著者
ジェレミー ジョン 本田 康裕 菅原 雄介 菊地 聡 小濱 泰昭
出版者
一般社団法人 日本機械学会
雑誌
ロボティクス・メカトロニクス講演会講演概要集 2017 (ISSN:24243124)
巻号頁・発行日
pp.1P1-G06, 2017 (Released:2017-11-25)
被引用文献数
1

In the previous paper, taking the non-linear Wing-In-Ground effect into consideration, the longitudinal dynamic model of Aero-Train after expanding it with a horizontal tail was developed for the purpose to clarify the relationship between the body frame design and its stability. This paper describes the development of the longitudinal dynamic model after expanding it with the lateral dynamic model.
著者
柏崎 耕志 米澤 直晃 小菅 一弘 菅原 雄介 平田 泰久 遠藤 央 神林 隆 篠塚 博之 鈴木 公基 小野 右季
出版者
The Society of Instrument and Control Engineers
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.48, no.7, pp.389-398, 2012 (Released:2012-08-16)
参考文献数
18

The authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.
著者
遠藤 央 廣瀬 健治 平田 泰久 小菅 一弘 菅原 雄介 鈴木 公基 篠塚 博之 新井 浩幸 阿久根 圭 神林 隆
出版者
一般社団法人 日本機械学会
雑誌
日本機械学会論文集 C編 (ISSN:03875024)
巻号頁・発行日
vol.75, no.755, pp.2028-2035, 2009-07-25 (Released:2017-06-09)
参考文献数
23
被引用文献数
3 3

We propose a novel car transportation system termed as iCART (i__-ntelligent c__-ooperative a__-utonomous r__-obot t__-ransporters). This system transports cars using two robots that move in coordination. This car transportation system can transport cars of any size and offers various functions such as parking, valet parking, towing service, and the transportation of cars inside a factory, onto a ferry, and in complicated parking areas. The robots in this car transportation system comprise three modules: the mobile base module, the lifter module, and the connecting module. This paper describes the details of the operation mechanism and the basic algorithm of each module. A leader-follower-type distributed motion control algorithm is applied to the proposed system and is used in an experiment performed to verify the validity of its function.
著者
菅原 雄介 米澤 直晃 小菅 一弘
出版者
一般社団法人 日本ロボット学会
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.29, no.7, pp.599-608, 2011 (Released:2011-10-01)
参考文献数
27
被引用文献数
3 6

This paper proposes the concept of a novel multi-wheel stair-climbing wheelchair. The necessity for mobility aid technology for elderly and handicapped people that has ``minimal invasiveness for use in an historical environment'' are described. With this goal in mind, a prototype of a novel wheelchair having a stair-climbing function resulting from transformable wheeled four-bar linkages is proposed, and the principle of operation, mechanism design, kinematics, statics and basic performance confirmed through a experiment are illustrated in this paper.
著者
坪井 光弘 畠山 茂毅 竹原 雄介 津田 洋 澤田 成彦 佐尾山 信夫
出版者
Japan Surgical Association
雑誌
日本臨床外科学会雑誌 (ISSN:13452843)
巻号頁・発行日
vol.68, no.9, pp.2219-2222, 2007
被引用文献数
1

患者は58歳, 男性. 自宅アパート3階の窓より転落し救急搬送された. 胸部単純写真および胸部CT検査で左多発肋骨骨折, 左肺の透過性低下および左横隔膜の挙上を認めた. 血液検査上transaminaseおよびamylaseの上昇を認めたが, 腹部に身体的異常所見は認めなかった. 腹部CT検査でも異常所見を認めなかった. 入院後血液検査およびCT検査による経過観察で腹腔内臓器損傷は否定できたため, 外傷性左横隔膜ヘルニアの診断で受傷後第3病日に経胸的に手術を施行した. 開胸したところ, 横隔膜の断裂と腹腔内臓器脱出に加え, 心嚢の破裂を認めた. 腹腔内臓器を還納し横隔膜を縫合閉鎖した. 術後特に合併症なく患者は術後23病日に退院した. 外傷性横隔膜損傷は他臓器損傷を合併していることが多く, 合併損傷も考慮し有効な手術経路を選択することが重要と思われた.
著者
藤原 雄介 山本 弘史 福島 千鶴 小守 壽文 田中 義正
出版者
公益社団法人 日本薬理学会
雑誌
日本薬理学雑誌 (ISSN:00155691)
巻号頁・発行日
vol.146, no.6, pp.327-331, 2015 (Released:2015-12-10)
参考文献数
1
被引用文献数
1

アカデミア創薬の環境はこの10年で大きく変わった.それでもアカデミアの創薬は大きな困難を伴う.最大の問題点は,製薬企業が評価を行うことができるまで創薬開発を進めていくことは,ひとつの研究室だけでは非常にハードルが高いことである.創薬のターゲット候補の発見,スクリーニングによる候補化合物の同定,最終的な薬物候補への最適化,臨床研究という創薬に必要な多くの過程をひとつの研究室で行うことは不可能に近い.もしもひとつの創薬シーズにおいて,多くの専門家,研究室が参加することができれば,アカデミアの創薬開発は大きく進むだろう.こういった状況の中で,長崎大学が創薬に対してどのようにオープン・イノベーションに取り組んでいくかを紹介する.
著者
渡邉 麻友美 射手園 健斗 遠藤 央 菅原 雄介 岡本 淳 柿崎 隆夫
出版者
一般社団法人 日本機械学会
雑誌
ロボティクス・メカトロニクス講演会講演概要集
巻号頁・発行日
vol.2017, pp.2A2-L05, 2017

<p>In this study, focusing on the sustainability of the environment and health, it has proposed a mobility that human-powered. The proposed system is designed on the "Man-powered robotics", which realizes the intelligent operation by controlling the power to be transmitted to the output shaft in the robot system. Manpower to implement the safety control in mobility to the power source, it puts control to allow prolonged exercise. As a result , to health by increasing the chance of occupant movement. Moreover, by making human power to power, it becomes environmentally friendly mobility. In this paper, the mobility of control is discussed. Specifically, when mobility operates in one dimension, Simulate the torque around the pedal axis. This confirms the effectiveness of control.</p>
著者
菅原 雄介
出版者
早稲田大学
巻号頁・発行日
2006

制度:新 ; 文部省報告番号:甲2247号 ; 学位の種類:博士(工学) ; 授与年月日:2006/3/24 ; 早大学位記番号:新4268
著者
松田 聡一郎 松浦 大輔 菅原 雄介 武田 行生
出版者
一般社団法人 日本機械学会
雑誌
日本機械学会論文集 (ISSN:21879761)
巻号頁・発行日
vol.83, no.854, pp.17-00282-17-00282, 2017 (Released:2017-10-25)
参考文献数
17
被引用文献数
2

In order to improve living space for stable walks by elderly people, this paper discussed assessment of living space with unique-shaped support objects. Four evaluation indices expressing capability of balance recovery corresponding to the support object were derived based on directionality of generative force by human's upper extremity and directionality of reaction force depending on surface shapes of the objects. Experiments were carried out to (1) obtain the parameters necessary to calculate the proposed indices and (2) carry out organoleptic evaluation of the support objects. Compared to the results obtained in these experiments (1) and (2), effects of the proposed indices were discussed, and an effective index among the four for evaluating the effect of the support objects was clarified. Assessment of a support object using the index was shown as an example.