Thesis for a degree 【 display / non-display 】

Thesis for a degree 【 display / non-display 】

• Advanced Motion Control for Real World Haptic Storage

  下野　誠通 

    2007.09

  Doctoral Thesis   Single Work

  　View Summary

  慶應義塾大学　（博士（工学）） 本学位論文では、実世界触覚記録のための基礎技術となる高度モーションコントロール手法を提案している。特に、透明性の高い加速度制御に基づくバイラテラル制御手法、ミクロマクロバイラテラル制御手法、マルチラテラル制御手法について述べており、それぞれの制御手法による実世界触覚記録について論じた。

Papers 【 display / non-display 】

Papers 【 display / non-display 】

• Analysis and Experimental Verification of Cross-coupled 2-DOF SPM Motor with Halbach Array

  Hatta Yoshiyuki, Shimono Tomoyuki

  IEEJ JOURNAL OF INDUSTRY APPLICATIONS ( 一般社団法人 電気学会 )  9 ( 2 )   177 - 190   2020.03  [Refereed]

  Joint Work

  　View Summary

  <p>In this paper, a cross-coupled 2-DOF SPM motor with Halbach array is proposed. In the proposed 2-DOF motor, the permanent magnets (PMs) are arranged in both the linear direction and the rotational direction so that the motor generates thrust force in the linear direction and torque in the rotational direction. The Halbach array is applied to both the linear direction and the rotational direction. The proposed motor is analyzed using 3-D FEA. In the analysis, the model with Halbach array only in the linear direction, the model with Halbach array only in the rotational direction, and the model with Halbach array in both the linear direction and the rotational direction are compared. The analysis results show that the model with Halbach array in both directions generates higher force and torque than not only the model without Halbach array but also the models with Halbach array in either the linear direction or the rotational direction. In the analysis, the magnetic flux is also analyzed in addition to the force and torque. Additionally, experiments are conducted to confirm the effectiveness of the Halbach array.</p>

  Web of Science DOI CiNii

• Reduction of Contact Force Fluctuation for Rotary Wear Test Apparatus

  Yokoyama Minoru, Shimono Tomoyuki, Yamashita Chikara, Nagasaka Sei, Ohara Takuya

  IEEE-ASME TRANSACTIONS ON MECHATRONICS   25 ( 1 )   185 - 194   2020.02  [Refereed]

  Joint Work

  Web of Science DOI

• Development of a Force Sensorless Percussion Device for Rationalization of Generator Inspection

  KUWAHARA Hiroaki, MIZOGUCHI Takahiro, SHIMONO Tomoyuki, OHNISHI Kouhei

  Journal of the Japan Society for Precision Engineering ( The Japan Society for Precision Engineering )  86 ( 1 )   120 - 125   2020.01  [Refereed]

  Joint Work

  　View Summary

  <p>For non-deconstructive generator inspection, robots which can crawl in a gap of a rotor and a stator have been developed.Since the robot should be enough thin to crawl in the gap, the inspection devices also need to be compact. Percussion is amethod to detect the stator wedge looseness. Since echo vibration excited by striking the target is analyzed in this method,the device requires two functions: a striking function and a sensing function. Basically, two devices such as a hammer anda microphone are utilized to achieve the functions. In this paper, a percussion device with the force control technique andthe inspection method to detect the stator wedge looseness are proposed. Since the proposed device can not only controlthe striking force but also sense the reaction force by itself, it is expected that the device can be compact. Moreover, in theproposed method, inner stator slot model parameters are estimated by analyzing the gain characteristics of the proposeddevice. Then, the amount of the stator wedge looseness is evaluated based on the model parameters. The validity of theproposed percussion device and the inspection method are evaluated through the experiments.</p>

  DOI CiNii

• Novel Algorithm for Effective Position/Force Control

  Uzunovic Tarik, Sabanovic Asif, Yokoyama Minoru, Shimono Tomoyuki

  IEEJ JOURNAL OF INDUSTRY APPLICATIONS ( 一般社団法人 電気学会 )  8 ( 6 )   960 - 966   2019.11  [Refereed]

  Joint Work

  　View Summary

  <p>This paper presents a novel algorithm for simultaneous position and interaction force control. In the classical algorithms, position and force control are executed concurrently by switching between two separate controllers: the position and force controller. Thus, one can consider the control system working in two modes, namely the position control and force control modes. Switching between these two modes often leads to oscillations in the controlled position and force. Therefore, the safe interaction between a controlled mechanical system and its environment is jeopardized. The above issues are tackled in this study by introducing a new control strategy. The proposed algorithm combines position and force control into a single controller, in which the transition between position and force control is smooth, removing the oscillations of classical methods. Therefore, the safe interaction between a mechanical system and its environment is enabled. In addition, using this method one can equip actuators with a control system capable of performing both position and force control. Thus, a step towards "smart actuators" is possible.</p>

  Web of Science DOI CiNii

• Backdrivability Improvement Method Based on Angular Transmission Error in a High Reduction Gear

  Kenta Nagano, Tomoyuki Shimono, Yasutaka Fujimoto

  IEEJ Journal of Industry Applications ( J-STAGE )  8 ( 5 )   779 - 786   2019.09  [Refereed]

  Joint Work

  DOI

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Review Papers 【 display / non-display 】

Review Papers 【 display / non-display 】

• Motion Control for Real World Haptics

  K. Ohnishi, S. Katsura, and T. Shimono

  IEEE Industrial Electronics Magazine   4 ( 2 ) 16 - 19   2010.06

  Introduction and explanation (scientific journal)   Joint Work

• Haptic Motion Control for Physical Human Support

  T. Shimono, S. Katsura, and K. Ohnishi

  IEEJ Transactions on Electrical and Electronic Engineering   4 ( 2 ) 166 - 175   2009.03

  Introduction and explanation (scientific journal)   Joint Work

• Haptics for Medical Applications

  K. Ohnishi, T. Shimono, and K. Natori

  Journal of Artificial Life and Robotics   13 ( 2 ) 383 - 389   2009.03

  Introduction and explanation (scientific journal)   Joint Work

Academic Awards Received 【 display / non-display 】

Academic Awards Received 【 display / non-display 】

• Outstanding Paper Award

  2019.03.04   IEEJ   Development of Multi Degree of Freedom Haptic Forceps Robots with Multi Actuated Fingers

  Winner： T. Matsunaga, T. Shimono, and K. Ohnishi

• Best Paper Award in the Track of Robotics, Automation and Control

  2014.12   IEEE ICIAfS2014  

  Winner： Masato Ohori and Tomoyuki Shimono

• Best Paper Award in the Track of Robotics, Automation and Control

  2014.12   IEEE ICIAfS2014  

  Winner： Hiroshi Asai, Mototsugu Omura, Tomoyuki Shimono, and Yasutaka Fujimoto

Grant-in-Aid for Scientific Research 【 display / non-display 】

Grant-in-Aid for Scientific Research 【 display / non-display 】

• Grant-in-Aid for Scientific Research(B)

  Project Year： 2017.04  -  2020.03 

• Grant-in-Aid for challenging Exploratory Research

  Project Year： 2016.04  -  2018.03 

• Grant-in-Aid for Scientific Research(B)

  Project Year： 2014.04  -  2017.03 

• Grant-in-Aid for challenging Exploratory Research

  Project Year： 2014.04  -  2016.03 

• Grant-in-Aid for Young Scientists(A)

  Project Year： 2011.04  -  2014.03 

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Presentations 【 display / non-display 】

Presentations 【 display / non-display 】

• Haptic Robots for Physical Human Support

  T. Shimono  [Invited]

  The 26th International Conference on Information, Communication and Automation Technologies, ICAT2017  (Sarajevo, Bosna)  2017.10.01