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Kouhei Saitoh,Mamun Abdullah AI,Laknath Gamage,Mutsuo Nakaoka,Hyun.Woo.Lee 전력전자학회 2001 ICPE(ISPE)논문집 Vol.2001 No.10
This paper presents a new prototype of soft-switching DC-DC power converter with a high frequency transformer link which has two active power controlled switches in full bridge rectifier with capacitor input type smoothing filter. In this DC-DC converter, ZVS of the inverter in transformer primary side and ZCS of active rectifier area in secondary side can be completely achieved by taking advantage of parasitic inductor component of high-frequency transformer and lossless snubbing capacitors. Its operation principle and salient features are described. The steady-state operating characteristics of the proposed DC-DC power converter are illustrated and discussed on the basis of the simulation results in addition to the experimental ones obtained by 2kw-40kHz power converter breadboard set up.<br/>
Method of measuring the parameter of object’s orientation using optical flow
Kouhei Takarabe,Teruo Yamaguchi,Hiroshi Harada 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In this paper, we propose a method of measuring the orientation of observed objects as a parametric model. The orientation is represented as angle of observed objects. We suppose that optical flow obtained from image have component of not only component of translational velocity but also revolution, scaling, and orientation. To estimate these components, it is necessary to construct nonlinear simultaneous equations from optical flow measured at some observed points on the observed object. We sought to solve this nonlinear simultaneous equations by using Newton method. Components of orientation are obtained by solving nonlinear simultaneous equations.
Optimal registration method based on ICP algorithm from head CT and MR image sets
Kouhei Harada,Hyoungseop Kim,Joo Kooi Tan,Seiji Ishikawa,Akiyoshi Yamamoto 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Image registration is an important problem and a fundamental task for understanding the internal organ or internal structure of human body, analyzing the temporal change from the image sets which is obtained different time series in computer vision and image processing field. Especially, CT and MR imaging of the head for diagnosis and surgical planning indicate that physicians and surgeons gain important information from these modalities. In radiotherapy planning, manual registration techniques are performed on MR and CT images of the brain. In general, physicians segment the volumes of interest (VOIs) from each set of slices on the MR and CT images manually. However, manual registration of the object area may require several hours for analysis based on anatomical knowledge. In this paper, to register two images which are obtained from different modalities we develop a new method for automatic registration of the head CT and MR images by using ICP (iterative closest point) algorithm in several extracted data and maximization of mutual information. One of the benefits of using the ICP algorithm is that computational costs can be reduced on the registration. The primary objective of this study is to increase the registration accuracy and reduce the computational processing time. The technique was applied to five real image sets which are obtained from the two different modalities and the satisfactory results are obtained. Some experimental results are shown with discussion.
Mechanisms of Biped Humanoid Robot and Online Walking Pattern Generation
Kouhei Yamada,Keisuke Sayama,Tetsuya Yoshida,Hun-ok Lim 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper describes the mechanism of a biped humanoid robot, KBHR (Kanagawa Biped Robot-2), that has large moveable angles similar to humans’. The KBHR has 29 degrees of freedom (DOF) (two 6 DOF legs, a 3 DOF waist and two 7 DOF arms). Also, an online walking pattern generation method for a biped humanoid robot based on preview control is proposed. Depending on the walking parameters (step length, height, etc.), a pre-3-step pattern is created, and one step of the 3-step pattern is selected for one step of the robot. Using KBHR, various walking experiments are conducted, and the effectiveness of the mechanism and the online walking pattern generation method is confirmed.
Charging and discharging cycle design for performance evaluation of HV batteries
Kouhei Komatsuzaki,Seiichi Shin,Kenji Sawada 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
The battery greatly influences the performance of the Hybrid Vehicle (HV). So, automobile manufacturers need to evaluate the batteries of various manufacturers and select the most appropriate one. In this case, they need a charge-discharge cycle to evaluate batteries quantitatively. In this paper, we call such a cycle an evaluation pattern and propose a design method of the pattern to evaluate the HV battery quantitatively. HV employs two power sources, motor and engine. In a HV, the appropriate distribution of output torques between the motor and engine is determined based on the driving condition (vehicle speed, acceleration rate, SOC, and so on). That leads to the dependence of the charge-discharge cycle on the driving condition. Therefore, our method divides actual driving data of HV into four driving modes (stopping, acceleration, steady running and deceleration) and then selects a representative pattern for every driving mode effectively by using regression analysis. As a result, we can narrow down the actual driving data that to a few representative patterns. The evaluation pattern is designed by combining the representative patterns. In addition, the quantitative evaluation pattern can be designed in a short time.
Prof. Kouhei Ohnishi 전력전자학회 2004 ICPE(ISPE)논문집 Vol.- No.-
The haptics is a new area on motion control which enables to realize a tactile sensation in surgical robot. The tactile sensation is a key technology for minimally invasive operation, however it has been a challenging target. The tactile sensation is inherently bilateral, and its difficulty is due to a necessity of control loop in the total system.<br/> Recently the vivid realization of touching is realized in the bilateral robot and the force transmission between Keio Univ. in Japan and the Univ. of Maribor in Slovenia has been successfully carried out. The lecture will introduce the basic background of this technology. The concept of transparency in haptics has been parameterized by 4-channel controller and a lot of analyses were made. The transparency is really decomposed into reproducibility and operationality. The new controller based on this principle is designed without force sensors in the loop, and the master controller and the slave controller are independently designed. The new design technique is applied to the robotic forceps driven by liner motors. The experimental results with video demonstrations will be introduced.