Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SPIE  

DOI： 10.1117/12.2662189

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/jsen.2020.3033015

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Industrial Applications Engineers  

DOI： 10.12792/icisip2022.014

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

DOI： 10.1016/j.compeleceng.2022.108040

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DOI： 10.5136/lifesupport.34.39

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

DOI： 10.1016/j.cogr.2022.03.003

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DOI： 10.24691/resja.37.1_35

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Trans Tech Publications, Ltd.  

This study dealt with the rotary draw bending method most used for tube bending and investigates how applied bending such as normal bending, using mandrels or pressing with booster have an effect on machining accuracy, focusing on dimensional defects due to springback and flat deformation to the transverse plane. The study used particle swarm optimization (PSO) algorithms to investigate the optimal machining conditions for improving the accuracy of dimension and shape of a bent part. The following findings were obtained: The springback during applied machining using a mandrel, or using a mandrel and booster together, is almost the same as during normal processing; The flattening near the center of the bend in applied processing using a mandrel, or a mandrel and booster together, decreases more than with normal processing at mandrel protrusion L ≥ 4 mm, and the maximum can be suppressed to approximately 0.15%; When the sum of the springback and the flattening is taken as the objective function and the minimum value is obtained, the optimal solution is around L = 7 mm.

DOI： 10.4028/www.scientific.net/kem.904.480

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Industrial Applications Engineers  

DOI： 10.12792/icisip2021.021

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer International Publishing  

DOI： 10.1007/978-3-030-70451-3_2

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, a new road surface distinction method using ultrasonic sensors is proposed. The ultrasonic sensor introduced for constructing the measurement device, combining with microcomputer and Bluetooth module. The measurement device, which can send ultrasonic waves to road surfaces and receive reflected wave, is designed to be fixed on a wheel chair for road surface distinction. The integration of the reflected waveform in time is called voltage-time integral. In previous study, it was confirmed that the strength of reflected wave from road surfaces depends on the distance between the measurement device and road surface, the incidence of the ultrasonic wave and the roughness of the road surfaces. In this paper, four types of road surfaces were distinguished: floor, mat, artificial turf, and gravel. A classifier was built with support vector machine (SVM) using the average and standard deviation of the voltage-time integral as features. The sample size was varied and the accuracy score for each was tested. Hence, the effectiveness of the road surface distinguish method using the average and standard deviation of the voltage-time integral as parameters was confirmed.

DOI： 10.1109/is3c50286.2020.00146

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In this paper, a scheme of intelligent control method using differential evolution (DE) type neural network (NN) for Ultrasonic Motor (USM), which is expected to be applied on a meal-assistance robot. Owing the application of USM in the robot designed with orthogonal structure, excellent control performance in stability and safety with work quietness is expected. To obtain the high accurate control an optimization algorithm of DE was introduced to the NN type PID control for USM. The proposed intelligent method was investigated by the experiments on an existent USM servo system in this paper. The response of the proposed method with converngence of the proposed model was confirmed. With the proposed method, the servo of USM can be expected to use on meal-assistance robots and life support robots in medical and welfare environment.

DOI： 10.1109/IS3C50286.2020.00147

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer International Publishing  

DOI： 10.1007/978-3-030-70451-3_8

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J-GLOBAL

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/gcce50665.2020.9291831

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Publishing type：Research paper (scientific journal)   Publisher：Institute of Industrial Applications Engineers  

DOI： 10.12792/jjiiae.8.2.250

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Society of Physical Therapy Science  

DOI： 10.1589/rika.35.283

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CiNii Books

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Other Link： https://search.jamas.or.jp/link/ui/2020195262

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In the speed control of Ultrasonic Motor (USM) which contains nonlinearity and characteristic changes, an intelligent IMC-PID control using Neural Networks (NNs) combined with Particle Swarm optimization (PSO) algorithm is introduced to obtain satisfactory control performance. With the proposed intelligent control method, the gain in IMC-PID control is autotuned to minimize the errors in the speed control. The proposed method is with simple structure and easy to be implemented in realtime estimation. The proposed hybridization of NN and PSO makes the intelligent scheme superior in usefulness and effectiveness. In this paper, the control performance and effectiveness of the proposed method was confirmed and studied according to experimental results on an existing USM servo system.

DOI： 10.1109/taai48200.2019.8959888

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/taai48200.2019.8959824

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/gcce46687.2019.9015265

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In this research, a novel type of intelligent control method based on Neural Network (NN) combined with Artificial Bee Colony (ABC) algorithm to construct an auto-tuning of variable gain PID control is proposed for the control of Ultrasonic Motor (USM). The proposed method is based on PID control with simple structure and capable to improve the control performance on USM’s characteristic changes and nonlinearity of USM. Meanwhile, the proposed method is flexible and robust than the traditional fixed gain type PID control owing to the introduction of NN and ABC algorithms. NN is effective in the compensation of nonlinearity of USM. ABC is attractive in its simplicity in estimation and derivative-free characteristics. Their combination makes the proposed intelligent scheme effective and easy to be applied in various applications. In this paper, the control performance and effectiveness of the proposed method was studied according to simulation results in position control of USM.

DOI： 10.1145/3325291.3325387

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The number of accidents involving elderly individuals has been increasing with the increase of the aging population, and it is a serious problem. Most of the accident are caused by decline in ability of judgment and physical. Therefor, movement supporting tool such as cane for elderly people is used to prevent falls and improve the safety. Individuals moving without the help of a caregiver face a high risk of accidents (such as falls), despite using movement supporting tool. There is a number of studies on support system for elderly people to improve the safety and quality of daily life. They are studies to detect the dangerous road such as a step and obstacle from distance information obtained by an ultrasonic sensor. On the other hand, the actual fall accident has occurred in the road surface, such as grass or gravel not only a step or obstacle. Therefore, there is a need for a system to detect and determine the danger road. We previously showed the effectiveness of the road surface discrimination method using information, the distance to the road surface, the incident angle and the reflection intensity of the ultrasonic sensor. However, it had not been studied the effectiveness of the method at the time of the move. This paper describes the results of the effectiveness of the method at the time of the move.

DOI： 10.1145/3325291.3325388

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

DOI： 10.1016/j.compeleceng.2019.02.016

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Language：English   Publishing type：Research paper (international conference proceedings)  

Currently, the population of people with disabilities who need nursing care in Japan is about 5.2 million. They are facing troubles in daily life and require care such as meals, bathing, excretion and walking. Among them, it is extremely difficult for a physically handicapped person with disabilities in the upper limbs to take their own meals and care needs to be taken. People who need nursing care in consuming a meal are difficult to eat at their own pace. This is a factor that degrades the quality of life (QOL) for those who need nursing care. Also, because the number of caregivers is insufficient, the burden per caregiver is increasing. In order to improve such as a situation, development of a meal assistant robot has been promoted. However, many robots are articulated, and there was a danger of vibration and runaway. In this paper, a meal assistant robot combining an omnidirectional mobile plate and an orthogonal coordinate type is proposed. By using an orthogonal coordinate type, meal support can be performed with a simple and stable movement. Omni-wheel is used for omnidirectional movable plate. By using this robot, it is possible to carry out stable meal and meal support without having to organize the food before consuming.

DOI： 10.1145/3325291.3325389

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Based on the scheme of predictive fuzzy control combined with neural network (NN) for pneumatic servo system, the learning of NN using Particle Swarm Optimization (PSO) is studied according to experimental investigation in this research. A group of positioning experiments using existent pneumatic servo system were designed to confirm the effectiveness and efficiency of the NN’s learning employing PSO in the imaginary plant construction for the pneumatic system in predictive fuzzy control. The analysis in the study was implemented comparing the results of traditional back-propagation (BP) type NN and the PSO type NN.

DOI： 10.1007/978-3-030-04946-1_32

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

DOI： 10.1109/ACCESS.2019.2901008

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DOI： 10.12792/jiiae.7.25

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Language：Japanese   Publisher：The Institute of Industrial Applications Engineers  

DOI： 10.12792/iiae2019.018

CiNii Research

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Language：Japanese   Publisher：The Institute of Industrial Applications Engineers  

DOI： 10.12792/iiae2019.016

CiNii Research

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DOI： 10.1109/jiot.2017.2737479

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

The number of crippled people is growing in Japan. They are facing many kinds of difficulties in their daily lives. Especially, it is even difficult in having meals for upper-limb-crippled people. They need system which is able to help them in having meals. There are already several types of robots for meal assist with interface operated with hand originally. The upper-limb-crippled people needs interface with simple operation. Therefore, in this paper a meal assistance robot with maneuverable interface with head movement is proposed for upper-limbcrippled people. The head movement is designed to be detected by a Kinect sensor connected to control unit based on Raspberry Pi. In addition, the proposed robot with orthogonal structure, that offers simple and stable motions, is able to provide foods to users smoothly. Thus, the system in compact size can complete the food providing effectively.

DOI： 10.1007/978-3-319-64051-8_1

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

This paper presents a novel computational imaging method for object tracking. The proposed slit-type one-dimensional brightness distribution sensor (Obrid-Sensor) is designed to be applied to detect falls, localize, and track subjects without invading privacy. According to the vertical and horizontal one-dimensional brightness distributions acquired by the proposed sensors, the subject's motion is monitored without images or videos. The effectiveness of the proposed method to detect falls, localize, and track is verified by experiment. The motion detection and location can be implemented without requiring images or videos, which may invade privacy. The detection range of the proposed privacy-preserving sensor is also confirmed. Finally, the proposed sensor has a simpler structure than the traditional Obrid-Sensor, making it attractive owing to its simple design, facile application, and low cost. (C) 2016 The Authors. Published by Elsevier Ltd.

DOI： 10.1016/j.compeleceng.2016.09.023

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

The number of accidents involving elderly individuals has been increasing with the increase of the aging population, posing increasingly serious challenges. Most accidents are caused by reduced judgment and physical abilities, which lead to severe consequences. Therefore, studies on support systems for elderly and visually impaired people to improve the safety and quality of daily life are attracting considerable attention. In this study, a road surface condition distinction method using reflection intensities obtained by an ultrasonic sensor was proposed. The proposed method was applied to movement support systems for elderly and visually impaired individuals to detect dangerous road surfaces and give an alarm. The method did not perform well in previous studies of puddle detection, because the alert provided by the method did not enable users to avoid puddles. This study extended the method proposed by previous studies with respect to puddle detection ability. The findings indicate the effectiveness of the proposed method by considering four road surface conditions. The proposed method could detect puddle conditions. The effectiveness of the proposed method was verified in all four conditions, since users could differentiate between road surface conditions and classify the conditions as either safe or dangerous.

DOI： 10.3390/s16101678

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Industrial Applications Engineers  

DOI： 10.12792/jiiae.4.106

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<jats:p>Particle Swarm Optimization (PSO) has demonstrated great performance in various optimization problems. However, PSO has weaknesses, namely premature convergence and easy to get stuck or fall into local optima for complex multimodal problems. One of the causes of these weaknesses is unbalance between exploration and exploitation ability in PSO. This paper proposes a Modified Particle Swarm Optimization (MPSO) using nonlinearly decreased inertia weight called MPSO-NDW to improve the balance. The key idea of the proposed method is to control the period and decreasing rate of exploration-exploitation ability. The investigation with three famous benchmark functions shows that the accuracy, success rate, and convergence speed of the proposed MPSO-NDW is better than the common used PSO with linearly decreased inertia weight or called PSO-LDWKeywords: particle swarm optimization (PSO), premature convergence, local optima, exploration ability, exploitation ability.</jats:p>

DOI： 10.24003/emitter.v3i2.42

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Language：English  

DOI： 10.12792/iciae2016.006

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Accidents in daily life happen more often on elderly people owing to regressions in judgement and physical abilities. Meanwhile, the increasing number of accidents happened on visual impairment is becoming a social problem. Based on backgrounds, the movement support systems for improving the safety of elderly and visually impaired people are attracting a lot of attentions. In our previous research, road surface condition distinction method using reflection intensities obtained by ultrasonic sensor has been proposed. The proposed method is applied to the movement support system for elderly or visually impaired people for detecting dangerous road surfaces and giving an alarm to users. In this paper, the method based on the previous one with puddle detecting ability is proposed, and the evaluation of the improved method has been implemented according to experimental results. The proposed method can be applied in support systems on wheel chairs and white canes for improving safety.

DOI： 10.1109/IS3C.2016.41

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Vision-based underwater navigation and object detection requires robust computer vision algorithms to operate in turbid water. Many conventional methods aimed at improving visibility in low turbid water. In this paper, we propose a novel contrast enhancement measurement for different enhancement methods' assessment. As a rule to compare the performance of different image enhancement algorithms, a more comprehensive image quality assessment index Q is proposed. The index combines the benefits of SSIM index and colour distance index. Experimental results show that the proposed approach statistically outperforms state-of-the-art general purpose underwater image contrast enhancement algorithms.

DOI： 10.1109/IS3C.2016.19

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In recent years, aging society is getting serious as many social problems rising in Japan. One of the problems that we should concern is the daily safety of the elderly people who live alone. Thus, sensors and integrated systems to confirm the safeness of the elder in their daily life have been developed. In our previous research, a system using a sensor named as One-dimensional brightness distribution sensor (Obrid-Sensor), which is able to detect the presence, position, and motion of a subject without privacy offending, was proposed. As an important improvement of previous research, the method to detect the standing/falling-down using Obrid-Sensor is proposed in this research. The obtained vertical feature quantity of subject is used in this method for detection of the standing/falling-down. The method to detect the standing/ falling-down with employing a shape change of feature quantity is experimented by using the Obrid-Sensor. According to the experiment result, the settings of Obrid-Sensor were investigated. The system parameters were studied in different settings for high precision detection. Base on the research, the proposed safety confirmation system can be expected to be applied in more conditions for early detection of fall down accidents.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Life Support Engineering  

<p>In order to lighten the heavy burden of care workers in the aging society in Japan, many contributions have been made in safety confirmation systems for elders in daily life in recent years. A safety confirmation system for elders is proposed in this paper. The Obrid-Sensor and the ultrasonic sensor are employed in the system. The ultrasonic sensor is based on the theory of reflection of ultrasonic wave. And the Obrid-Sensor is constructed with rod lens and line sensor. Theoretically, the detections of the proposed method employ no images or video information. The application of the sensors performances quite well according to the privacy protection requirement in nursing. In the system, the applications of the sensors make it possible that we can observe the basic motion of subject alarming when he/she falls down, with privacy preservation. The effectiveness of the proposed method is confirmed by experiments.</p>

DOI： 10.5136/lifesupport.27.118

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DOI： 10.12792/icisip2015.006

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Industrial Applications Engineers  

DOI： 10.12792/jiiae.3.65

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DOI： 10.12792/iciae2015.024

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

As aging society problem goes severe in not only Japan but also the whole world, more and more attentions are attracted to the social and welfare fields. Many researches on science and technology for elders are implemented in rencent years. With the background, there are a lot of needs for techonologies with novel features for improvement. In this paper, a control method with attractive features for the actuator of Ultrasonic Motors (USMs) is introduced. In medical and welfare areas, the USMs are expected to play more important roles owing to their special characteristics. In this research, an intelligent PID control method using Neural Network (NN) combined with type Particle Swarm Optimization (PSO) is developed for the control of USM. In the method, the intelligent controller is designed based on variable gain type PID control using NN. The learning of the NN unit is implemented by the PSO. The gains of PID control are adjusted by the proposed method in real-time. The effectiveness of the method is verified by experimental results.

DOI： 10.1109/GCCE.2015.7398635

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In recent years, aging society is a serious problem which the whole Japan has to face to. As an important aspect of the aging society problem, safety in daily life of the elderly attracts much attention. Thus, sensors and integrated systems for confirming safety of the elderly people in daily life have been developing. Thereby, the developments are expected to relieve burdensome safety confirmation tasks of care workers. A system with employing a sensor named as One-dimensional brightness distribution sensor (Obrid-Sensor), which is able to get localization of a subject without privacy offending, was proposed in previous research. By employing the proposed sensor, the information of the subject's presence, position, and motion can be acquired without using two-dimensional texture image. However, the system wasn't able to acquire the depth information between the sensor and a subject. Accordingly, we propose a depth measurement method with applying stereo vision to two Obrid-Sensors to solve the problem. In this proposed method, the error in horizontal direction of Obrid-Sensor is experimentally-verified before the measuring of depth distance. By this way, we confirm that the depth measurement is feasible by employing ObridSensors. It is possible to estimate the size of the subject according to the information fetched by Obrid-Sensors employing the proposed depth measurement method. Therefore, this method using Obrid-Sensors is expected to improve the recognizing accuracy of conditions in the elderly's daily life.

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DOI： 10.12792/icisip2014.077

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In this study, a method of human shape detecting with privacy-preserving by image reconstruction has been developed. In the method, for obtaining one-dimensional brightness, a novel sensor constructed with a line sensor and cylindrical lens is designed. By employing the sensor, a one-dimensional brightness distribution can be obtained. The shape of human can be recognized according to variation of the one-dimensional distribution without privacy offending. The effectiveness of human shape detection using image reconstruction by one-dimensional brightness distribution is verified in this work. Experimental results show that the proposed sensor can detect person’s state responsively without violating privacy.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

As the aging problem in Japan becomes more and more severe, there are requirements for labor and resources to take care of elders. For lightening the burden of care workers in safety confirmation of elders in daily life, systems to confirm safety of elders attract a lot of attentions in recent years. This paper reports a safety confirmation system for elders. In the proposed system, for detecting the motion of elders, the system employing Obrid-Sensor and ultrasonic sensor is reported for safety confirmation of elders in restroom. The applications of Obrid-Sensor and ultrasonic sensors ensured the motion detection with privacy protection. The effectiveness of the proposed method was confirmed by experiments.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, an intelligent PID controller is proposed for ultrasonic motor (USM) in real-time environment. To overcome the problems of characteristic variation and nonlinearity, an intelligent PID controller using neural network (NN) combined with particle swarm optimization (PSO) is studied. In the proposed method, an NN controller is designed for adjusting PID gains. The learning of NN is implemented by PSO updating the weights of NN on-line. By employing the proposed method, the characteristic changes and nonlinearity of USM can be compensated effectively in real-time environment. The effectiveness of the method is confirmed by experiments.

DOI： 10.1109/IS3C.2014.203

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Ultrasonic Motors (USMs) are a kind of actuators with attractive features. Owing to the features, they are expected to be applied widely in industrial fields. Especially, since they work well in or near MRI environment, they are expected to play more important roles in medical and welfare area. In this research, for the control of USM, an intelligent PID control method using Neural Network (NN) combined with type Particle Swarm Optimization (PSO) is developed. In the method, the intelligent controller is designed based on variable gain type PID control using NN. The learning of the NN unit is implemented by the PSO. The PID gains are adjusted by the intelligent controller in real-time environment. The effectiveness of the method is confirmed by experiments.

DOI： 10.1109/GCCE.2014.7031179

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

As aging society problem goes serious, systems to confirm to safety of elders in daily life are expected. In this paper, a sensor, which detects person localization without privacy offending, applying brightness distribution is proposed. In the proposed design, the sensor is constructed with a line sensor and slit to obtain one-dimensional brightness distribution. The proposed sensor is able to obtain one-dimensional brightness distribution that is approximately equal to integration value of each vertical pixel line of two-dimensional image. By employing this method, the information of the target's position and movement status can be obtained without using two-dimensional detail texture image. In this paper, the effectiveness of the proposed method is confirmed by experiments.

DOI： 10.1109/IS3C.2014.202

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

As aging society problem goes severe, systems to confirm to safety of elders in daily life are expected to relieve burdensome safety confirmation tasks of care workers. In this paper, a sensor, which detects person localization without privacy offending, applying Obrid-Sensor is proposed. In the proposed design, the Obrid-Sensor is constructed with a line sensor and a slit to obtain one-dimensional brightness distribution. The proposed sensor is able to obtain one-dimensional brightness distribution that is approximately equal to integration value of each vertical pixel line of two-dimensional image. Meanwhile, the novel slit type Obrid-Sensor, which was constructed without Rod lens, is studied in this research. By employing the proposed sensor, the information of a subject's position and motion can be obtained without using two-dimensional texture image. The effectiveness of the proposed method is confirmed by experiments.

DOI： 10.1109/SNPD.2014.6888738

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

This paper proposes a meal-assistance robot that uses ultrasonic motors (USMs) and an eye-interface. The proposed robot is designed with simple manipulators moving in orthogonal coordinate axes to avoid unsafe motion and vibration. With the application of USMs, the proposed robot has excellent features. In particular, because it does not interfere with other electronic devices, the proposed robot is satisfactory choice for medical and welfare facilities. Moreover, the proposed robot is designed to be controlled with an eyeinterface, which makes this robot much easier to use than previous models. The structure of the robot is introduced and its effectiveness is confirmed by experiments.

DOI： 10.20965/ijat.2014.p0186

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DOI： 10.12792/icisip2013.046

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Industrial Applications Engineers  

DOI： 10.12792/jiiae.1.22

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Life Support Engineering  

We develop a new mat sensor to distinguish between a wheelchair and a person. The mat sensor can be utilized for detection a wheelchair goes into dangerous areas. Furthermore, it can intelligently alarm only when there are truly dangerous by using a novel function of distinguishing the situation between a wheelchair and a person. Thus, the proposed mat sensor is very useful in hospitals and nursing facilities. A wheelchair and a person are distinguished by passing through the mat sensor which consisted of pressure sensor units and an acrylic board. Information of the pressure sensor units provided from the wheelchair is different from that of the person. If the wheelchair moves on the mat sensor, the center of gravity position of the wheelchair is almost the same as the position of the direction of movement. However, the center of gravity of the person changes because the person walks by foot with right leg and left leg when the person moves on the mat sensor. The wheelchair and the person can be judged by the difference in the change amount of each center of gravity positions. As a result of experiment using our proposed mat sensor, the good recognition rate is obtained.

DOI： 10.5136/lifesupport.25.50

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Other Link： http://search.jamas.or.jp/link/ui/2014072309

Language：English   Publishing type：Research paper (international conference proceedings)  

Ultrasonic motor (USM) is a novel kind of electronic motor which employs friction as its drive source. Owing to attractive features of USMs, they are expected to be applied widely in industrial world. However, in the applications of USMs, control performances are limited by characteristic variation and nonlinearity of USMs. To overcome the problems, many control methods have been proposed in previous research. In this paper, a scheme of internal model control (IMC)-PID control combined with particle swarm optimization (PSO) type neural network (NN) is studied for control of USM. In the method, an NN controller is designed for adjusting the control parameter in IMC-PID controller. Meanwhile, the weights of NN are updated by PSO algorithm on-line. By employing the proposed method, the characteristic changes and nonlinearity of USM can be ompensated. On the other hand, the application of PSO algorithm in NN's learning avoids the problem of Jacobian estimation in conventional NNs which apply back-propagation (BP) method. The effectiveness of the method is confirmed by experiments. © 2013 IEEE.

DOI： 10.1109/SNPD.2013.66

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Verlag  

As aging society problem goes serious
systems to confirm safety of elders in daily life are expected. In this paper, a sensor, which detects person localization without privacy offending, applying brightness distribution is realized. In the proposed design, the sensor is constructed with a line sensor and cylindrical lens to obtain one-dimensional brightness distribution. Comparing with conventional line sensors, CMOS area sensors are with low cost, and high sensitivity. Therefore, in the proposed sensor, the CMOS area sensor is applied as covered in certain areas physically, so that it behaves as a line sensor. The proposed sensor is able to obtain one-dimensional horizontal brightness distribution that is approximately equal to integration value of each vertical pixel line of two-dimensional image. By employing this method, the information of the target person's position and movement status can be obtained without using two-dimensional detail texture image. © 2013 Springer International Publishing Switzerland.

DOI： 10.1007/978-3-319-00738-0_1

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

In this paper, a novel control scheme of PID type internal model control (PID-IMC) using neural network (NN) is proposed for the position control of ultrasonic motor (USM). In the proposed scheme, a new NN controller combined with particle swarm optimization (PSO) based on probability is introduced. The NN controller is employed for tuning the control parameter in PID-IMC for compensating the characteristic changes and non-linearity in USM. On one hand, the application of the proposed method avoids the Jacobian estimation in conventional back-propagation ( BP) type NN. On the other hand, the PSO based on probability, originated from tribes-PSO, simplifies the PSO setting by reducing the parameters to be set in USM control. For confirming the effectiveness of the proposed method in position control, a group of experiments have been done on an existent USM servo system and the results are studied in this paper.

DOI： 10.3233/JAE-121626

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this research, we propose a method to distinguish different ground materials using the reflection intensities of the waves obtained by ultrasonic sensor. In previous research, the information obtained by ultrasonic sensor is only used for checking the existence of an object, and/or measuring the distance from an existent object. To go a step further, applying the information obtained by ultrasonic sensor, we designed a method to distinguish different ground materials according to different reflection intensities. Based on the method, a group of experiments have been implemented for distinguishing seven different ground materials in this research. According to the results of the experiments, it can be stated that different ground materials can be classified according to the particular reflection intensities. Furthermore, we can also use the particular reflection intensities for recognizing the roughness of different grounds in order to alert in dangerous situations.

DOI： 10.1109/SII.2012.6427385

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：TRANS TECH PUBLICATIONS LTD  

In this paper, we propose a novel scheme of IMC-PID control combined with a tribes type neural network (NN) for the position control of ultrasonic motor (USM). In this method, the NN controller is employed for tuning the parameter in IMC-PID control. The weights of NN are designed to be updated by the tribes-particle swarm optimization (PSO) algorithm. This method makes it possible to compensate for the characteristic changes and nonlinearity of USM. The parameter-free tribes-PSO requires no information about the USM beforehand; hence its application overcomes the problem of Jacobian estimation in the conventional back propagation (BP) method of NN. The effectiveness of the proposed method is confirmed by experiments.

DOI： 10.4028/www.scientific.net/AEF.2-3.12

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

A detecting system, which alerts when a target elder falls down in selected area without offending his/her privacy, is necessary to lighten the taking care burden of elders. In this paper, we propose a detecting method using two pyroelectric sensors not only to report in falling down situations, but also to measure the position of the target person in certain area. The person's position can be detected according to the ratio of output voltages of two pyroelectric sensors. We implemented a group of experiments to measure the position in 3 distances by 3 Fresnel lens for confirming the effectiveness of the proposed method. The results show that the person's positions can be detected according to the ratio of output voltages in different distance conditions.

DOI： 10.1109/SII.2012.6427307

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

In this paper, we develop a meal assistance robot for people with disabilities of upper limbs and pacemakers in the body. In the robot, ultrasonic motors are used because the motors do not generate an electromagnetic field. The robot is handled using acts of user&apos;s eyes so that the people can use it. Moreover, the vibration is small because the arms of our robot move independently of each other. In this paper, we introduce structure of our robot and show the advantage with experiment results.

DOI： 10.3233/JAE-2011-1356

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Language：Japanese  

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Other Link： https://projects.repo.nii.ac.jp/?action=repository_uri&item_id=310549

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Ultrasonic motor (USM) causes serious characteristic changes during operation and contains non-linearity caused by frictions. To compensate the characteristics, the internal model control - proportional integral differential (IMC-PID) control which requires only one parameter setting beforehand is widely applied to the control of ultrasonic motor. However, there are limitations of control performance on the conventional fixed-gain type IMC-PID) control. So, in this paper we propose an improved method of variable gain type IMC-PID control combined with neural network (NN). In this proposed method, the identification method is adopted to overcome serious characteristic changes and neural network is used to compensate non-linearity. And, the effectiveness of the proposed method has been confirmed by experiments.

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Language：Japanese   Publisher：電気学会  

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Other Link： http://id.ndl.go.jp/bib/030687676

Language：Japanese   Publisher：日本音響学会  

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Language：Japanese   Publisher：電子情報通信学会  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (bulletin of university, research institution)   Publisher：Hiroshima National College of Maritime Technology  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (bulletin of university, research institution)   Publisher：Hiroshima National College of Maritime Technology  

Oosakikamijima Island, site of our college, faces the problem: particularly, wild boars give a big loss to the farming ofthis island, which is a very urgent problem to solve. But wild boars are known as a very vigilant animal and have so keena nose, a long-term memory of their experiences. So to trap them isn't an easy task. Besides, the installation of a trapcage isn't easy because of its size and weight neither. For this reason we are trying to develop a new trap mechanismeasy for everyone to set up and operate, The sensor connected to the cage has un mechanical switches to avoidcomplicated systems. As a result, this trap cage turned out to have two critical problems: one is that the doors can't closebefore the boar runs out; the other is that the sensor responds to other animals like crows or field mice than boars, too.This paper shows the improvement of the trap mechanism by resolving these problems and the development of a newsensor system to inform us of the running states of this trap cage.

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (bulletin of university, research institution)  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (bulletin of university, research institution)   Publisher：Hiroshima National College of Maritime Technology  

In order to realize a sustainable society and the environment, environmental education of children responsible for the future is very important. We held the environmental education of the coastal sea area in the Mihara city in August 2015. We described the implementation content and results of this education. And, by the students actively involved as management the education, we aim to improve students' problem-solving ability.

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (bulletin of university, research institution)   Publisher：Hiroshima National College of Maritime Technology  

This paper proposes a way of reducing the number of colors contained in a JPEG image and removeblock noise at the same time. The main purpose of this research is converting a kind of color images,such as Tokyo Metro map, to gray scale ones. When a color image is converted to gray scale one, twodifferent colors are not always converted to different gray levels because of the small number of possiblelevels in the gray scale image. When the number of colors in a color image is appropriately small, wecan assign different gray level for each color then convert it to gray scale image without any informationloss. However JPEG images usually contain noise, so called block noise. In this case, before converting,we have to remove noise and reduce the number of colors.

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (bulletin of university, research institution)   Publisher：Hiroshima National College of Maritime Technology  

In first semester of fourth grade, there is an experimental practice named "Making Things" in department ofElectrical Control Engineering in our college. Students belong to groups organized by professors and make thingsrelated to electrical control engineering under the instruction of professors. This paper describes our curriculum,specialized subjects and experimental practices, to show that students acquire knowledge and techniques effectivelyto make things related to electric control engineering. In author's group, two students made two inverted pendulumrobots. One balances by moving back and forth on two wheels, and the other balances with rotor inertia. Ourcurriculum is effective to acquire knowledge and techniques and to train in students practical engineers.

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (bulletin of university, research institution)  

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Language：Japanese   Publishing type：Research paper, summary (national, other academic conference)  

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Event date： 2020.12

Language：Japanese   Presentation type：Poster presentation  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Kitakyushu, Japan  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Symposium, workshop panel (nominated)  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：Kyoto，Japan  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：北海道，日本  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：宇部，日本  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：北九州，日本  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：北九州，日本  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：English   Presentation type：Oral presentation (keynote)  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese  

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Language：Japanese  

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Language：Japanese   Presentation type：Poster presentation  

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Language：Japanese   Presentation type：Poster presentation  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Poster presentation  

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Language：English   Presentation type：Oral presentation (keynote)  

Venue：Okinawa, Japan  

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