著者

福田 敏男 植山 剛

出版者

公益社団法人 計測自動制御学会

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.31, no.11, pp.1137-1142, 1992-11-10 (Released:2009-11-26)

参考文献数

31

著者

新井 史人 福田 敏男

出版者

公益社団法人 計測自動制御学会

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.37, no.1, pp.51-54, 1998-01-10 (Released:2009-11-26)

参考文献数

15

著者

中島 正博 アハマド モハメド リズワン 申 亞京 小嶋 勝 本間 道夫 福田 敏男

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.2010, pp."2P1-A30(1)"-"2P1-A30(3)", 2010

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In this paper, the novel evaluation of local stiffness distribution for biological organism is presented using comb-nanoprobes. The local stiffness values are important to reveal and evaluate the cell condition depending on health, diagnosis, growth phase, and so on. We have been developed the nanorobotic manipulation system inside an Environmental-Scanning Electron Microscope (E-SEM). The deformation of the biological organism can be observed by E-SEM with real-time imaging. In this paper, the local stiffness distribution of Caenorhabditis elegans (C. elegans) is evaluated using comb-nanoprobes. We fabricated the comb-type silicon nanoprobes to measure the local stiffness distribution in each C. elegans. We also test the viability of C. elegans inside E-SEM from the motion of C. elegans before and after setting inside the E-SEM.

著者

小菅 一弘 奥田 実 福田 敏男

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.59, no.563, pp.2162-2168, 1993-07-25

被引用文献数

2

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This paper discusses design issues of a manipulator/vehicle system floating on water, which consists of a vehicle controlled by thrusters and a manipulator mounted on it. The design of the system is very important for the control of such a system, because the controllability of the system is largely affected by the design of the system. In this paper, we propose a method to design the location of thrusters based on the concept of Translatability and Rotatability of the vehicle by actuators. The translatability (rotatability) of the vehicle represents the relationship between the output forces of thrusters and the equivalent force (moment) evaluated at the centroid of the vehicle. We first derive the relationship and then reveal that the equivalent force (moment) forms an ellipsoid. The method is natural in the sense that the force and the moment, which have dfferent dimensions, are dealt with independently. Examples illustrate the effectiveness of the proposed method.

著者

久保田 直行 福田 敏男

出版者

計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.34, no.5, pp.408-414, 1998-05-31

被引用文献数

10

著者

福田 敏男 下中 賢

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.54, no.504, pp.1812-1820, 1988-08-25

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This paper deals with the coordination force distribution at finger joints for an articulated hand, under the assumption that the articulated hand with multiple degrees of freedom and a multiple articulated joint structure grasps some objects. In this study, four algorithms for this force distribution problem in grasping some object are derived from the static equilibrium conditions. Furthermore, a method for changing contact and non-contact fingers in grasping is derived and some simulations are shown, where changing fingers implies that some non-contacting fingers begin to make contact with the object, while the other contacting fingers do not contact it, keeping the stable grasping conditions by hand as a whole. Finally, based on the proposed five control algorithms, a control flow of stable grasping methods for the force distribution at each joint is made for an overall control of the finger system by determining grasping forces to changing grasping fingers.

著者

福田 敏男 下中 賢

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.53, no.487, pp.731-738, 1987-03-25

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The flexible functions of a human five finger hand with a palm are first studied from the viewpoint of force sensory manipulation, unlike the conventional viewpoint of position based manipulation. Then it is cleared that more than half of human hand work is related to force sensory information. Based on this examination, the degree of freedom of an articulated finger hand is determined to realize such a flexible manipulation as a human hand, so that twenty five degrees of freedom are necessary for a hand with consideration of joints inside the palm which have not been taken into acount so far. An Artificial finger hand with twenty five degrees of freedom is built for experiments by employing the wire and spring mechanism. Finally, an evaluation concept of three dimensional grasping is presented as a cross-section method by calculating applied forces and moments in a plane virtually cut arbitrary inclined angles around the center of a grasped object.

著者

福田 敏男 ZYADA Zakarya

出版者

名古屋大学

雑誌

特別研究員奨励費

巻号頁・発行日

2005

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金属探知器(Metal Detector : MD)は現在人間による地雷撤去作業に用いられる最も主要なセンサーである.それはシンプルかつ低価格であり,また浅い地表面に接地された対人地雷(Ann-Personal Mine : APM)を発見することにも役立っている.しかしながら,地雷以外にもあらゆる金属片に反応してしまうために,誤認警報率が高い(約99.95%)という問題がある.一方で,地中レーダー(Ground Penetrating Radar : GPR)により誘電特性に基づいて地中の物体を認識する技術を提供できるが,金属と非金属における誘電不連続面を検出するため,地雷以外の物体にも反応する問題がある.本研究では,誤認警報率を大幅に削減し,浅い地表面に接地された対人地雷を自動検出することを目的としたGPRとMDのファジー融合手法を提案する.金属探知器と地中レーダーはロポットにより操作される.この融合アルゴリズムは,GPRとMDに対し,特徴を入力し判定を出力するファジーアルゴリズムである.ファジー融合システムへの入力はGPRとMD双方の計測結果から抽出された特徴情報である.これらの特徴はそれぞれGPRとMDに対する最大振幅強度と強度の累積和である.ファジー融合システムからの出力は地雷が存在するか,またその場合はどの程度の深さかに関する判定である.ファジー融合規則はファジー学習アルゴリズムを通じて学習データから抽出される.実験結果からファジー融合アルゴリズムの妥当性,および地雷撤去作業における誤認識率を低減できることが示された.本研究からは以下の2つの主要な結果が得られた.第一に,地雷とプラスチックケースや金属ボルトを識別できる可能性であり,これは誤認識率を低減することに寄与するものである.第二点として,GPRとMDセンサーに対して所定の特徴量(最大強度振幅および強度の累積和)は提案されたセンサー融合アルゴリズムにとって十分なものであることである.本研究による提案アルゴリズムは以下の利点を持つ.単純かつ実環境で使用が容易であり,一般的な操作者により実行可能である.アルゴリズムは実環境下の測定結果から得られたファジー学習のルールに基づいているため,環境からの影響が既に学習則に含まれており,例えば水分を含んだ環境状態などの影響が低減されることが期待できる点にある.

著者

関山 浩介 福田 敏男 松村 司郎 山田 康二

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.63, no.605, pp.196-203, 1997-01-25

参考文献数

12

被引用文献数

2

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This paper deals with a modeling and controlling strategy for multirobot group behavior. While the distributed autonomous robot system has the advantage of flexibility, it also has difficulties in coordinating global system such that the designer expects. We present a methodology for the designing issue for group robotics. Self-organization is a natural principle in a dissipative system. Utilizing this principle, we present the top-down and bottom-up hybrid approach and a basic model for coordinating macro-scale group behavior as a framework for the self-organizing control of group behavior. Then we present the model of strategy formation in the system based on the opinion formation model. The analytical predicted group behavior is verified by simulation results. In particular, we realize self-organization of temporal behavior pattern in group-level cooperation.

著者

金 相鎬 関山 浩介 福田 敏男

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 = Transactions of the Japan Society of Mechanical Engineers. C (ISSN:03875024)

巻号頁・発行日

vol.75, no.756, pp.2253-2258, 2009-08-25

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The poor operation for information systems such as car navigation systems may result in the visual workload. To reduce the visual workload produced by information systems and their use during vehicle operation, we propose a user-adaptive vehicle information interface with a reconfigured navigation sequence. We propose the information assistance interface which recommends a preferred content in short time without following the hierarchical steps because of the hierarchical structure of most car navigation systems. Our proposed user-adaptive interface consists of user modeling using a hidden Markov model (HMM) and symbol matching which is the reconfiguration of a navigation sequence. The interface learns a user's navigation patterns based on accumulated navigation sequences. The navigation sequence is reconfigured by the user model and a clue. The symbol matching is performed in compliance with the user's selection and the navigation sequence is recommended to the user. Experimental results showed that reconfiguring the navigation sequence and switches reduced navigation reaction time.