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  • 前腕隠蔽状態でのターゲット視認リーチングを可能とする新しい身体像測定手法の提案

    依田 淳也, 望月 典樹, 昆野 友樹, 中村 壮亮, 橋本 秀紀

    ロボメカ2014  2014.5 

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  • 仮想Q値制御を用いた磁界共振型距離センサの基礎開発",

    並木 政人, 中村 壮亮, 橋本 秀紀

    ロボメカ2014  2014.5 

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  • 小型パーソナルビークルにおける搭乗者の重心計測システムの実装

    鯵坂 志門, 久保田 孝, 橋本 秀紀

    ロボメカ2014  2014.5 

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  • 行動履歴をもとにしたコミュニケーションの観測のための環境の構築

    大野 寛和, 中村 壮亮, 橋本 秀紀

    ロボメカ2014  2014.5 

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  • Basic study of magnetic resonance coupling-based distance sensor with adjustable sensing range using active quality factor control

    S. Nakamura

    IEEE/SICE International Symposium on System Integration (SII 2013),  2013.12 

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  • 大電力無線伝送・位置センシングの同時実現における諸問題の特定と解決方法の提案

    加納 安曇, 勝又 雅仁, 中村 壮亮

    第14回計測自動制御学会システムインテグレーション部門講演会(SI2013),  2013.12 

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  • 立体音響を用いた身体形状認識の制御に関する基礎検討

    昆野 友樹, 齋藤 美奈代, 中村 壮亮

    第14回計測自動制御学会システムインテグレーション部門講演会(SI2013)  2013.12 

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  • 超小型パーソナルビークルを対象とした乗り継ぎによる電力管理システムの提案

    今西 淳一, 新井 雅海, 鈴木 泰斗, 中村 壮亮

    第14回計測自動制御学会システムインテグレーション部門講演会(SI2013),  2013.12 

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  • A representation of occlusion between real objects and virtual information in Intelligent Room-for AR

    M. Arai, S. Nakamura

    IECON 2013-39th Annual Conference of the IEEE Industrial Electronics Society  2013.11 

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  • Preliminary development of an Energy Logistics as a new wireless power transmission method

    S. Nakamura, S. Hashimoto

    IECON 2013-39th Annual Conference of the IEEE Industrial Electronics Society  2013.11 

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  • Human balance control ability for affinitive personal vehicle

    S. Ajisaka, T. Kubota

    Ubiquitous Robots and Ambient Intelligence (URAI 2013),  2013.10 

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  • Q値制御による磁界共振結合センサの広域化に関する基礎検討

    中村 壮亮, 並木 政人

    第31回 日本ロボット学会 学術講演会  2013.9 

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  • 磁界共振結合を用いたワイヤレス伝送および位置センシングの同時実現に関する基礎開発

    加納 安曇, 中村 壮亮

    第31回 日本ロボット学会  2013.9 

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  • リチウムイオン電池の高効率無線充電に関する基礎検討

    第31回 日本ロボット学会 学術講演会  2013.9 

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  • 知能化空間における入眠促進ロボットの提案

    望月 典樹, 中村 壮亮

    システム制御情報学会研究発表講演会(2013)  2013.5 

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  • 倒立 2輪ビークルと人の特性を測定するシステムの提案

    今西 淳一, 鰺坂 志門

    ロボメカ2013  2013.5 

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  • 建設用杭打ち機械ナビゲーションシステムの開発

    井上 文宏, 川原 悠, 佐々木 毅

    ロボメカ2013  2013.5 

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  • Mobile multimodal human-robot interface for virtual collaboration

    Young Eun Song, Mihoko Niitsuma, Takashi Kubota, Hideki Hashimoto, Hyoung Il Son

    CogInfoCom2012  2012.12 

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  • Basic verification of body sway characteristics for personal vehicle drivers

    Shimon Ajisaka, Sousuke Nakamura, Takashi Kubota, Hideki Hashimoto

    CogInfoCom2012  2012.12 

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  • 空間知能化における現実物体と仮想情報間での隠蔽表現 – ARの適用

    新井 雅海, 中村 壮亮, 大野 寛和, 昆野 友樹, 橋本 秀紀

    第13回計測自動制御学会システムインテグレーション部門講演会(SI2012)  2012.12 

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  • 知能化空間におけるパーソナルビークル搭乗者の習熟度推定に関する基礎検討

    鰺坂 志門, 今西 淳一, 大浦 健二, 阿部 貴弘, 橋本 秀紀

    第13回計測自動制御学会システムインテグレーション部門講演会(SI2012)  2012.12 

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  • 空間知能化によるモバイル機器への新しいエネルギーマネジメント方法の提案

    中村 壮亮, 加納 安曇, 橋本 駿, 橋本 秀紀

    第13回計測自動制御学会システムインテグレーション部門講演会(SI2012)  2012.12 

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  • 不眠症改善のための入眠促進ロボットの提案

    中村 壮亮, 望月 典樹, 中野 拓馬, 荒木 瞳, 橋本 秀紀

    第13回計測自動制御学会システムインテグレーション部門講演会(SI2012)  2012.12 

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  • Proposal of sleep-promoting robot using vibratory pressure and sound stimulation

    Sousuke Nakamura, Takuma Nakano, Moriki Mochizuki, Hitomi Araki

    IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society  2012.10 

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  • Design of social behavior of physical agent in intelligent space

    Mihoko Niitsuma, Takuya Ichikawa, Ryuichi Numakunia, Akira Onodera, Korondi Peter, Hideki Hashimoto

    IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society  2012.10 

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  • Exploratory behavior in ethologically inspired robot behavioral model

    R. Numakunai, T. Ichikawa, M. Gacsi, P. Korondi, M. Niitsuma

    IEEE RO-MAN2012  2012.9 

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  • Ethologically Inspired Human-Robot Communication for Monitoring Support System in Intelligent Space

    Takuya Ichikawa, Wataru Beppu, Szilveszter Kovacs, Peter Korondi, Mihoko Niitsuma

    Proc. of the 10th IFAC Symposium on Robot Control (Syroco '12)  2012.9 

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  • Circle Fitting Based Pile Positioning and Machine Pose Estimation from Range Data for Pile Driver Navigation

    Takeshi Sasaki, Hiroshi Kawahara, Fumihiro Inoue

    10th IFAC World Congress on Robot Control (Syroco '12)  2012.9 

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  • レーザ・レンジ・ファインダを用いた杭打ち機械の姿勢検出とナビゲーションシステムの開発

    井上 文宏, 川原 悠, 橋本 秀紀, 佐々木 毅

    第13回建設ロボットシンポジウム  2012.9 

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  • LRFを用いた杭打ち機の姿勢検出システムの誤差解析

    川原 悠, 佐々木 毅, 井上 文宏, 橋本 秀紀

    第30回日本ロボット学会学術講演会  2012.9 

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  • 不随意入力を考慮した人間親和型パーソナルモビリティのモーション制御に関する提案

    鰺坂 志門, 中村 壮亮, 久保田 孝, 橋本 秀紀

    第30回日本ロボット学会学術講演会  2012.9 

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  • レーザ・レンジ・ファインダを用いた位置計測システムの開発 その3、建設用杭打ち機械の姿勢計測とナビゲーション

    井上 文宏, 大本 絵利, 土井 暁, 佐々木 毅, 橋本 秀紀

    2012年度日本建築学会大会(東海)学術講演会  2012.9 

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  • 電磁ミニスカス現象を利用したマイクロガラス球の3次元配列

    松浦 寛, 谷川 民生, 橋本 秀紀

    第73回応用物理学会学術講演会  2012.9 

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  • つくばチャレンジ:実世界で働くロボットを目指して

    油田 信一, 水川 真, 橋本 秀紀, 田代 泰典, 大久保 剛史

    日本機械学会 ロボティクス・メカトロニクス講演会2012  2012.5 

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  • 建設用杭打ち機械ナビゲーションシステムの開発

    井上 文宏, 大本 絵利, 土井 暁, 佐々木 毅, 川原 悠, 橋本 秀紀

    日本機械学会 ロボティクス・メカトロニクス講演会2012  2012.5 

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  • Current Situations and Issues of Intelligent Spaces from Viewpoints of CogInfoCom- iSpace for CogInfoCom –

    Hideki Hashimoto

    CogInfoCom 2011  2011.7 

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  • Current Situations and Issues of Intelligent Spaces from Viewpoints of CogInfoCom - iSpace for CogInfoCom –

    Takeshi Sasaki, Hideki Hashimoto

    CogInfoCom2011  2011.7 

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  • Position Measurement System for Cylindrical Objects Using Laser Range Finder

    Hajime Tamura, Takeshi Sasaki, Hideki Hashimoto, Fumihiro Inoue

    SICE Annual Conference 2010,SICE  2010.8 

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  • Position Estimation Based on the Target Shape Information Using Laser Range Finders for Intelligent Space

    Takeshi Sasaki, Hajime Tamura, Hideki Hashimoto, Fumihiro Inoue

    2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics,IEEE/ASME  2010.7 

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  • Human Action Recognition using Wavelet signal analysis as an input in 4W1H

    Leon Palafox, Hideki Hashimoto

    8th IEEE International Conference on Industrial Informatics,INDIN  2010.7 

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  • レーザレンジファインダとパンユニットを組み合わせた高角度分解能スキャンの実現

    田村 一, 佐々木 毅, 橋本 秀紀, 井上 文宏

    日本機械学会 ロボティクス・メカトロニクス講演会2010  2010.6 

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  • 知能化空間における音高情報を用いたサウンドヒューマンインタフェース

    佐々木 毅, 新妻 実保子, 橋本 秀紀

    日本機械学会 ロボティクス・メカトロニクス講演会2010  2010.6 

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  • つくばチャレンジ2009 : その成果と記録

    油田 信一, 水川 真, 橋本 秀紀, 田代 泰典, 大久保 剛史

    日本機械学会 ロボティクス・メカトロニクス講演会2010  2010.6 

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  • Human Action Recognition using 4W1H and Particle Swarm Optimization Clustering

    Leon Palafox, Hideki Hashimoto

    The 3rd International Conference on Human System Interaction 2010,HSI  2010.5 

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  • Modeling and Position Control of Mobile Robot

    Prabin Kumar Padhy, Takeshi Sasaki, Sousuke Nakamura, Hideki Hashimoto

    The 11th IEEE International Workshop on Advanced Motion Control,AMC  2010.3 

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  • Charging of Electric Vehicles and Impact on the Grid: A Case Study

    P.Bauer, five others

    International Exhibition & Conference on Ecologic Vehicles & Renewable Energies,EVER  2010.3 

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  • A Compressive Sensing Approach to the 4W1H Architecture

    Leon Palafox, Hideki Hashimoto

    IEEE-ICIT 2010 International Conference on Industrial Technology,IEEE-ICIT  2010.3 

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  • 効率的な入力データ生成のためのファンクションジェネレータコンポーネント

    佐々木 毅, 橋本 秀紀

    第10回計測自動制御学会システムインテグレーション部門講演会(SI2009)  2009.12 

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  • レーザレンジファインダを用いた円柱対象物の位置推定手法

    田村一, 佐々木 毅, 橋本 秀紀, 井上文宏

    第10回計測自動制御学会システムインテグレーション部門講演会(SI2009)  2009.12 

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  • つくばチャレンジに向けた自律移動ロボット “Transformer ’08 to ’09”の研究開発

    Peshala G.Jayasekara, ほか

    第10回計測自動制御学会システムインテグレーション部門講演会(SI2009)  2009.12 

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  • つくばチャレンジ2009 実世界で働くロボットを目指して:本年度の課題と準備状況

    油田信一, 水川真, 橋本 秀紀, 田代 泰典

    第10回計測自動制御学会システムインテグレーション部門講演会(SI2009)  2009.12 

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  • A Movement Profile Detection System Using Self Organized Maps in the Intelligent Space

    Leon Palafox, Hideki Hashimoto

    Proc. of IEEE Workshop on Advanced Robotics and Its Social Impacts 2009 (ARSO2009),ARSO  2009.11 

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  • レーザレンジファインダを用いた円柱対象物の長距離位置推定手法

    田村一, 佐々木 毅, 橋本 秀紀, 井上 文宏

    可視化情報学会 Vol.29  2009.10 

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  • A Representation of Object Information Based on Interactions between Humans and Objects in Intelligent Space

    Mihoko Niitsuma, Hideki Hashimoto

    The 6th International Conference on Ubiquitous Robotics and Ambient Intelligence(URAI2009),URAI  2009.10 

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  • Shape Based Position Measurement Method Using Laser Range Finders

    Hajime Tamura, Takeshi Sasaki, Hideki Hashimoto, Fumihiro Inoue

    The 6th International Conference on Ubiquitous Robotics and Ambient Intelligence(URAI2009),URAI  2009.10 

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  • 既知形状ターゲットを用いたレーザレンジファインダによる物体トラッキング

    佐々木 毅, 橋本 秀紀

    第27回日本ロボット学会学術講演会,RSJ09  2009.9 

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  • レーザレンジファインダを用いた円柱対象物の位置推定手法

    田村一, 佐々木 毅, 橋本 秀紀, 井上 文宏

    第27回日本ロボット学会学術講演会,RSJ09  2009.9 

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  • A Human Movement Profile Classifier Using Self Organized Maps in the 4W1H Architecture

    Leon Palafox, Hideki Hashimoto

    第27回日本ロボット学会学術講演会,RSJ09  2009.9 

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  • Calibration of Distributed Laser Range Finders Based on Object Tracking

    Takeshi Sasaki, Hideki Hashimoto

    The 9th International Symposium on Robot Control (SYROCO'09),SYROCO  2009.9 

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  • Observation of Human-Object Interaction Using Distributed Sensors

    Mihoko Niitsuma, Kazuki Yokoi, Hideki Hashimoto

    The 9th International Symposium on Robot Control (SYROCO'09),SYROCO  2009.9 

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  • Object Categorization Based on Biologically Inspired Features Using a Hierarchical Categorization System

    Adam Csapo, four others

    The 9th International Symposium on Robot Control (SYROCO'09),SYROCO  2009.9 

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  • Safe Mobile Robot Control in the iSpace Environment

    Laszlo A.Jeni, Peter Korondi, Zoltan Istenes, Hideki Hashimoto

    The 9th International Symposium on Robot Control (SYROCO'09),SYROCO  2009.9 

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  • Comparison of Visual and Vibration Displays for Finding Spatial Memory in Intelligent Space

    Mihoko Niitsuma, Hideki Hashimoto

    The 18th IEEE International Symposium on Robot and Human Interactive Communication,RO-MAN  2009.9 

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  • Improvement of Human-Object Observation System

    Kazuki Yokoi, Mihoko Niitsuma, Hideki Hashimoto

    Proceedings of the ICASE-SICE International Joint Conference 2009,ICASE-SICE  2009.8 

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  • Algorithm Evaluation Support Tools for Intelligent Space

    Shaohua ZHENG, Takeshi Sasaki, Hideki Hashimoto

    Proceedings of the ICASE-SICE International Joint Conference 2009,ICASE-SICE  2009.8 

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  • Component Based Integration of Intelligent Space and its Application to Mobile Robot Navigation

    Takeshi Sasaki, Hideki Hashimoto

    2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2009),IEEE/ASME  2009.7 

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  • Substitution of Haptic Gloves Using Audio Interfaces in Robot Control

    Adam Csapo, Barna Resko, Peter Baranyi, Hideki Hashimoto

    2009 IEEE International Symposium on Industrial Electronics,ISIE  2009.7 

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  • 組込みLinuxのためのRTミドルウエアと開発環境

    安藤慶昭, 神徳徹雄, 佐々木毅, 橋本 秀紀

    日本機械学会ロボティクス・メカトロニクス講演会2009  2009.5 

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  • つくばチャレンジ2008:その意義と成果

    油田 信一, 水川真, 橋本 秀紀, 田代泰典

    日本機械学会ロボティクス・メカトロニクス講演会2009  2009.5 

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  • Automated Pairing Between Physical Control Parameters and Coding Parameters in Auditory Cognitive Communication Channels

    A.Csapo, B.Resko, Hideki Hashimoto, P.Baranyi

    Conference on Human System Interactions '09,HSI  2009.5 

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  • Adaptive, Safe Mobile Robot Programming in the Intelligent Space

    Laszlo A. Jeni, four others

    Conference on Human System Interactions '09,HSI  2009.5 

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  • Describing Human-Object Interaction in Intelligent Space

    Mihoko Niitsuma, Kazuki Yokoi, Hideki Hashimoto

    Conference on Human System Interactions '09,HSI  2009.5 

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  • Design and Implementation of Distributed Sensor Network for Intelligent Space Based on Robot Technology Components

    Takeshi Sasaki, Hideki Hashimoto

    Conference on Human System Interactions '09,HSI  2009.5 

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  • Calibration of Laser Range Finders Based on Moving Object Tracking in Intelligent Space

    Takeshi Sasaki, Hideki Hashimoto

    Proceedings of 2009 IEEE International Conference on Networking,IEEE  2009.3 

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  • 空間知のためのモノ情報を考慮した人の活動内容の記述

    新妻 実保子, 橋本 秀紀

    第9回計測自動制御学会システムインテグレーション部門講演会(SI2008)  2008.12 

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  • つくばチャレンジ2008実世界で働くロボットを目指して:課題とチャレンジの要点

    油田 信一, 水川 真, 橋本 秀紀, 田代 泰典

    第9回計測自動制御学会システムインテグレーション部門講演会(SI2008)  2008.12 

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  • 効率的なRT システム開発および運用のための汎用ビューワコンポーネント

    佐々木 毅, 橋本 秀紀

    第9回計測自動制御学会システムインテグレーション部門講演会(SI2008)  2008.12 

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  • 知能化空間における物と物の関係の抽出

    横井 一樹, 新妻 実保子, 佐々木 毅, 橋本 秀紀

    第9回計測自動制御学会システムインテグレーション部門講演会(SI2008)  2008.12 

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  • 知能化空間におけるRTコンポーネントに基づく移動ロボットナビゲーションシステムの構築

    佐々木 毅, 橋本 秀紀

    第9回計測自動制御学会システムインテグレーション部門講演会(SI2008)  2008.12 

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  • 実環境における移動ロボットナビゲーションシステムの研究開発

    佐々木 毅, ほか

    第9回計測自動制御学会システムインテグレーション部門講演会(SI2008)  2008.12 

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  • Research on Intelligent Space Architecture Developing Tools

    Shaohua ZHENG, Mihoko NIITSUMA, Takeshi SASAKI, Hideki HASHIMOTO

    The 5th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2008),URAI  2008.11 

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  • Research and Development of a Mobile Robot Navigation System in Real World Environment

    Hajime Tamura, Hideki Hashimoto

    IEEE Seoul Section 2008 International Student Paper Contest,IEEE  2008.11 

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  • Movement classification in Intelligent Space using wavelets

    Leon Palafox, Hideki Hashimoto

    IEEE Seoul Section 2008 International Student Paper Contest,IEEE  2008.11 

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  • Intelligent Interactive Space - Implementation of RT -

    Hideki hshimoto

    The 2nd International Symposium on Robot and Artificail Intelligence,Robot and Artificail Intelligence  2008.10 

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  • 主要経路の抽出による人間歩行経路の予測

    佐々木 毅, 橋本 秀紀

    第26回日本ロボット学会学術講演会  2008.9 

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  • 知能化空間における人と物を観測するシステムの改良

    新妻 実保子, 横井 一樹, 橋本 秀紀

    第26回日本ロボット学会学術講演会  2008.9 

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  • Model Based Robot Localization Using Onboard and Distributed Laser Range Finders

    Drazen Brscic, Hideki Hashimoto

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'08),the IEEE Industrial Electronics Society  2008.9 

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  • In-situ Robust Nanorobotic Resistance Spot Welding of InGaAs/GaAs Helical Nanobelts without Pretreatment

    Gilgueng Hwang, Primoz Podrzaj, Hideki Hashimoto

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'08),the IEEE Industrial Electronics Society  2008.9 

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  • Extraction of Human -Object Relations in Intelligent Space

    Mihoko Niitsuma, Kouhei Kawaji, Kazuki Yokoi, Hideki Hashimoto

    17th IEEE International Symposium on Robot and Human Interactive Communication,RO-MAN  2008.8 

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  • Localization of Human Hand by Using Inertial Sensors

    Kazuki Yokoi, Mihoko Niitsuma, Hideki Hashimoto

    SICE Annual Conference 2008,SICE  2008.8 

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  • Enhancement of Spatial Memory Using Human-Object Relations

    Mihoko Niitsuma, Takeshi Sasaki, Hideki Hashimoto

    SICE Annual Conference 2008,SICE  2008.8 

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  • External Force Assisted Nanorobotic Assembly of 3-D Helical Nanobelts

    Gilgueng Hwang, Lorenzo Bagutti, Hideki Hashimoto

    17th IFAC World Congress,IFAC  2008.7 

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  • Automated Calibration of Distributed Laser Range Finders Based on Object Tracking in Overlapping Sensing Regions

    Takeshi Sasaki, Hideki Hashimoto

    17th IFAC World Congress,IFAC  2008.7 

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  • Sliding Sector Design for Nonlinear Systems

    Peter Korondi, Hideki Hashimoto, Gabor Sziebig

    17th IFAC World Congress,IFAC  2008.7 

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  • Mechatronics, Robotics and Components for Automation and Control IFAC Milestone Report

    S.Boverie, four others

    17th IFAC World Congress,IFAC  2008.7 

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  • Comparison of Robot Localization Methods Using Distributed and Onboard Laser Range Finders

    Drazen Brscic, Hideki Hashimoto

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2008),IEEE/ASME  2008.7 

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  • Observation System of Human-Object Relations in Intelligent Space

    Kouhei Kawaji, Kazuki Yokoi, Mihoko Niitsuma, Hideki Hashimoto

    6th IEEE International Conference on Industrial Informatics(INDIN 2008),INDIN  2008.7 

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  • RT コンポーネントに基づく知能化空間システムの構築

    佐々木 毅, 橋本 秀紀

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008.6 

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  • Intelligent Space Simulator for Evaluation of Sensor Arrangements -Modeling of Sensors and Building of Environment by using Computer Graphics-

    Shaohua Zheng, Takeshi Sasaki, Mihoko Niitsuma, Hideki Hashimoto

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008.6 

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  • Extension of laser range finder functionality using mirrors

    Drazen Brscic, Hideki Hashimoto

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008.6 

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  • A Simulation of CDMA Based Ultrasonic Localization System in a Large Scale

    Qinhe Wang, Miaolei Zhou, Shaohua Zheng, Hideki Hashimoto

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008.6 

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  • 空間メモリを用いた簡便な3次元モデル生成 -慣性センサを用いた手の位置推定-

    横井 一樹, 川路 浩平, 新妻 実保子, 橋本 秀紀

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008.6 

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  • 知能化空間における人と物の関係を観測するシステムの構築

    川路 浩平, 新妻 実保子, 横井 一樹, 橋本 秀紀

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008.6 

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  • つくばチャレンジ -実世界で働くロボットを目指して- 2007年度の記録と2008年度の計画

    油田 信一, 橋本 秀紀, 水川 真, 田代 泰典

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008.6 

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  • Robot Navigation Framework Based on Reinforcement Learning for Intelligent Space

    Laszlo. A.Jeni, Zoltan Istenes, Peter Szemes, Hideki Hashimoto

    IEEE International Conference on Human System Interaction 2008(HSI'08),HSI  2008.5 

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  • Fuzzy-Based Camera Selection for Object Tracking in a Multi-Camera System

    Kazuyuki Morioka, four others

    IEEE International Conference on Human System Interaction 2008(HSI'08),HSI  2008.5 

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  • Observation of Multiple Objects Based on Human-Object Interaction in Intelligent Space

    Mihoko Niitsuma, Kouhei Kawaji, Hideki Hashimoto

    IEEE International Conference on Human System Interaction 2008(HSI'08),HSI  2008.5 

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  • Implementation of internet based telemicromanipulation with delay compensation

    Preeda Chantanakajornfung, Gilgueng Hwang, Hideki Hashimoto

    Proceedings of 2008 10th IEEE International Workshop on Advanced Motion Control(AMC'08),AMC  2008.3 

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  • 知能化と情報構造化空間

    橋本 秀紀

    第8回計測自動制御学会システムインテグレーション部門講演会論文集  2007.12 

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  • Tracking in Intelligent Spaces using distributed sensors and mobile robots

    Drazen Brscic, Hideki Hashimoto

    第8回計測自動制御学会システムインテグレーション部門講演会論文集  2007.12 

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  • 知能化空間における分散レーザレンジファインダの情報統合による環境地図の構築

    佐々木 毅, 橋本 秀紀

    第8回計測自動制御学会システムインテグレーション部門講演会論文集  2007.12 

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  • 実環境での走行を目指した自律移動ロボットの研究開発

    Drazen Brscic, 佐々木 毅, 周 淼磊, 横井 一樹, 鄭 韶華, 橋本 秀紀

    第8回計測自動制御学会システムインテグレーション部門講演会論文集  2007.12 

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  • Devices for CDMA Ultrasonic Localization in Intelligent Space

    Qinhe Wang, Hideki Hashimoto

    第8回計測自動制御学会システムインテグレーション部門講演会論文集  2007.12 

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  • 知能化空間における人と物の相互作用に基づく物の位置検出

    川路 浩平, 新妻 実保子, 佐々木 毅, 橋本 秀紀

    第8回計測自動制御学会システムインテグレーション部門講演会論文集  2007.12 

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  • Opto-Mechanical Filtering Applied for Orientation and Length Selective Contour Detection

    Barna Resko, Peter Korondi, Hideki Hashimoto

    Proceedings of the 33th Annual Conference of the IEEE Industrial Electronics Society (IECON '07),the IEEE Industrial Electronics Society  2007.11 

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  • Tracking of Humans Inside Intelligent Space using Static and Mobile Sensors

    Drazen Brscic, Hideki Hashimoto

    Proceedings of the 33th Annual Conference of the IEEE Industrial Electronics Society (IECON '07),the IEEE Industrial Electronics Society  2007.11 

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  • A Description of Human Activities using Spatial Memory in Intelligent Space

    Mihoko Niitsuma, Hideki Hashimoto

    Proceedings of the 33th Annual Conference of the IEEE Industrial Electronics Society (IECON '07),the IEEE Industrial Electronics Society  2007.11 

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  • Hierarchical Framework for Implementation of Intelligent Space

    Takeshi Sasaki, Hideki Hashimoto

    Proceedings of the 33th Annual Conference of the IEEE Industrial Electronics Society (IECON '07),the IEEE Industrial Electronics Society  2007.11 

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  • Multiple Objects Localization in Intelligent Space - Utilizing User Hands Position Information from Position Server -

    Kouhei Kawaji, Qinhe Wang, Takeshi Sasaki, Hideki Hashimoto

    The 4th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2007),URAI  2007.11 

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  • Map building and object tracking inside Intelligent Spaces using static and mobile sensors

    Drazen Brscic, Hideki Hashimoto

    2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007),IEEE Robotics and Automation Society  2007.11 

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  • Observation of Human Activities in Intelligent Space Based on Spatial Memory

    Mihoko Niitsuma, Reka Sumire Mitsui, Peter Korondi, Hideki Hashimoto

    Proc. of 8th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics (CINTI2007),CINTI  2007.11 

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  • Distributed Sensor Fusion Architectures for Tracking in Intelligent Spaces

    Drazen Brscic, 橋本 秀紀

    第25回日本ロボット学会学術講演会  2007.9 

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  • 物のプロパティの記述のための加速度に基づく人間の動作の分類

    川路 浩平, 新妻 実保子, 小坂 明生, 橋本 秀紀

    第25回日本ロボット学会学術講演会  2007.9 

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  • 空間知能化における利用者によるサービスの実装にむけて -空間メモリを用いた実装手法の提案-

    新妻 実保子, 橋本 秀紀

    第25回日本ロボット学会学術講演会  2007.9 

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  • 移動体トラッキングに基づく分散レーザレンジファインダの自動キャリブレーション

    佐々木 毅, 橋本 秀紀

    第25回日本ロボット学会学術講演会  2007.9 

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  • つくばチャレンジ-実世界ロボットチャレンジ:日常生活環境で自律的に働くロボットを目指して-

    油田 信一, 橋本 秀紀, 田代 泰典

    第25回日本ロボット学会学術講演会  2007.9 

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  • A Simulation of Simultaneous Robots Detection Using CDMA in Ultrasonic Sign

    Qinhe WANG, 橋本 秀紀

    第25回日本ロボット学会学術講演会  2007.9 

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  • Acting in Intelligent Space - Mobile robot control based on sensors distributed in space

    Drazen Brscic, Takeshi Sasaki, Hideki Hashimoto

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'2007),IEEE/ASME  2007.9 

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  • Acquisition of objects' properties in Intelligent Space

    Kouhei Kawaji, Mihoko Niitsuma, Akio Kosaka, Hideki Hashimoto

    Proc. of SICE Annual Conference 2007,SICE  2007.9 

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  • Fast Localization of Multi-targets in the Intelligent Space

    Qinhe Wang, Hideki Hashimoto

    Proc. of SICE Annual Conference 2007,SICE  2007.9 

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  • Spatial Memory for Collaboration Support System in Intelligent Space -- User Identification Based on Spatial Memory --

    Mihoko Niitsuma, Hideki Hashimoto

    Proc. of SICE Annual Conference 2007,SICE  2007.9 

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  • Observation of Human Activities in Information Services in Intelligent Space by Using Spatial Memory

    Mihoko Niitsuma, Hideki Hashimoto

    Japan Korea Joint Seminar 2007,Japan Korea Joint Seminar  2007.9 

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  • In-situ Nanorobotic Soldering of Three-dimensional Helical Nanobelts Using Gold Nanoink

    Gilgueng Hwang, six others

    Proc. of IEEE Int. Conf. on Nanotechnology,IEEE  2007.8 

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  • Mobile Robot Geometry Initialization from Single Camera

    Daniel Pizarro, Manuel Mazo, Enrique Santiso, Hideki Hashimoto

    Proceedings of the 6th International Conference on Field and Service Robotics (FSR 2007),FSR  2007.7 

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  • Localization and Reconstruction of Mobile Robots in Intelligent Space. A single camera solution

    Daniel Pizarro, Manuel Mazo, Enrique Santiso, Hideki Hashimoto

    Proc. of the IEEE International Symposium on Industrial Electronics 2007(ISIE 2007),ISIE  2007.6 

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  • 空間知環境構造化記述原理

    大場光太郎, 橋本秀紀, 横井一仁

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007.5 

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  • Robot as mobile sensor in Intelligent Space -Analysis of cooperative sensing using onboard and static sensors-

    Drazen Brscic, 橋本秀紀

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007.5 

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  • 知能化空間における人と物の物理的インタラクションに基づく物のプロパティの獲得 -人の操作中の物の特定-

    川路浩平, 新妻実保子, 小坂明生, 橋本秀紀

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007.5 

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  • Virtual Reality Biological Simulation for SMMS Telemanipulation

    Preeda Chantanakajornfung, Gilgueng Hwang, Hideki Hashimoto

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007.5 

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  • 移動ロボットを用いた分散レーザレンジファインダのキャリブレーション

    佐々木 毅, 橋本 秀紀

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007.5 

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  • RTミドルウェアによる情報提示システムの構成 -空間知能化システムの統合への試み-

    都島 良久, 新妻 実保子, 安藤 慶昭, 橋本 秀紀

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007.5 

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  • An Ultrasonic Multi-target Allocation System Using CDMA Signals

    Qinhe WANG, Hideki Hashimoto

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007.5 

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  • Retina Inspired Edge Detection for Robot Vision

    Barna Resko, Kouhei Kawaji, Shaohua Zheng, Hideki Hashimoto

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007.5 

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  • Implementation of Distirbuted Sensor Network for Intelligent Space

    Takeshi Sasaki, Drazen Brscic, Hideki Hashimoto

    IEEE International Conference on Mechatronics (ICM'07),ICM  2007.5 

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  • Extraction of Space-Human Activity Association for Design of Intelligent Environment

    Mihoko Niitsuma, Hideki Hashimoto

    IEEE International Conference on Robotics and Automation (ICRA'07),IEEE Robotics and Automation Society  2007.4 

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  • Intelligent Space:Advanced Integration of Robot Technology

    Hideki Hashimoto

    International Conference On Intelligent Building,Intelligent Building  2007.4 

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  • Computational Relaxed TP Model Transformation by Restriction of the Computation to Subspaces of the Dynamic Model

    Szabolcs Nagy, Zoltan Petres, Peter Baranyi, Hideki Hashimoto

    Proceedings of the International Symposium on Computational Intelligence and Intelligent Informatics 2007 (ISCIII'07),ISCIII  2007.3