Language：English   Publishing type：Research paper (scientific journal)   Publisher：frontiers  

In this study, a robotic system is employed to track free-walking insects while simultaneously recording electroantennogram (EAG) responses at the location of the antenna of the insect during movement, thus enabling the measurement of the relationship between olfactory reception and behavioral change. In this research, we focus on a male silk moth (Bombyx mori) as the target insect and measure its odor source localization behavior. The system comprises a high-speed camera to estimate the movement direction of the insect, a drive system, and instrumentation amplifiers to measure physiological responses. The robot tracks
the insect with an error margin of less than 5 mm, recording the EAG responses associated with the olfactory reception during this process. An analysis of the relationship between EAG responses and behavior revealed that the silk moth exhibits a significant amplitude in its EAG responses during the initial odor source localization stage.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

This article proposes a collision avoidance method for ellipsoidal rigid bodies that utilizes a control barrier function (CBF) designed from a supporting hyperplane. We formulate the problem in the special Euclidean groups SE(2) and SE(3), where the kinematics are described as rigid body motion. The designed CBF is integrated into a quadratic programming problem, where each rigid body calculates its collision-free input in a distributed manner, given communication among rigid bodies. We exemplify that our method can be extended to other kinematic models. The proposed method is demonstrated through simulation results.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan (RSJ)  

This paper presents motion planning strategies that assure stable hovering for a transformable unmanned aerial vehicle throughout its transformation. We first introduce the concept of hoverability, which assures static hovering with a linear state feedback controller. Because the hoverability can be evaluated quantitatively by utilizing a convex hull yielded by the positions of rotors, we propose motion planning methods that leverage the hoverability to achieve transformation while guaranteeing stable hovering with desired margin. The proposed motion planning is designed to secure the specified threshold for hoverability and avoid interferences between links or rotors. We then present two types of costs for motion planning: one minimizes the transformation duration, and the other maximizes the hoverability during the transformation.

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electrical Engineers of Japan (IEEJ)  

DOI： 10.1541/ieejeiss.144.353

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Association for Computing Machinery (ACM)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The International Federation of Automatic Control (IFAC)  

This paper focuses on the constrained attitude control of a rigid body. We propose an Explicit Reference Governor (ERG) specifically designed to handle constraints on SO(3). Two types of constraints are considered: (i) input torque constraints, and (ii) geometric conic pointing constraints. The objective of this paper is to design a control law that is able to steer the attitude of a rigid body to the desired attitude reference while enforcing constraints at all times. To this end, the first step is to design a controller that makes the desired attitude asymptotically stable when constraints (i) and (ii) are neglected. Next, the proposed control scheme is augmented with a novel ERG scheme able to add constraint-handling capabilities to the overall architecture. All the proposed solutions are defined in terms of SO(3) and do not make use of any parametrization such as quaternions or Euler angles.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

This paper presents visual feedback 3D pose estimation/regulation methodologies under the situation that visual measurements are sampled due to the frame rates. The problem settings are first provided. Then, the pose estimation/regulation methods with sampled visual measurements are proposed. The convergence/performance analysis is conducted by the fusion of a Lyapunov-based approach and an event-triggered control technique. The present analysis scheme provides us guidelines for the design of estimation/control gains guaranteeing desired convergence/performance. The effectiveness of the present technique is verified via simulation and an experiment with real hardware.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The International Federation of Automatic Control (IFAC)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The International Federation of Automatic Control (IFAC)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan (RSJ)  

This paper presents a novel structure for a quadrotor, making it hover only with clockwise rotors, where we denote it as a 4P (Positive) rotor. We first investigate the condition for a 4P rotor to hover. More specifically, we conduct the hoverability analysis, which is closely related to the controllability analysis, and show that the tilting angles of each rotor are crucial conditions for the hoverability of the 4P rotor. The derived condition for the tilting angles is then utilized to present two prototypes. Each prototype is developed with the following design purposes: One is to reduce the horizontal force generated by the tilted rotors, and the other is to make its torque generation the same as that of a standard quadrotor. The hoverability and dynamical property of both prototype is demonstrated in simulations and experiments.

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Authorship：Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electrical Engineers of Japan (IEEJ)  

DOI： 10.1541/ieejeiss.143.67

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

This paper presents a robust position/attitude tracking control method for a fully-actuated hexarotor unmanned aerial vehicle (UAV) based on Gaussian processes. Multirotor UAVs suffer from modelling errors due to their structure complexity and aerodynamical disturbances whose perfect mathematical formulation is intractable. To handle this issue, this paper incorporates a data-based learning technique, Gaussian process regression, with model-based control.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan (RSJ)  

This paper addresses distributed learning of object shapes using multiple robots, and proposes a systematic design procedure for distributed optimization algorithms with data-independent performance certificates. We start with formulating the object shape learning as a distributed classification problem based on so-called kernel method. A distributed algorithm, continuous-time alternating direction method of multipliers, is then applied to the problem, wherein poor transient performances are observed. To improve the performance, we reformulate the classification problem so that singular values of sub-blocks in the algorithm are appropriately scaled. We then propose a systematic design procedure of the algorithm based on the concept of loop-shaping. The procedure is further extended so that the performance is independent of the data, and its effectiveness is verified through a numerical example.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

This paper proposes risk-aware energy management for drive mode control in plug-in hybrid electric vehicles (PHEVs) to reduce fuel consumption. This paper focuses on reducing fuel usage in scenarios in which energy demands along a planned route are stochastically estimated using historical driving data. In this scenario, the proposed method evaluates the risk of high energy consumption based on the conditional value at risk (CVaR) and entropic value at risk (EVaR) derived from Chernoff’s inequality. The CVaR quantifies the high fuel consumption expected in the tail of the probability distributions as a cost function. In contrast, the EVaR bound constraint provides stochastic constraints of electricity capacity based on the property of the cumulant-generating function. Each risk evaluation is formulated as a mixed-integer exponential cone programming problem by expressing the drive modes of a PHEV as binary variables.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan (RSJ)  

This paper presents a distributed input rectification methodology to guarantee the safety of a multi-agent system over its pre-given cooperative control task. We start with defining a multi-agent system as a control target, which consists of a group of agents with general control affine nonlinear dynamics and an interconnection topology between agents. The research objective, safety, is next defined via a set invariance property, where a safe set is formed by control barrier functions. Then, an optimization-based distributed safety control method is presented. In the proposed approach, each agent rectifies its control input by solving an individual optimization problem to achieve a pre-given cooperative control strategy as much as possible while satisfying constraints for the safety derived by investigating the control barrier functions. Here, the optimization problem is formulated in a distributed manner by dividing the safety constraint between agents.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

We propose a non-parametric approach for online synthesis of CBFs using Gaussian Processes (GPs). A dynamical system is defined to be safe if a subset of its states remains within the prescribed set, also called the safe set. CBFs achieve safety by designing a candidate function a priori. However, designing such a function can be challenging. Consider designing a CBF in a disaster recovery scenario where safe and navigable regions need to be determined. The decision boundary for safety here is unknown and cannot be designed a priori. Moreover, CBFs employ a parametric design approach and cannot handle arbitrary changes to the safe set in practice. In our approach, we work with safety samples to construct the CBF online by assuming a flexible GP prior on these samples, and term our formulation as a Gaussian CBF. GPs have favorable properties such as analytical tractability and robust uncertainty estimation.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The International Federation of Automatic Control (IFAC)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

This article proposes a novel geometric method to investigate whether a multirotor unmanned aerial vehicle (UAV) can achieve static hovering, i.e., hoverability. Hoverability is indispensable for a multirotor UAV to conduct its tasks safely and should be satisfied even after its rotors fail to prevent accidents. The proposed geometric method reveals the relationship between the position of the center of mass (CoM) and the rotor placement of a multirotor UAV with upward-oriented rotors to satisfy hoverability. It can be applied to a multirotor UAV with any number and positioning of rotors. This article also demonstrates that our proposed method can be applied to the investigation of a robust structure against rotor failures. This investigation provides a geometric proof that a pentarotor UAV with robustness against an arbitrary rotor failure cannot be developed. Furthermore, a quantitative measure of hoverability is newly presented based on the analysis method.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The International Federation of Automatic Control (IFAC)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

This paper studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is first formulated. In this formulation, it is shown that motion coordination on a sphere is equivalent to attitude coordination on the 3-dimensional Special Orthogonal group. Then, an angle-based control barrier function that can handle a geodesic distance constraint on a spherical surface is presented. The proposed control barrier function is then extended to a relative motion case and applied to a collision avoidance problem for a rigid body network operating on a sphere. Each rigid body chooses its control input by solving a distributed optimization problem to achieve a nominal distributed motion coordination strategy while satisfying constraints for collision avoidance.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The International Federation of Automatic Control (IFAC)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The International Federation of Automatic Control (IFAC)  

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

This letter considers distributed flocking control on the Special Euclidean group for networked rigid bodies. The method captures the three flocking rules proposed by Reynolds: cohesion; alignment; and separation. The proposed controller is based only on relative pose (position and attitude) information with respect to neighboring rigid bodies so that it can be implemented in a fully distributed manner using only local sensors. The flocking algorithm is moreover based on pose synchronization methods for the cohesion/alignment rules and achieves safe separation distances through the application of control barrier functions. The control input for each rigid body is chosen by solving a distributed optimization problem with constraints for pose synchronization and collision avoidance. Here, the inherent conflict between cohesion and separation is explicitly handled by relaxing the position synchronization constraint.

DOI： 10.1109/lra.2020.2969950

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Other Link： http://xplorestaging.ieee.org/ielx7/7083369/8932682/08972380.pdf?arnumber=8972380

Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

This paper presents a fast nonlinear model predictive control method for rigid body dynamical systems such as spacecraft or aerial vehicles on the special Euclidean group SE(3). The focus of this research is on the real-time execution of the optimal control on a low-cost embedded computer. The position and orientation of a rigid body are expressed as a 6-dimensional vector via the Cayley map for SE(3). Based on the representation, the motion can be exactly discretized on the algebra se(3). As a result, coarse sampling intervals can be selected to reduce the number of prediction steps. Furthermore, the recursive discretization technique is applied to effectively reduce the decision variables of the nonlinear optimization problem by eliminating states from them. Simulation results on a Raspberry Pi single-board computer are given to prove that the present model predictive control method is feasible in real time.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

DOI： 10.9746/sicetr.55.808

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

In this paper, a distributed 3-D pose synchronization law is proposed for a group of networked quadrotors. Thequadrotor network consisting of multiple quadrotors with dynamics and interconnection topology between them is first defined, and then, the definition of pose synchronization is provided. A novel pose synchronization law is next proposed,where linear approximation and passivation approaches are employed in the controller design. The former allows us to independently deal with the yaw, vertical, and horizontal motion dynamics of the quadrotor network, and the latter enables us to apply a passivity-based output synchronization technique. Convergence is next analyzed, and finally, the present pose synchronization law is demonstrated via simulation and an experiment to show its validity.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：Japanese   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：Japanese   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

This paper tackles dynamic manipulability analysis and design optimization of a fully-actuated hexrotor unmanned aerial vehicle. First, a dynamical model of the hexrotor is presented. The model is then analyzed to prove that nonplanar hexrotor structure can be approximately simplified and transformed into planar rotor arrangement. Based on the fact, symmetric-coplanar-tilted-rotor (SCTR) structure is introduced as a kind of canonical structure of hexrotors. Moreover, dynamic manipulability measure (DMM) of the hexrotor is newly defined to analyze its maneuverability, and DMM of the hexrotor with SCTR structure is found suitable for performance evaluation of the structure. Finally, based on the analysis, a design optimization method for the hexrotor is presented, and numerical examples are shown.

DOI： 10.9746/sicetr.53.480

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The International Federation of Automatic Control (IFAC)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The International Federation of Automatic Control  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

CiNii Research

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

This paper studies visual feedback position tracking control of two-wheeled vehicles in the situation that a camera and a target object are attached to the vehicles, respectively. Here, the body velocity of the target object vehicle is modeled as a Fourier series expansion. The relative position between the camera and the target object is controlled to the desired relative position. The present control law is based only on visual measurements, and the necessary information to implement the law is estimated from them. The asymptotic stability of the equilibrium of the total system including the internal attitude behavior is analyzed under some conditions of the target object vehicle velocity via stability theory of perturbed systems. Finally, a numerical simulation is conducted to show the effectiveness of the proposed method.

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers (JSME)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

This paper proposes a novel pose (position and attitude) control law for hexrotors composed of six rotors. Since hexrotors have the potential to control full 6 degrees of freedom, we can apply two major kinds of control methods to them. One is a linear control scheme for a linearly approximated hexrotor model, which can make a hexrotor tilt when it moves in the horizontal direction. The other is a feedback linearization method which enables us to control 6 degrees of freedom of it individually. For these methods, the former can often be suitable for large translational movement and the latter to control the pose precisely. However, there exists no research on combination of both controllers. In view of this fact, this paper proposes a novel continuous switching control method using a weighting function. Here, the weighting function is built by dynamic manipulability based on given hexrotor structure. Concretely speaking, the two kinds of controllers continuously switch based on the relation between dynamic manipulability and pose errors for desired values. Furthermore, we give stability analysis and demonstrate the validity of the present method via simulation.

DOI： 10.9746/sicetr.52.507

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Society of Instrument and Control Engineers (SICE)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

DOI： 10.9746/sicetr.51.189

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Society of Instrument and Control Engineers (SICE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The International Federation of Automatic Control (IFAC)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The International Federation of Automatic Control (IFAC)  

DOI： 10.3182/20140824-6-za-1003.02768

Scopus

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers (SICE)  

This paper investigates passivity-based visual feedback pose regulation whose goal is to control a vision camera pose so that it reaches a desirable configuration relative to a moving target object. For this purpose, we present a novel visual feedback estimation/control structure including a vision-based observer called visual motion observer under the assumption that a pattern of the target motion is available for control. We first focus on the evolution of the orientation part and the resulting estimation/control error system is proved to be passive from the observer/control input to the estimation/control error output. Accordingly, we also prove that the control objective is achieved by just closing the loop based on passivity. Then, we prove convergence of the remaining position part of the error system. We moreover extend the present velocity input to force/torque input taking account of camera robot dynamics.

DOI： 10.9746/jcmsi.6.322

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/CDC.2013.6761105

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Systems, Control and Information Engineers (ISCIE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Systems, Control and Information Engineers (ISCIE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Institute of Electrical and Electronics Engineers (IEEE)  

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Event date： 2025.9

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Event date： 2023.9

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Venue：Mie, Japan  

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Event date： 2023.9

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Venue：Mie, Japan  

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Event date： 2020.11

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2020.8

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2020.7

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2020.7

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2020.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2020.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2019.12

Language：Japanese   Presentation type：Oral presentation (invited, special)  

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Event date： 2019.12

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2019.7

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2019.6

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2019.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2019.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2019.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2019.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2018.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2018.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2018.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2018.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2018.11

Language：Japanese   Presentation type：Oral presentation (invited, special)  

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Event date： 2018.11

Language：Japanese   Presentation type：Oral presentation (invited, special)  

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Event date： 2018.9

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2018.6

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2018.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2018.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2018.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2017.9

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2017.8

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2017.8

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2017.8

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2017.8

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2017.8

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2017.7

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2017.7

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2017.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2017.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2017.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2017.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2017.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2016.11

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2016.11

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2016.9

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2016.9

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2016.9

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2016.9

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2016.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2016.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2015.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2015.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2015.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2015.11 - 2015.12

Language：English   Presentation type：Poster presentation  

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Event date： 2015.11

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2015.9

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2015.9

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2015.7

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2015.6

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2015.6

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2015.5 - 2015.6

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2015.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2015.3

Language：Japanese   Presentation type：Poster presentation  

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Event date： 2015.3

Language：Japanese   Presentation type：Poster presentation  

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Event date： 2015.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2014.11

Language：Japanese   Presentation type：Oral presentation (invited, special)  

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Event date： 2014.11

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2014.9

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2014.8

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2014.8

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2014.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2014.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2014.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2013.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2012.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2012.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2012.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2011.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2011.6 - 2011.7

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2011.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2010.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2010.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2009.12

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2009.6

Language：English   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Oral presentation (invited, special)  

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Language：Japanese   Presentation type：Oral presentation (invited, special)  

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Language：Japanese   Presentation type：Oral presentation (invited, special)  

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Language：Japanese   Presentation type：Oral presentation (invited, special)  

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Language：Japanese   Presentation type：Oral presentation (invited, special)  

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Language：Japanese   Presentation type：Oral presentation (invited, special)  

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Language：Japanese   Presentation type：Oral presentation (invited, special)  

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Award type：Award from international society, conference, symposium, etc.  Country/Region：Japan

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Award type：Award from Japanese society, conference, symposium, etc.  Country/Region：Japan

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Award type：Award from Japanese society, conference, symposium, etc.  Country/Region：Japan

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Award type：Award from Japanese society, conference, symposium, etc.  Country/Region：Japan

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Award type：Award from international society, conference, symposium, etc.  Country/Region：Japan

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Award type：Award from international society, conference, symposium, etc.  Country/Region：Japan

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Award type：Award from Japanese society, conference, symposium, etc.  Country/Region：Japan

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Country/Region：Japan

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Award type：Award from Japanese society, conference, symposium, etc.  Country/Region：Japan

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