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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.
Shoichi sakamoto,Nobutomo Matsunaga,Hiroshi Okajima 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
The driving model is important for understanding driver’s condition and designing a comfortable automatic driving. It is well known that the PID gain of the model is assumed to be varied depending on driver’s gazing distance. The aim of this study is to estimate the precise steering model depending on gazing distance using Particle Swarm Optimization (PSO). In previous researches, the steering model in a single curve was estimated assuming an ideal condition, however, the estimation of the model on the curvy road or with an inattentive driving have not established yet. In this paper, the estimation method of the steering model by PSO depending on the gazing point is applied to the curvy road with an inattentive driving. The eye tracking information is important to understand the driver’s will. To acquire the accurate driving model, the steering model with real-time measurement of gazing point and a hybrid model switching according to the effective visual field are estimated simultaneously by PSO considering driver’s eye tracking information. The effectiveness of proposed method is evaluated by using HONDA driving simulator.
Nodal Pattern Analysis of Electron Transfer in a Quantum Ring under a Magnetic Field
Mitsuyoshi Tomiya,Shoichi Sakamoto,Masaki Nishikawa 한국물리학회 2009 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.54 No.1
In this work, we numerically study electron transfer in two-dimensional quantum rings (QRs) by using a wavefunctional nodal pattern analysis. Recent progress in experimental techniques for nanostructures has enabled precise control of the electron number in a two-dimensional system such as a single-electron transistor. One interest in electron transport in nano-devices is to determine the characteristics of a resistance in an external magnetic field. In a microwave (MW) environment, especially, the resistance has unique behaviors under a weak magnetic field. From a nodal pattern analysis, we found that not all states could contribute to the electron transfer. We also found the wavefunctions that stick to the innerwall of the QR under a weak magnetic field, which implies that the transfer depends in the relation between the ring size of the inner hole and the cyclotron radius of an electron motion. Consequently, the resistance is affected by the MW drive and a possibility exists to excite the electron to higher eigenstates.