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Development of an Adaptive Cruise Control System Using a Monocular Camera
Yuto Baba,Yuto Watanabe,Masuhiro Nitta,Kiyotaka Kato 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
ACC (Adaptive Cruise Control) system has been attracted much attention because it has a potential to reduce traffic accidents and drivers’ stress. The system maintains a safe inter-vehicular distance and assists driving by keeping traffic lane automatically. Though the conventional ACC system can observe the preceding vehicles using a millimeter wave radar, it fails in following in case of a curved road because of the narrow detection angle. The present paper develops an ACC system to maintain the safe distance by using a monocular camera even though the tracking course is curved. The inter-vehicular distance and the steering angle is calculated by image processing of the acquired video image. By using the processed data, the proposed ACC system properly controls the vehicle velocity and the steering angle. The effectiveness of the proposed system has been evaluated through experiments using mobile robots instead of real cars. The experimental results reveal that the proposed system surely maintains the inter-vehicular distance to the preceding mobile robot.
Yuto YAMAMOTO,Nobutomo MATSUNAGA,Hiroshi OKAJIMA 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
When human co-exists with robots, the secure flexible motion will be required for the robots. The soft-actuator will be a key to make a safe robot. McKibben type pneumatic artificial muscle (PAM) is representative soft actuator, and has been used widely in many fields. However, there is a trade-off between the soft actuation and the precise control. This study aims to an accurate variableness stiffness control of PAM arm. To control the PAM arm, the angle, pressure and stiffness controllers are designed using Model Error Compensator (MEC) to increase robustness. According to flexibility and accuracy requirement selectively, the variable stiffness control system is implemented. Finally, the effectiveness of proposed method is evaluated by experiment using one link PAM arm.
Endoscopic Ultrasound-Guided Pancreatic Duct Intervention
Yuto Shimamura,Jeffrey Mosko,Christopher Teshima,Gary R May 대한소화기내시경학회 2017 Clinical Endoscopy Vol.50 No.2
Endoscopic ultrasound-guided pancreatic duct intervention (EUS-PDI) is an emerging endoscopic approach allowing access and intervention to the pancreatic duct (PD) for patients with failed endoscopic retrograde pancreatography (ERP) or patients with surgically altered anatomy. As opposed to biliary drainage for which percutaneous drainage is an alternative following failed endoscopic retrograde cholangiopancreatography (ERCP), the treatment options after failed ERP are very limited. Therefore, endoscopic ultrasound (EUS)-guided access to the PD and options for subsequent drainage may play an important role as an alternative to surgical intervention. However, this approach is technically demanding with a high risk of complications, and should only be performed by highly experienced endoscopists. In this review, we describe an overview of the current endoscopic approaches, basic technical tips, and outcomes using these procedures.
Common Mode Noise Cancellation by Two Opposite-Phase-Operating Inverters for Motor Drive
Yuto Watase,Shuichi Nakamuta,Baihua Zhang,Masahito Shoyama 전력전자학회 2019 ICPE(ISPE)논문집 Vol.2019 No.5
In motor drive inverters, the switching operations associated with rapid voltage potential change, and flows through parasitic capacitors may cause serious conducted common noise problems. The conducted noise emission introduces interference to other circuits, and therefore should be reduced. In this paper, a technique to suppress common-mode conducted noise is proposed that two inverters are operated in opposite phase. They generate opposite phase common-mode noise, and therefore the noise can be cancelled. The effectiveness of the proposed method is verified by experiments and simulations.
Systematization of Flight Instruction and Control for Autonomous Helicopter
Yuto Matsuzawa,Yuta Tozaki,Yuji Kameda,Masuhiro Nitta,Kiyotaka Kato 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
A radio-controlled (RC) helicopter can be used in the fields of aerial crop dusting, aerial photography, and many more. However, controlling a RC helicopter needs advanced techniques. Therefore, a flight instruction system that provides guidance on how to fly a RC helicopter is required. Examples that give flight instructions to an autonomous helicopter have been reported, but those had been designed and developed individually. To extend the application of an autonomous helicopter to an indoor environment, such as a factory, the systematization and standardization of flight instructions are required. From this, each flight instruction generative system that has been prepared for individual use can generate common flight instructions. Likewise, an autonomous helicopter can operate based on the common flight instructions designed for various purposes. In this paper, we have defined flight instruction codes based on the Numerical Control (NC) code system that has been used for a machine tool. In addition, we have systematized instruction codes. To verify such a system, an autonomous flight control system has been developed for indoor use and a flight experiment has been performed. As a result, we were able to confirm that the helicopter flew by executing the flight instructions that have been read.
A Latent Class Analysis for Item Demand Based on Temperature Difference and Store Characteristics
Yuto Seko,Ryotaro Shimizu,Gendo Kumoi,Tomohiro Yoshikai,Masayuki Goto 대한산업공학회 2021 Industrial Engineeering & Management Systems Vol.20 No.1
In retail stores, there is an increasing need for predicting item demand using accumulated purchase history data to cope with the fluctuating consumer demands. These fluctuations in item demand are influenced by external factors and consumer preferences. Among these, store characteristics and weather conditions, which are closely related to consumer behavior, have strong effects on item demand. For this reason, it is very important to quantitatively grasp demand fluctuations of items that are influenced by changes in weather conditions for each store by using an integrated analysis of the purchase history data of many stores and weather conditions. In this research, we focus on the temperature difference, which is the average temperature difference from the previous day, as a weather condition affecting item sales. Because consumer feeling about a temperature is dependent on the temperature difference from the previous day, it is meaningful to construct a prediction model using this information. In this research, we propose a latent class model to express the relationship between weather conditions, store characteristics, and item demand fluctuation. Also, through an analysis experiment using an actual data set, we show the usefulness of the proposed model by extracting items that are influenced by weather conditions.
Yuto Shoji,Hirokazu Madokoro,Stephanie Nix,Kazuki Saruta,Takashi K. Saito,Kazuhito Sato 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
The number of accidents involving pedestrians and bicyclists has been reported to be about 1.8 times higher on narrow roads than on arterial roads in Japan. We consider investigating the circumstances under which accidents occur on narrow roads to be an important research task. Statistics from the Tokyo Metropolitan Police Department indicate that the number of traffic accident fatalities in winter is relatively high. We used a Driving Simulator (DS) in order to safely perform sensing on roads that replicate a local city in a heavy snowfall region. Brain activity during driving was measured using a portable functional Near-Infrared Spectroscopy (fNIRS) device. We used a machine-learning algorithm for analyzing time-series datasets to demonstrate differences in brain activity across driving events. We classified subjects into four groups based on the results of questionnaires that assessed their driving characteristics. Experimentally obtained results demonstrated that Root Mean Squared Error (RMSE) changes that represent increased brain activity were greater in winter than in summer for each event. We infer that the winter events had a larger impact on the drivers.
Clinical trial registration and publication in acupuncture studies: a systematic review
Yuto Matsuura,Naomi Takazawa Welch,Tomomi Sakai,Kiichiro Tsutani 한국한의학연구원 2020 Integrative Medicine Research Vol.9 No.1
Background: To research 1) how many acupuncture clinical trials are registered with the WHO International Clinical Trial Registry Platform (ICTRP) and what patterns they demonstrate, 2) publication of the articles of acupuncture clinical trials which were registered with ICTRP. Methods: The search strategy using the ICTRP: Intervention: acupuncture; Recruitment status: All; Date of registration; from 1 Jan 1990 to 31 Dec 2018. We searched the indexed articles in PubMed using trial IDs on 25 Feb 2019. When the paper was published, we indicated the number of weeks from the date of registration with ICTRP to the date of publication in order to define time till the publication. We divided the whole period we analyzed into 6 periods of every 3 years and measured the proportion of publication and the time from the date of registration of each trial till its publication in each period by the Kaplan-Meier method. Results: Forty-three countries/areas conducted at least one acupuncture clinical trial. The total number of registrations was 1758. China, the USA, and the Republic of Korea accounted for 61% of those registrations. The proportion of publication was 178/1758 10% for the fully published papers and 141/1758 8% for the protocol papers. Conclusions: The substantial increase of registrations by China, the Republic of Korea, Iran, Brazil, Japan was observed which may be attributed to improved awareness of the CONSORT statement. However, the fully published papers rate is low at 10%. The publication of results of acupuncture clinical trials should also be rigorously mandated.