IS1(6)Precision Control Methodologies for Next Generation Mechatronic Systems

March 2nd, Sat. PM2 14:40‐16:40 Room‐A

Prof. Juan Padron(Nagaoka University of Technology)
Takeru Watanabe and Takenori Atsumi (Chiba Institute of Technology, Japan)
Takanori Kato (Hitachi, Ltd., Japan)
Shota Yabui (Tokyo City University, Japan); Takenori Atsumi (Chiba Institute of Technology,
IS1‐3Control Design Strategy for Coarse‐Fine Motion Control in Dual‐Input‐Single‐Output System
Japan)
Wataru Ohnishi and Shota Miyoshi (The University of Tokyo, Japan); Takafumi Koseki (University
IS1‐4
Noncausal Nonlinear Feedforward Controller Design for Boost Converter Voltage Trajectory Trackingof Tokyo, Japan); Motoki Sato (Toyo Denki Seizo K. K., Japan)
Yoshiyuki Urakawa, Kosei Futemma and Sirichai Ngamlamai (Nippon Institute of Technology,
IS1‐5
Effect of Limited Pole Placement Method in Collision Mitigation Operation Using Initial Value Compensation
Japan)
Masayasu Suzuki and Mitsuo Hirata (Utsunomiya University, Japan)
IS1‐6
A Design of Feedforward Input for PMSM Incorporating Shrinking‐Horizon Final State Control
IS2(4)
Data‐driven based Novel/Advanced Control for Nonlinear Mechanical Systems
March 2nd, Sat. AM 11:00‐12:40 Room‐A
Chairs: Prof. Shihua Li (Southeast University)
Prof. Jing Na(Kunming University of Science and Technology)
Modeling and Nonlinear Control for Antagonistic Pneumatic Artificial Muscles Subject to Composite Disturbances Changda Fan, Tong Yang and Qingxiang Wu (Nankai University, China); Yougang Sun (Tongji &IS2‐1
and Uncertain Dynamics
Institute of Rail Transit, China); Ning Sun (Nankai University, China)
Shaohua Wang, He Gan and Ying Luo (Huazhong University of Science and Technology, China);
IS2‐2
A Nonlinear Reset ADRC for PMSM Speed Regulation System with Overcoming the OvershootYangQuan Chen (University of California, Merced, USA)
Gengen Li, Chunxi Yang, Xiufeng Zhang and Yashan Xing (Kunming University of Science andDistributed State Estimation with Event‐Triggered Communication and Stochastic Measurement Transmission via
IS2‐3Technology, China); Jing Na (University of Bristol, United Kingdom (Great Britain)); Shichang Han
Wireless Sensor Networks(Kunming University of Science and Technology, China)
IS1‐1
IS1‐2

IS2‐4

IS3(5)

Chairs: Prof. Shota Yabui (Tokyo City University)
Increased Wind Noise by Active Noise Cancellation Headphones
Development of Precise Control System for Magnetic Levitation Stage with Z‐Assist System

Composite Finite‐Time Control of Electromechanical Actuator with Integrated Friction Compensation andUncertainties Attenuation

Data Utilization Control for Industrial Applications
Chairs: Dr. Issei Takeuchi (Tosho)
Controlling Torque and Acceleration in Geared Flexible Transmissions with Backlash Using Torque Sensors:
IS3‐1
Advantages, Limitations and Challenges
IS3‐2
Optimization of Path Planning of Bulldozer by Deep Reinforcement Learning with Sediment Simulator
IS3‐3
Practical Implementations of Bilateral Control‐Based Imitation Learning at iREX2023
Four‐Channel Bilateral Control with Neural‐Network‐Based Forward Kinematics Model for Metal Spinning
IS3‐4
Process
IS3‐5
A Design Method for Force Transmission/Feedback Controller Based on Admittance Control

Yuan Jiang (Southeast University, China); Jun Yang (Loughborough University, United Kingdom(Great Britain)); Xinming Wang, Zuo Wang and Shihua Li (Southeast University, China)
March 3rd, Sun. AM 11:00‐12:40 Room‐A
Prof. Sho Sakaino (University of Tsukuba)
Juan Padron (Nagaoka University of Technology, Japan)
Yutaka Uchimura (Shibaura Institute of Technology, Japan)
Sho Sakaino (University of Tsukuba, Japan)
Yoshiyuki Hatta and Kazuaki Ito (Gifu University, Japan)
Yuki Nagatsu (Takushoku University, Japan)SS1(4)

Motion Control for Aeronautics and Astronautics Application
Chairs: Prof. Kikuko Miyata (Meijo University)
SS1‐1
Vibration Control of Multicopters in Vortex Regions of Building Wind
Experimental System Analysis for Aerial Retrieval Utilizing Fixed‐Wing UAV －Evaluation of UFSC Trajectory
SS1‐2
Generation Under Wind Disturbance－

March 4th, Mon. AM 11:00‐12:40 Room‐B
Prof. Susumu Hara (Nagoya University)
Teruya Kojima and Takenori Atsumi (Chiba Institute of Technology, Japan)
Kandai Uchida, Yuzuki Yamaoka, Susumu Hara and Koichi Yamasaki (Nagoya University, Japan)

SS1‐3

Improvement of Tracking Performance of a Multicopter Flying in a Low‐Ceiling Space Using RCBode Plot

SS1‐4

Experimental Investigations of Temperature and Vacuum Properties in Solid Lubricated Strain Wave Gearings for Yohei Hashino, Tsuyoshi Aramaki and Kenta Seki (Nagoya Institute of Technology, Japan); Kikuko
Space Applications
Miyata (Meijo University, Japan); Makoto Iwasaki (Nagoya Institute of Technology, Japan)

SS2(4)

Power Electronics for Enhancing Motion Control Technology
Chairs: Prof. Kenji Natori (Chiba University)

SS2‐1

Proposal on Connection of Air Conditioners to DC Bus for a Home Energy System Including Solar Cells andBatteries

SS2‐2

A Study of 10MHz Multisampling Deadbeat Control for PMLSM Drive System Using USPM Controller

SS2‐3
SS2‐4

Sota Endo and Takenori Atsumi (Chiba Institute of Technology, Japan)

March 3rd, Sun. AM 11:00‐12:40 Room‐B
Prof. Toshiyuki Fujita (The University of Tokyo)
Toshiyuki Fujita, Sakahisa Nagai and Hiroshi Fujimoto (The University of Tokyo, Japan); Michihiro
Nakagawa and Naoya Yamshita (Daikin Industries LTD, Japan); Yoshiki Yasuda and Akio
Yamagiwa (DAIKIN Industries, Ltd., Japan)
Tomoki Yokoyama (Tokyo Denki University, Japan); Tomoyuki Shimono (Yokohama National
University, Japan); Daisuke Hiroe, Yuto Ushigome and Kakeru Innami (Tokyo Denki University,
Japan)

Confirmation of Wave Power Generation Characteristics Using Fourth Helical Motor Under Maximizing
Ryosuke Kihira and Masato Koyama (Mie University, Japan)
Regenerative Efficiency Control
A Consideration of Dead‐Time Compensation Method Focusing on Voltage Phase Characteristics of Three‐Phase
Makoto Chiba, Kenji Natori and Yukihiko Sato (Chiba University, Japan)
InverterIntelligent Sensing and Control Applications for Collaboration of Human, Artificial, and Virtual Systems
Chairs: Prof. Koichi Hidaka (Tokyo Denki University)
SS3‐1
Human Motion Reproduction Method with Machine Learning for Calligraphy Robot

SS3(4)

SS3‐2

Visualization of Stroke Data for Motion Analysis by Using Pen Tablet

SS3‐3

Development of Measurement Method for Limb Tip Output During Muscle Relaxation

SS3‐4

Self‐Localization with Weighting Function for Particle Filter Based on Inflection Point of Likelihood

March 2nd, Sat. AM 11:00‐12:40 Room‐B
Prof. Takahiro Nozaki (Keio University)
Hirotatsu Otake and Naoki Motoi (Kobe University, Japan)
Shoma Ichiyanagi, Tomoyuki Shimono and Moe Kobayashi (Yokohama National University,
Japan); Masaya Nakata (The University of Electro‐Communications, Japan); Mayuko Izumi(Yokohama National University, Japan); Tadakuni Tsubota (Wacom Co. Ltd., Japan); Taisei
Fujisawa (Yokohama National University, Japan); Osamu Uehara (Wacom Co. Ltd., Japan)
Yuki Kanai and Tomoyuki Shimono (Yokohama National University, Japan); Kenichi Sugawara,
Tomotaka Suzuki, Yuma Takenaka and Ryoki Sasaki (Kanagawa University of Human Services,Japan)
Koichi Hidaka, Prof and Hayate Suzuki (Tokyo Denki University, Japan)SS4(6)

Advanced motion control methods for modern mechatronics systems
Chairs: Prof. Junxiao Wang (Zhejiang University of Technology)
SS4‐1
Adaptive‐Back‐Stepping‐Based Anti‐Swing Control Method Based on Rotary Crane

March 2nd, Sat. PM2 14:40‐16:40 Room‐B
Prof. Huiming Ouyang (Nanjing Tech University)
Zhu Hongjie, Huimin Ouyang, Huan Xi and Hui Yi (Nanjing Tech University, China)
Zhaoqi Li and He Chen (Hebei University of Technology, China); Yinan Wu (Nankai University,
China); Haiyan Qiang (Shanghai Maritime University, China)

SS4‐2

Active Disturbance Rejection Control for Offshore Cranes Based on Differential Flatness and Fuzzy Logic

SS4‐3

Adaptive Variable‐Gain Sliding Mode Control of Robot Manipulators with Full State Constraints

Dong‐Dong Zheng and Yingqi Guo (Beijing Institute of Technology, China); Kai Guo (Shandong
University, China); Yufei Liu (Harbin University of Science and Technology, China)

SS4‐4Prescribed‐Time Robust Repetitive Learning Control for PMSM Servo Systems with Nonparametric Uncertainties

Yaqian Li, Qiang Chen and Huihui Shi (Zhejiang University of Technology, China); Shuzong Xie(Zhejiang University, China); Shubo Wang (Qingdao University, China)

SS4‐5

Homography‐Based Visual Servoing for Eye‐In‐Hand Robot Control with Adaptive Depth Estimation

Qiwen Fang, Xian Wang, Haoran He, Faxiang Zhang and Yingbo Huang (Kunming University of
Science and Technology, China); Jing Na (University of Bristol, United Kingdom (Great Britain))SS4‐6

Position Sensorless Control Strategy of IPMSM Based on Enhanced High Order Generalized Integrator Flux
ObserverKailin Hu, Ying Bo and Junxiao Wang (Zhejiang University of Technology, China)

JIA‐to‐SAMCON
Chairs:March 3rd, Sun. PM2 14:40‐16:40 Room‐B

JIA‐1

Motion Generation Based on Contact State Estimation Using Two‐Stage Clustering

JIA‐2

Fundamental Study on Adaptive Shock Response Control for Emergency Landing of UAVs and Its Experimental
Investigation

JIA‐3
JIA‐4

Inverter Air Conditioner Promotion by Developing a High Power Density Motor Drive System
Σ-X Series: AC Servo Drive for Achievement of Digital Solution

Kazuki Takeuchi (Saitama University, Japan); Sho Sakaino (University of Tsukuba, Japan);Toshiaki Tsuji (Saitama University, Japan)
Pengcheng Li (Nagoya University, Japan); Ryuki Sato (The University of ElectroCommunications, Japan); Masaki Hasegawa (Brother Industries, Ltd., Japan); Susumu Hara
(Nagoya University, Japan)
Nobuo Hayashi (Daikin Industries, LTD., Japan)
Ryohei Kitayoshi, Yasufumi Yoshiura, Yasuhiko KakuTT1(6)

Sensing and Its Applications
Chairs: Prof. Hiroshi Igarashi (Tokyo Denki University)

TT1‐1

Monocular Camera and Line Laser‐Based Real‐Time Multi‐Obstacle Distance Measurement System

TT1‐2

Surface Roughness Identification Based on Heat Flow Sensing Using One‐Point Robot Finger Pad

TT1‐3
TT1‐4
TT1‐5

Environmental Impedance Estimation Based on Confidence Score of Object Detection Model
Re‐Identification Using Depth Information for Multiple People Tracking in Thermal Images
Position Control of Ankle Joint Using Functional Electrical Stimulation

TT1‐6

ROI Reconstruction for Reducing Dose in CBCT by Adaptive Irradiation Angular Interval and Interpolation

TT2(5)March 4th, Mon. PM2 14:40‐16:40 Room‐B
Prof. Satoshi Komada (Mie University)
Tomu Kodama (Aoyama Gakuin University, Japan); Taku Itami (Aoyama Gakuin University &College of Science and Engineering, Japan); Jun Yoneyama (Aoyama Gakuin University, Japan)
Yukiko Osawa (National Institute of Advanced Industrial Science and Technology); Taro
Fukazawa and Masayuki Murata (National Institute of Advanced Industrial Science andTechnology, Japan)
Sora Yamaguchi, Seiichiro Katsura and Yuki Tanaka (Keio University, Japan)
Kimitaka Taki and Katsuya Kondo (Tottori University, Japan)
Kenta Kara and Seiichiro Katsura (Keio University, Japan)
Kentaro Hashimoto (Tottori University, Japan); Yasushi Ono (Tottori University & Tottori
University Hospital, Japan); Katsuya Kondo (Tottori University, Japan)

Actuation and Automotive Systems
Chairs: Prof. Yuki Yokokura (Nagaoka University of Technology)
TT2‐1
Verification of Improved Contact Motion with Lower Moment of Inertia by Using In‐Link Actuators

March 2nd, Sat. AM 11:00‐12:40 Room‐C
Prof. Wataru Ohnishi (The University of Tokyo)
Kazuma Morikawa and Seiichiro Katsura (Keio University, Japan)

TT2‐2

Hikaru Sosaka, Yuki Yokokura and Kiyoshi Ohishi (Nagaoka University of Technology, Japan);
Akira Yamaguchi, Yoshiyuki Shinya and Takashi Hatano (Mazda Motor Corporation, Japan)

TT2‐3

TT2‐4
TT2‐5

Clutch Normative Control Based Shockless Re‐Acceleration for Hybrid Electric Vehicles in Coasting State

Michi Oda (The University of Tokyo & Ono Sokki Co., Ltd., Japan); Sakahisa Nagai and Hiroshi
A Consideration of Vibration Suppression Control of Parallel Shaft e‐Axle Using Phase Stabilization Control Based Fujimoto (The University of Tokyo, Japan); Hidemasa Fujita, Kota Yamamoto and Tohru Urano(Mitsubishi Motors Corporation, Japan); Koji Satoh, Kana Mizoguchi and Naoki Takizawa (Onoon System Identification
Sokki Company Limited, Japan)
Frequency Response Based Track Following Controller Design in Dual Stage Actuator HDD Using Sensitivity
Junpei Morimoto, Kazuhiro Yubai, Daisuke Yashiro and Satoshi Komada (Mie University, Japan)
Decoupling Structure
Application of Deep Reinforcement Learning to Decentralized Control of Traffic Signals Considering Fairness in a Shogo Shirasaka (Tokyo University of Science, Japan); Naoki Kodama (Meiji University, Japan);Road Traffic Network Including Intersections Without Traffic Signals
Taku Harada (Tokyo University of Science, Japan)

TT3(6)

Control Theory and Its Applications
Chairs: Prof. Tadanao Zanma (Chiba University)
Compensation of Residual Vibration in Track‐Seeking Control of Hard Disk Drive Using ZPETC and Sampled Data
TT3‐1
Polynomial

March 4th, Mon. PM2 14:40‐16:40 Room‐A
Prof. Shota Yabui (Tokyo City University)
Hiroki Hoki and Takenori Atsumi (Chiba Institute of Technology, Japan)

TT3‐2Force Estimation of Multi‐DoF Manipulator Based on Virtual Environment Quarrier Using Gated Recurrent Unit

Yuki Tanaka and Seiichiro Katsura (Keio University, Japan)

TT3‐3Soft Sensor Design Method Using Experimental Data for Mechanical Systems with Coulomb Friction

Tokutaro Kitamura, Kazuhiro Yubai, Daisuke Yashiro and Satoshi Komada (Mie University, Japan)

TT3‐4
TT3‐5

Data Driven Controller Update of State Predictive Servo Systems for Linear Time‐Delay Systems
A New Approach of Data‐Driven Prediction and Control Directly Evaluated with Input
Investigation of Frequency‐Shaped Final‐State Control Design Focusing on Softening Spring Characteristics of
Machine‐Stand Vibration

Hiroki Kanda (The University of Electro‐Communications, Japan)
Miku Ikesawa and Osamu Kaneko (The University of Electro‐Communications, Japan)

TT3‐6

Yuya Watanabe, Kenta Seki and Makoto Iwasaki (Nagoya Institute of Technology, Japan)

TT5‐1(5)Robotics and Mechatronics
Chairs: Prof. Yuki Yokokura (Nagaoka University of Technology)

March 3rd, Sun. AM 11:00‐12:40 Room‐C
Prof. Daisuke Yashiro (Mie University)

TT5‐1Realization of Robust and Fast State Estimation Based on Instantaneous State Observer and Its Application

Junya Hasegawa, Akira Hamaguchi, Yuki Yokokura and Kiyoshi Ohishi (Nagaoka University ofTechnology, Japan); Yusuke Kawai (National Institute of Technology Ichinoseki College, Japan);Toshimasa Miyazaki (Nagaoka University of Technology, Japan)

TT5‐2Study on Real‐Time Fault Detection System for Twin‐Drive Ball Screw Sliders
Load Side Angle Control Using Backlash Model for Torsional Torque Estimation of Double Motor with Reduction
Gear
Sensor‐Integrated End‐Effector for Process Monitoring of Tire Changer
In‐Hand Manipulation Considering Disturbance Based on Modal Control

TT5‐3
TT5‐4
TT5‐5

Tetsuya Ojiro and Kazuhiro Tsuruta (Kyushu Sangyo University, Japan)
Yuto Ikeda, Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada (Mie University, Japan)
Daiki Mori (University of Fukui, Japan)
Aina Kojima, Shunichi Sakurai and Seiichiro Katsura (Keio University, Japan)

TT5‐2(5)
Robotics and Mechatronics
March 4th, Mon. AM 11:00‐12:40 Room‐B
Chairs: Prof. Naoki Motoi (Kobe University)
Prof. Yuki Nagatsu (Takushoku University)
TT5‐6Three‐Dimensional Motion Mechanism with Tendon‐Driven Gravity Compensation
Yusaku Kuroki and Seiichiro Katsura (Keio University, Japan)
Modeling of Ankle Joint Elastic Torque‐Angle Characteristics Using Time‐Varying Elastic Coefficient During Passive Hiroto Takai, Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada (Mie University, Japan);TT5‐7Plantar and Dorsiflexion
Kotaro Takeda (Fujita Health University, Japan)
TT5‐8Path Planning for Construction Machines by Pre‐Modeling Soil Dynamics
Tatsuya Nakayama and Yutaka Uchimura (Shibaura Institute of Technology, Japan)
TT5‐9

Self‐Tuning Control of Boom Angular Velocity for Mobile Cranes in Consideration of Boom Oscillation Mode

Kazuma Mizuki (Tadano Ltd., Japan)

TT5‐10Construction of Grass Density Determination System Using Force Sensor for Flail Type Mowing System

Iwano Yuki (Fukui University of Technology, Japan)

TT6(5)

Human Interaction
Chairs: Prof. Daisuke Yashiro (Mie University)

March 4th, Mon. AM 11:00‐12:40 Room‐A
Prof. Takahiro Nozaki (Keio University)
Riku Endo and Akemi Matsuo (AoyamaGakuin University, Japan); Taku Itami (Aoyama Gakuin
University & College of Science and Engineering, Japan); Jun Yoneyama (Aoyama Gakuin
University, Japan)
Yuto Hirose (University of Yamanshi, Japan); Yoshiyuki Kagiyama, Koichiro Ueki and Akinori
Moroi (University of YAMANASHI, Japan); Norio Takeuchi (Hosei University, Japan); Yasumi Ito
and Yoshiyuki Noda (University of Yamanashi, Japan); Yoshihiro Kuroda (University of Tsukuba,
Japan); Shunsuke Yoshimoto (The University of Tokyo, Japan); Osamu Oshiro (Osaka University,
Japan)

TT6‐1

Sound Source Distance Estimation Using Two Microphones for People with Hearing Loss

TT6‐2

Development of VR Bone Fragment Fixation Simulator for Sagittal Split Ramus Osteotomy with 3D Contact
Pressure Analysis

TT6‐3Comparison of Reproductive and Synchronous Controllers for Discrete‐Event Physical Human‐Robot Interaction

Tatsuya Akahoshi and Hisayoshi Muramatsu (Hiroshima University, Japan)

TT6‐4

Application of a Learning Classifier System for Explaining Survival Prediction Results for Breast Cancer Data

Ryo Suzuki, Chika Matsushima and Taku Harada (Tokyo University of Science, Japan)

Design and Control of Tendon‐Driven Soft Hand Exoskeleton: A Preliminary Study

Subhash Pratap (Mechanical Engineering, Gifu University & IIT Guwahati, India); Jyotindra
Narayan (Imperial College London, United Kingdom (Great Britain) &amp; Chair of Digital Health,
University of Bayreuth, Germany); Yoshiyuki Hatta (Gifu University, Japan); Shyamanta Hazarika(IIT Guwahati, India); Kazuaki Ito (Gifu University, Japan)

TT6‐5

P1A
P1A‐1
P1A‐2
P1A‐3
P1A‐4
P1A‐5
P1A‐6

March 2nd PM 13:50‐14:20 Room‐A [Shot‐gun]Study on Magnetic Elastomer for Application to Magnetic Adsorption Pads
Resonance Frequency Control of Four‐Inertia System Using Virtual Spring Control
Proposal and Basic Study of 4‐DOF Parallel Link Mechanism with Torsional Motion Assist Function
Cooperative Spatial Control of Human and Mobile Robot Using Overlooking System

March 2nd PM 14:40‐16:40 Foyer [Poster]
Shimpei Iguchi and Hiroaki Kuwahara (Shibaura Institute of Technology, Japan)
Taichi Nakamura (Nagaoka University of Technology, Japan)
Hiromasa Nozawa (Japan); Hiroaki Kuwahara (Shibaura Institute of Technology, Japan)
Masaki Endo and Hiroaki Kuwahara (Shibaura Institute of Technology, Japan)
Masaki Saito (Keio University, Japan); Luc Vignolles (Keio University, France); Toshiyuki
Continuous Robust Position Control of TSA with Variable Radius Cam
Murakami (Keio University, Japan)
Kazuki Hayashi, Yoshiyuki Hatta and Kazuaki Ito (Gifu University, Japan); Kiyohiko Sakuraba
Application of Motion Control for High‐Precision Automatic Chamfering Machine in Gear Manufacturing Process(Kabutoyama Works Co. Ltd., Japan)

P1B
P1B‐1

March 2nd PM 13:50‐14:20 Room‐B [Shot‐gun]
Development and Evaluation Isolated Class‐Φ2 DC‐DC Converter

P1B‐2

A Study of High‐Frequency Power Supply for Plasma Discharge in Liquid

P1B‐3Preliminary Study of Control Methods for Heat Pump Cooling/Heating Systems for Typhoon Control

P1B‐4

Data‐Driven Control and Prediction for Automobile Steering Control System

P1B‐5

Basic Study on Velocity Control in Wing Coordinate System Using Acceleration‐Based Disturbance Observer for
Tilt‐Wing eVTOL

P1B‐6Loop Shaping Method for DISO Systems with Consideration of Each Actuator Characteristic

P1C

March 2nd PM 13:50‐14:20 Room‐C [Shot‐gun]

P1C‐1Classifying Hidden Object Using Hyperspectral Image

P1C‐2

Effect of Dimensionality Reduction on Hyperspectral Image Classification Using Multi‐Layer Perceptoron

P1C‐3

Evaluation of Generalization Performance in Road Surface Condition Classification with Hyperspectral Images

P1C‐4

Data Augmentation Approach for Pixel‐Wise HSI Classification

P1C‐5

Pose Estimation of a Floating Bottle Cap by Parametric Eigenspace Method for Measuring Rainfall

P1C‐6

Study on Image Similarity Judgment Method by Grouping Processing for Waste‐Printed Circuit Boards

P1C‐7

A Preliminary Study on Angular Velocity Detection with Magnet‐Sensor by Jacobian Matrix for Ultra‐Small
Satellite

March 2nd PM 14:40‐16:40 Foyer [Poster]
Shiono Tomoya (Chiba Institute of Technology, Japan)
Atsushi Kosugi (Chiba Institute of Technology & Saitama Prefectural Koshigaya Sogo Gijutsu HighSchool, Japan)
Rui Kimura and Yasutaka Fujimoto (Yokohama National University, Japan)
Ryu Chang hyuk (The University of Electro Communications, Japan); Ryusei Yamamoto andOsamu Kaneko (The University of Electro‐Communications, Japan)
Takuma Katagiri (The University of Tokyo, Japan); Kentaro Yokota (Japan Aerospace Exploration
Agency, Japan); Kota Fujimoto, Sakahisa Nagai and Hiroshi Fujimoto (The University of Tokyo,
Japan)
Haruki Murakami and Shota Yabui (Tokyo City University, Japan)
March 2nd PM 14:40‐16:40 Foyer [Poster]Nana Shirakashi and Yuko Ozasa (Graduate School of System Design and Technology, Tokyo
Denki University, Japan)
Shu Yamamoto and Yuko Ozasa (Graduate School of System Design and Technology, Tokyo
Denki University, Japan)
Yuri Otsuka and Junkei Okada (Graduate School of System Design and Technology, Tokyo Denki
University, Japan); Takuma Kaneko (School of System Design and Technology, Tokyo Denki
University, Japan); Yuko Ozasa (Graduate School of System Design and Technology, Tokyo Denki
University, Japan)
Junkei Okada and Yuko Ozasa (Graduate School of System Design and Technology, Tokyo Denki
University, Japan)
Satoshi Yoshioka, Katsuya Kondo and Mitsuru Tsubo (Tottori University, Japan)
Hikaru Shirai, Ryo Ohishi, Yoichi Kageyama and Shigeru Kawamura (Akita University, Japan);
Kazune Sasaki (DOWA Technology, Japan); Keita Ogawa and Satoshi Nakagawara (DOWA Metals
and Mining, Japan)
Hajime Saito (National Institute of Technology(KOSEN), Gunma College, Japan)

P2A
P2A‐1
P2A‐2

March 3rd PM 13:50‐14:20 Room‐A [Shot‐gun]
Method for Human‐Like Environment Contact Motion Using a Series Elastic Actuator

Reproduction of Explosive Charging Motion Compensated for Changes in Position of Hole by Using Depth Camera Moe Horikoshi, Izumi Kotani, Takahiro Nozaki and Kazuki Yane (Keio University, Japan)

P2A‐5
P2A‐6

Optimal Trajectory Planning with Collision Avoidance for Industrial Robots Considering Energy and Time inOperation
Validating and Improving the Modeling of Wire Tension Direction of Walking Assistive Device with Single‐
Actuated Wire‐Driven Mechanism
Consensus Problem Based on Funnel Control Considering Obstacle AvoidanceGait Generation Based on Deep Reinforcement Learning in 4‐Legged Robots Equipped with CPGs

P2B
P2B‐1
P2B‐2

March 3rd PM 13:50‐14:20 Room‐B [Shot‐gun]
Silent Speech Recognition Using Facial Surface EMG
Construction of a Multi‐Sensor Synchronous Measurement System for Single‐Finger Pressing Task

P2A‐3
P2A‐4

P2B‐3
P2B‐4
P2B‐5
P2B‐6
P2C
P2C‐1
P2C‐2

March 3rd PM 14:40‐16:40 Foyer [Poster]
Helio Nonose and Yasumichi Aiyama (University of Tsukuba, Japan)

Yusuke Toki, Naoki Mizuno and Makoto Iwasaki (Nagoya Institute of Technology, Japan)
Tatsuya Okada, Masato Koyama and Satoshi Komada (Mie University, Japan)
Hiroki Kimura and A. Okuyama (Tokai University, Japan)
Seiya Nishizawa and Atsushi Okuyama (Tokai University, Japan)

March 3rd PM 14:40‐16:40 Foyer [Poster]
Ryosuke Kimoto, Takashi Ohhira and Hideki Hashimoto (Chuo University, Japan)
Katsuya Fujiwara (Akita University, Japan)
Shunsuke Fujiki (University of Yamanashi, Japan); Yoshiyuki Kagiyama (University ofDevelopment of VR Preoperative Planning System for Cup in Total Hip Arthroplasty with Color Map Assistance of YAMANASHI, Japan); Yoshihiro Kuroda (University of Tsukuba, Japan); Shunsuke Yoshimoto (TheResidual Bone Thickness
University of Tokyo, Japan); Yasumi Ito and Yoshiyuki Noda (University of Yamanashi, Japan);
Osamu Oshiro (Osaka University, Japan)
Mental Stress Induced with Key Swapping During Typing Tasks
Nan Bu (National Institute of Technology, Kumamoto College, Japan)
Kento Hirogaki (Gifu University, Japan); Subhash Pratap (Mechanical Engineering, Gifu University
The Development of a New Exoskeleton Glove System for Rehabilitation Assistance of Spinal Cord Injury Patients & IIT Guwahati, India); Yoshiyuki Hatta and Kazuaki Ito (Gifu University, Japan); Shyamanta
Hazarika (IIT Guwahati, India)
Proposing an Environment for Analyzing Human Teaching Methods Using Trainee Model
Kota Kobayashi and Hiroshi Igarashi (Tokyo Denki University, Japan)
March 3rd PM 13:50‐14:20 Room‐C [Shot‐gun]
Date‐Driven Controller Tuning Without Reference Models for State Feedback Typed Servo System
A Study on Input‐Output Control of Universal Direct Converter by Low‐Pass Filter When the Single‐Phase Poweris Supplied

P2C‐3

Design Method of Disturbance Observer Control System for the Periodic DisturbanceP2C‐4

Delay Identification in Remote Control Systems with Time Delay

P2C‐5

Estimated Speed Compensation Based on Two Types of Axis Errors

P2C‐6

Basic Study on Robust Perfect Tracking Control Based on Parameter Estimation Reducing Outlier Effects

March 3rd PM 14:40‐16:40 Foyer [Poster]
Tomohito Kawamura (The University of Electro‐Communications, Japan)
Momoka Yabuuchi and Masato Koyama (Mie University, Japan)
Yu Yamada (Gunma University, Japan); Sorawin Phukapak (Udonthani Rajabhat University &Gunma University, Japan); Chawisorn Phukapak (Rajabhat Maha Sarakham University, Thailand);Nghia Thi Mai (Posts and Telecommunications Institute of Technology & Gunma University,
Vietnam); Kotaro Hashikura, Md Abdus Samad Kamal, Iwanori Murakami and Kou Yamada(Gunma University, Japan)
Takuto Fujiwara and Tomoyuki Shimono (Yokohama National University, Japan); Daniele Canton(Yokohama National University, Italy)
Ryosei Takiguchi (University of Keio, Japan); Takahiro Nozaki (Keio University, Japan)
Shogo Yamada (University of Tokyo, Japan); Kota Fujimoto and Hiroshi Fujimoto (The Universityof Tokyo, Japan)

P3A

March 4th PM 13:50‐14:20 Room‐A [Shot‐gun]

P3A‐1

Performance Evaluation of Out‐Of‐Distribution Detection on Various Model Size of Deep Learning Models

P3A‐2

Cutting State Estimation Based on Haptic Information Acquired by One DOF Teleoperated Oscillating Saw for
Orthopedic Surgery

P3A‐3

Development of Fully Automated Preoperative Planning System for Stem in Total Hip Arthroplasty

P3A‐4

Realization of Precise Manipulation by Admittance‐Based Bilateral Control Using Piezoelectric Actuator

P3A‐5

Investigation of Lower Limit of Admittance with Varying Mass in Admittance Bilateral Control
Contact Force Control Using a Variable Spring Constant Model to Represent Axial Torsion Phenomena for an
Articulated Robot with Motors with Built‐In Double Encoders

Reina Wakimoto, Izumi Kotani and Takahiro Nozaki (Keio University, Japan)

March 4th PM 13:50‐14:20 Room‐B [Shot‐gun]
Power‐Assist Control of Straight Driving and Turning of a Hand Push Electric Transporter with Rear Wheel
Steering

March 4th PM 14:40‐16:40 Foyer [Poster]

P3A‐6
P3B
P3B‐1

March 4th PM 14:40‐16:40 Foyer [Poster]
Ken Eto (Tokyo Denki University, Japan); Yoshihiro Fukuhara (Waseda University, Japan); Rei
Kawakami (Tokyo Institute of Technology, Japan); Yuko Ozasa (Graduate School of System
Design and Technology, Tokyo Denki University, Japan)
Takuya Matsunaga and Shunya Takano (Kanagawa Institute of Industrial Science andTechnology, Japan); Tomoyuki Shimono (Yokohama National University, Japan); Kouhei Ohnishi,
Toshiki Wakabayashi, Shu Kobayashi, Mitsuru Yagi and Masaya Nakamura (Keio University,
Japan)
Shun Inoue and Yoshiyuki Kagiyama (University of YAMANASHI, Japan); Yoshito Otake (NaraInstitute of Science and Technology, Japan); Masaki Takao (Ehime University, Japan); Keisuke
Uemura and Nobuhiko Sugano (Osaka University, Japan); Yoshinobu Sato (Nara Institute of
Science and Technology, Japan)
Saki Kozu and Izumi Kotani (Keio University, Japan); Kenta Seki (Nagoya Institute of Technology,
Japan); Naoki Motoi (Kobe University, Japan); Takahiro Nozaki (Keio University, Japan)

Noba Kyotaro (Mie University, Japan)

Hirotaka Kitagawa (Nagaoka University of Technology, Japan)
Hiroki Noguchi (Yokohama University, Japan); Yasutaka Fujimoto (Yokohama National
University, Japan); Atsushi Sakai, Shota Konishi and Kenta Osagawa (Komatsu Ltd., Japan)

P3B‐2

Trajectory Generation Algorithm for Sprinkler Truck Considering Vehicle Constraints

P3B‐3

Control of Autonomous Mobile Robot with Simple Map
Sota Ushigome and Yasutaka Fujimoto (Yokohama National University, Japan)
Modeling and Sliding Mode Control of Magnetization Current Considering Rectifier in High Frequency Linked AC‐
Takeshi Asano and Masato Koyama (Mie University, Japan)
DC Matrix Converter

P3B‐4
P3B‐5

Anti‐Dive Suspension Force Based Sprung Roll‐Heave Non‐Interference Simultaneous Control of In‐Wheel‐
Motored Vehicles

P3B‐6

An Estimation on Attitude Control System with Magnetorquer by Permanent Magnet for Ultra‐Small Satellite on
Daisuke Akaishi (National Institute of Technology (KOSEN), Gunma College, Japan)
Polar Orbit

P3C
P3C‐1

P3C‐3
P3C‐4
P3C‐5

March 4th PM 13:50‐14:20 Room‐B [Shot‐gun]
Reluctance Actuator with Integrated Hall Sensor and Permanent Magnet for Vibration Isolation
Expanding the Control Bandwidth of Optimal Position/Power‐Saving MagLev Control System of Helical Motor
Using HOSMD
Design of Lightweight and Fast‐Response High‐Voltage Converter Using Switched Capacitor
Modeling of Hysteresis Characteristics Using Upper Bounded Unparallel Prandtl‐Ishlinskii Model
Finite Element Analysis of Magnetic Geared Screw Two‐Degree‐Of‐Freedom Motor with Halbach Array

P3C‐6

Transmission Coil Structure of Halbach Array with Magnetic Flux Concentration in Wireless Power Transfer

P3C‐7

Velocity Noise Reduction Using Multi‐Level Inverters

P3C‐2

Chen Qi (University of Tokyo, Japan); Sakahisa Nagai (The University of Tokyo, Japan); Minh Binh
Nguyen (University of Tokyo, Japan); Hiroshi Fujimoto (The University of Tokyo, Japan)

March 4th PM 14:40‐16:40 Foyer [Poster]
Takamaro Fukuyama (University of Fukui, Japan)
Yuta Atsumi and Masato Koyama (Mie University, Japan)
Ryota Tauchi, Tomoya Kitamura and Takahiro Nozaki (Keio University, Japan)
Yuki Aihara, Kenta Seki and Makoto Iwasaki (Nagoya Institute of Technology, Japan)
Sumika Miyata, Yoshiyuki Hatta and Kazuaki Ito (Gifu University, Japan)
Takayuki Oba and Yuhei Tomioka (Keio University, Japan); Sakahisa Nagai (The University ofTokyo, Japan); Takahiro Nozaki (Keio University, Japan)
Koki Kodama and Hidemine Obara (Yokohama National University, Japan); Tomoki Yokoyama(Tokyo Denki University, Japan); Tomoyuki Shimono (Yokohama National University, Japan)