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RISS 인기검색어
- 검색키워드
- 저자 : Akitoshi Maeda (검색결과 2 건)
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A SLAM-Integrated Kinematic Calibration Method for Industrial Manipulators with RGB-D Cameras
Jinghui LI,Akitoshi ITO,Yusuke MAEDA 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
The accuracy of robot manipulator, one of the long-standing problem, is a major issue in the industry community. The manipulator may produce kinematic errors during operation. Traditional methods require expensive equipment with complex steps to calibrate kinematic parameters. Another issue is motion planning of the manipulator, which requires a map of the workspace. However, the mapping is time-consuming. In order to employ an efficient way to accomplish kinematic calibration and offer convenience to plan the motions of the manipulator, we study a new method called SKCLAM (Simultaneous Kinematic Calibration, Localization, and Mapping), which can calibrate the kinematic parameters of an industrial manipulator and achieve 3D environmental mapping simultaneously by employing an RGBD camera attached to the end effector. In this paper, the true kinematic parameters were changed randomly to test and evaluate the effectiveness of our approach in simulation.
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Mechanisms underlying the volume regulation of interstitial fluid by capillaries: a simulation study
Yukiko Himeno,Masayuki Ikebuchi,Akitoshi Maeda,Akinori Noma,Akira Amano 한국한의학연구원 2016 Integrative Medicine Research Vol.5 No.1
Background Control of the extracellular fluid volume is one of the most indispensable issues for homeostasis of the internal milieu. However, complex interdependence of the pressures involved in determination of fluid exchange makes it difficult to predict a steady-state tissue volume under various physiological conditions without mathematical approaches. Methods Here, we developed a capillary model based on the Starling's principle, which allowed us to clarify the mechanisms of the interstitial-fluid volume regulation. Three well known safety factors against edema: (1) low tissue compliance in negative pressure ranges; (2) lymphatic flow driven by the tissue pressure; and (3) protein washout by the lymph, were incorporated into the model in sequence. Results An increase in blood pressure at the venous end of the capillary induced an interstitial-fluid volume increase, which, in turn, reduced negative tissue pressure to prevent edema. The lymphatic flow alleviated the edema by both carrying fluid away from the tissue and decreasing the colloidal osmotic pressure. From the model incorporating all three factors, we found that the interstitial-fluid volume changed quickly after the blood pressure change, and that the protein movement towards a certain equilibrium point followed the volume change. Conclusion Mathematical analyses revealed that the system of the capillary is stable near the equilibrium point at steady state and normal physiological capillary pressure. The time course of the tissue-volume change was determined by two kinetic mechanisms: rapid fluid exchange and slow protein fluxes.
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