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A Switching Controller System for a Wheeled Mobile Robot

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Journal of Bionic Engineering 2007年第4期4卷 281-289页

作者： Masanori Sato Atushi Kanda Kazuo ishii Department of Brain Science and Engineering Kyushu Institute of Technology Kitakyushu 808-0196 Japan

A wheeled mobile mechanism with a passive and/or active linkage mechanism for rough terrain environment is developed and evaluated. The wheeled mobile mechanism which has high mobility in rough terrain needs sophisticated system to adapt various environments. We focus on the development of a switching controller system for wheeled mobile robots in rough terrain. This system consists of two sub-systems： an environment recognition system using link angles and an adaptive control system. In the environment recognition system, we introduce a Self-Organizing Map （SOM） for clustering link angles. In the adaptive controllers, we introduce neural networks to calculate the inverse model of the wheeled mobile robot. The environment recognition system can recognize the environment in which the robot travels, and the adjustable controllers are tuned by experimental results for each environment. The dual sub-system switching controller system is experimentally evaluated. The system recognizes its environment and adapts by switching the adjustable controllers. This system demonstrates superior performance to a well-tuned single PID controller.

关键词： mobile robot rough terrain neural network Self-Organizing Map

A trial of simple and easy health monitoring for power poles by using ‘ipod’

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Science China(Technological Sciences) 2015年第4期58卷 712-719页

作者： ORAI Naoki ICHII Koji ishii Shiho Graduate School of Engineering Hiroshima University

At present,the regular inspection of power poles is just a visual inspection based on the inspector’s ***,overlook of the deteriorated poles can come *** order to avoid an accident due to the overlook of the deteriorated poles,the authors propose a simple and easy health monitoring method for power poles using‘i Pod’.Since the applicability of‘i Pod’as a vibration sensor in this purpose was not clear,it was examined in the following ***,the authors proposed a tool to fix the‘i Pod’to a power pole,and the performance of‘i Pod’as a vibration measurement device was compared with a conventional acceleration *** a result,it was confirmed that‘i Pod’could give almost the same response with the conventional sensor in terms of the observed predominant ***,vibration measurements were conducted at power poles in a *** a result,the observed predominant frequency corresponded to the calculated 2nd natural frequency of power *** some power poles were supported by some additional wires from the ground,the measurements were successful at almost all the ***,the authors confirmed that the‘i Pod’based health monitoring is possible.

关键词： iPod health monitoring power pole natural frequency

Concept of Intelligent Mechanical Design for Autonomous Mobile Robots

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Journal of Bionic Engineering 2007年第4期4卷 217-226页

作者： Amir A. F Nassiraei Kazuo ishii Kyushu Institute of Technology Kitakyushu Fukuoka 808-0196 Japan

The concept of Intelligent Mechanical Design （IMD） is presented to show how a mechanical structure can be designed to affect robot controllability, simplification and task performance. Exploring this concept produces landmarks in the territory of mechanical robot design in the form of seven design principles. The design principles, which we call the Mecha-Telligence Principles （MTP）, provide guidance on how to design mechanics for autonomous mobile robots. These principles guide us to ask the right questions when investigating issues concerning self-controllable, reliable, feasible, and compatible mechanics for autonomous mobile robots. To show how MTP can be applied in the design process we propose a novel methodology, named as Mecha-Telligence Methodology （MTM）. Mechanical design by the proposed methodology is based on preference classification of the robot specification described by interaction of the robot with its environment and the physical parameters of the robot mechatronics. After defining new terms, we investigate the feasibility of the proposed methodology to the mechanical design of an autonomous mobile sewer inspection robot. In this industrial project we show how a passive-active intelligent moving mechanism can be designed using the MTM and employed in the field.

关键词： mechanical design intelligent autonomous robot mobile robot

Review of Some Advances and Applications in Real-time High-speed Vision: Our Views and Experiences

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International Journal of Automation and computing 2016年第4期13卷 305-318页

作者： Qing-Yi Gu Idaku ishii Robotics Laboratory Graduate School of Engineering Hiroshima University Higashi-Hiroshima Hiroshima 738-8527 Japan

The frame rate of conventional vision systems is restricted to the video signal formats （e.g., NTSC 30 fps and PAL 25 fps） that are designed on the basis of the characteristics of the human eye, which implies that the processing speed of these systems is limited to the recognition speed of the human eye. However, there is a strong demand for real-time high-speed vision sensors in many application fields, such as factory automation, biomedicine, and robotics, where high-speed operations are carried out. These high-speed operations can be tracked and inspected by using high-speed vision systems with intelligent sensors that work at hundreds of Hertz or more, especially when the operation is difficult to observe with the human eye. This paper reviews advances in developing real-time high Speed vision systems and their applications in various fields, such as intelligent logging systems, vibration dynamics sensing, vision-based mechanical control, three-dimensional measurement/automated visual inspection, vision-based human interface, and biomedical applications.

关键词： Real-time high-speed vision target tracking abnormal behavior detection behavior mining vibration analysis 3D shapemeasurement cell sorting.

Modified Classical Over Barrier Model for Multi-Charged Ion in Collisions with Multiple Electron Target at Energies Below 1 keV/u

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Plasma Science and Technology 2010年第3期12卷 369-371页

作者： K.ishii K.OKUNO Department of Physics Nara Women's University Kitauoyanishi

Charge transfer cross sections for Kr^q＋ with Ne are calculated quantitatively by using modified classical over barrier model in order to clarify energy dependence of charge transfer cross sections in low energy region. Essential of this model is taking the induced dipole potential into consideration. As a result, this calculation can reproduce systematic energy dependence of experimental results. This suggests that the bending trajectory of the projectile due to an induced dipole potential should be considered to describe pictures of collisions at low energy regime below 1 keV/u.

关键词： atomic processes highly charged ion charge transfer classical over barrier

Important of case-reports/series, in rare diseases: Using neuroendocrine tumors as an example

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World Journal of Clinical Cases 2014年第11期2卷 608-613页

作者： Taichi Nakamura hisato Igarashi Tetsuhide Ito Robert T Jensen Cell Biology Section NIDDK National Institutes of Health Bethesda Maryland MD 20814 United States Department of Medicine and Bioregulatory Science Kyushu UniversityFukuoka 812-8581Japan

At present the publishing of case reports or case series involving small numbers of cases is controversial. While in the past they were commonly published by most journals, recently a number of prominent journals have either stopped publishing them or markedly reduced the numbers published. However, recently an increasing case is being made for their value and a number of new journals have been started devoted specifically to their publication. One of the arguments used for their value is their prominent role in rare diseases either in their recognition, full description or development of treatments. However this aspect has not been specifically studied. In this editorial this aspect is specifically examined using their role in neuroendocrine tumors as an example. Furthermore, the background of the controversy is briefly reviewed to better understand the context of this editorial.

关键词： Case report Case series Neuroendocrine tumors Carcinoids Pancreatic neuroendocrine tumor

Diagnosis and management of pancreatic neuroendocrine tumor in von Hippel-Lindau disease

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World Journal of Gastroenterology 2010年第36期16卷 4515-4518页

作者： Kenji Tamura Isao Nishimori Tetsuhide Ito Ichiro Yamasaki hisato Igarashi Taro Shuin Department of Urology Kochi Medical SchoolNankokuKochi 783-8505Japan Nishimori's Clinic SakawaKochi 789-1233Japan Department of Medicine and Bioregulatory Science Graduate School of Medical SciencesKyushu UniversityHigashi-kuFukuoka 812-8582Japan

The pancreatic manifestations seen in patients with von Hippel-Lindau(VHL) disease are subdivided into 2 categories:pancreatic neuroendocrine tumors(NET),and cystic lesions,including simple cyst and serous *** VHL-associated cystic lesions are generally asymptomatic and do not require any treatment,unless they are indistinguishable from other cystic tumor types with malignant *** pancreatic NET in VHL disease are non-functioning and have malignant potential,it is of clinical importance to find and diagnose these as early as *** will be recommended that comprehensive surveillance using dynamic computed tomography for abdominal manifestations,including pancreatic NET,should start from the age of 15 years in VHL *** sporadic non-functioning NET without VHL disease,in which surgical resection is generally recommended,VHL patients at lower metastatic risk of pancreatic NET should be spared the risks of operative resection.

关键词： Von Hippel-Lindau disease Pancreas Neuroendocrine tumor,Diagnosis Clinical protocols

LESS-INVASIVE LASER THERAPY AND DIAGNOSIS USING A TABLETOP MID-INFRARED TUNABLE LASER

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Journal of Innovative Optical Health Sciences 2010年第4期3卷 285-292页

作者： HISANAO HAZAMA KATSUNORI ishii KUNIO AWAZU Graduate School of Engineering Osaka University 2-1 YamadaokaSuitaOsaka 565-0871Japan Research Institute of Nuclear Engineering University of Fukui 3-9-1 BunkyoFukuiFukui 910-8507Japan Institute for Chemical Research Kyoto University GokashoUjiKyoto 611-0011Japan

Since numerous characteristic absorption lines caused by molecular vibration exist in the midinfrared(MIR)wavelength region,selective excitation or selective dissociation of molecules is possible by tuning the laser wavelength to the characteristic absorption lines of target *** applying this feature to the medical fields,less-invasive treatment and non-destructive diagnosis with absorption spectroscopy are possible using tunable MIR lasers.A high-energy nanosecond pulsed MIR tunable laser was obtained with difference-frequency generation(DFG)between a Nd:YAG and a tunable Cr:forsterite *** MIR-DFG laser was tunable in a wavelength range of 5.5–10μm and generated laser pulses with energy of up to 1.4mJ,a pulse width of 5 ns,and a pulse repetition rate of 10 *** removal of atherosclerotic lesion was successfully demonstrated with the MIR-DFG laser tuned at a wavelength of 5.75μm,which corresponds to the characteristic absorption of the ester bond in cholesterol esters in the atherosclerotic *** have developed a non-destructive diagnostic probe with an attenuated total reflection(ATR)prism and two hollow optical *** absorption spectrum of cholesterol was measured with the ATR probe by scanning the wavelength of the MIR-DFG laser,and the spectrum was in good agreement with that measured with a commercial Fourier transform infrared spectrometer.

关键词： Mid-infrared tunable laser difference-frequency generation selective treatment attenuated total reflection spectroscopy hollow optical fiber

PLC Multi-Chip Integration Technologies

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光学学报 2003年第S1期23卷 199-200页

作者： Motohaya ishii NTT Photonics Laboratories NTT Corporation 3-1 Wakamiya Morinosato Atsugi Kanagawa Japan

This paper reviews recent progress on integrated multi-chip modules composed of silica-based planar lightwave circuits (PLCs) with a relatively high core-to-cladding index contrast A. These compact and highly function... 详细信息

关键词： PLC Multi-Chip Integration Technologies with in that of AWG Figure