著者

松永 信智 坂本 将一 田中 友樹 岡島 寛

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.84, no.858, pp.17-00349, 2018 (Released:2018-02-25)

参考文献数

19

被引用文献数

1 1

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Recently, electrical welfare vehicles driven by two motors employing free casters are widely used by patients and elders. However, as the user is not able to drive the vehicle well on the uneven rough roads, it is necessary to apply a new mechanism to drive on the rough road in order to expand driving area. The skid steer vehicle (SSV) has been used because of its high traveling ability on the rough road. However, the SSV has disadvantage that is, the driving assistance is required because its steering is highly affected by the road condition. The aim of this study is to design a driving assistance system of SSV for patients and elders by using Model Error Compensator (MEC) that suppresses the modeling error. The proposed controller consists of MEC, Extended Kalman Filter (EKF) that reduces sensor noise and system noise, and estimator of on-line cornering power of SSV. The effectiveness of the proposed system using on-line cornering power estimator is confirmed by the outdoor driving experiments. And the improvement of the driving assistance is evaluated by the correlation of the joystick manipulation comparing the paved and the dirt roads.

著者

渡部 晃平 榊原 悠太 榎本 昌光 田中 友樹 鈴木 玄一郎

出版者

一般社団法人 日本臨床リウマチ学会

雑誌

臨床リウマチ (ISSN:09148760)

巻号頁・発行日

vol.34, no.4, pp.283-289, 2022 (Released:2023-05-10)

参考文献数

16

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症例は71歳男性.関節リウマチに対しトシリズマブで加療中であった.経過中に発熱,関節炎の悪化を認め,施行した胸部CTで既知結節の増大を認めた.CTガイド下生検で組織学的評価を行ったところ,肺胞組織への組織球を主体とする慢性炎症細胞浸潤,palisading granulomaを認め,リウマトイド結節に矛盾ないものであった.簡易偏光ではsilica particleが多数存在していた.治療経過中に結節の増大を認めたCaplan症候群として,考察とともに報告する.

著者

宮本 洋孝 田中 友樹 岡島 寛 松永 信智

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌C(電子・情報・システム部門誌) (ISSN:03854221)

巻号頁・発行日

vol.136, no.5, pp.642-649, 2016-05-01 (Released:2016-05-01)

参考文献数

17

被引用文献数

2

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Recently, welfare vehicles are widely used by patients and elders. Many welfare vehicles are restricted to drive indoor or on a flat road. The vehicle with free casters can not be driven well when the road surface is rolling outdoors. To design compact welfare vehicles for outdoor use at low cost, the skid steer mechanism is focused on. The skid steer vehicle (SSV) is well known for its high traveling ability on an off-road. However, the SSV has disadvantage that the maneuvering assistance is required because its steering is highly affected by road condition. This study aims a steering assistance of SSV for patients and elders by using Model Error Compensator (MEC) that suppresses the modeling error by traditional PID control. The proposed controller consists of MEC and Extended Kalman Filter to reduce the sensor and the system noise assuming the undulating and skiddy roads. The effectiveness of the proposed control system is verified by the driving simulation considering the drivers weight and the road conditions.