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Yamada, Taichi; Oya, Akihisa*
Keisoku Jido Seigyo Gakkai Rombunshu, 52(12), p.661 - 670, 2016/12
This paper introduces a laser-scanner measurement model using the statistic of laser-scanner data collected in advance for a mobile robot localization. In autonomous navigation, robots usually run based on self position in a map, and laser-scanners are useful sensors for localization. However, in human living environments like urban areas and parks, laser-scanner data is unstable due to moving objects and natural objects, and it is difficult to obtain landmarks like fixed objects. Therefore, our method make a map using statistics of laser-scanner data and calculates the laser-scanner measurement model based on the statistics. Our method is applied to Monte Carlo localization/particlelter. Because the map makes possible to use the frequency and distribution of laser-scanner data for localization, our method allows a robust localization for unstable laser scanner data. In extensive experiments, our method presented an accurate localization and a robot using our method ran stably in actual sidewalks.
Seki, Takeshi*; Naganawa, Akihiro*; Oka, Kiyoshi; Yoshino, Junji*
Keisoku Jido Seigyo Gakkai Sangyo Rombunshu, 10(2), p.7 - 16, 2011/05
Enteroscopy was usually performed by the double balloon or capsule endoscopes. However, it is difficult to use these endoscopes in patients who suffer from intestinal obstruction and adhesion. We have developed a new endoscope that can be used in patients who suffer from these problems; the instrument consists of an ileus tube and an optical fiberscope (diameter 1.1 mm). The entire small intestine can be observed by controlling the internal pressure of the balloon in the ileus tube and by pulling the tube out at a constant speed. In our previous study, we developed an internal pressure control device that consists of a balloon attached to an ileus tube and a medical syringe. We also verified the control performance of this device. In this study, we have designed a new two-degrees-of-freedom control system having self-tuning capabilities that enhances the control performance for various types of syringes doctors use usually. The effects of the proposed method are illustrated by the experiment. The obtained results show that balloon pressure in the reference response satisfactorily tracks the output of the reference model and can be settled within 
2% in steady state. In addition, the disturbance rejection properties of the PID control method were affected by the changes in balloon pressure, but this problem can be solved by using the proposed control system.
Seki, Takeshi*; Naganawa, Akihiro*; Oka, Kiyoshi; Chiba, Toshio*
Keisoku Jido Seigyo Gakkai Sangyo Rombunshu, 9(10), p.70 - 75, 2010/04
The fetoscopic laser photocoagulation of chorionic plate anastomosing vessels is main treatment for the twin-twin transfusion syndrome. However, in this treatment, it is required highly endoscopic technologies, for example, blood flow measurement, estimation of distance between placental vessels and irradiation fiber tip and so on. We research and develop a composite-type optical fiberscope (2.2 mm in diameter), which has centrally-located cautery laser fiber and surrounding located fiberglasses for viewing. The laser transmitting efficiency of our fiberscope was very high (84.7%), and certain degree of cauterization was performed with from 20 to 40W laser power, when the distance between irradiated area and fiber tip was 10 mm. In addition, we emitted the laser to porcine liver for laser power control using a thermocouple as a basic research for intercepting placental blood flow, and we controlled the temperature of irradiation spot within 0.3
C error in previous paper. In this study, we emitted the laser to in vivo porcine mesenteric vessel with blood flow for laser power control under temperature measurement. From the experimental result, the target temperature of 60 and 70C with feedback control system using thermocouple was controlled low power of about 17W maintain target temperature within 2.0C error. Moreover, we measured the blood flow before and after laser irradiation by a laser Doppler blood-flow meter, and confirmed quantitatively the blood flow blocking.
Naganawa, Akihiro*; Oka, Kiyoshi; Suzuki, Katsumasa*; Seki, Takeshi*; Chiba, Toshio*
Keisoku Jido Seigyo Gakkai Sangyo Rombunshu, 7(8), p.53 - 59, 2008/07
no abstracts in English
Yamasaki, Hiro*; Honda, Satoshi*; Ueda, Masashi; Endo, Akira*; Fueki, Manabu*
Keisoku Jido Seigyo Gakkai Rombunshu, 43(9), p.756 - 761, 2007/09
A non-intrusive temperature sensing system is proposed. It is developed for temperature measurement of liquid sodium coolant in fast breeder reactor. Liquid sodium is used as coolant due to high heat flux density in the reactor core. In this paper, the results of our feasibility study by 2-dimensional numerical simulation, small size experimental test done by Japan Atomic Energy Agency Oarai Institute, and theoretical analysis are described. The basic principle of temperature measurement is resistant thermometry of liquid sodium. The resistivity of liquid sodium is quite lower than that of the stainless steel (SUS304), which is used in the pipe wall. The resistivity temperature coefficient of liquid sodium(0.337%/deg) is higher than that of stainless steel(0.0865%/deg). If we feed electric current perpendicular to the axis of flow pipe, the current penetrates the pipe wall and flow across the liquid. The current concentrates the liquid sodium, only small portion of the current flows along the pipe wall. The electric potential distribution is almost dominated by resistivity of sodium. The potential distribution can be measured along the out side of the pipe wall. The potential difference between two fixed points on the pipe wall indicates the resistivity of sodium So the sodium temperature can be measured by potential difference. Measurement accuracy of 5C is obtained in experimental tests. Better estimation data are obtained by theoretical analysis using three dimensional model.
Oka, Kiyoshi; Hiyama, Masayuki*
Keisoku Jido Seigyo Gakkai Rombunshu, 40(1), p.109 - 116, 2004/01
Remote maintenance technology is essential to realize ITER since the reactor components are activated by 14-MeV neutrons and have to be maintained remotely. For this purpose, the JAERI has been conducting remote handling technology development mainly for in-vessel components. On the other hand, a critical accident at the JCO occurred in September 1999, which was the most serious nuclear accident in Japan. Therefore, the JAERI has developed a Radiation-proof Robot (called RaBOT) operating under high radiation field. Under such a background, a variable baseline type distance sensor has been developed for use under the severe conditions such as gamma radiation. The aim of the sensor is to be used for the measurement of the distance between a robot and an object under the severe conditions of the maintenance for fusion plants and atomic disaster. This report describes the outline of the variable baseline type distance sensor and the results of the basic performance test.
Kobayashi, Tadayoshi; Miyajima, Kazutoshi; Yanagihara, Satoshi
Keisoku Jido Seigyo Gakkai Dai-3-Kai Shisutemu Integureshon Bumon Koenkai (SI2002) Koen Rombunshu, 2, p.105 - 106, 2002/00
no abstracts in English
Sakaki, Hironao; Yoshikawa, Hiroshi; *; *; Adachi, Norihiko*
Keisoku Jido Seigyo Gakkai Rombunshu, 35(10), p.1283 - 1291, 1999/00
no abstracts in English
; Tanabe, Fumiya; *
Keisoku Jido Seigyo Gakkai Rombunshu, 32(4), p.567 - 576, 1996/04
no abstracts in English
Ishikawa, Nobuyuki; Fujii, Yoshio; Shinohara, Yoshikuni
Keisoku Jido Seigyo Gakkai Rombunshu, 30(8), p.984 - 986, 1994/00
no abstracts in English
*; *; Agematsu, Takashi; Okumura, Susumu; Arakawa, Kazuo
Keisoku Jido Seigyo Gakkai Rombunshu, 29(1), p.102 - 111, 1993/00
no abstracts in English
Hayashi, Koji; Shinohara, Yoshikuni; *
Keisoku Jido Seigyo Gakkai Rombunshu, 28(10), p.1216 - 1223, 1992/00
no abstracts in English
Keisoku Jido Seigyo Gakkai Rombunshu, 26(6), p.685 - 691, 1990/06
no abstracts in English
Keisoku Jido Seigyo Gakkai Rombunshu, 24(2), p.204 - 206, 1988/00
no abstracts in English
; Shinohara, Yoshikuni
Keisoku Jido Seigyo Gakkai Rombunshu, 24(5), p.540 - 542, 1988/00
no abstracts in English
Keisoku Jido Seigyo Gakkai Rombunshu, 23(5), p.485 - 490, 1987/05
no abstracts in English
Keisoku Jido Seigyo Gakkai Rombunshu, 23(3), p.274 - 280, 1987/03
no abstracts in English
Keisoku Jido Seigyo Gakkai Rombunshu, 19(2), p.179 - 181, 1983/00
no abstracts in English
Keisoku Jido Seigyo Gakkai Rombunshu, 19(2), p.182 - 184, 1983/00
no abstracts in English
Keisoku Jido Seigyo Gakkai Rombunshu, 19(10), p.846 - 848, 1983/00
no abstracts in English
