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Shoichi Sakamoto,Tomoki Tanaka,Hiroshi Okajima,Nobutomo Matsunaga 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
Recently, electrical welfare vehicles with free casters are widely used by patients and elders indoors. However, welfare vehicles may not be able to move well on gravel or dirty roads as seen in suburbs. In order to expand driving area, the skid steer mechanism is focused on. The sked steer vehicle (SSV) has been used for its high traveling ability on rough road. However, the SSV has disadvantage that the driving assistance is required because its steering is highly affected by road conditions. In this paper, a driving assistance control of SSV using the model error compensator and state estimator, i.e. EKF and cornering power estimator is proposed. The maneuverability is evaluated by correlation coefficient of joystick operation comparing asphalt road and gravel road.
“Computer Programming IV” as Capstone Design and Laboratory Attachment
Shoichi Yokoyama 한국공학교육학회 2012 공학교육연구 Vol.15 No.5
A new obligatory subject, Computer Programming IV, is organized in the Department of Informatics, Faculty of Engineering, Yamagata University. The purposes of the subject are as follows: (1) Attachment to each laboratory for bachelor thesis was usually at the initial stage of the student’s fourth academic year. This subject actually moves up the attachment because students are tentatively attached to a laboratory for this subject. The interval to complete their bachelor thesis is extended by half a year. (2) In each laboratory, students cooperate with each other to complete their project. The project becomes capstone design which JABEE (Japan Accreditation Board for Engineering Education) is recently emphasizing. We not only explain the introduction of this subject, but also report some case studies.
Reduced complexity and latency for a massive MIMO system using a parallel detection algorithm
Shoichi Higuchi,안창준 한국통신학회 2017 ICT Express Vol.3 No.3
In recent years, massive MIMO systems have been widely researched to realize high-speed data transmission. Since massive MIMO systems use a large number of antennas, these systems require huge complexity to detect the signal. In this paper, we propose a novel detection method for massive MIMO using parallel detection with maximum likelihood detection with QR decomposition and M-algorithm (QRM-MLD) to reduce the complexity and latency. The proposed scheme obtains an R matrix after permutation of an H matrix and QR decomposition. The R matrix is also eliminated using a Gauss–Jordan elimination method. By using a modified R matrix, the proposed method can detect the transmitted signal using parallel detection. From the simulation results, the proposed scheme can achieve a reduced complexity and latency with a little degradation of the bit error rate (BER) performance compared with the conventional method.
$F$-traceless component of the conformal curvature tensor on K\"ahler manifold
Shoichi Funabashi,김향숙,김영미,박진석 대한수학회 2007 대한수학회보 Vol.44 No.4
We investigate F-traceless component of the conformal cur-vature tensor dened by (3.6) in K¨ahler manifolds of dimension 4,and show that the F-traceless component is invariant under concircu-lar change. In particular, we determine K¨ahler manifolds with parallelF-traceless component and improve some theorems, provided in the pre-vious paper ([2]), which are concerned with the traceless component of theconformal curvature tensor and the spectrum of the Laplacian acting onp (0 p 2)-forms on the manifold by using the F-traceless component.