Tokushima University / Educator and Researcher Directory --- Yasuno, Takashi

Personal Web Page

https://researchmap.jp/read0184046 (researchmap)

Field of Study

○	Control Engineering

Subject of Study

○	Intelligent Control of Autonomous Mobile Robots, Output Prediction of Wind and Solar Power Generation Systems, Control Engineering of Rehabilitation System, Agriculture Support System (advanced motion control, intelligent control, robotics, machine learning)

Book / Paper

Book:

1.	Takahiro Kitajima, Koki Akiyama, Hiroshi Suzuki and Takashi Yasuno : Cloud Distribution Forecasting Model Using Ground Altitude Information and CNN, Springer, Oct. 2023. (Link to Publication Site) ● Publication site (DOI): 10.1007/978-981-99-6303-4_11 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.1007/978-981-99-6303-4_11 (DOI: 10.1007/978-981-99-6303-4_11)
2.	Kassim Mohamed Anuar, Takashi Yasuno, Hiroshi Suzuki, Aras Shahrieel Mohd Mohd, Shukor Zaki Ahmad, Jaafar Izzuan Hazriq and Jafar Azni Fairul : Vision-Based Tactile Paving Detection Method in Navigation Systems for Visually Impaired Persons, IntechOpen, London, Nov. 2018.
3.	Takashi Yasuno, Hiroshi Suzuki and Takahiro Kitajima : 人工知能による環境の計測・予測・制御と防除ロボットの開発, Technical Information Institute Co., Ltd., May 2018.

Academic Paper (Judged Full Paper):

1.	(名) Anggraini, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno, Arman Dwi and (名) Rahman : Short-Term Wind Speed and Direction Forecasting by 3DCNN and Deep Convolutional LSTM, IEEJ Transactions on Electrical and Electronic Engineering, Vol.17, No.11, 1620-1628, 2022. (Link to Publication Site) ● Publication site (DOI): 10.1002/tee.23669 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-85133534877 (DOI: 10.1002/tee.23669, Elsevier: Scopus)
2.	Anuar Mohamed Bin Kassim, N. N. Ayub, A. Z. Shukor, M. A A. Abid, A. A. R. K. Jaya and Takashi Yasuno : Performance Evaluation of Energy Harvesting Method on Intelligent Wearable Travel Aid Device for Blind Person, International Journal of Emerging Technology and Advanced Engineering, Vol.12, No.7, 120-127, 2022. (Summary) The intelligent wearable travel aid device has been developed for blind person usage for traveling purposes. The intelligent wearable travel aid device will be used along with the long cane that is usually used to detect any obstructions around the blind person. However, the problem on power supply to supply the electrical energy for the intelligent wearable travel aid device to work properly always been occurred. In order to fit the energy harvesting device on the intelligent wearable travel aid device, the comparison of the solar panel and photodiode is done. The performance evaluation to compare theenergy harvesting method on the developed intelligent wearable travel aid device for blind person has been conductedbased on the experiment result. The photodiode is proposed in this study due to small size and easy to arrange on top of developed wearable travel aid device compared to the solar panel which big size but commonly used as energy harvesting device. Consequently, the experimental result of the intelligent wearable travel aid device in terms of voltage, current and light intensity for the improved version with different type of configuration is proven respectively. (Keyword) Energy harvesting / wearable device / travel aid / the blind person / smart system / assistive technology (Tokushima University Institutional Repository) ● Metadata: 118106 (Link to Publication Site) ● Publication site (DOI): 10.46338/ijetae0722_13 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-85135456035 (Tokushima University Institutional Repository: 118106, DOI: 10.46338/ijetae0722_13, Elsevier: Scopus)
3.	Hiroshi Suzuki, Ayaka Sumoto, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Development and Control of Power-Assisted Lumbar Suit Based on Upper-Body Acceleration, Journal of Robotics and Mechatronics, Vol.33, No.4, 916-926, 2021. (Summary) <p>In this study, we propose a method to estimate the assistive timing requirements for a power-assisted lumbar suit based on upper-body acceleration. Our developed power-assisted suit combines of springs, wires, and an electrical motor to provide efficient assistance. The assistive torque provided by the suit was determined based on a digital human model. The assistive timing using the electrical motor was calculated from the upper-body acceleration measured using two internal accelerometers. Herein, we present the experimental results based on the myoelectricity of a muscle during lifting motions involving three participants acting as caregivers to elderly patients.</p> (Keyword) power-assisted lumbar suit / nursing care / upper-body acceleration (Tokushima University Institutional Repository) ● Metadata: 116750 (Link to Publication Site) ● Publication site (DOI): 10.20965/jrm.2021.p0919 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390570574764832128 ● Summary page in Scopus @ Elsevier: 2-s2.0-85113755052 (Tokushima University Institutional Repository: 116750, DOI: 10.20965/jrm.2021.p0919, CiNii: 1390570574764832128, Elsevier: Scopus)
4.	Sari Puspita Anggraini, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno, Prasetya Arman Dwi and Rabi Abd. : Deep convolutional long short-term memory for forecasting wind speed and direction, SICE Journal of Control, Measurement, and System Integration, Vol.14, No.2, 30-38, 2021. (Tokushima University Institutional Repository) ● Metadata: 119017 (Link to Publication Site) ● Publication site (DOI): 10.1080/18824889.2021.1894878 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.1080/18824889.2021.1894878 (Tokushima University Institutional Repository: 119017, DOI: 10.1080/18824889.2021.1894878)
5.	Sari Puspita Anggraini, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno and Prasetya Arman Dwi : PREDICTION MODEL OF WIND SPEED AND DIRECTION USING DEEP NEURAL NETWORK, JEEMECS (Journal of Electrical Engineering Mechatronic and Computer Science), Vol.3, No.1, 1-10, 2020. (Tokushima University Institutional Repository) ● Metadata: 118680 (Link to Publication Site) ● Publication site (DOI): 10.26905/jeemecs.v3i1.3946 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.26905/jeemecs.v3i1.3946 (Tokushima University Institutional Repository: 118680, DOI: 10.26905/jeemecs.v3i1.3946)
6.	Hiroshi Suzuki, Tomoki Matsuo and Takashi Yasuno : Influence of Safe Driving Support System for Electric Wheelchair on Operation Input, Journal of Robotics Networking and Artificial Life, Vol.6, No.3, 171-178, 2019. (Tokushima University Institutional Repository) ● Metadata: 119016 (Link to Publication Site) ● Publication site (DOI): 10.2991/jrnal.k.191202.006 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.2991/jrnal.k.191202.006 (Tokushima University Institutional Repository: 119016, DOI: 10.2991/jrnal.k.191202.006)
7.	Heejin Lee, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Multiple Vehicles Semi-Self-driving System Using GNSS Coordinate Tracking under Relative Position with Correction Algorithm, International Journal of Advanced Computer Science and Applications, Vol.8, No.8, 418-426, 2017. (Tokushima University Institutional Repository) ● Metadata: 118660 (Link to Publication Site) ● Publication site (DOI): 10.14569/IJACSA.2017.080854 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.14569/IJACSA.2017.080854 (Tokushima University Institutional Repository: 118660, DOI: 10.14569/IJACSA.2017.080854)
8.	KASSIM MOHAMED Anuar, Takashi Yasuno, Hiroshi Suzuki, ARAS SHAHRIEEL MOHD Mohd, JAAFAR IZZUAN Hazriq, JAFAR AZNI Fairul and SUBRAMONIAN Sivarao : Conceptual design and implementation of electronic spectacle based obstacle detection for visually impaired persons, Journal of Advanced Mechanical Design, Systems, and Manufacturing, Vol.10, No.7, 1-12, 2016. (Tokushima University Institutional Repository) ● Metadata: 118659 (Link to Publication Site) ● Publication site (DOI): 10.1299/jamdsm.2016jamdsm0094 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.1299/jamdsm.2016jamdsm0094 (Tokushima University Institutional Repository: 118659, DOI: 10.1299/jamdsm.2016jamdsm0094)
9.	Sejati Purnomo, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Object Conveyance Algorithm for Multiple Mobile Robots based on Object Shape and Size, International Journal of Advanced Computer Science and Applications, Vol.7, No.5, 553-559, 2016. (Tokushima University Institutional Repository) ● Metadata: 118658 (Link to Publication Site) ● Publication site (DOI): 10.14569/IJACSA.2016.070573 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.14569/IJACSA.2016.070573 (Tokushima University Institutional Repository: 118658, DOI: 10.14569/IJACSA.2016.070573)
10.	Kassim bin Mohamed Anuar, Takashi Yasuno, Hiroshi Suzuki, Jaafar I. H. and Aras S. M. M. : Indoor Navigation System based on Passive RFID Transponder with Digital Compass for Visually Impaired People, International Journal of Advanced Computer Science and Applications, Vol.7, No.2, 604-611, 2016. (Link to Publication Site) ● Publication site (DOI): 10.14569/IJACSA.2016.070276 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.14569/IJACSA.2016.070276 (DOI: 10.14569/IJACSA.2016.070276)
11.	Takahiro Kitajima and Takashi Yasuno : Maximum Power Control System for Small Wind Turbine using Predicted Wind Speed, IEEJ Transactions on Electrical and Electronic Engineering (TEEE), No.10, 55-62, 2015. (Link to Publication Site) ● Publication site (DOI): 10.1002/tee.22065 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-84919459757 (DOI: 10.1002/tee.22065, Elsevier: Scopus)
12.	Kassim Mohamed Anuar, Takashi Yasuno, Aras Shahrieel Mohd Mohd, Shukor Zaki Ahmad, Haafar Izzuan Hazriq, Baharom Faizal Mohamad and Jafar Azni Fairul : Vision Based of Tactile Paving Detection Method in Navigation System For Blind Person, Jurnal Teknologi, Vol.77, No.20, 25-32, 2015. (Link to Publication Site) ● Publication site (DOI): 10.11113/jt.v77.6547 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.11113/jt.v77.6547 (DOI: 10.11113/jt.v77.6547)
13.	Kassim Mohamed Anuar, Shukor Zaki Ahmad, Zhi Xin Chan and Takashi Yasuno : Exploratory Study on Navigation System for Visually Impaired Person, Australian Journal of Basic and Applied Sciences, Vol.7, No.14, 211-217, 2013. (Summary) Direction is arguably the most pressing concern for visually impaired person. Nevertheless, we lack a convenient navigation system to guide a visually impaired person using point to point direction to reach desired destination independently while walking on tactile paving. Accessibility of this navigation system must be convenient and simple for visually impaired people. In order to provide an efficient and user friendly assistive tool, it is proposed to design and develop a navigation system using Radio Frequency Identification (RFID) to guide the visually impaired walking on tactile paving. Path planning algorithm will be implemented in this project to give the shortest path and direction as a navigation guide for visually impaired people. This project will directly contribute to society by making available a convenient navigation system for visually impaired people for a better lifestyle.
14.	Kassim Mohamed Anuar, Shukor Zaki Ahmad, Zhi Xin Chan and Takashi Yasuno : Performance Study of Developed SMART EYE for Visually Impaired Person, Australian Journal of Basic and Applied Sciences, Vol.7, No.14, 633-639, 2013. (Summary) In this paper, the development and performances study of obstacle detection and warning device which is used for above abdomen level of human in order to support and guide the visually impaired person which is called SMART EYE. This developed SMART EYE is an innovation product to support and help those visually impaired person such to have their own confident to travel independently. In the developed obstacle detection and warning device, the distance measurement sensor is used to detect the obstacles and headphone is used as the warning device to give the obstacle information to the user. The distance measurement sensor's input is processed via main controller and gives the warning signal to the headphone. In this paper, the performances and effectiveness of distance measurement sensor in order to identify the blind spot and detect the obstacles is confirmed through experiments.
15.	Kenichi Iida, Takumi Kawabushi and Takashi Yasuno : 光学マウスセンサとLRFを用いた全方位移動車輌のモーションコントロール, IEEJ Transactions on Electronics, Information and Systems, Vol.133, No.11, 2021-2028, 2013. (Summary) This paper describes a method of motion control for an omni-directional vehicle. The proposed control system consists of two controllers: self-tuning fuzzy feedforward controller to control the velocity and self-tuning fuzzy feedback controller to control the position and angle of the vehicle. In these controllers, the fuzzy rules are automatically adjusted by the tuning law to improve the responses of the position, angle and velocity; hence, the proposed control method has high-tracking performance. In the proposed self-localization method, the velocity of the vehicle is obtained using four optical mouse sensors as an internal sensor, and the position in the environment is calculated by ICP algorithm using a laser range finder as an external sensor. This information is combined using Kalman filter to eliminate the accumulated error which occurs by an optical mouse sensor. Therefore, the proposed self-localization method is able to estimate the state of vehicle with fast sampling time and high precision. An experiment, which uses an omni-directional vehicle with four omni-wheels, four optical mouse sensors and laser range finder, conducted to evaluate the proposed motion control system. The experimental results reflect the effectiveness of the proposed motion control system for an omni-directional vehicle. (Link to Publication Site) ● Publication site (DOI): 10.1541/ieejeiss.133.2021 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.1541/ieejeiss.133.2021 (DOI: 10.1541/ieejeiss.133.2021)
16.	Prasetya Arman Dwi, Takashi Yasuno, Hiroshi Suzuki and Akinobu Kuwahara : Cooperative Control System of Multiplw Mobile Robots Using Particle Swarm Optimization with Obstacle Avoidance for Tracking Target, Journal of Signal Processing, Vol.17, No.5, 199-206, 2013. (Summary) This paper proposes a cooperative control system with obstacle avoidance for multiple mobile robots using particle swarm optimization (PSO) in an unknown environment to perform tasks that are difficult for a single robot to accomplish. The problem considered in this paper is the exploration of an unknown environment with the goal of finding and tracking targets using multiple mobile robots. The mobile robots only have basic information about the position of other mobile robots and the relative distances between mobile robots and target. PSO has been demonstrated to be a useful algorithm for tracking target ap- plications for multiple mobile robots in unknown environments. The experimental results demonstrate the validity of the proposed cooperative control system with obstacle avoidance of multiple mobile robots that track targets. (Tokushima University Institutional Repository) ● Metadata: 118141 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.17.199 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.17.199 (Tokushima University Institutional Repository: 118141, DOI: 10.2299/jsp.17.199)
17.	Takahiro Kitajima, Takashi Yasuno and Hitoshi Sori : Study on Output Prediction System of Wind Power Generation Using Complexed-valued Neural Network with Multipoint GPV Data, IEEJ Transactions on Electrical and Electronic Engineering (TEEE), Vol.8, No.1, 33-39, 2013. (Summary) In this paper, we propose a prediction system of wind power generation ahead of 24 h by using a complex-valued neural network (CVNN). To predict the output of wind power generation, it is necessary to predict the wind speed accurately. Generally, wind data is expressed as a vector, which has both magnitude and direction. Therefore, it is also possible to treat wind data by a complex number and then use it as input information of the CVNN, which is very useful for operation of a complex number and nonlinear data. In computer simulations, we use multipoint numerical weather prediction data that surround the wind prediction point to realize long-time prediction. Thereby, we expect that the CVNN can take into account wind dynamics in two-dimensional space. Several simulation results and t-tests demonstrate the effectiveness of the proposed prediction system. (Link to Publication Site) ● Publication site (DOI): 10.1002/tee.21788 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-84871845798 (DOI: 10.1002/tee.21788, Elsevier: Scopus)
18.	A.M Kassim, M.Z.A Rashid, M.R Yaacob, N Abas and Takashi Yasuno : Effect of Reference Height Control System on CPG Networks for Quadruped Hopping Robot, Applied Mechanics and Materials, Vol.313-314, 498-502, 2013. (Summary) In this paper, the collaboration of CPG networks with the feedback control system which are composed with the maximum hopping height detector and the Proportional Integral (PI) controller as an engineering application for the CPG network is proposed with the developed control systems. By adding the feedback loop through the feedback controller, the developed quadruped hopping robot not only can generate the continuous hopping performances but also can control the desired hopping height. As the result, the effectiveness of CPG networks to keep the stability of the developed quadruped hopping robot besides of confirming the validity of using reference height control system to generate hopping capability at different reference height, respectively. (Link to Publication Site) ● Publication site (DOI): 10.4028/www.scientific.net/AMM.313-314.498 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-84876586826 (DOI: 10.4028/www.scientific.net/AMM.313-314.498, Elsevier: Scopus)
19.	Yong Zhang, Takashi Yasuno and Kyohei Sumitomo : Adaptive Gait Control for Quadruped Robot on Irregular Terrain Using CPG Network with Motor Dynamics, Journal of Signal Processing, Vol.16, No.2, 139-146, 2012. (Summary) In this paper, an adaptive gait control system for a quadruped robot traversing over irregular terrain with an intermittent crawl pattern using central pattern generator (CPG) networks with motor dynamics is proposed. We develop a new CPG model, in which the inhibitory and excitatory neurons are replaced by two DC motors that drive the joints of the legs directly. The DC motor functions not only as an actuator but also as a component of the CPG model. Four CPG models are mutually connected to each other to control the joints of each leg. Through the experimental results, we confirm that the robot can realize adaptive and stable walking on irregular terrain by using the proposed CPG control system with the signals from the environment. (Keyword) central pattern generator (CPG) / center of gravity (COG) / quadruped robot / intermittent crawl pattern (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.16.139 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390001204465350400 ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.16.139 (DOI: 10.2299/jsp.16.139, CiNii: 1390001204465350400)
20.	Kenichi Iida, Taichi Mori and Takashi Yasuno : Fuzzy Control for Omni-Directional Vehicle with Ball Wheels, IEEJ Transactions on Electronics, Information and Systems, Vol.129, No.11, 2019-2026, 2009. (Summary) In this paper, motion control for omni-directional vehicle with ball wheels is considered. The proposed omni-directional vehicle has two ball wheels, and the actuators are arranged to X-direction and Y-direction in ball wheel. Hence, omni-directional vehicle has the ability to move in arbitrary speed and direction, and has also the ability to turn around the place. The proposed control system consists of the fixed gain feedback controllers and self tuning fuzzy controllers. To achieve improvement of responses, rules of fuzzy controller are automatically adjusted by a tuning law. To achieve improvement of mobility, the optical mouse sensor is installed on omni-directional vehicle for self-localization. The experimental results demonstrate the effectiveness of the proposed system for improvement of the movement performance of the omni-directional vehicle. (Keyword) Omni-directional Vehicle / Motion Control / Fuzzy Controller / Self-localization / Omni-directional Vehicle / Motion Control / Fuzzy Controller / Self-localization (Link to Publication Site) ● Publication site (DOI): 10.1541/ieejeiss.129.2019 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390282679583957760 ● Summary page in Scopus @ Elsevier: 2-s2.0-72849148899 (DOI: 10.1541/ieejeiss.129.2019, CiNii: 1390282679583957760, Elsevier: Scopus)
21.	Syo Fujisawa, Takashi Yasuno, Satoshi Yura, Kenichi Iida and Hironobu Harada : High-Speed Synchronization of Two-Axis Speed Servo System Using PI-Type Synchronizing Controller, Journal of Signal Processing, Vol.13, No.4, 359-362, 2009. (Summary) In this paper, we describe a two-axis speed synchronization control system. The servo system of each axis onsists of an adaptive feedforward controller (AFC) and a fixed-gain proportional and integral (PI) feedback controller. The objective of the AFC is to improve the tracking performance. The parameters of the AFC are adjusted by an adaptive law so that the dynamic inverse of the plant is constructed in the feedforward path. The fixed-gain PI feedback controller is designed to reduce disturbances. A synchronizing controller used with the fixed-gain PI controller is introduced to achieve high-speed synchronization between the axes. To confirm the validity of the proposed speed servo system, several experiments using the two-axis dc servo motors coupled with dc generators were conducted. The experimental results demonstrate the effectiveness of the proposed control scheme for synchronization. (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1523388079895358720 (CiNii: 1523388079895358720)
22.	Naoto Fujimura, Takashi Yasuno, Ryota Yakushiji, Kiyoshi Takigawa and Kensuke Kawasaki : Simple Wind Power Prediction System Using Self-Tuning Fuzzy Reasoning and Eror Persistent Model, IEEJ Transactions on Power and Energy, Vol.129, No.5, 614-620, 2009. (Summary) In this paper, we propose a simple wind power prediction system using a self-tuning fuzzy reasoning and an error persistent model. The self-tuning fuzzy of which fuzzy rules are automatically adjusted so that the tuning error between a measured and a predicted wind power decreases, and converges to a small constant value by using predicted wind speed and direction data of the mesoscale spectral model (MSM)-GPV providing from the Meteorological Agency. After tuning process is completed, adjusted fuzzy rules imply wind power prediction rules which is considered geographical features, distance between the nearest wind forecast point and the site of the wind power generator system. Moreover, to decrease a prediction error, we apply an error persistent model to prediction results under the fuzzy reasoning. Some simulation results demonstrate the usefulness of the proposed simple wind power prediction system. (Keyword) wind power prediction system / self-tuning fuzzy reasoning / error persistent model / wind power prediction system / self-tuning fuzzy reasoning / error persistent model (Link to Publication Site) ● Publication site (DOI): 10.1541/ieejpes.129.614 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390001204602375040 ● Search Scopus @ Elsevier (DOI): 10.1541/ieejpes.129.614 (DOI: 10.1541/ieejpes.129.614, CiNii: 1390001204602375040)
23.	Hitoshi Sori and Takashi Yasuno : Several-Hours-Ahead Wind Speed Prediction System Using Hierarchical Neural Network, Journal of Signal Processing, Vol.12, No.6, 507-514, 2008. (Summary) In this paper, we describe a several-hours-ahead wind speed prediction system using a hierarchical neural network. Our proposed wind speed prediction system consists of several wind speed prediction modules connected in cascade. The number of prediction modules is determined in accordance with the prediction period. Also, the wind speed prediction module consists of two blocks: one is a prediction block and the other is a correction block. These blocks calculate the prediction value and correction value of the mean wind speed using a hierarchical neural network, respectively. Simulation results demonstrate the effectiveness of the proposed several-hours-ahead wind speed prediction system in the prediction period from thirty minutes to four hours ahead. (Keyword) hierarchical neural network / wind speed prediction (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1523106603344705664 (CiNii: 1523106603344705664)
24.	Hiroshi Suzuki, Takashi Yasuno, Urushihara Shiro and Hironobu Harada : Design and Implementation of Sooperative Conveyance Patterns for Multiple Mobile Robots Using Neural Network, Journal of Signal Processing, Vol.11, No.6, 489-495, 2007. (Summary) In this paper, we describe the design and implementation of cooperative conveyance patterns for multiple mobile robots using a hierarchical artificial neural network (NN). The task of multiple mobile robots is to transport a object to the goal along the reference conveyance orbit. The NN is used as the cooperative pattern generator for two mobile robots. The parameters of the cooperative pattern generator are adjusted by a genetic algorithm so that the two mobile robots can convey the target to the goal along the reference conveyance orbit successfully. Moreover, we propose the indirect cooperation scheme for more than three mobile robots in which the nearest two mobile robots make up a pair and the proposed cooperative pattern generator is applied to these mobile robots. Experimental results using our developed mobile robots demonstrate the efectiveness of the proposed cooperative pattern generator and the indirect cooperation scheme.
25.	Takashi Yasuno and Takuya Kamano : A Challenge to Environmental Making for Positively and Continuous Learning in Engineering Design Education, Journal of Japanese Society for Engineering Education, Vol.54, No.2, 92-97, 2006. (Summary) This paper describes specific examples of environmental making for positively and continuous learning in design subject which are called the ``Project Exercise'' at Department of Electrical and Electronic Engineering of The University of Tokushima. The purpose of the design subject is training of not only creativity but also information processing, problem solving, group working and presentations. The feature of the Project Exercise is to link with the robot contest. As a result, the training of the motive of the own learning and a continuous study habit is executed. The education effect is discussed from the execution example, the student questionnaire, and the comment form in 2004. (Keyword) Education Engineering / Design Subject / Learning Motivation / Creativity (Link to Publication Site) ● Publication site (DOI): 10.4307/jsee.54.2_92 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390282679469477888 ● Search Scopus @ Elsevier (DOI): 10.4307/jsee.54.2_92 (DOI: 10.4307/jsee.54.2_92, CiNii: 1390282679469477888)
26.	Shiro Urushihara, Takuya Kamano, Satoshi Yura, Takashi Yasuno and Takayuki Suzuki : Design of Linear DC Motor Two-degree-of-freedom Positioning System using Model Reference type Sliding Mode Controller, IEEJ Transactions on Industry Applications, Vol.126, No.3, 276-284, 2006. (Summary) One of fundamental problems in the factory automation is how to obtain linear motion. Linear motors produce directly the linear motion force without a motion-transform mechanism. Linear d.c. motors (LDMs) have excellent performance and controllability. However, the dynamics of small-sized LDMs is adversely affected by the dead-band due to the friction between brushes and commutators.In this paper, it is described that the design of the two-degree-of-freedom positioning system with a LDM using model reference type sliding mode controller (SMC). The proposed positioning system consists of a fixed gain feedforward controller and a SMC used as a feedback controller. The objective of the SMC is to repress the influence of nonlinear characteristics (the dead-band and parameter variations etc.). The tracking performance can be improved as the fixed gain feedforward controller makes a dynamic inverse system in the feedforward path. The effectiveness of the proposed system for improvement of the tracking performance is demonstrated by experimental results. (Keyword) linear DC motor / dead-band / sliding mode control / two-degree-of-freedom control / manabe polynomials / dead-band / sliding mode control / two-degree-of-freedom control / manabe polynomials (Link to Publication Site) ● Publication site (DOI): 10.1541/ieejias.126.276 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390282679635671680 ● Summary page in Scopus @ Elsevier: 2-s2.0-33644812510 (DOI: 10.1541/ieejias.126.276, CiNii: 1390282679635671680, Elsevier: Scopus)
27.	Yurak Son, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Hironobu Harada : Generation of Adaptive Gait Patterns for Quadruped Robot with CPG Network Including Motor Dynamic Model, Electrical Engineering in Japan, Vol.155, No.1, 35-43, 2006. (Summary) This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) in- cluding motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscilla- tors of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algo- rithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the forma- tion of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the auto- matic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. (Keyword) quadruped robot / CPG network / genetic algorithm / adaptive gait pattern / MUSCULO-SKELETAL SYSTEM / HUMAN LOCOMOTION (Link to Publication Site) ● Publication site (DOI): 10.1002/eej.20225 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-33644805064 (DOI: 10.1002/eej.20225, Elsevier: Scopus)
28.	Yurak Son, Yuka Kasai, Takashi Yasuno, Takuya Kamano and Takayuki Suzuki : Generation of Adaptive Gait Patterns for Quadruped Robot Using CPG Network, Journal of Signal Processing, Vol.8, No.6, 455-460, 2004. (Summary) This paper describes the generation of adaptive gait patterns for a quadruped robot using central pattern generators (CPGs). A new CPG model, in which the dynamics of a joint servomotor is incorporated, is proposed and used to generate the periodical oscillation of the joint angleThe CPGs are mutually connected with each other through coupling parameters. The sets of coupling parameters are adjusted by a genetic algorithm (GA) so that the quadruped robot can realize stable and suitable gait patterns by interacting adaptively with the environment. Some experimental results obtained using a quadruped robot demonstrate that the proposed CPG network is effective in generating suitable gait patterns. (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.8.455 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.8.455 (DOI: 10.2299/jsp.8.455)
29.	Yurak Son, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Hironobu Harada : Generation of Adaptive Gait Patterns for Quadruped Robot with CPG Network including Motor Dynamic Model, IEEJ Transactions on Electronics, Information and Systems, Vol.124, No.10, 2148-2154, 2004. (Summary) This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environment. The CPGs act as the flexible oscillators of the joints and make the desired angle of the joints. The CPGs are mutually connected each other, and the sets of their coupling parameters are adjusted by genetic algorithm so that the quadruped robot can realize the stable and adequate gait patterns. As a result of generation, the suitable CPG networks for not only a walking straight gait pattern but also rotation gait patterns are obtained. Experimental results demonstrate that the proposed CPG networks are effective to automatically adjust the adaptive gait patterns for the tested quadruped robot under various environment. Furthermore, the target tracking control based on image processing is achieved by combining the generated gait patterns. (Keyword) quadruped robot / CPG network / genetic algorithm / adaptive gait pattern / genetic algorithm / adaptive gait pattern (Link to Publication Site) ● Publication site (DOI): 10.1541/ieejeiss.124.2148 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390282679583309824 ● Search Scopus @ Elsevier (DOI): 10.1541/ieejeiss.124.2148 (DOI: 10.1541/ieejeiss.124.2148, CiNii: 1390282679583309824)
30.	Manabu Kariya, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Hironobu Harada and Sayaka Ogura : Realization of Cooperative Behavior for Multiple Mobile Robots on Catching Problem, IEEJ Transactions on Electronics, Information and Systems, Vol.124, No.2, 502-508, 2004. (Summary) In this paper, the realization of cooperative knowledge for a catching problem of multiple hunter robots and an escaping target is considered. To achieve successful catching, a pincer attack movement between two hunter robots is introduced as the basic cooperation strategy. The pincer attack movement of each hunter robot is described by the fuzzy rules. The fuzzy rules are tuned by genetic algorithm that the hunter robots can realize the pincer attack formation. Furthermore, the indirect approach is discussed in which the tuned fuzzy pincer attack rules are only applied to the nearest pair among the multiple hunter robots. Experimental and simulation results demonstrate that the suitable cooperative movement among the robots is realized and the proposed cooperation scheme is effective to the catching problem. (Keyword) multiple hunter robots / genetic algorithm / fuzzy rules / cooperative behavior / genetic algorithm / fuzzy rules / cooperative behavior (Link to Publication Site) ● Publication site (DOI): 10.1541/ieejeiss.124.502 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390001204606406144 ● Search Scopus @ Elsevier (DOI): 10.1541/ieejeiss.124.502 (DOI: 10.1541/ieejeiss.124.502, CiNii: 1390001204606406144)
31.	Wang Fei, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Hironobu Harada : Navigation of Autonomous Mobile Robot under Decision-making Strategy tuned by Genetic Algorithm, IEEJ Transactions on Industry Applications, Vol.123-D, No.10, 1148-1154, 2003. (Summary) This paper describes a novel application of genetic algorithm for navigation of an autonomous mobile robot (AMR) under unknown environments. In the navigation system, the AMR is controlled by the decision-making block, which consists of neural network. To achieve both successful navigation to the goal and the suitable obstacle avoidance, the connection weights of the neural network and speed gains for predefined actions are encoded as genotypes and are tuned simultaneously by genetic algorithm so that the static and dynamic danger-degrees, the energy consumption and the distance and direction errors decrease during the navigation. Experimental results demonstrate the validity of the proposed navigation system. (Keyword) AMR / Navigation / Obstacle avoidance / Decision-making / Genetic algorithm / Danger-degree (Link to Publication Site) ● Publication site (DOI): 10.1541/ieejias.123.1148 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390001204654943616 ● Search Scopus @ Elsevier (DOI): 10.1541/ieejias.123.1148 (DOI: 10.1541/ieejias.123.1148, CiNii: 1390001204654943616)
32.	Hitoshi Sori, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Hironobu Harada : Tuning of Fuzzy Output Control Rules for Wind Power Generating System using Genetic Algorithm, Wind Energy, Vol.27, No.1, 88-94, 2003. (Summary) 本論文は，バッテリーを負荷に持つ小規模の風力発電システムに対し，発電機の出力電圧を制御することによって，風エネルギーを効率良く電気エネルギーに変換する方法について述べている．提案する制御法は，計測した風速および風車回転速度をもとに，ファジィ推論を用いて最適な出力電圧を推論し制御する．また，風力発電システムの数学モデルをもとに．オフラインによりファジィ制御ルールを遺伝的アルゴリズムにより調整する．提案手法の有用性はシミュレーション解析により確認している．
33.	Satoshi Yura, Takuya Kamano, Shiro Urushihara, Takashi Yasuno, Takayuki Suzuki and Hironobu Harada : A Design Method of Model Reference Type Sliding Mode Controller for Two-mass Servo System, IEEJ Transactions on Industry Applications, Vol.123, No.3, 219-226, 2003. (Summary) In this paper, we describe a model reference type sliding mode controller for a two-mass speed control system. The two-mass system consists of a dc motor, a load inertia, and an elastic shaft which connects between them. To design the conventional sliding mode controller for the two-mass system, the nominal parameters of the system are required. Although the nominal parameters of the motor side such as the dc power amplifier gain K, the motor inertia J1 and the torque constant Kt are easy to know, the load side parameters such as the load inertia J2 and the stiffness of the shaft Ke are unknown in advance and can not be used in the design. Therefore, the design method without using the load information is expected. In the paper, new design scheme of the sliding mode controller, in which a reference model and an adaptive mechanism are introduced, is proposed. Some experimental responses of the system under the proposed sliding mode control are measured. These result the compatibility of simplification of the design procedure and robustness for the friction, the modeling error and the disturbance. (Keyword) sliding mode controller / MRACS / robustness / two-mass servo system / speed control / robustness / two-mass servo system / speed control (Link to Publication Site) ● Publication site (DOI): 10.1541/ieejias.123.219 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390001204655580416 ● Search Scopus @ Elsevier (DOI): 10.1541/ieejias.123.219 (DOI: 10.1541/ieejias.123.219, CiNii: 1390001204655580416)
34.	Kensuke Fukumitsu, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Hironobu Harada : Calibration Method of Propeller Type Anemovane using Genetic Algorithm, Wind Energy, Vol.26, No.2, 56-62, 2002. (Summary) 本論文は，プロペラ形風速風向計を対象として，遺伝的アルゴリズムにより同定される逆モデルを導入した校正手法を提案している．逆モデルは風速計および風向計の干渉を考慮して構成したものであり，それらの各パラメータは遺伝子と見なしてコーディングされ，入力データと校正データとが一致するよう遺伝子操作により調整される．提案した校正手法の有効性を確認するために，ステップ状入力風に対する実測結果をもとに逆モデルを同定している．そして，同定した逆モデルを用いてステップ状風速風向に対する実測校正結果と模擬自然風に対するシミュレーション校正結果を求めている．それらの結果から，高精度に校正できることを示している．また，自然風に対する校正も行っており．妥当な校正結果を得ている．この校正法はプロペラ形風向風速計に限定されず，機械的可動部分により動特性が問題となる風速計全般にも適用可能であり，汎用性の高い校正法であると考えられる．
35.	Yasuo Kondo, Takashi Yasuno, Takuya Kamano, Tokuo Ohnishi and Takayuki Suzuki : Simplified Model of Photovoltaic Modules Using Fuzzy Interpolation Considering Intensity of Solar Radiation and Temperature, Journal of Japan Solar Energy Society, Vol.28, No.3, 56-61, 2002. (Summary) The output power induced in the photovoltaic modules is influenced by intensity of irradiance and temperature of the solar modules. Therefore it is necessary to estimate the characteristics of PV modules precisely in order to construct a controller of model reference adaptive system and so on. This paper presents an approach to estimate the I=V curves of photovoltaic modules using fuzzy interpolation. The model is composed of data on short circuit current, open circuit voltage and voltage and current of maximum power point under conditions of several different temperatures and high level intensity of the sunshine. The courve fill factor of modules under the above-mentioned conditions can be used instead of maximum power point dates. The remarkable nonlinear curve between voltage and current of PV module is described by three approximating straightlines emplying fuzzy interpolation. (Keyword) I-V特性 / Photovoltaic module / I-V characteristics / Fuzzy interpolation / Irradiance / Temperature (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1520853834635580416 (CiNii: 1520853834635580416)
36.	Hitoshi Sori, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno and Hironobu Harada : Estimation of Piecewise-Linearized Torque Coefficient and Moment of Inertia of Windmill using Genetic Algorithm, IEEJ Transactions on Industry Applications, Vol.121-D, No.12, 1228-1234, 2001. (Summary) In this paper, an estimation method of both torque coefficient and moment of inertia of the windmill by using genetic algorithm is proposed. Generally, the torque coefficient is dependent on the shape of the windmill and is represented as a nonlinear function of the tip speed ratio. To simulate the nonlinearity, the torque coefficient is split into the m areas with respect to the tip speed ratio and is approximated by a piecewise linear equation in each area. The gains of the piecewise linear equation in each area and the moment of inertia are regarded as the gene and adjusted by the genetic algorithm so that the estimated windmill speed and acceleration correspond to the actual values. The results demonstrate the effective of the proposed scheme for estimation of the windmill parameters. (Link to Publication Site) ● Publication site (DOI): 10.1541/ieejias.121.1228 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.1541/ieejias.121.1228 (DOI: 10.1541/ieejias.121.1228)
37.	Satoshi Yura, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Hironobu Harada and Shirou Urushihara : Swing up and Stability Control of Inverted Pendulum with Inertia Rotor under Energy Control and Sliding Mode Schemes, IEEJ Transactions on Industry Applications, Vol.121-D, No.8, 848-854, 2001. (Summary) In this paper, we describe swing up and stability control of inverted pendulum with an inertia rotor. To realize the smooth swing up motion of the inverted pendulum, the energy method is introduced. Then, the speed of the inertia rotor is controlled so that the energy of the pendulum increases. When the pendulum is inverted, the control method is changed to the stability control with the sliding mode. The sliding mode controller is effective to stabilize the pendulum because the controller has robustness for the modeling error. The design of both swing up and stability controllers are shown. The responses of the pendulum using the both controllers are measured. Experimental results demonstrate that the proposed controllers have effectiveness and robustness. (Link to Publication Site) ● Publication site (DOI): 10.1541/ieejias.121.848 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.1541/ieejias.121.848 (DOI: 10.1541/ieejias.121.848)
38.	Koji Fukuda, Takuya Kamano, Takashi Yasuno and Takayuki Suzuki : Angle Control of Powered Ankle Orthosis Using Ultrasonic Motor, Transactions of the Institute of Systems, Control and Information Engineers, Vol.13, No.12, 560-565, 2000. (Summary) An ankle orthosis is prescribed for the persons who have the movement disorders caused by the paralyzed ankle. The most important purpose of the ankle orthosis is to support the gait by keeping the toe clearance. However, the conventional ankle orthosis with fixed joint restricts the motion of ankle because the ankle orthosis has no actuators. Therefore, the flexible and powered ankle orthosis is required to realize smooth walking. In this paper, a powered ankle orthosis with a progressive wave type ultrasonic motor (PUM) is proposed. To achieve smooth walking, a fuzzy reference generator and a fuzzy feedforward controller are introduced. The objective of the fuzzy reference generator is to estimate the appropriate ankle motion, which is obtained from the walking experiments for a person without handicap.The fuzzy feedforward controller is used to improve the tracking performance of the ankle positioning system. The effectiveness of the proposed ankle orthosis is demonstrated by experiments. (Keyword) ankle orthosis / ultrasonic motor / fuzzy estimator / motion control (Link to Publication Site) ● Publication site (DOI): 10.5687/iscie.13.12_560 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390001205165298432 ● Search Scopus @ Elsevier (DOI): 10.5687/iscie.13.12_560 (DOI: 10.5687/iscie.13.12_560, CiNii: 1390001205165298432)
39.	Yoshirou Yoshida, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Hironobu Harada and Yu Kataoka : Generation of Suitable Jumping Motion Pattern for Hopping Robot under Genetic Algorithm, IEEJ Transactions on Electronics, Information and Systems, Vol.120-C, No.10, 1365-1371, 2000. (Summary) In this paper, an application of genetic algorithm for generation of jumping motion pattern of a hopping robot is described. The parameters of a central pattern generator are regarded as genes and tuned by the genetic algorithm so that the robot car, jump to the reference height continuously with the minimum drive current. To realize online tuning of the parameters, new genetic operations such as a few individuals, rapidestimation, instant selection and intentional mutation are introduced. Experimental and simulation results demonstrate that the proposed scheme is effective to generate the suitable jumping motion pattern of the hopping robot.
40.	Satoshi Yura, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Hironobu Harada : Disturbance Suppression of Two-mass Positioning System with Small Inertia Ratio under Two-degree of Freedom Controller, IEEJ Transactions on Electronics, Information and Systems, Vol.120-C, No.7, 957-966, 2000. (Summary) One fundamental problem in two-mass positioning systems is suppression of disturbance inputs, which are applied to the motor and the outputshaft. For example. a poor suppression results in degradation of positioning performances. In this paper, two-degree of freedom control for a two-mass positioning system with small inertia ratio is described. The control system consists of a state feedback controller (SFC), a sliding mode regulator (SMR) and an adaptive feedforward controller (AFC). The objective of the SFC is to suppress the vibration for the reference input and the step disturbance to the output shaft. The SMR is used to restrain the influence of the disturbance to the motor. The parameters of the AFC are adjusted by an adaptation law so that the tracking error converges to zero. The responses of the proposed positioning system for some disturbance inputs are measured. The experimental results demonstrate the effectiveness of the proposed system.
41.	Yoshiro Yoshida, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Yu Kataoka : Generation of jumping motion pattern for a hopping robot using genetic algorithm, Artificial Life and Robotics, Vol.4, No.1, 31-36, 2000. (Summary) This paper describes an application of genetic algorithm to generate a jumping motion pattern for a hopping robot. A central pattern generator is used to generate the motion pattern. The tuning parameters of the central pattern generator are regarded as genes and adjusted by the genetic algorithm, so that the hoplSing robot can jump continuously to the reference height with the minimum force. To realize online tuning of the parameters, new genetic operations such as few individuals, quick estimation, instant selection, and intentional mutation are introduced. The experimental results demonstrate the effectiveness of the proposed scheme. (Link to Publication Site) ● Publication site (DOI): 10.1007/BF02481474 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.1007/BF02481474 (DOI: 10.1007/BF02481474)
42.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Kazuo Uemura, Hironobu Harada and Yu Kataoka : Autonomous Mobile Robot Based on Behavior Decision Skill and Control Skill of the Operator, Electrical Engineering in Japan, Vol.131, No.2, 30-39, 2000. (Summary) This paper introduces a human skill base control algorithm using artificial neural networks and fuzzy reasoning for an autonomous mobile robot. Neural networks are used to select a suitable motion control pattern in actual environments. The back propagation algorithm adjusts the weights of the neural networks so that the selected motion control pattern corresponds to the action, which is obtained by the operators behavior decision skill. To realize the selected motion control pattern, the orientation angle and the speed of the mobile robot are determined by fuzzy reasoning in which fuzzy rules are also automatically tuned so as to simulate the operators control skill. We have implemented and tested the proposed control algorithm on an autonomous mobile robot and some experimental results demonstrate the effectiveness of the proposed control algorithm for the autonomous mobile robot. (Link to Publication Site) ● Publication site (DOI): 10.1002/(SICI)1520-6416(20000430)131:2<30::AID-EEJ4>3.0.CO;2-4 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-0033874918 (DOI: 10.1002/(SICI)1520-6416(20000430)131:2<30::AID-EEJ4>3.0.CO;2-4, Elsevier: Scopus)
43.	Yoshirou Yoshida, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Hironobu Harada and Hironobu Harada : Generation of Jumping Motion Pattern for Hopping Robot with CPG Model under Genetic Algorithm, Bulletin of Faculty of Engineering, The University of Tokushima, No.45, 85-90, 2000. (Summary) 本論文では，非線形連立微分方程式で表されるCPG(Central Pattern Generator)モデルの各パラメータを遺伝的アルゴリズム(GA)を用いて調整する，生物の運動パターン生成機能のモデル化手法を提案している．非線形連立微分方程式で表されるCPGモデルのパラメータと，モータを一方向のみに回転させるためにCPG出力に加えるバイアスのゲインは遺伝子とみなされ，一次元ホッピングロボットの跳躍ごとの目標跳躍高さとの跳躍誤差が零収束するよう，意図的突然変異，瞬時淘汰，選択，交叉などの遺伝的操作によって調整される．提案しているアルゴリズムを用いて試作一次元ホッピングロボットの跳躍特性をシミュレーションした結果，一次元ホッピングロボットを目標跳躍高さで連続跳躍させるためのCPGゲインをGAを用いてオンラインで調整できることが確認できた．また，目標跳躍高さの変化に対しても，提案したアルゴリズムにより適切な跳躍パターンが得られることを確認している．
44.	Koji Fukuda, Takuya Kamano, Takashi Yasuno and Takayuki Suzuki : Two-degree-of-freedom Servo System with Ultrasonic Motor by Frequency and Phase Fuzzy Hybrid Control, IEEJ Transactions on Electronics, Information and Systems, Vol.119-C, No.11, 1310-1315, 1999. (Summary) In this paper, a two-degree-of freedom control system with fuzzy controllers for the progressive wave type ultrasonic motor (PUM) is proposed. The system consists of a fuzzy feedforward controller (FFC) and a fuzzy disturbance observer (FDO). The FFC adjusts both the driving frequency and the phase, of which objective is to improve the tracking performances. The frequency and the phase control rules of the FFC are tuned so that the tracking error converges to zero. After tuning process is completed, the fuzzy rules which represent the equivalent dynamic inverse are obtained in the FFC. The tuned fuzzy rules of the FFC are copied and used to estimate the applied disturbance in the FDO. The responses of the proposed positioning system for the desired output and the disturbance are measured. Experimental results demonstrate the effectiveness of the proposed system for improvement of the tracking performances and suppression of the disturbance input.
45.	Hironobu Harada, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Hitoshi Sori : Parameter Estimation of Propeller Type Windmill using Genetic Algorithm, Wind Energy, Vol.23, No.2, 87-90, 1999. (Summary) 本論文は，遺伝的アルゴリズム(GA)を用いてプロペラ型風車の風車トルク係数と風車慣性モーメントを同時に推定する手法を提案している．ここでは，風車パラメータの推定問題を風車の動的入出力関係を満足させるための最適組合せ問題と見なし，風車トルク係数を周速比の2次式で近似することによって，そのパラメータをGAにより探索している．提案する推定手法の有用性を確認するために，2つの異なるプロペラ形風車のパラメータ推定を行った結果，ほぼ真値を推定できることをシミュレーション解析により確認している．
46.	Shinji Noguchi, Kazuaki Kagamihara, Takuya Kamano, Takayuki Suzuki and Takashi Yasuno : Practical Fuzzy Modeling of Aerial Working Platform, Transactions of the Institute of Systems, Control and Information Engineers, Vol.11, No.12, 665-672, 1998. (Summary) One of fundamental problems in design of construction machines is to make a practical model which represents the relation between input and output signals. For an example, an excellent model is useful for designing superior controllers which result in automation and simplification of operations. However, it is difficult to make a detailed mathematical model for construction machines because of nonlinear characteristics of hydraulic actuators and its complicated mechanical structures. In this paper, a fuzzy model for an aerial working platform is described. The fuzzy model in each driving axis is based on fuzzy rules and approximated dynamic models which are measured in advance under different operating conditions. The fuzzy rules represent not only the static nonlinear characteristics of actuator but also the effect of the approximated dynamic models on the output under the different operating conditions, and are automatically adjusted by a tuning law so that modeling error decreases. The effectiveness of the proposed fuzzy model is demonstrated by experimental results.
47.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Kazuo Uemura, Hironobu Harada and Yu Kataoka : Autonomous Mobile Robot based on Behavior Decision Skill and Control Skill of Operator, IEEJ Transactions on Electronics, Information and Systems, Vol.118-C, No.12, 1698-1705, 1998. (Summary) In this paper, an application of neural networks and fuzzy rules for an autonomous mobile robot is de- scribed. The neural networks are used to select a suitable action from tracking and avoidance actions under operating environment and are adjusted by the back propagation algorithm so that the selected action cor- responds to the action obtained by operator's decision skill. To realize the selected action, the steering angle and the speed are determined by using the fuzzy rules which are also automatically tuned so as to simulate the operator's control skill. Experimental results demonstrate the effectiveness of the proposed scheme for tracking and avoidance motions of the autonomous mobile robot.
48.	Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Shinichirou Urushihara, Hironobu Harada and Hiromu Satake : An Application of Genetic Algorithm for Parameter Estimation in Hodgkin-Huxley Equation under Anesthetizing, IEEJ Transactions on Electronics, Information and Systems, Vol.118-C, No.12, 1692-1697, 1998. (Summary) In this paper, an application of genetic algorithm for parameters estimation in Hodgkin-Huxley equa- tion under anesthetizing. To achieve adequate estimation, five indexes which characterize action potential waveforms are introduced. The set of parameters are regarded as a chromosome of gene and are tuned by the genetic algorithm so that the calculated indexes are correspond to the measured indexes. By using the estimated parameters, the effect of consistency of anesthesia and elapsed time on the ion currents are discussed.
49.	Koji Fukuda, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno and Hironobu Harada : High accuracy positioning system with ultrasonic motor using frequency and phase neural networks, 日本AEM学会誌, Vol.6, No.4, 350-357, 1998. (Summary) In this paper, an application of neural networks for a high tracking performance positioning system with a progressive wave type ultrasonic motor is described. The system consists of a constant gain feedback controller and two neural networks. The nusral networks act as feedforward controllers and control the drive frequency and phase for the ultrasonic motor. To achieve high tracking performances, interaction between two neural networks in introduced. The weights of the neural networks are adjusted by backpropagation algorithm so that the tracking error converge to zero. Experimental results demonstrate the effectiveness of the proposed control scheme for improvement of tracking performances.
50.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Arata Yamamoto, Hironobu Harada and Yu Kataoka : Manipulator System with Ultrasonic Motors Based on Expert Skill, 日本AEM学会誌, Vol.6, No.2, 124-130, 1998. (Summary) This paper describes a manipulator system with ultrasonic motors controlled by expert skill. To obtain the skill for grinding task, the manipulator system is operated by the expert, and the experimental data are measured. The skill is represented as fuzzy rules which are adjusted by a tuning algorithm so that the reasoning data agree with the measured data. After tuning process, the manipulator system is controlled by the tuned fuzzy rules. Experimental results demonstrate the validity of the proposed manipulator system.
51.	Kiyoshi Sano, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Takayuki Kitahara : Fuzzy Prediction System for Wind Speed and Wind Direction in Typhoon Area using Real-time Data, Wind Engineers, JAWE, Vol.74, No.1, 5-14, 1998. (Summary) This paper describes the use of a self-tuning fuzzy prediction algorithm for wind speed and wind direction in typhoon area. The wind speed and wind direction have been measuredby an anemovane on the top of a power-transmission tower. First, the fuzzy prediction rules are adjusted by a tling algorithm so that the estimated data agree with the measured data for the past typhoon. After tuning process is completed, the wind speed and wind direction for a different typhoon are predicted by using the tuned fuzzy rules and the current data. Simulation results demonstrate the effectiveness of the proposed system.
52.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Makoto Kagawa and Hironobu Harada : Application of Genetic Algorithm for Two-degree-of-freedom Positioning System with Ultrasonic Motor, 日本AEM学会誌, Vol.5, No.4, 42-49, 1997. (Summary) This paper describes an optimizing method of a nonlinear auto-tuning controller (NATC) using on-line genetic algorithm (GA). The method can realize to restrain the work of designers and high speed optimization by using genetic operators such as selection, crossover and mutation. To ensure the validity of the proposed method, we consider the two-degree-of-freedom positioning system with a progressive wave type ultrasonic motor (PUM). The proposed positioning system uses two controllers, one is an adaptive feedforward controller (AFC) which improves the tracking performance for the reference input, and the other is the NATC of which the object is to restrain the equivalent nonlinear disturbance input. The NATC is adjusted by the proposed optimizing method based on on-line GA so that the tracking error signal converge to zero. Some results demonstrate the effectiveness of the proposed positioning system for improvement of the tracking performance.
53.	Shinji Noguchi, Kazuya Tanizumi, Takuya Kamano, Takayuki Suzuki and Takashi Yasuno : Reduction method of control rules in self-tuning fuzzy controller for positioning system of electro-hydraulic servo system, Journal of the Japan Hydraulics & Pneumatics Society, Vol.28, No.7, 785-791, 1997. (Summary) In this paper, the application of a self-tuning fuzzy control method for electro-hydraulic servo systems is described. As is well known, fuzzy controllers have the ability to control a system in uncertain or un- known environments. However, the control performance depends on the fuzzy rules. Therefore, suitable control rules are required. A self-tuning fuzzy controller (STFC) , in which the fuzzy rules for the combi- nation of all input signals are automatically adjusted by the tracking error, has been proposed . Although the STFC is effective for improving the tracking performance, it requires many control rules. To reduce the number of fuzzy rules, the ring- and separate-type STFCs are proposed. In the ring-type STFC, the fuzzy rules are described as a combination of two input signals. The fuzzy rules in the separate-type STFC are used to adjust the gain of each input signal. The effectiveness of the proposed fuzzy controllers for improving the tracking performance is demonstrated by an experiment of boom telescoping axis of an aerial working platform.
54.	Shinji Noguchi, Kazuaki Kagamihara, Takuya Kamano, Takayuki Suzuki and Takashi Yasuno : High Precision Complex Operations of Aerial Working Platform under Self-Tuning Fuzzy Control, IEEJ Transactions on Electronics, Information and Systems, Vol.117-C, No.11, 1573-1579, 1997. (Summary) In general, it is difficult to operate construction machines because of nonlinear characteristics of hydraulic actuators and its complicated mechanical structures. Therefore, automation and simplification of the construction machines are very important from the view poinot of reducing the operators load. In this paper, an application of self-tuning fuzzy control scheme for complex operation of an aerial working platform is described. The self-tuning fuzzy controller acts as a feedfoward controller in each driving axis to improve the tracking performances. Furthermore, a cooperative controller is introduced to achieve high accuracy vertical and horizontal movements. The fuzzy rules are adjusted by a tuning law so that both tracking error in each axis and cooperation error are reduced. The effectiveness of the proposed control system for improvement of tracking performance and accurate vertical and horizontal movement is demonstrated by experiment.
55.	Junji Fukumi, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno and Yu Kataoka : Structure of Fuzzy Two-Degree-of Freedom Positioning Systems, IEEJ Transactions on Electronics, Information and Systems, Vol.117-C, No.11, 1615-1622, 1997. (Summary) In this paper, two types of fuzzy two-degree-of-freedom positioning systems are considered. One is a system which consists of a self- tuning fuzzy feedforward controller (STFC) and a fixed rules fuzzy feedback controller (FBC). The control rules of the STFC are automatically adjusted by a tuning law, the objective of which is to make an equivalent dynamic inverse of a nonlinear plant after tuning. The rules of the FBC are tuned in advance so that the FBC acts as a high gain feedback controller to restrain the effect of disturbance input. The other consists of the STFC and a fuzzy disturbance observer (FDO). The same rules of the STFC which provide the equivalent dynamic inverse are used in the FDO to estimate the disturbance input. To ensure the validity of the proposed systems, the responses of a positioning system with a progressiv weave type ultrasonic motor (PUM) are measured. Experimental results demonstrate the effectiveness of the systems for improvement of the tracking performances and robustness.
56.	Kensuke Kawasaki, Hiroharu Nii, Takuya Kamano, Takashi Yasuno and Takayuki Suzuki : Correction of LSS Location Error under Fuzzy Reasoning Method, IEEJ Transactions on Power and Energy, Vol.117-B, No.8, 1140-1145, 1997. (Summary) In this paper, a correction method of LLS (Lightning Location System) location error under fuzzy reasoning is proposed. LLS is a useful tool to inform lightning location to the dispatchers of Power System. However it has not enough accuracy of lightning location because of the direction error of antennas, the propagation error of radio wave, the disturbance of radiation from near structures and the random noise. In particular, the disturbance of radiation from near structures has serious influence on the accuracy of lightning location. To restrain the disturbance of radiation and to correct the location error, a fuzzy reasoning scheme is introduced. The fuzzy rules are automatically adjusted by a tuning law so that the location error between the actual lightning location and the LLS detecting location converges to zero. Simulation results demonstrate the effectiveness of the proposed fuzzy correction method for improvement of the accuracy of LLS.
57.	Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, ZHAO Zhimin and Yu Kataoka : Robust Synchronization of Multiple Motion COntrol Axes using Disturbance Observers, Bulletin of Faculty of Engineering, The University of Tokushima, No.42, 65-71, 1997. (Summary) 本論文では,外乱オブザーバを用いた多軸ロバスト同期システムについて検討している．同システムは，同期化コントローラによりカッブリングされた動特性の異なる複数の駆動軸のロバスト性を向上させることにより，高速な同期化を実現している．同期化コントローラでカップリングされた多軸システムに及ぽす外乱入力の影響は，各軸のロバスト性に影響を与える同相外乱応答と，各軸間の同期化特性を劣化させる逆相外乱応答に分けられる．提案した外乱オブザーバは，これらの同相および逆相外乱の影響を十分に抑圧するよう設計されている．直流サーボモータを用いて試作した4軸システムの実測結果から，各駆動軸のロバスト性は著しく向上し，外乱入力ばかりでなくモデル化誤差をも等価外乱とみなして抑圧できることを確認している．その効果は，フィルタの時定数を小さくするほど効果的である．また，逆相外乱オブザーバのフィルタ時定数を同相外乱オブザーバのそれよりも小さく設定すると同期化特性が優先されるため，より高速の同期化が可能であることも確認している．さらに，各軸の動特性は両オブザーバによりモデルの動特性により固定されるので，追従特性を改善するためには逆モデルを用いたフィードフォワード制御が有効であることも確認している．以上の結果から，提案した多軸ロバスト同期システムは，各軸の十分なロバスト性と高速な同期化特性を必要とする分野に有用であると思われる．
58.	Susumu Yoshida, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno and Yu Kataoka : Feedforward Control under Genetic Algorithm for Nonlinear Servo System, Transactions of the Institute of Systems, Control and Information Engineers, Vol.9, No.11, 511-519, 1996. (Summary) In this paper, an application of genetic algorithm for on-line tuning of a feedforward controller in nonlinear servo systems is described. The parameters in the feedforward controller are regarded as genes and tuned by a genetic algorithm so that the tracking error converges to zero. To achieve high speed tuning, new genetic operations such as a few individuals, quick estimation, instant selection and intentional mutation are introduced. After the tuning process is completed, the nonlinear characteristic of the plant is linearized and an equivalent dynamic inverse is made in the feedforward path. The experimental results demonstrate the effectiveness of the proposed feedforward controller for improvement of tracking performance of the nonlinear speed servo systems.
59.	Atsushi Hamada, Kensuke Kawasaki, Takuya Kamano, Takashi Yasuno and Takayuki Suzuki : A Simple Thunderbolt Prediction System under Fuzzy Reasoning Method, IEEJ Transactions on Power and Energy, Vol.116-B, No.4, 403-409, 1996. (Summary) In this paper, a simple thunderbolt prediction system under fuzzy reasoning scheme is proposed. To predict the lightning location, Shikoku island and its environs are divided into a hundred areas, and the thunderbolt location and the rainfall in each area are measured by a LLS (lightning location system) and a weather radar respectively. In the proposed system, the measured thunderbolt data, its changed data and the rainfall data in each area are used as the input data to the antecedentpart of the fuzzy reasoning rules, and the lightning locations after thirty minutes are inferred. To achieve high accuracy prediction, the fuzzy reasoning rules are tuned by a learning law so that the prediction results match the past thunderbolt data. The learning algorithmis described in detail. By using the tuned rules, the thunderbolt locations for another day are predicted. These results demonstrate the possibility of propoesed system for prediction of the thunderbolt locations.
60.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Akio Uotani, Hironobu Harada and Yu Kataoka : 非線形オートチューニングコントローラを用いた超音波モータ位置決めシステム, 日本AEM学会誌, Vol.4, No.1, 27-32, 1996. (Summary) This paper describes the use of a nonlinear auto-tuning controller for high accuracy motion control with a progressive wave type ultrasonic motor. The nonlinear auto-tuning controller consists of six different nonlinear functions and tuning parameters, the objective of which is to improve both the tracking performance for any desired output and the robustness for disturbance inputs. The parameters are adjusted by a tuning algorithm so that the actual output can follow the desired output. After tuning process is completed, the equivalent dynamic inverse of the motor is made in the feedforward path, and the suitable feedback gain is obtained. The responses of a two-links robot manipulator driven by the progressive wave type ultrasonic motor under the nonlinear auto-tuning control are measured. The experimental results demonstrate the effectiveness of the nonlinear auto-tuning controller for improvement of tracking performance.
61.	Toshikazu Noda, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno and Hironobu Harada : High Speed Synchronization of Multiple Motion Axes with Nonlinearity under Neuro Servo Control, IEEJ Transactions on Industry Applications, Vol.115-D, No.11, 1365-1372, 1995. (Summary) In this paper, high speed synchronization of multiple motion control axes with nonlinearity under neuro servo control is considered. The system consists of multiple axes with constant gain controllers, a synchronizing controller and a neuro servo controller. To achieve high speed synchronization among the axes, the synchronizing controller, which responds to the tracking errors, is introduced. The tracking error in one axis is regarded as the synchronization errors between the relevant axes. The weights of the neuro servo controller are adjusted by the back propagation algorithm so that the tracking and the synchronization errors are minimized. It results in remarkable improvement in the tracking performance and the quick removal of the synchronization errors during the transient as well as at the steady state. The synchronization for four-axes, of which the parameters are significantly different, is investigated. Experimental results demonstrate the effectiveness of the proposed control scheme for synchronization.
62.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Hironobu Harada and Yu Kataoka : Design and Responses of the Two-Degree-of-Freedom Speed Servo System under Adaptive Control, IEEJ Transactions on Industry Applications, Vol.115-D, No.11, 1357-1364, 1995. (Summary) In this paper, two design methods for two-degree-of-freedomspeed servo system under adaptive control are described. The system consists of a speed feedback loop with a fixed gain controller and an adaptivefeedforward controller (AFC).The objective of the AFC is to improve the tracking performance, and the parameter is adjusted by an adaptation law so that the dynamic inverse of the plant is constructed in the feedforward path. The fixed gain feedback controller, which significantly restrain any disturbances, is designed by using two methods, one is based on the frequency responses betweenthe disturbance and actual output and the other is on the disturbance observer theory. The responses of the speed servo systems designed by using both methods for a trapezoidal desired output and several types of disturbance are measured. Experimental results demonstrate that the effectiveness of the proposed systems for improvement of the tracking performances and robustness.

Academic Paper (Unrefereed Paper):

1.	Hitoshi Sori and Takashi Yasuno : 階層型ニューラルネットワークを用いた短時間先の簡易風速予測法, 津山高専紀要, No.49, 67-72, 2007. (Summary) This paper describes a simple wind speed prediction method after a short time using a hierarchical neural network (NN). To reduce the prediction error of the wind speed, deciding a suitable combination of weather informations as the input of the NN is very important. Therefore, we investigates three combinations (Case A, Case B, and Case C) of weather data. Case A is a mean wind speed before the prediction term. Case B is an amount of the the mean wind speed change in addition to the data of Case A. Case C is a mean wind direction in addition to the data of Case B. Some computer simulation results demonstrate the usefulness of the proposed prediction system and the effectiveness of the selection of suitable weather data. (Keyword) Wind Speed Prediction Method / Hierarchical Neural Network / Wheather Informations (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1520009407554822656 (CiNii: 1520009407554822656)
2.	Takuya Kamano, Takashi Yasuno and Yoshifumi Nishio : Development of Human Beings Coexistence Type Quadruped Robot with Environment Recognition Functions, Bulletin of Faculty of Engineering, The University of Tokushima, Vol.50, 19-25, 2005. (Tokushima University Institutional Repository) ● Metadata: 45331 (Tokushima University Institutional Repository: 45331)
3.	Hirosi Kanda, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno and Hironobu Harada : Design and Responses of Two- g of-f mPositioning System under Fuzzy Control, Bulletin of Faculty of Engineering, The University of Tokushima, No.40, 25-30, 1995. (Summary) 本論文では，ファジィ制御を用いた二自由度位置決めシステムについて検討している．提案するシステムは，通常の固定ルールファジィコントローラを用いたフィードバック制御システムに，自己調整ファジィコントローラをフィードフォワードコントローラとして付加した二自由度構成となっている．フィードバックループの制御ルールは主として外乱抑圧特性に着目して設計され，また，自己調整ファジィコントローラの制御ルールは追従誤差信号を零収東させるようオンラインでチューニングされ．直流サーボモータを用いて提案した位置決めシステムを試作し，種々の入力に対する応答特性を実測した結果，本システムは自己調整ファジィフィードフォワードコントローラにより追従特性を著しく改善できるとともに，固定ルールファジィフィードバックコントローラにより十分な外乱抑圧特性を有していることが確認された．
4.	趙智敏, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno and Yu Kataoka : Design and Implementation of Self-Tuning Fuzzy Controller for Repetitive Positioning System, Bulletin of Faculty of Engineering, The University of Tokushima, No.40, 31-36, 1995. (Summary) 本論文では,通常のPIコントローラに付加してシステムの追従特性を著しく改善する補正形の自己調整ファジィコント回一ラを提案し,同コントローラを用いた繰り返し位置決めシステムの応答特性の実測結果から,その有用性を確認している．提案したファジィコントローラは,追従誤差を用いて制御ルールの後件部変数を自動的に調整し,PIコントローラのみでは不十分な追従特性を補正する．それゆえ,制御対象の動特性が変動することにより，PIコントロ一ラのゲインが適切でなくなる場合においても，本ファジィコントローラにより,良好な追従特性を得ることが可能となる．また，学習誤差を導入し,それに基づきいて学習係数および正規化ゲインを繰り返し周期毎に変更することにより，後件部変数の確実な収東性と高速な調整を実現している．試作した繰り返し位置決めシステムの実測結果から，提案したファジィコントロ一ラは，周期的に繰り返される規範入力に対して，システムの追従特性を改善することができ，制御対象の動特性変動に対しても有効であることが確かめている．

Academic Letter:

1.	Ayumu Kato, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Attitude Control of Biped Hopping Robot Using Inertial Rotor, Journal of Signal Processing, Vol.27, No.4, 129-132, 2023. (Tokushima University Institutional Repository) ● Metadata: 119380 (Tokushima University Institutional Repository: 119380)
2.	Hiroto Kanagawa, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Prediction Model of Wind Speed and Direction Using CNN and CLSTM with Vector Image Input, Journal of Signal Processing, Vol.27, No.4, 125-128, 2023. (Tokushima University Institutional Repository) ● Metadata: 119379 (Tokushima University Institutional Repository: 119379)
3.	Kohki Akiyama, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Prediction System of Cloud Distribution Image Using Fully Convolutional Networks, Journal of Signal Processing, Vol.26, No.4, 127-130, 2022. (Tokushima University Institutional Repository) ● Metadata: 118126 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.26.127 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390011108717964544 ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.26.127 (Tokushima University Institutional Repository: 118126, DOI: 10.2299/jsp.26.127, CiNii: 1390011108717964544)
4.	Nozomi Maeda, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Measurement of Tomato Leaf Area Using Depth Camera, Journal of Signal Processing, Vol.26, No.4, 123-126, 2022. (Tokushima University Institutional Repository) ● Metadata: 118107 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.26.123 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390855533654458624 ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.26.123 (Tokushima University Institutional Repository: 118107, DOI: 10.2299/jsp.26.123, CiNii: 1390855533654458624)
5.	Suguru Uramoto, Hiroshi Suzuki, Akinobu Kuwahara, Takahiro Kitajima and Takashi Yasuno : Tomato Recognition Algorithm and Grasping Mechanism for Automation of Tomato Harvesting in Facility Cultivation, Journal of Signal Processing, Vol.25, No.4, 151-154, 2021. (Tokushima University Institutional Repository) ● Metadata: 118127 (Tokushima University Institutional Repository: 118127)
6.	Yoshiki Sanada, Hiroshi Suzuki, Tomoki Matsuo, Akinobu Kuwahara, Takahiro Kitajima and Takashi Yasuno : Human-Friendly Safe Driving Support System of Electric Wheelchair for Drift Suppression, Journal of Signal Processing, Vol.24, No.4, 199-202, 2020. (Tokushima University Institutional Repository) ● Metadata: 118129 (Tokushima University Institutional Repository: 118129)
7.	Daichi Horihata, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : Correction Method for Numerically Forecast Wind Speed Data of MSM-GPV Using CNN, Journal of Signal Processing, Vol.24, No.4, 195-198, 2020. (Tokushima University Institutional Repository) ● Metadata: 118128 (Tokushima University Institutional Repository: 118128)
8.	Satoshi Yamashita, Hiroshi Suzuki, Akinobu Kuwahara, Takahiro Kitajima and Takashi Yasuno : Autonomous Traveling Control of Agricultural Mobile Robot Using Depth Camera in Greenhouse, Journal of Signal Processing, Vol.23, No.4, 201-204, 2019. (Tokushima University Institutional Repository) ● Metadata: 118131 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.23.201 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.23.201 (Tokushima University Institutional Repository: 118131, DOI: 10.2299/jsp.23.201)
9.	Yu Yamanaka, Hiroshi Suzuki and Takashi Yasuno : Jumping Movement of Biped Robot Using Closed Link Legs and Spring Mechanism, Journal of Signal Processing, Vol.23, No.4, 197-200, 2019. (Tokushima University Institutional Repository) ● Metadata: 118130 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.23.197 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.23.197 (Tokushima University Institutional Repository: 118130, DOI: 10.2299/jsp.23.197)
10.	Yuya Iwawaki, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Hisashi Takai and Takashi Yasuno : Autonomous Traveling Control of Crawler-Type Mobile Robot for Supporting Agricultural Work, Journal of Signal Processing, Vol.22, No.4, 215-218, 2018. (Tokushima University Institutional Repository) ● Metadata: 118134 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.22.215 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.22.215 (Tokushima University Institutional Repository: 118134, DOI: 10.2299/jsp.22.215)
11.	Tomoki Matsuo, Hiroshi Suzuki, Akinobu Kuwahara, Takahiro Kitajima, Hisashi Takai and Takashi Yasuno : Safe Driving Support System for Electric Wheelchair Based on Time to Collision and Degree of Danger, Journal of Signal Processing, Vol.22, No.4, 211-214, 2018. (Tokushima University Institutional Repository) ● Metadata: 118133 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.22.211 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.22.211 (Tokushima University Institutional Repository: 118133, DOI: 10.2299/jsp.22.211)
12.	Rui Fukuoka, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Wind Speed Prediction Model Using LSTM and 1D-CNN, Journal of Signal Processing, Vol.22, No.4, 207-210, 2018. (Tokushima University Institutional Repository) ● Metadata: 118132 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.22.207 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.22.207 (Tokushima University Institutional Repository: 118132, DOI: 10.2299/jsp.22.207)
13.	Shogo Yoshida, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Prediction of Wind Speed Fluctuation Using Deep Belief Network with Ensemble Learning Method, Journal of Signal Processing, Vol.21, No.4, 183-186, 2017. (Tokushima University Institutional Repository) ● Metadata: 118137 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.21.183 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.21.183 (Tokushima University Institutional Repository: 118137, DOI: 10.2299/jsp.21.183)
14.	Tomohito Uchiyama, Hiroshi Suzuki and Takashi Yasuno : Flexibility Evaluation of Action Control Rule for Autonomous Multiple Mobile Robots Based on Decision-Making Function for Panel Cruising Problem, Journal of Signal Processing, Vol.21, No.4, 179-182, 2017. (Tokushima University Institutional Repository) ● Metadata: 118136 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.21.179 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.21.179 (Tokushima University Institutional Repository: 118136, DOI: 10.2299/jsp.21.179)
15.	Naoki Nakao, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Path Planning and Traveling Control for Pesticide-Spraying Robot in Greenhouse, Journal of Signal Processing, Vol.21, No.4, 175-178, 2017. (Tokushima University Institutional Repository) ● Metadata: 118135 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.21.175 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.21.175 (Tokushima University Institutional Repository: 118135, DOI: 10.2299/jsp.21.175)
16.	Mizuki Higashi, Hiroshi Suzuki, Sejati Purnomo, Takashi Yasuno and Akinobu Kuwahara : Investigation of Teleoperation Support System Using Environmental Recognition Sensors for Three-Parallel-Crawler-Type Mobile Robot, Journal of Signal Processing, Vol.20, No.4, 187-190, 2016. (Summary) In this paper, we propose a simple method for the safe teleoperation of a three-parallel-crawler-type mobile robot with distance range sensors and a wireless camera having a sheye lens. The method enables the robot to avoid collision when a distant operator manipulates the robot by viewing a streaming video. In addition, noti cations of danger are shown on the control interface screen and an audible alarm informs of the risk of collision by using information obtained from distance-measuring sensors. The validity of this system was evaluated during on the basis of experimental results for the effectiveness the sensors during operation. (Tokushima University Institutional Repository) ● Metadata: 118138 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.20.187 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390001204463930240 ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.20.187 (Tokushima University Institutional Repository: 118138, DOI: 10.2299/jsp.20.187, CiNii: 1390001204463930240)
17.	Takuya Matsumoto and Takashi Yasuno : Design and Evaluation of Behavior Control Algorithm for Multiple-Mobile-Robot System in Panel Cruising Problem, Journal of Signal Processing, Vol.19, No.4, 139-142, 2015. (Summary) In this paper, we describe the design and evaluation of a behavior control algorithm for a multiple-mobile-robot system in a panel cruising problem. In order to achieve given tasks, fundamental functions such as path planning, path tracking, obstacle avoidance, and energy conservation are required for each mobile robot. Therefore, we propose an intelligent behavior control algorithm that was derived by analyzing the operators manipulation data. In particular, we focus on the implementation of decision-making skills making it possible to maintain a balance between selfish and altruistic behaviors in a multiple-mobile-robot system, and confirm the usefulness of the proposed behavior control algorithm from several computer simulations. (Tokushima University Institutional Repository) ● Metadata: 118139 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.19.139 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390282679440140800 ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.19.139 (Tokushima University Institutional Repository: 118139, DOI: 10.2299/jsp.19.139, CiNii: 1390282679440140800)
18.	Kassim bin Mohamed Anuar, Takashi Yasuno, Jaafar Izzuan Hazriq and Shahrieel Aras Mohd Mohd : Development and Evaluation of Voice Recognition Input Technology in Navigation System for Blind Person, Journal of Signal Processing, Vol.19, No.4, 135-138, 2015. (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.19.135 (Link to Search Site for Scientific Articles) ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.19.135 (DOI: 10.2299/jsp.19.135)
19.	Takahiro Nagai, Takashi Yasuno and Akinobu Kuwahara : Remote Control System for Mobile Robot with Semi-autonomous Control Based on Degree of Collision Danger, Journal of Signal Processing, Vol.18, No.4, 189-192, 2014. (Summary) This paper proposes a semi-autonomous remote control system for a mobile robot using the degree of collision danger. To successfully realize obstacle avoidance depending on the current condition, the degree of collision danger between the mobile robot and an obstacle is defined by using simplified fuzzy reasoning and is used to decide the priority of manipulation by an operator or autonomous navigation. Several experimental results using our developed legged-type mobile robot demonstrate the validity of the proposed semiautonomous remote control system. (Tokushima University Institutional Repository) ● Metadata: 118140 (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.18.189 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390282679441922304 ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.18.189 (Tokushima University Institutional Repository: 118140, DOI: 10.2299/jsp.18.189, CiNii: 1390282679441922304)
20.	A.M. Kassim, Takashi Yasuno, (名) Sivaraos, H.I. Jaafar and F.A. Jafar : Brake Motion Control for Quadruped Hopping Robot by Using Reference Height Control System, International Review of Mechanical Engineering, Vol.7, No.6, 1164-1170, 2013. (Summary) In this paper, the generation of brake motion control for our developed quadruped hopping robot while moving on two dimensional spaces by jumping continuously is discussed. The braking motion method which is approached is by applying the reference height control system to create the differences of front leg and back leg while making moving performance and correct the body posture which has inclined to make the quadruped hopping robot jump vertically while braking performances. On the other hand, this approached method can be used as the collision-avoidance behavior for the quadruped hopping robot. The MATLAB/Simulink model is used in order to conduct the pattern generation of quadruped hopping robot. As the result, effectiveness of approach method is confirmed to generate brake motion control of quadruped hopping robot while making continuous jumping vertically. (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-84887512766 (Elsevier: Scopus)
21.	A.M. Kassim, Takashi Yasuno, N. Abas, M. M. S. Aras and M. A. Z. Rashid : Performance Study of Reference Height Control Algorithm for Tripod Hopping Robot, International Review of Mechanical Engineering, Vol.7, No.5, 784-789, 2013. (Summary) Central Pattern Generator (CPG) algorithm enables to produce rhythmic patterned outputs where this neural networks underlie the production of most rhythmic motor patterns. In this paper, the generation of vertical jumping motion for tripod hopping robot by applying the Central Pattern Generator networks with reference height control algorithm in order to achieve reference height for each leg of tripod hopping robot is discussed. The proposed algorithm is designed using MATLAB/ Simulink which is consisted of maximum height detector, PI controller in the system of Central Pattern Generator (CPG). By using the proposed algorithm, the developed tripod hopping robot can achieve the reference height and maintain the hopping motion respectively. As the result, the effectiveness of proposed reference height control algorithm in order to achieve the reference height is confirmed. (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-84883661384 (Elsevier: Scopus)
22.	Kazuki Sato, Takashi Yasuno and Akinobu Kuwahara : Multistage-Type Prediction System of Solar Radiation Using Simplified Fuzzy Reasoning Based on Weather Forecast and MSM-GPV, Journal of Signal Processing, Vol.16, No.4, 295-298, 2012. (Summary) We describe a prediction system for solar radiation using simplified fuzzy reasoning based on weather forecasts and the mesoscale spectral model grid point value (MSM-GPV). The proposed prediction system has a multistage-type structure that consists of two parts: a function approximation part using a normal distribution function and a correction part using the simplified fuzzy reasoning. Using solar radiation data acquired in the past, a self-tuning algorithm tunes fuzzy correction rules so that the prediction error is decreased. Several simulation results confirm the usefulness of the proposed prediction system. (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.16.295 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1522825130618775552 ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.16.295 (DOI: 10.2299/jsp.16.295, CiNii: 1522825130618775552)
23.	Zhang Yong and Takashi Yasuno : Adapative Walking Control for Quadruped Robot on Irregular Terrain Based on CPG Network, Journal of Signal Processing, Vol.15, No.4, 315-318, 2011. (Summary) In this paper, we propose an adaptive locomotive system to control a quadrupe robot on irregular terrain using a new cantral pattern generator (CPG) model, in which the inhibitory and excitatory neurons are replaced by two DC motors that drive the joints of the legs directly. In order to generate the regular oscillatory signals for the quadruped robot, four CPG models are mutually connected to each other to control the joints of each leg. For adaptive walking on an irregular surface, a stable range of the robot body roll angle is proposed. The change of the parameters of the CPG network and the generation of the plural feedback information enable the quadruped robot to walk stably on irregular terrain. The simulation results confirm the validity of the proposed control system. (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1522825129913574912 (CiNii: 1522825129913574912)
24.	Yuji Tanaka, Takashi Yasuno, Hiroshi Suzuki, Akinobu Kuwahara and Takaharu Yamada : Control Characteristics of Three-Parallel-Crawler-Type Mobile Robot Using Adaptive Two-Degree-of-Freedom Control, Journal of Signal Processing, Vol.14, No.4, 321-324, 2010. (Summary) In this paper, we propose a three-parallel-crawler (TPC) -type mobile robot in which all crawlers are linked in parallel by a main shaft. The TPC-type mobile robot has a self-change function enabling it to take a variety of forms depending upon the conditions of a road surface by setting an arbitrary relative angle between the center crawler and both side crawlers. Moreover, to improve a remote control performance of the TPC-type mobile robot, we propose an adaptive two-degree-of-freedom (ATDOF) control system that is possible to implement in an AVR microcomputer. The effectiveness of the proposed ATDOF control system for improvement of servo performances is demonstrated by experiment. (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1524232504874261888 (CiNii: 1524232504874261888)
25.	Hiroshi Suzuki, Takashi Yasuno, Shiro Urushihara, Emiko Yasuno and Akinobu Kuwahara : Cooperative Conveyance Control for Multiple-Mobile-Robot System Using Complexed-Valued Neural Network and Indirect Cooperative Scheme, Journal of Signal Processing, Vol.14, No.4, 317-320, 2010. (Summary) We describe the cooperative conveyance control method for a multiple-mobile-robot system. In our previous research, we proposed the cooperative pattern generator with a complex-valued neural network (CVNN) to generate the cooperative motion for a pair of robots. We confirmed the validity of the proposed system through simulation and experimental results, and the CVNN was judged to be excellent compared with the real-valued neural network as a solution of this problem. In this paper, we propose the indirect cooperative scheme to extend the system to three or more mobile robots. Moreover, we develop ten mobile robots for the experiment. Experimental results using our developed mobile robots demonstrate the validity and emergent behavior of the proposed cooperative pattern generator and indirect cooperative scheme. (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1523669555250380416 (CiNii: 1523669555250380416)
26.	Mayumi Morimoto, Takashi Yasuno, Emiko Yasuno, Hiroshi Suzuki and Hironobu Harada : Traffic Control of Multiple Sweeping Robots on Panel Cruising Problem, Journal of Signal Processing, Vol.12, No.4, 331-334, 2008. (Summary) We describe traffic control of multiple sweeping robots in a panel cruising problem. In this study, the workspace is assumed to be a two-dimensional world, that is virtually divided into square tiles. To clean the work space, the virtual point panels, which indicate the required cleanliness level and the obstacle, are set. Each sweeping robot cleans the area using the virtual point map and shared simple traffic rules. Because of these simple traffic rules, each robot can move without interfering with each other and early deadlock can be avoided. In order to confirm the usefulness of the proposed traffic control method, simulations under various conditions of robots and experiments were executed using our developed system.
27.	Kondo Kimihiko, Takashi Yasuno and Hironobu Harada : Generation of Jumping Motion Pattern for Quadruped Hopping Robot Using CPG Network, Journal of Signal Processing, Vol.11, No.4, 321-324, 2007. (Summary) In this paper, we descnbe the generation of jumping motion patterns for a quadruped hopping robot using a central pattern generator (CPG) network. The developed quadruped hopping robot consists of four legs and the shared platform. A CPG, by which the mechanical dynamics of the hopping robot is determined, is mounted on each leg and used to generate periodic motion patterns for the leg. Moreover, the CPG of each leg is mutually connected through coupling parame ters to form the CPG network. When suitable coupling pa rameters are set, the quadruped hopping robot allows the realization of stable and suitable jumping motion patterns by interacting with the environment adaptively. The experimental results demonstrate the effectiveness of the proposed CPG network. (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1520854805722615680 (CiNii: 1520854805722615680)

Review, Commentary:

1.	Takahiro Kitajima, Takashi Yasuno, Hiroshi Suzuki, Akinobu Kuwahara and Masahiro Inoue : Development of Pesticide Spray Robot in Greenhouse Horticulture, 機械化農業, No.8, 40-43, Aug. 2022. (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1520292804185911040 (CiNii: 1520292804185911040)
2.	Takashi Yasuno : スマート移動型&自律型ロボットトーナメント(SMART)の新たな挑戦, The Journal of The Institute of Electrical Engineers of Japan, Vol.142, No.4, 231, Apr. 2022. (Link to Publication Site) ● Publication site (DOI): 10.1541/ieejjournal.142.231 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390854717771770624 ● Search Scopus @ Elsevier (DOI): 10.1541/ieejjournal.142.231 (DOI: 10.1541/ieejjournal.142.231, CiNii: 1390854717771770624)
3.	Takashi Yasuno, Hiroshi Suzuki and Takahiro Kitajima : 機械学習を用いた風速・風向同時予測モデルの開発と出力制御への応用, Wind Energy, Vol.45, No.137, 10, Aug. 2021. (Tokushima University Institutional Repository) ● Metadata: 119018 (Tokushima University Institutional Repository: 119018)
4.	Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : 精密・スマート農業を支えるICT~サイバー・フィジカル空間の融合にむけて~, 月刊研究開発リーダー, Vol.16, No.11, 10-14, Feb. 2020. (Tokushima University Institutional Repository) ● Metadata: 119021 (Tokushima University Institutional Repository: 119021)
5.	Takashi Yasuno, Hiroshi Suzuki, Takahiro Kitajima and Rui Fukuoka : 徳島大学理工学部制御応用工学研究室の研究紹介, Wind Energy, Vol.43, No.3, 505-508, Nov. 2019. (Link to Publication Site) ● Publication site (DOI): 10.11333/jwea.43.3_505 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1391693801402964352 ● Search Scopus @ Elsevier (DOI): 10.11333/jwea.43.3_505 (DOI: 10.11333/jwea.43.3_505, CiNii: 1391693801402964352)
6.	Takashi Yasuno : 人工知能による環境の計測・予測・制御と農薬散布ロボットの開発, 月刊研究開発リーダー, No.133, 21-25, Apr. 2017.
7.	Minoru Sakama, Takashi Yasuno, 山田隆治 and Kazumi Sagayama : 前立腺癌治療用ヨウ素(I-125)シード放射線強度品質管理測定システムの開発と製品化, Isotope News, No.8, 18-21, Aug. 2015.
8.	Takuya Kamano, Takashi Yasuno and Takayuki Suzuki : 遺伝的アルゴリズムの制御システム設計への応用, Journal of the Society of Instrument and Control Engineers, Vol.40, No.10, 747-751, Oct. 2001. (Summary) 本解説では，遺伝的アルゴリズム(GA)の制御分野への1つの適用例として，非線形システムに対するフィードフォワードコントローラのオンラインGAを用いたチューニング法について解説している．ここで紹介するフィードフォワードコントローラは，プラントの入出力関係を線形化する非線形補償部と，プラントの逆モデルにより追従特性を改善する線形補償部から構成されている．それぞれのパラメータは遺伝子と見なされ，追従誤差が零収束するようGAによりオンライン調整される．各パラメータのオンラインチューニングを可能とするために，極端に少ない個体数，突然変異した個体を瞬時に評価·淘汰する瞬時淘汰，積極的に突然変異確立や変位幅を制御する意図的突然変異を導入している．各パラメータのチューニングが終了した段階で，フィードフォワードコントローラはプラントの非線形性を含めた等価的な逆モデルを構築するため，著しい追従特性の改善が可能である．
9.	Takayuki Suzuki, Takuya Kamano and Takashi Yasuno : ロボットどうしが協力して相手を捕獲, コンピュータサイエンス誌bit, Vol.32, No.4, 38-42, Apr. 2000. (Summary) 本解説では，3台のハンターロボットによる1台のターゲットの捕獲問題を例に，群ロボットシステムにおける協調行動ルールの獲得法を紹介している．コンピュータシミュレーションにより，さまざまな環境を想定して提案手法の有用性を確認した結果，環境変化に適応可能なフォーメーションルールの獲得と，ターゲットを追い詰めた後の本能的なアプローチ行動と協調行動を実現するフォーメーション行動の組み合わせにより，確実にターゲットを捕獲できることを確認している．
10.	Takashi Yasuno : 人間のスキルを模擬した自律型移動ロボットの制御, 知的コンピューティングは今II, 35-38, Jan. 1998. (Summary) 人間と同様な行動機能を持つ自律型移動ロボットの開発を目的として，人間の操作データから状況判断スキルと操縦スキルをニュー口/ファジィ複合システムの学習により獲得する手法を紹介している．種々の環境下で試作自律型移動ロボットの走行実験を行った結果を紹介し，スキルの学習には使用していない未走行環境においても，ニューロ/ファジィ複合システムの汎化能力により，人間と類似の障害物回避行動が実現できることを示している．紹介したシステムは，移動ロボットのみならず，熟練者のスキルを要する高度な作業の自動化への一つのアプローチとして利用できるものと考えている．
11.	Takayuki Suzuki, Takuya Kamano and Takashi Yasuno : ファジィ制御による超音波モータ高性能位置決めシステム, 超音波テクノ, Vol.7, No.10, 43-47, Oct. 1995. (Summary) 本解説では，自己調整ファジィフィードフォワードコントーラを用いた進行波形超音波モータ位置サーボシステムの高性能化について述べている．ここで紹介している自己調整ファジィフィードフォワードコントーラは，規範位置信号，規範速度信号，規範加速度信号および追従誤差信号をファジィ入力変数とし，ファジィ制御ルールの後件部変数を追従誤差信号を零収束させるようにチューニングするものである．種々の規範入力に対するシステムの応答特性の実測結果から，自己調整ファジィフィードフォワードコントーラは，超音波モータの非線形性を補償し，追従特性の著しい改善に有効であることを示している．また，制御対象の動特性が大幅に変化した場合においても，同一のアルゴリズムで適用可能であることも示している．

Proceeding of International Conference:

1.	Tomoki Matsuo, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Automation Surprise Detection Using Facial Expression Recognition and Operation Input Values, Proceedings of 2024 63rd Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), No.FrBT8.1, 1285-1290, Kochi, Aug. 2024.
2.	SAKURAI Ryota, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Prediction of Wind Speed Using Deep Learning Based on Frequency Domain Analysis, Proceedings of 2024 63rd Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), No.FrAT9.2, 1058-1061, Kochi, Aug. 2024.
3.	Kataoka Ryota, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Gait Characteristics of Multi-legged Robot with Electric Fiber Artificial Muscles, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2024, No.27PM3-1-3, 111-114, Remote, Feb. 2024.
4.	Morimoto Aoi, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Influences on Muscles Around Buttock for Fixation Position of Buttock Muscle-Assist Orthosis, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2024, No.27PM2-3-6, 99-102, Remote, Feb. 2024.
5.	KANATANI Kohei, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, (名) Anuar and Takashi Yasuno : Travel Control of Autonomous Mobile Robot Cart for Implementation into Horticulture House, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2024, No.27PM2-3-3, 87-90, Remote, Feb. 2024.
6.	MIYAKE Tatsuya, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Obstacle Avoidance Behaviors of Multiple Mobile Robots with 2D-LiDAR, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2024, No.27PM2-3-2, 83-86, Remote, Feb. 2024.
7.	MUTO Minoru, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Inhibitory Control System of Downhill Turning Using Friction Brakes for Manual Wheelchair, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2024, No.27PM2-3-1, 79-82, Remote, Feb. 2024.
8.	SHIMIZU Kuuta, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Road Surface Recognition Method Using 3D-LiDAR for Automated Driving Vehicles, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2024, No.27PM1-2-5, 35-38, Remote, Feb. 2024.
9.	Miyake Yuta, Hiroshi Suzuki, Takahiro Kitajima, (名) Anuar and Takashi Yasuno : Oscillation Parameters Search for CPG Model with Motor Dynamics Using Firefly Algorithm, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2024, No.27PM1-1-1, 1-4, リモート, Feb. 2024.
10.	Ayumu Kato, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Design of Hopping Robot Model for Improving Stability on Hopping Locomotion Control, Proceedings of SICE Annual Conference 2023, 438-443, Tsu, Sep. 2023. (Link to Publication Site) ● Publication site (DOI): 10.23919/SICE59929.2023.10354249 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-85182592823 (DOI: 10.23919/SICE59929.2023.10354249, Elsevier: Scopus)
11.	AYUMU Kato, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Attitude Control of Biped Hopping Robot Using an Inertial Rotor, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2023, No.2AM1-1-1, 364-367, Honolulu, Mar. 2023.
12.	HIROKAZU Kariyama, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Detection Method of Leaf Cutting Point for Tomato Leafcutter Robot Using Depth Camera, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2023, No.1PM2-2-2, 329-332, Honolulu, Mar. 2023.
13.	TOMOHIRO Aoki, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Prediction Model of Solar Radiation Based on Weather Forecast and MSM-GPV Using Deep Neural Network, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2023, No.1AM1-2-1, 170-173, Honolulu, Mar. 2023.
14.	HIROTO Kanagawa, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Prediction Model of Wind Speed and Direction Using CNN and CLSTM with Vector Images Input, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2023, No.28PM3-2-6, 150-153, Online, Mar. 2023.
15.	SONOKA Yamashita, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Estimation of Temperature and Humidity Spatial Distribution in Horticultural Greenhouses Using Machine Learning, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2023, No.28PM3-2-5, 146-149, Online, Mar. 2023.
16.	JUN Shimazaki, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Flower Group Detection for Cherry Tomato Fruiting Treatment Robot Using Depth Camera, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2023, No.28PM2-3-6, 106-109, Online, Mar. 2023.
17.	YUTO Yamada, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Data Acquisition System of Human Skillful Operation Using Master-Slave Robot Manipulator, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2023, No.28PM2-1-2, 45-48, Online, Mar. 2023.
18.	KOHSEI Hirano, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Shinjiro Takata : Safe Driving System for Electric Wheelchair with Balloon-type Pneumatic Interface, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2023, No.28PM2-1-1, 41-44, Online, Mar. 2023.
19.	Puspita Anggraini Sari, Arman Dwi, Takashi Yasuno, Sihananto Nugroho Andreas, Haromainy Muharrom Al Muhammad and Saputra S.J. Wahyu : Forecasting Model of Wind Speed and Direction by Convolutional Neural Network - Deep Convolutional Long Short Term Memory, 2022 IEEE 8th Information Technology International Seminar (ITIS), 200-205, Surabayai, Oct. 2022. (Link to Publication Site) ● Publication site (DOI): 10.1109/ITIS57155.2022.10010005 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-85147095802 (DOI: 10.1109/ITIS57155.2022.10010005, Elsevier: Scopus)
20.	Roslan Mustaqiim bin Muhammad, Kassim bin Mohamed Anuar, Daud Mohd Bukhari Wan Wan, Yaacob Rusdy bin Mohd, Aziz As Shakirin bin Abd Muhammad, Adzlan Syahmi binti Nur, Jaya Khairul Ridzwan Awangku Awangku and Takashi Yasuno : Design and Development of Vision-Based Pest Identification for Crop Condition Monitoring, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2022, No.2PM2-1-2, 337-340, Online, Feb. 2022.
21.	Aziz As Shakirin bin Abd Muhammad, Kassim bin Mohamed Anuar, Daud Mohd Bukhari Wan Wan, Yaacob Rusdy bin Mohd, Roslan Mustaqiim bin Muhammad, Zulkefli Aswad bin Nur-Al, Jaya Khairul Ridzwan Awangku Awangku and Takashi Yasuno : Design and development of in-situ soil and crop monitoring system for wide range plantation application, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2022, No.2PM1-2-5, 329-332, Online, Feb. 2022.
22.	Zulkefli Aswad bin Nur-Al, Kassim bin Mohamed Anuar, Daud Mohd Bukhari Wan Wan, Yaacob Rusdy bin Mohd, Aziz As Shakirin bin Abd Muhammad, Roslan Mustaqiim bin Muhammad, Adzlan Syahmi binti Nur, Jaya Khairul Ridzwan Awangku Awangku and Takashi Yasuno : Design and Development of Intelligent Fertiliser Optimizer System for Small-scale Smart Fertigation Farm, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2022, No.2PM1-2-4, 325-328, Online, Feb. 2022.
23.	Yuki Yamazaki, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Masahide Hojo : Development of Spectacles-type Obstacle Detection System Using a Depth Camera for Visually Impaired Persons, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2022, No.2PM3-2-4, 401-404, Online, Feb. 2022.
24.	Kyosuke Hamaguchi, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Accuracy Verification of Self-Positioning and Environmental Map Construction on Uneven Terrain for Weeding Robot, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2022, No.2AM1-1-4, 225-228, Online, Feb. 2022.
25.	Ryota Mori, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Motion Analysis of Knee Rehabilitation Exercise Using Musculoskeletal Model, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2022, No.1PM2-1-5, 137-140, Online, Feb. 2022.
26.	Izran Afiq Shahmi Bin Shamsul Muhamad, Kassim bin Mohamed Anuar, Daud Mohd Bukhari Wan Wan, Yaacob Rusdy bin Mohd, Roslan Mustaqiim bin Muhammad, Basri Shukry bin Hassan Mohd, jaya Khairul Ridzwan Awangku Awangku and Takashi Yasuno : Development Of Real Time Soil Collection And Penetration System For Measuring The Soil 81 Mechanical Properties, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2022, No.1PM1-1-1, 81-84, Online, Feb. 2022.
27.	Tomoya Kawauchi, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Mode Recognition of Nursing Care Motions Based on Machine Learning, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2022, No.1AM2-2-3, 69-72, Online, Feb. 2022.
28.	KAZARI Tomoki, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Masahide Hojo : Human Gait Analysis Using Smartphone for Prevention of Long-Term Care, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2022, No.1AM2-2-1, 61-64, Online, Feb. 2022.
29.	Nozomi Maeda, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Measurement of Tomatoes Leaf Area Using a Depth Camera, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2022, No.1AM2-1-5, 57-60, Online, Feb. 2022.
30.	Koki Akiyama, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Prediction System of Cloud Distribution Image Using Fully Convolutional Network, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2022, No.1AM1-1-5, 17-20, Online, Feb. 2022.
31.	Takashi Yasuno : Robotic Systems and Artificial Intelligence and its Application, International Conference Sustainable Innovation (ICGSS) 2021, Nov. 2021.
32.	Takashi Yasuno : Application of Intelligent Control for Robots, Industry-Institution Engagement & Educators Summit (I2Es) 2021, Online, Oct. 2021.
33.	Yasufumi Wakita, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Evaluation of Meteorological Satellite Image Prediction Using Retrospective CycleGAN Based on Optical Flow Method, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2021, No.2PM1-2-2, 290, Online, Mar. 2021.
34.	Tatsuro Funai, Hiroshi Suzuki, Akinobu Kuwahara, Takahiro Kitajima and Takashi Yasuno : Object Tracking Based on Image Feature Extraction and Optical Flow Using In-vehicle Monocular Camera Image, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2021, No.2AM2-2-3, 258-261, Online, Mar. 2021.
35.	Suguru Uramoto, Hiroshi Suzuki, Akinobu Kuwahara, Takahiro Kitajima and Takashi Yasuno : Tomato Recognition Algorithm and Grasping Mechanism for Automation of Tomato Harvesting in Facility Cultivation, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2021, No.2AM2-2-2, 254-257, Online, Mar. 2021. (Link to Publication Site) ● Publication site (DOI): 10.2299/jsp.25.151 (Link to Search Site for Scientific Articles) ● CiNii @ National Institute of Informatics (CRID): 1390007072283795328 ● Search Scopus @ Elsevier (DOI): 10.2299/jsp.25.151 (DOI: 10.2299/jsp.25.151, CiNii: 1390007072283795328)
36.	Tatsuki Murakami, Hiroshi Suzuki, Akinobu Kuwahara, Takahiro Kitajima and Takashi Yasuno : Generation of Jumping Motions for Biped Robots Using CPG Networks Tuned by Firefly Algorithm, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2021, No.2AM1-1-2, 198-201, Online, Mar. 2021.
37.	Hikaru Homma, Hiroshi Suzuki, Akinobu Kuwahara, Takahiro Kitajima and Takashi Yasuno : Kinetic Performances of Drive-saving Four-legged robot Using Spring-damper Mechanism, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2021, No.2AM1-1-1, 194-197, Online, Mar. 2021.
38.	Sari Puspita Anggraini, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno, Prasetya Arman Dwi and (名) Nachrowie : Prediction Model of Wind Speed and Direction using Convolutional Neural Network Long Short Term Memory, 2020 IEEE International Conference on Power and Energy (PECon), 358-363, Dec. 2020. (Link to Publication Site) ● Publication site (DOI): 10.1109/PECon48942.2020.9314474 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-85100583806 (DOI: 10.1109/PECon48942.2020.9314474, Elsevier: Scopus)
39.	Sari Puspita Anggraini, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno, Prasetya Arman Dwi and Rab Abd. : Prediction of Wind Speed and Direction using Encoding forecasting Network with Convolutional Long Short-term Memory, Proceedings of SICE Annual Conference 2020, 958-963, Chiang Mai, Sep. 2020. (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-85096358715 (Elsevier: Scopus)
40.	Yotaro Oki, Hiroshi Suzuki, Kenji Yamanaka, Akinobu Kuwahara and Takashi Yasuno : Driver Assistance Control Based on Recognition of Road Conditions, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2020, No.2AM1-2-4, 210-213, Hawaii, Mar. 2020.
41.	Yoshiki Sanada, Hiroshi Suzuki, Tomoki Matsuo, Akinobu Kuwahara, Takahiro Kitajima and Takashi Yasuno : Human Friendly Safe Driving Support System of Electric Wheelchair Based on Acceleration Information, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2020, No.2AM1-2-3, 210-213, Hawaii, Mar. 2020.
42.	Seigo Kajikawa, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : Nowcasting of Solar Radiation Using CNN with Changing Input Range of Meteorological Satellite Image, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2020, No.29PM2-1-5, 210-213, Hawaii, Feb. 2020.
43.	Masanori Tanabe, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : Prediction Model of Satellite Cloud Images Using PredNet, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2020, No.29PM2-1-1, 195-198, Hawaii, Feb. 2020.
44.	Daichi Horihata, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : Correction Method for Numerical Forecast Wind Speed Data of MSM-GPV Using CNN, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2020, No.29AM2-1-2, 61-64, Hawaii, Feb. 2020.
45.	Mao Toyonaga, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : Wind Speed Prediction Model by Convolutional Neural Network Using Optical Flow of Clouds, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2020, No.29AM2-1-1, 57-60, Hawaii, Feb. 2020.
46.	Naoto Fujioka, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : Cloud Image Prediction Using Fully-Convolutional Neural Network with 3D-CNN and 2D-CNN, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2019, No.7AM2-1-2, 402-405, Hawaii, Mar. 2019.
47.	Yuki Emoto, Hiroshi Suzuki, Ayaka Sumoto, Akinobu Kuwahara, Takahiro Kitajima, Mito Kori and Takashi Yasuno : Quantitative Analysis of Knee-Joints Burden of Nursing Care Motion in Case of Using Waist-Joint Power Assistive Orthosis, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2019, No.5PM1-1-5, 104-107, Hawaii, Mar. 2019.
48.	Yu Yamanaka, Hiroshi Suzuki and Takashi Yasuno : Jumping Movement of Biped Robot Using Closed Link Legs and Spring Mechanism, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2019, No.5PM1-1-4, 100-103, Hawaii, Mar. 2019.
49.	Kodai Kato, Hiroshi Suzuki, Akinobu Kuwahara, Takahiro Kitajima and Takashi Yasuno : Motion Control of 2-link Robot Manipulator with Simple Bi-articular Muscle Mechanism, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2019, No.5PM1-1-2, 92-95, Hawaii, Mar. 2019.
50.	Satoshi Yamashita, Hiroshi Suzuki, Akinobu Kuwahara, Takahiro Kitajima and Takashi Yasuno : Autonomous Traveling Control of Agricultural Mobile Robot using Depth Camera in Greenhouse, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2019, No.5PM1-1-1, 88-91, Hawaii, Mar. 2019.
51.	Rui Fukuoka, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : Prediction of Rapid Wind Speed Fluctuation by LSTM Using Observed Data of Multiple Points, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2019, No.5AM2-3-3, 76-79, Hawaii, Mar. 2019.
52.	Ayaka Sumoto, Hiroshi Suzuki, Akinobu Kuwahara, Takahiro Kitajima, Hisashi Takai and Takashi Yasuno : Mechanistic Influence Analysis of Power Assist Orthosis for Human Body Using Simple Digital Human Model, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2018, No.7AM2-3-4, 596-599, Hawaii, Mar. 2018.
53.	Yuya Iwawaki, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Hisashi Takai and Takashi Yasuno : Autonomous Traveling Control of Crawler-type Mobile Robot for Supporting Agricultural Works, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2018, No.6AM1-3-3, 295-298, Hawaii, Mar. 2018.
54.	Kohei Komatsu, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : On-time Cruising Algorithm Using Vehicle Dynamics and Obstacle Avoidance for Self-driving, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2018, No.6AM1-3-2, 291-294, Hawaii, Mar. 2018.
55.	Tomoki Matsuo, Hiroshi Suzuki, Akinobu Kuwahara, Takahiro Kitajima, Hisashi Takai and Takashi Yasuno : Safety-driving Support System for Electric Wheelchair Based on Time-to-collision and Danger-degree, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2018, No.6AM1-3-1, 287-290, Hawaii, Mar. 2018.
56.	Kosuke Okumoto, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno and Kiyoshi Takigawa : Satellite Cloud Image Prediction Model Using Convolutional Neural Network, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2018, No.5AM1-3-4, 53-56, Hawaii, Mar. 2018.
57.	Rui Fukuoka, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Wind Speed Prediction Model Using LSTM and 1D-CNN, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2018, No.5AM1-3-2, 45-48, Hawaii, Mar. 2018.
58.	Takahiro Kitajima, Shogo Yoshida, Hiroshi Suzuki and Takashi Yasuno : Sign Prediction of Wind Speed Change by Support Vector Machine, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2017, No.3PM1-1-5, 617-620, Guam, Mar. 2017.
59.	Shogo Yoshida, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Prediction of Wind Speed Fluctuation Using Deep Belief Network with Ensemble Learning Method, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2017, No.3PM1-1-4, 613-616, Guam, Mar. 2017.
60.	Naoki Nakao, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Path Planning and Traveling Control for Pesticide Spraying Robot in Greenhouse, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2017, No.3AM2-1-4, 557-560, Guam, Mar. 2017.
61.	Shota Nakazawa, Hiroshi Suzuki, Akinobu Kuwahara, Takahiro Kitajima and Takashi Yasuno : Measurement Accuracy Verification of Kinect Using Motion Measurement Orthosis for Teleoperation-type Nursing-care Robot, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2017, No.3AM2-1-5, 561-567, Guam, Mar. 2017.
62.	Tomohito Uchiyama, Hiroshi Suzuki and Takashi Yasuno : Flexibility Evaluation of Action Control Rule for Autonomous Multiple Mobile Robots Based on Decision-making Function for Panel Cruising Problem, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2017, No.3AM1-1-4, 509-512, Guam, Mar. 2017.
63.	Kyohei Toriu, Hiroshi Suzuki and Takashi Yasuno : Parameter Search of CPG Model Coupled Two DC Motors Using PSO, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2017, No.3AM1-1-3, 505-508, Guam, Mar. 2017.
64.	Kassim bin Mohamed Anuar, Takashi Yasuno, Hiroshi Suzuki, Jaafar Izzuan Hazriq and Aras Shahrieel Mohd Mohd : Performance Analysis of 125 kHz Passive RFID on Auto-Navigation System at Outdoor Environment for Visually Impaired Person, Proceedings of SICE Annual Conference 2016, 1520-1525, Tsukuba, Jul. 2016.
65.	Heejin Lee, Hiroshi Suzuki and Takashi Yasuno : Self-driving System Using GPS Coordinate Tracking under Relative Distance, Proceedings of SICE Annual Conference 2016, No.Th2bPo5.4, 1050-1053, Tsukuba, Jul. 2016.
66.	Shogo Yoshida, Hiroshi Suzuki, Takahiro Kitajima, Anuar Mohamed Kassim and Takashi Yasuno : Correctiomn Method of Wind Speed Prediction System using Predicted Wind Speed Fluctuation, Proceedings of SICE Annual Conference 2016, No.Th2bPo5.5, 1054-1059, Tsukuba, Jul. 2016.
67.	Sejati Purnomo, Hiroshi Suzuki and Takashi Yasuno : Investigation of Collision Signal Measured with Accelerometer for Determining Team Member on Non-Prehensile Object Conveyance by Multiple Mobile Robots, Proceedings of SICE Annual Conference 2016, 333-338, Tsukuba, Jul. 2016.
68.	Tomoaki Inoue, Kenichi Iida, Etsuko Ueda and Takashi Yasuno : Sensing System for Agricultural Environment using Mobile Robot, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2016, 767-770, Honolulu, Mar. 2016.
69.	Takuya Agui, Hiroshi Suzuki, Kassim bin Mohamed Anuar and Takashi Yasuno : Design Method of Hip Joint Power Assist Orthosis Based on Dynamic Simulation of Human Motion, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2016, 779-782, Honolulu, Mar. 2016.
70.	Mizuki Higashi, Hiroshi Suzuki, Sejati Purnomo, Takashi Yasuno and Akinobu Kuwahara : Investigation of Teleoperation Support System Using Environmental Recognition Sensors for Three-Parallel-Crawler-Type Mobile Robot, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2016, 775-778, Honolulu, Mar. 2016.
71.	Hiroshi Suzuki, Takashi Yasuno, Youhei Miyabe and Takahiro Kitajima : Wind Speed Prediction System Using Multiple Time-Delayed Neural Networks, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2016, 660-663, Honolulu, Mar. 2016.
72.	Nobuto Okubo, Takahiro Kitajima, Hiroshi Suzuki, Takashi Yasuno and Kiyoshi Takigawa : Cloud Movement Prediction of Meteorological Satellite Images Using Hierarchical Neural Network, RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing 2016, 467-470, Honolulu, Mar. 2016.
73.	A.M Kassim, M.N Othman, M.R Yaacob, A.K.R.A. Jaya, M.I.M. Sabri, A.H. Azahar, (名) Sivaraos and Takashi Yasuno : Development and Implementation of Travel Aid Device for Blind Person, International Conference on Knowledge Transfer, Kuala Lumpur, Dec. 2015.
74.	Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno, Tatsuya Fujii, Inoue Ken and Masahiro Inoue : Development of Autonomous Pesticide Spray Robot and Its Driving Algorithm for Greenhouse Horticulture, International Conference on Design and Concurrent Engineering (iDECON2015), No.52, Tokushima, Sep. 2015.
75.	Sejati Purnomo and Takashi Yasuno : Push position estimation for irregular object in conveyance problem using multiple mobile robots system, International Conference on Design and Concurrent Engineering (iDECON2015), No.18, Tokushima, Sep. 2015.
76.	Kassim bin Mohamed Anuar, Takashi Yasuno, Jaafar Izzuan Hazriq, Aras Shahrieel Mohd Mohd and Abas Norafizah : Performance Analysis of Wireless Warning Device for Upper Body Level of Deaf-Blind Person, Proceedings of SICE Annual Conference 2015, No.196, 341-346, Hangzhou, Jul. 2015. (Link to Publication Site) ● Publication site (DOI): 10.1109/SICE.2015.7285379 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-84960146480 (DOI: 10.1109/SICE.2015.7285379, Elsevier: Scopus)
77.	Takafumi Inoue, Takahiro Kitajima and Takashi Yasuno : Walking Control of Quadruped Robot Using Complex-valued CPG Network with ZMP Feedback on Irregular Terrain, 2015 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, No.2AM1-2-3, 441-444, Kuala Lumpur, Mar. 2015.
78.	Kazuya Yamamoto, Kassim Bin Mohamed Anuar, Takashi Yasuno and Akinobu Kuwahara : Oscillation Characteristics of CPG Model Interconnected DC motors, 2015 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, No.2AM1-2-1, 433-436, Kuala Lumpur, Mar. 2015.
79.	Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno, Minoru Sakama, Masaki Takatsuki, Takaharu Yamada, Teruyoshi Ichiraku and Hisashi Takai : Quality Assurance Algorithm of Brachytherapy Seeds of Iodine-125 For Automatic Instrument Device BSQAS, 2015 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, No.28PM2-3-1, 242-245, Kuala Lumpur, Feb. 2015.
80.	Takuya Matsumoto and Takashi Yasuno : Task Performances of Mobile Robot with Behavior Control Algorithm Based on Humans Decision-making Skills, 2015 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, No.28PM2-3-4, 254-257, Kuala Lumpur, Feb. 2015.
81.	Yohei Miyabe, Takahiro Kitajima and Takashi Yasuno : Wind Speed Prediction Model Using Neural Networks Classified By Observed Wind Speed, 2015 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, No.28PM2-2-2, 230-233, Kuala Lumpur, Feb. 2015.
82.	Sejati Purnomo, Takahiro Kitajima and Takashi Yasuno : Object Conveyance Control System By Multiple Mobile Robots With Dynamic Team, 2015 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, No.28AM2-3-4, 118-121, Kuala Lumpur, Feb. 2015.
83.	Kassim bin Mohamed Anuar, Takashi Yasuno, Jaafar Izzuan Hazriq and Aras Shahrieel Mohd Mohd : Development of Voice Recognition Input Technology for Blind Navigation System, 2015 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, No.28AM1-3-3, 45-48, Kuala Lumpur, Feb. 2015.
84.	Zhang Yong, Xu Fang and Takashi Yasuno : Adaptive Walking Control for Quadruped Robot with CPG Network using Motor Dynamics, The 11th World Congress on Intelligent Control and Automation, Shenyang (China), Jun. 2014.
85.	Takashi Yasuno, Daiki Tanaka and Akinobu Kuwahara : Autonomous Navigation System Based on Collision Danger-degree for Unmanned Groud Vehicle, The 2014 International Power Electronics Conference, 3179-3184, Hiroshima, May 2014.
86.	Masaharu Inoue, Takashi Yasuno, Takahiro Kitajima and Akinobu Kuwahara : Accuracy Improvement Method of Position Identification for Outdoors Mobile Robot Using Several Point Positioning Type GPSs, 2014 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, 461-464, Honolulu, Mar. 2014.
87.	Takahiro Nagai, Takashi Yasuno and Akinobu Kuwahara : Remote Control Characteristics for Mobile Robot with Semi-Autonomous Control Based on Collision Danger-Degree, 2014 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, 341-344, Honolulu, Mar. 2014.
88.	Yuta Tagami, Takashi Yasuno and Takahiro Kitajima : Fuzzy Prediction Model of Solar Radiation Using Leveled Sunshine Duration, 2014 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, 241-244, Honolulu, Mar. 2014.
89.	Yong Zhang, Takashi Yasuno and Prasetya Arman Dwi : Adaptive Walking for Quadruped Robot on Irregular Terrain by Using CPG Network, Proceedings of SICE Annual Conference 2013, No.MoBT14.21, 1734-1737, Nagoya, Sep. 2013.
90.	Prasetya Arman Dwi, Takashi Yasuno and Yong Zhang : Cooperative Tracking Control of Multiple Mobile Robot for Moving Target Using Particle Swarm Optimization, Proceedings of SICE Annual Conference 2013, No.MoBT14.19, 1724-1727, Nagoya, Sep. 2013.
91.	Takahiro Kitajima and Takashi Yasuno : Evaluation of Predictive Maximum Power Control of Wind Power Generation for Wind Speed Prediction Error, Proceedings of SICE Annual Conference 2013, No.SuBT14.16, 742-745, Nagoya, Sep. 2013.
92.	A.M. Kassim, H. I Jaafar, M.A. Azam, N. Abas and Takashi Yasuno : Performances Study of Distance Measurement Sensor with Different Object Materials and Properties, 2013 IEEE 3rd International Conference on System Engineering and Technology, 281-284, Aug. 2013. (Link to Publication Site) ● Publication site (DOI): 10.1109/ICSEngT.2013.6650185 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-84891089689 (DOI: 10.1109/ICSEngT.2013.6650185, Elsevier: Scopus)
93.	A.M. Kassim, H. I Jaafar, M.A. Azam, N. Abas and Takashi Yasuno : Design and Development of Navigation System by using RFID Technology, 2013 IEEE 3rd International Conference on System Engineering and Technology, 258-262, Aug. 2013. (Link to Publication Site) ● Publication site (DOI): 10.1109/ICSEngT.2013.6650181 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-84891081305 (DOI: 10.1109/ICSEngT.2013.6650181, Elsevier: Scopus)
94.	Daisuke Irahara and Takashi Yasuno : Evaluation of Traffic Control Rules Based on Human's Decision-Making Data for Panel Cruising Problem, 2013 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, 665-668, Mar. 2013.
95.	Masaki Abe, Takashi Yasuno and Akinobu Kuwahara : Assistive Torque Control for Power Assist Knee Orthosis at Sit to Stand and Stand to Sit Motion, 2013 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, 412-415, Mar. 2013.
96.	Yoshio Soneda and Takashi Yasuno : Adaptive Walking Control Method of Quadruped Robot Using Complex-valued CPG Network with ZMP Feedback, 2013 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, 416-419, Mar. 2013.
97.	Takahiro Kitajima and Takashi Yasuno : Maximum Power Control for Wind Power Generation With Predicted Wind Speed, 2013 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, 285-288, Mar. 2013.
98.	Masaki Shindoh, Takashi Yasuno and Akinobu Kuwahara : Development of Teleoperation System Using Internal Sensor Data for Three-Parallel-Crawler-Type Mobile Robot, 2013 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, 273-276, Mar. 2013.
99.	Prasetya Arman Dwi and Takashi Yasuno : Cooperative Control of Multiple Mobile Robot Using Particle Swarm Optimization For Tracking Two Passive Target, Proceedings of SICE Annual Conference 2012, No.WeP02-34, 1751-1754, Akita, Aug. 2012.
100.	Kiyoshi Takigawa, Koichi Iwabu and Takashi Yasuno : Visualization of Solar Radiation Distribution using Cloud Images, The International Conference on Electrical Engineering 2012, No.P-PS2-3, 1384-1389, Kanazawa, Jul. 2012.
101.	Kazuki Sato, Takashi Yasuno and Akinobu Kuwahara : Multistage-Type Prediction System of Solar Radiation Using Simplified Fuzzy Reasoning Based on Weather Forecast, 2012 RISP International Workshop on Nonlinear Circuits and Signal Processing, 764-767, Honolulu, Mar. 2012.
102.	Naoya Ikeda, Takashi Yasuno and Takahiro Kitajima : Wind Speed Prediction Method Using Complex-Valued Neural Network Based on Wind Speed Frequency Spectrum, 2012 RISP International Workshop on Nonlinear Circuits and Signal Processing, 760-763, Honolulu, Mar. 2012.
103.	Daisuke Nishigawa and Takashi Yasuno : Position Control of Tendon-Driven Joint Using Adaptive Two-Degree-of-Freedom Control System, 2012 RISP International Workshop on Nonlinear Circuits and Signal Processing, 695-698, Honolulu, Mar. 2012.
104.	Masahiro Kijima, Takashi Yasuno and Akinobu Kuwahara : Implementation of Complex-Valued CPG Network for Gait Generation of Real Quadruped Robot, 2012 RISP International Workshop on Nonlinear Circuits and Signal Processing, 84-87, Honolulu, Mar. 2012.
105.	Koichi Iwabu, Kiyoshi Takigawa and Takashi Yasuno : Specifying Method of Cloud Area Affecting Solar Radiation on the Ground Using Cloud Images, 2012 RISP International Workshop on Nonlinear Circuits and Signal Processing, 41-44, Honolulu, Mar. 2012.
106.	Kiyoshi Takigawa, Koichi Iwabu and Takashi Yasuno : Estimation of Solar Radiation Distribution Using Cloud Images, 2012 RISP International Workshop on Nonlinear Circuits and Signal Processing, 37-40, Honolulu, Mar. 2012.
107.	Takeshi Nakatani, Takashi Yasuno, Kenji Yamanaka and Akinobu Kuwahara : Investigation of Collision Avoidance Using Vibration Device for Electric Wheelchair Support System, 2012 RISP International Workshop on Nonlinear Circuits and Signal Processing, 33-36, Honolulu, Mar. 2012.
108.	Takahiro Kitajima and Takashi Yasuno : Output Control of Wind Power Generation System Based on Predictive Control, 2012 RISP International Workshop on Nonlinear Circuits and Signal Processing, 29-32, Honolulu, Mar. 2012.
109.	A.M. Kassim, M.F. Miskon, N.H.A. Rahim and Takashi Yasuno : Effectiveness of Reference Height Control System for Tripod Hopping Robot, Proceedings of 2011 4th International Conference on Mechatronics (ICOM), Kuala Lumpur, May 2011.
110.	Takahiro Kitajima and Takashi Yasuno : Prediction System of Wind Speed and Direction Using Complexvalued Neural Network with Multipoint GPV Data, 2011 RISP International Workshop on Nonlinear Circuits and Signal Processing, 95-98, Tianjin, Mar. 2011.
111.	Eri Yoneda, Takashi Yasuno, Hiroshi Suzuki and Akinobu Kuwahara : Estimation of Assistive Torque for Power Assist Knee Orthosis at Transferring Sit-to-Stand and Stand-to-Sit Motion, 2011 RISP International Workshop on Nonlinear Circuits and Signal Processing, 91-94, Tianjin, Mar. 2011.
112.	Yuki Atake, Takashi Yasuno, Eri Yoneda and Akinobu Kuwahara : Development of Power Assist Knee Orthosis(i-PASKO4) and Its Stand-up Motion Analysis, 2011 RISP International Workshop on Nonlinear Circuits and Signal Processing, 87-90, Tianjin, Mar. 2011.
113.	Kijima Masahiro, Takashi Yasuno, Hiroshi Suzuki and Zhang Yong : Gait Generation for Quadruped Robot Using Complex-valued CPG Network, 2011 RISP International Workshop on Nonlinear Circuits and Signal Processing, 83-86, Tianjin, Mar. 2011.
114.	Mao Yamamoto, Takashi Yasuno and Akinobu Kuwahara : Obstacle Avoidance Control for Autonomous Mobile Robot Based on Left and Right Sides Collision Danger-degrees, 2011 RISP International Workshop on Nonlinear Circuits and Signal Processing, 44-47, Tianjin, Mar. 2011.
115.	Tanaka Daiki, Takashi Yasuno and Akinobu Kuwahara : Autonomous Navigation System for Unmanned Ground Vehicle Using Collision Danger-degree, 2011 RISP International Workshop on Nonlinear Circuits and Signal Processing, 40-43, Tianjin, Mar. 2011.
116.	Zhang Yong and Takashi Yasuno : Adaptive Walking Control for Quadruped Robot on Irregular Terrain Based on CPG network, 2011 RISP International Workshop on Nonlinear Circuits and Signal Processing, 36-39, Tianjin, Mar. 2011.
117.	Takahiro Kitajima and Takashi Yasuno : Output Prediction of Wind Power Generation System Using Complex-valued Neural Network, SICE Annual Conference 2010, 3610-3613, Taipei, Aug. 2010.
118.	Hiroshi Suzuki, Takashi Yasuno, Akinobu Kuwahara, Shiro Urushihara and Emiko Yasuno : Control Characteristics of Cooperative Conveyance System for Multiple Mobile Robots using Complex-Valued Neural Network, SICE Annual Conference 2010, 3581-3585, Taipei, Aug. 2010.
119.	Yong Zhang and Takashi Yasuno : Adaptive Walking Control Using CPG Network for Quadrupe Robot with Bi-articular Muscles Model, SICE Annual Conference 2010, 3605-3609, Taipei, Aug. 2010.
120.	Kassim Bin Mohamed Anuar and Takashi Yasuno : Moving Control of Quadruped Hopping Robot Using Adaptive CPG Networks, Proceedings of 2010 IEEE Conference on Robotics, Automation and Mechatronics, No.RAM-098, 581-588, Jun. 2010. (Link to Publication Site) ● Publication site (DOI): 10.1109/RAMECH.2010.5513128 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-77955706298 (DOI: 10.1109/RAMECH.2010.5513128, Elsevier: Scopus)
121.	Hiroshi Suzuki, Takashi Yasuno, Shiro Urushihara, Emiko Yasuno and Akinobu Kuwahara : Cooperative Conveyance Control for Multiple-Mobile-Robot System Using Complex-Valued Neural Network and Indirect Cooperative Scheme, 2010 RISP International Workshop on Nonlinear Circuits and Signal Processing, 644-647, Honolulu, Mar. 2010.
122.	Takahiro Kitajima and Takashi Yasuno : Prediction System of Wind Speed and Direction using Complexvalued Neural Network, 2010 RISP International Workshop on Nonlinear Circuits and Signal Processing, 636-369, Honolulu, Mar. 2010.
123.	Shiro Ozaki, Takashi Yasuno, Akinobu Kuwahara and Daiki Tanaka : Self-Tuning Fuzzy Tracking Control for Autonomous Unmanned Ground Vehicle Using Preview of Reference Path, 2010 RISP International Workshop on Nonlinear Circuits and Signal Processing, 580-583, Honolulu, Mar. 2010.
124.	Eri Yoneda, Takashi Yasuno, Hiroshi Suzuki and Akinobu Kuwahara : Motion Estimation for Assistive Force Control of Power Assist Knee Orthosis with Spring Mechanism, 2010 RISP International Workshop on Nonlinear Circuits and Signal Processing, 365-368, Honolulu, Mar. 2010.
125.	Kuniyuki Koide, Takashi Yasuno, Takuya Kagawa, Emiko Yasuno and Akinobu Kuwahara : Acquisition Method of Human Decision-making Skills for Panel Cruising Problem with Multiple Robots, 2010 RISP International Workshop on Nonlinear Circuits and Signal Processing, 215-218, Honolulu, Mar. 2010.
126.	Mao Yamamoto, Takashi Yasuno and Akinobu Kuwahara : Obstacle Avoidance Control of Autonomous Mobile Robot with Laser Range Finder Based on Static Danger-Degree, 2010 RISP International Workshop on Nonlinear Circuits and Signal Processing, 93-96, Honolulu, Mar. 2010.
127.	Yuji Tanaka, Takashi Yasuno, Hiroshi Suzuki, Akinobu Kuwahara and Takaharu Yamada : Control Characteristics of Three-Parallel Crawlers Type Mobile Robot Using Adaptive Two-Degree-of-Freedom Control, 2010 RISP International Workshop on Nonlinear Circuits and Signal Processing, 85-88, Honolulu, Mar. 2010.
128.	Shinji Irahara, Takashi Yasuno, Yamanaka Kenji and Akinobu Kuwahara : Evaluation of Safety Driving Support System for Electric Wheelchair Using Vibration Device, 2010 RISP International Workshop on Nonlinear Circuits and Signal Processing, 81-84, Honolulu, Mar. 2010.
129.	Hitoshi Sori and Takashi Yasuno : Several-Hours-Aheas Wind Speed Prediction System Using Correction Reccurent Neural Network, 2009 RISP International Workshop on Nonlinear Circuits and Signal Processing, 621-624, Honolulu, Mar. 2009.
130.	Hiroshi Suzuki, Takashi Yasuno, Shiro Urushihara, Emiko Yasuno and Akinobu Kuwahara : Characteristics of Cooperative Conveyance Control for Distributed Autonomous Multiple Mobile Robot System, 2009 RISP International Workshop on Nonlinear Circuits and Signal Processing, 471-474, Honolulu, Mar. 2009.
131.	Tatsuya Yamane, Takashi Yasuno, Katsunori Kuwajima, Satoru Takiwaki, Akinobu Kuwahara and Hironobu Harada : Sensor Based Motion Control of Power Assist Knee Orthosis with Spring Mechanism, 2009 RISP International Workshop on Nonlinear Circuits and Signal Processing, 467-470, Honolulu, Mar. 2009.
132.	Takuya Kagawa, Takashi Yasuno, Shiro Urushihara, Emiko Yasuno and Akinobu Kuwahara : Traffic Control of Multiple Sweeping Robots Using Genetic Programming, 2009 RISP International Workshop on Nonlinear Circuits and Signal Processing, 415-418, Honolulu, Mar. 2009.
133.	Ryohei Nogami, Takashi Yasuno, Akinobu Kuwahara and Hironobu Harada : Motion Control for Two-links Manipulator with Bi-articular Muscles Model using CPG, 2009 RISP International Workshop on Nonlinear Circuits and Signal Processing, 245-248, Honolulu, Mar. 2009.
134.	Shiro Ozaki, Takashi Yasuno, Hironobu Harada and Akinobu Kuwahara : Fuzzy Tracking Control for Autonomous All Terrain Vehicle on Outdoor Environment, 2009 RISP International Workshop on Nonlinear Circuits and Signal Processing, 121-124, Honolulu, Mar. 2009.
135.	Masataka Tobari, Takashi Yasuno and Hironori Suzue : Fuzzy Prediction System of Solar Radiation Using Mesoscale Spectral Model-GPV Data, Fuzzy Prediction System of Solar Radiation Using Mesoscale Spectral Model-GPV Data, 117-120, Honolulu, Mar. 2009.
136.	Hiroki Arimochi, Takashi Yasuno, Emiko Yasuno and Akinobu Kuwahara : Self Localization and Mapping for Multiple Robots Based on Sensor Network Technique, 2009 RISP International Workshop on Nonlinear Circuits and Signal Processing, 17-20, Honolulu, Mar. 2009.
137.	Sho Fujisawa, Takashi Yasuno, Satoshi Yura, Kenichi Iida and Hironobu Harada : High Speed Synchronization Motion Control Using Synchronizing Controller with PI Controller for Two Axes Speed Servo System, 2009 RISP International Workshop on Nonlinear Circuits and Signal Processing, 5-8, Honolulu, Mar. 2009.
138.	Katsunori Kuwajima, Takashi Yasuno, tetsuro Amane and Hironobu Harada : Development and Basic Control Characteristics of Power Assist Knee Orthosis with Spring Mechanism for Care Prevention, Proceedings of 2008 RISP International Workshop on Nonlinear Circuits and Signal Processing, 491-494, Gold Coast, Mar. 2008.
139.	Hitoshi Nakayama, Takashi Yasuno and Hironobu Harada : Adaptive Action Control for Leg-Wheeled Type Quadruped Robot on Unknown Environment, Proceedings of 2008 RISP International Workshop on Nonlinear Circuits and Signal Processing, 487-490, Gold Coast, Mar. 2008.
140.	Kenta Yuasa, Takashi Yasuno and Hironobu Harada : Walking Control and Evaluation of Tumble Danger-Degree for Quadruped Robot on Irregular Terrains, Proceedings of 2008 RISP International Workshop on Nonlinear Circuits and Signal Processing, 479-482, Gold Coast, Mar. 2008.
141.	Mayumi Morimoto, Takashi Yasuno, Emiko Yasuno, Hiroshi Suzuki and Hironobu Harada : Traffic Control of Multiple Sweeping Robots on Panel Cruising Problem, Proceedings of 2008 RISP International Workshop on Nonlinear Circuits and Signal Processing, 475-478, Gold Coast, Mar. 2008.
142.	Hiroshi Suzuki, Takashi Yasuno, Shiro Urushihara and Hironobu Harada : Leaning Method and Flexibility of Cooperative Pattern Generation System for Multiple Mobile Robots Using Neural Network, Proceedings of 2008 RISP International Workshop on Nonlinear Circuits and Signal Processing, 447-450, Gold Coast, Mar. 2008.
143.	Tani Hiroaki, Takashi Yasuno and Hironobu Harada : Action Control Method of Sweeping Robot with Two Arms Using Neural Network, Proceedings of 2008 RISP International Workshop on Nonlinear Circuits and Signal Processing, 271-274, Gold Coast, Mar. 2008.
144.	Hitoshi Sori and Takashi Yasuno : Correction Method for Wind Speed Prediction After a Short Time Using Hierarchical Neural Network, Proceedings of 2008 RISP International Workshop on Nonlinear Circuits and Signal Processing, 259-262, Gold Coast, Mar. 2008.
145.	Ryota Yakusiji, Takashi Yasuno, Naoto Fujimura, Kiyoshi Takigawa and Kensuke Kawasaki : Output Prediction Method of Wind Power Generation System Using Self- Tuning Fuzzy Reasoning, Proceedings of 2008 RISP International Workshop on Nonlinear Circuits and Signal Processing, 17-20, Gold Coast, Mar. 2008.
146.	Tetsuro Amane, Takashi Yasuno and Hironobu Harada : Gait Characteristics at Installation of Power Assist Knee Orthosis with Spring Mechanism, Proceedings of International Symposium on Biological and Physiological Engineering / 22nd SICE Symposium on Biological and Physiological Engineering, No.2C3-6, 247-248, Harbin, Jan. 2008.
147.	Katsunori Kuwajima, Takashi Yasuno and Hironobu Harada : Development of Power Assist Knee Orthosis and Its Basic Control Characteristics, Proceedings of International Symposium on Biological and Physiological Engineering / 22nd SICE Symposium on Biological and Physiological Engineering, No.2C3-5, 245-246, Harbin, Jan. 2008.
148.	Munetatsu Hara, Takashi Yasuno and Hironobu Harada : Affordance Performance of Electric Wheelchair with Force-Feedback Joystick, Proceedings of International Symposium on Biological and Physiological Engineering / 22nd SICE Symposium on Biological and Physiological Engineering, No.2C3-4, 241-244, Harbin, Jan. 2008.
149.	Morimoto Mayumi, Takashi Yasuno, Emiko Yasuno, Hiroshi Suzuki and Hironobu Harada : Navigation Method of Multiple Mobile Robots on Panel Cruising Problem, Proceedings of 2007 RISP International Workshop on Nonlinear Circuits and Signal Processing, 185-188, Shanghai, Mar. 2007.
150.	Kondo Kimihiko, Takashi Yasuno and Hironobu Harada : Generation of Jumping Motion Pattern for Quadruped Hopping Robot Using CPG Network, Proceedings of 2007 RISP International Workshop on Nonlinear Circuits and Signal Processing, 121-124, Shanghai, Mar. 2007.
151.	Takashi Yasuno, Kotani Hiroki and Suzue Hironori : Prediction System of Solar Radiation Using Weather Forecasts and Unobstructed Skyey Images, Proceedings of 2007 RISP International Workshop on Nonlinear Circuits and Signal Processing, 25-28, Shanghai, Mar. 2007.
152.	Hiroshi Suzuki, Takashi Yasuno, Shiro Urushihara and Hironobu Harada : Design and Implementation of Cooperative Conveyance Pattern for Multiple Mobile Robots Using Neural Network, Proceedings of 2007 RISP International Workshop on Nonlinear Circuits and Signal Processing, 45-51, Shanghai, Mar. 2007.
153.	Takashi Yasuno, Hiroki Kotani and Hironori Suzue : Prediction System of Solar Radiation Using Weather Forecasts and Unobstructed Skyey Images, Proceedings of 2007 RISP International Workshop on Nonlinear Circuits and Signal Processing, 25-28, Shanghai, Mar. 2007.
154.	Kenichi Iida, Yoshihiro Hayami, Toshio Hira, Takashi Yasuno and Takuya Kamano : Evolutionary Acquisition for Moving Performance of Reduced D.O.F's Quadruped Robot, SICE-ICASE International Joint Conference 2006, 3005-3010, Busan, Oct. 2006.
155.	Naoto Fujimura, Kiyoshi Takigawa, Kensuke Kawasaki, Takashi Yasuno and Takuya Kamano : Output Prediction Method for Wind Power Generation system Using Fuzzy Reasoning, 2006 RISP International Workshop pn Nonlinear Circuits and Signal Processing Hawaii, 469-472, Hawaii, Mar. 2006.
156.	Takashi Yasuno, Takuya Kamano, Yuji Yamanaka and Hironobu Harada : Acquisition Method of Operator's Decision-Making Skills Based on View Information for Autonomous Mobile Robot, 2005 RISP International Workshop pn Nonlinear Circuits and Signal Processing, 327-330, Hawaii, Mar. 2005.
157.	Yuka Kasai, Son Yurak, Takashi Yasuno, Takuya Kamano and Takayuki Suzuki : Generation of Adaptive Gait Patterns for Quadruped Robot Using CPG Network, 2004 RISP International Workshop on Nonlinear Circuits and Signal Processing, 479-482, Hawaii, Mar. 2004. (Summary) 本論文は，Central Pattern Generator (CPG)を用いた4脚ロボットの適応的歩行パターン生成について述べている．提案する新しいCPGモデルは，各関節サーボモータのダイナミクスを含み，関節角度の周期的な発振を生成するために用いられる．また，各CPGは相互に結合され，その結合係数の組み合わせは，4脚ロボットが環境との適応的な相互作用によって安定かつ適切な歩行パターン実現できるように遺伝的アルゴリズムによって調整される．試作4脚ロボットを用いた実験結果は，提案するCPGネットワーク歩行パターンの生成において有効であることを示している．
158.	Wang Fei, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Hironobu Harada : A Genetic Based Navigation System for Autonomous Mobile Robot, International Conference on Control Science and Engineering, No.ICCSE-AI-24, HARBIN, Dec. 2003. (Summary) 本論文では，未知環境における自律型移動ロボットのナビゲーションに対する遺伝的アルゴリズムの応用について述べている．提案するナビゲーションシステムにおいて，自律型移動ロボットはニューラルネットワークで構成された状況判断ブロックにより制御される．目標到達および障害物回避の両方を達成するために，ニューラルネットワークの重みと予め定義された行動に対する速度ゲインは遺伝子としてコーディングされ，同時に遺伝的アルゴリズムによって静的および動的危険度，エネルギー消費，距離および方位誤差がナビゲーションの間に減少するよう調整される．実験結果は，提案するナビゲーションシステムの有用性を示している．
159.	Yurak Son, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Hironobu Harada : TARGET TRACKING CONTROL OF QUADRUPEDAL ROBOT USING CPG NETWORK TUNED BY GENETIC ALGORITHM, Proceedings of 2002 International Symposium on Advabced Control of Industrial Processes, No.TA2D-4, 661-666, Kumamoto, Jun. 2002. (Summary) 本論文では，Central Pattern Generator(CPG)を用いた4脚ロボットの基本的な歩容生成について述べている．CPGは，モータのダイナミクスを含む関節のフレキシブルな発振器として機能する．また，CPGは相互に結合され，結合係数のセットは4脚ロボットが安定かつ適切な歩容を実現できるように遺伝的アルゴリズムにより調整される．その結果，直進歩行，左右旋回歩行などの基本的な歩行パターンを生成できるCPGネットワークが得られる．さらに，基本的な歩行パターンを状況に応じて適切に切り替えることにより，ターゲットの追跡歩行が可能となる．提案するCPGネットワークは，基本的な歩行パターンの生成とターゲットの追跡歩行に対して有効であり，そのことは試作4脚ロボットを用いた実験により示されている．
160.	Manabu Kariya, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Sayaka Ogura and Hironobu Harada : COOPERATIVE CATCHING CONTROL FOR MULTIPLE MOBILE ROBOTS BASED ON PINCER ATTACK MOVEMENT TUNED BY GENETIC ALGORITHM, Proceedings of 2002 International Symposium on Advabced Control of Industrial Processes, No.TA2D-3, 655-660, Kumamoto, Jun. 2002. (Summary) 本論文では，Central Pattern Generator(CPG)を用いた4脚ロボットの基本的な歩容生成について述べている．CPGは，モータのダイナミクスを含む関節のフレキシブルな発振器として機能する．また，CPGは相互に結合され，結合係数のセットは4脚ロボットが安定かつ適切な歩容を実現できるように遺伝的アルゴリズムにより調整される．その結果，直進歩行，左右旋回歩行などの基本的な歩行パターンを生成できるCPGネットワークが得られる．さらに，基本的な歩行パターンを状況に応じて適切に切り替えることにより，ターゲットの追跡歩行が可能となる．提案するCPGネットワークは，基本的な歩行パターンの生成とターゲットの追跡歩行に対して有効であり，そのことは試作4脚ロボットを用いた実験により示されている．
161.	Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Yasunori Hasegawa, Hironobu Harada and Yu Kataoka : Design and Implementation of Fuzzy Cooperative Catching Controller for Multiple Mobile Robots, Proceedings of 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation, 1749-1754, Nagoya, Oct. 2000. (Summary) 本論文では，群ロボットの捕獲問題における協調知識の使用について述べている．逃避ターゲットの捕獲を達成するためには，捕獲ロボットは捕獲エリアに逃避ターゲットを追い込んだ後，逃避ターゲットに向かって移動しなければならない．そこで，協調知識はファジィフォーメーションルールとして記述し，逃避ターゲットを囲むために使用する．ファジィフォーメーションルールは，経験を基に遺伝的アルゴリズムによって調整される．同じアプローチルールと調整されたファジィフォーメーションルールは3台のロボットに実装され，3台の捕獲ロボットの動作と逃避ターゲットの行動は計測される．実験結果は，提案する協調制御手法が逃避ターゲットの捕獲において有効であることを示している． (Link to Publication Site) ● Publication site (DOI): 10.1109/IECON.2000.972540 (Link to Search Site for Scientific Articles) ● Summary page in Scopus @ Elsevier: 2-s2.0-84969136162 (DOI: 10.1109/IECON.2000.972540, Elsevier: Scopus)
162.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Hironobu Harada and Yu Kataoka : Generation of Gait Pattern for Quadrupedal Robot using CPG Network, Proceedings of the 2000 Japan-USA Flexible Automation Conference, No.2000JUSFA-13014, Michigan, Jul. 2000. (Summary) 本論文は，4脚ロボットへのCentral Pattern generator(CPG)の応用について述べている．ここで提案している新しいCPGモデルは，アクチュエータのダイナミクスを利用して発振パターンを生成していることが特徴である．また，提案するCPGモデルは相互に結合してCPGネットワークを構成し，4脚ロボットのWalk，Trot，Gallopといった歩行パターンの生成を行う．これらの歩行パターンを実現するために，CPGモデルの適切な相互結合係数について検討しており，実験結果は，提案するCPGネットワークが4脚ロボットの歩行パターン生成に有効であることを示している．
163.	Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Yasunori Hasegawa, Hironobu Harada and Yu Kataoka : Fuzzy Cooperative Catching Rules for Multiple Mobile Robots Tuned by Genetic Algorithm, Proceedings of the 2000 Japan-USA Flexible Automation Conference, No.2000JUSFA-13123, Michigan, Jul. 2000. (Summary) 本論文では，3台の移動ロボットによる捕獲問題について議論している．逃避ターゲットの捕獲を達成するためには，捕獲ロボットのフォーメーション動作は逃避ターゲットに向かうアプローチ行動に優先して選択されなければならない．ここでは，フォーメーションルールはファジィルールとして記述され，試行時間内に捕獲ロボットが逃避ターゲットを取り囲むように遺伝的アルゴリズムによって調整される．フォーメーションルールによって捕獲ロボットが逃避ターゲットを捕獲エリア内に誘導した後は，アプローチルールを用いて捕獲ロボットは逃避ターゲットに向かって移動する．幾つかの異なる環境においてシミュレーション解析を行った結果，提案する手法は有効であることが示されている．
164.	Koji Fukuda, Takuya Kamano, Takashi Yasuno and Takayuki Suzuki : Motion Control of Ankle Orthosis with Ultrasonic Motor under Fuzzy Control, Proceedings of International Power Electronics Conference, Vol.3, No.P-10-6, 1255-1260, Tokyo, Apr. 2000. (Summary) 本論文では，進行波型超音波モータを用いた短下肢装具を提案している．ここでは特に，提案する短下肢装具を装着してスムーズな歩行を実現するために，ファジィ規範生成器とファジィフィードフォワードコントローラが導入されている．ファジィ規範生成器の目的は，状況に応じて健常者の歩行実験得られた適切な足首動作を推定することである．また，ファジィフィードフォワードコントローラは，足首位置制御システムの追従特性を改善するために用いられる．提案するシステムの有効性は，試作機を用いた実験により示している．
165.	Win Khine Thet, Takashi Yasuno, Takuya Kamano, Takayuki Suzuki and Hironobu Harada : Collision Avoidance Control for Autonomous Mobile Robot Based on Operator's Skills, Proceedings of International Power Electronics Conference, Vol.3, No.P-10-1, 1231-1236, Tokyo, Apr. 2000. (Summary) 本論文では，自律型移動ロボットの衝突回避制御について述べている．提案するシステムは，オペレータの状況判断スキルと行動制御スキルに基づき，バックプロパゲーションアルゴリズムを用いた階層型ニューラルネットワークでオペレータの状況判断スキルを模擬し，ファジィルールによってオペレータの行動制御スキルを記述している．階層型ニューラルネットワークの目的は，安全なナビゲーションのために離散化された行動パターンの中から最適な行動パターンを選択することであり，ファジィルールはその行動パターンを確実に実現するために自律型移動ロボットの動作を制御する．提案する制御アルゴリズムの有用性は，実験結果を通じて示され，提案手法は複雑な環境への適応に効果的であることを示している．
166.	Yoshirou Yoshida, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Yu Kataoka : Generation of Jumping Motion Pattern for Hopping Robot using Genetic Algorithm, Proceedings of The Fourth International Symposium on Artificial Life and Robotics, 614-617, Oita, Jan. 1999. (Summary) 本論文では，ホッピングロボットの跳躍動作パターン生成に対する遺伝的アルゴリズムの応用について述べている．跳躍パターンはCentral Pattern Generator(CPG)により生成され，CPGのチューニングパラメータは遺伝子としてコーディングされる．そして遺伝的アルゴリズムによってホッピングロボットが最小の力を使って目標高さで連続跳躍するように調整される．パラメータのオンラインチューニングを実現するために，新しい遺伝的操作を導入している．試作機を用いた実験では，最適な跳躍動作パターンを生成するための提案手法の有用性が示されている．
167.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Kenichi Kumabe and Yu Kataoka : Trajectory Prediction and Catching System of Movement Target under Fuzzy Reasoning Method, Proceedings of International Minisymposium of Biological Functions for New Technologies, No.13, Tokushima, Jan. 1998.
168.	Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Toshio Konishi and Yu Kataoka : Generation of Jumping Motion Pattern for Hopping Robot using Neural Network, Proceedings of International Minisymposium of Biological Functions for New Technologies, No.12, Tokushima, Jan. 1998.
169.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Kenichi Kumabe and Yu Kataoka : Trajectory Prediction and Catching System of Moving Target under Fuzzy Reasoning Method, Proceedings of Third International Symposium on Artificial Life, and Robotics, No.A5-7, 537-540, Oita, Jan. 1998. (Summary) 本論文は，三次元空間内を運動する物体の軌道予測手法と垂直多関節ロボットマニピュレータを用いた捕獲アルゴリズムについて述べている．運動物体の軌跡は，入力信号として5サンプリング前までの運動物体の位置を用いたファジィ予測システムによって推定される．ファジィ予測ルールは，予測誤差が零収束するように自動的に調整される．また，良好な捕獲動作を実現するために，ロボットマニピュレータは初期位置から運動物体に先回りして予測軌道上の捕獲位置まで捕獲アルゴリズムに基づいて移動する．幾つかの実験結果は，提案するファジィ軌道予測アルゴリズムとロボットマニピュレータを用いた捕獲アルゴリズムの有用性を示している．
170.	Susumu Yoshida, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno and Yu Kataoka : Design and Implementation of Feedforward Controller Tuned by Genetic Algorithm for Nonlinear Speed Servo System, Proceedings of the Japan-USA Symposium on Flexible Automation, 391-398, Jul. 1996. (Summary) 本論文では，非線形速度サーボシステムにおけるフィードフォワードコントローラのオンライン調整に対する遺伝的アルゴリズムの応用について述べている．フィードフォワードコントローラのパラメータは遺伝子としてコーディングされ，追従誤差が零収束するように遺伝的アルゴリズムによって調整される．高速調整を実現するために，少ない個体数，瞬時淘汰，意図的突然変異などの新しい遺伝子操作を導入している．チューニング後においては，プラントの非線形特性が線形化され，等価的な逆システムがフィードフォワードパス内に構成される．実験結果は，非線形速度サーボシステムの追従特性改善に対する提案するフィードフォワードコントローラの有効性を示している．
171.	Noguchi Shinji, Kazuaki Kagamihara, Syujiro Isono, Takuya Kamano, Takayuki Suzuki and Takashi Yasuno : High Performance Control of Construction Machine using Self-Tuning Fuzzy Technique, Proceedings of the Japan-USA Symposium on Flexible Automation, 379-382, Jul. 1996. (Summary) 本論文では，高所作業車に対する自己調整ファジィ制御手法の応用について述べている．高所作業車は，伸縮，起伏，旋回といった電気油圧式アクチュエータで駆動される3つの動作軸を有している．自己調整ファジィフィードフォワードコントローラは，追従特性を改善するためにそれぞれの軸に設けられ，制御ルールは追従誤差が零収束するように調整される．よりよい水平移動を実現するために，動作軸間の影響を抑圧する非干渉補償器が導入されている．実験結果は，提案する制御手法の有用性を示している．
172.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Makoto Kagawa and Yu Kataoka : Low Sensitive Position Control System Based on The Two-Degree-of Freedom Control Method for 2-Link SCARA Type Direct Drive Robot Manipulator, Proceedings of the Japan-USA Symposium on Flexible Automation, 83-90, Jul. 1996. (Summary) 本論文は，高精度追従特性のみならず外乱に対するロバスト性を満足する2つの位置決めシステムについて述べている．提案するシステムの一つは，アダプティブフィードフォワードコントローラ(AFC)と固定ゲインPIコントローラで構成されている．もう一方のシステムは，固定ゲインフィードフォワードコントローラとI型の限界補償型コントローラで構成されている．両システムは，フィードフォワード型の2自由度制御システムである．強い非線形ダイナミクスを有する2リンクSCARA型ダイレクトドライブロボットマニピュレータは，提案するシステムの有効性を確認するために最も適した制御対象である．それゆえ，提案する位置決めシステムの応答は，2リンクSCARA型ダイレクトドライブロボットマニピュレータを用いて測定している．その結果，追従特性は改善され，外乱やプラントのパラメータ変動に対して影響を受けにくいことが実験的に確認されている．
173.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Junji Fukumi and Hironobu Harada : Self-Tuning Fuzzy Feedforward Controller for Positioning System with Progressive Wave Type Ultrasonic Motor, Proceedings of IPEC Yokohama, 1766-1771, Apr. 1995. (Summary) 本論文では，自己調整ファジィ制御に基づく進行波型超音波モータ(PUM)を用いた位置決めシステムについて述べている．提案する位置決めシステムは，固定ゲインコントローラを有するフィードバックループと自己調整コントローラ(STFC)から構成されている．STFCの目的は，PUM非線形特性を抑圧することと，追従特性を改善することである．STFCのファジィルールは，追従誤差が減少するように調整アルゴリズムに基づいて調整される．実験結果は，非線形外乱とプラントのパラメータ変化を伴うPUMを用いた位置決めシステムに対する提案するSTFCの有効性を示している．
174.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Hironobu Harada and Yu Kataoka : Design and Implementation of Two-Degree-of-Freedom Speed Servo System using Adaptive Feedforward Controller, Proceedings of Japan-U.S.A. symposium on flexible automation, 663-666, Jul. 1994. (Summary) 本論文では，2自由度制御手法に基づくロバスト速度サーボシステムについて検討している．提案するシステムは，アダプティブフィードフォワードコントローラと固定ゲインフィードバックコントローラから構成されている．フィードバックコントローラは，駆動軸のトルク方程式から外乱入力を十分抑圧するように設計される．アダプティブフィードフォワードコントローラの目的は，プラントの逆システムを構成することである．適応プロセスが十分に行われた後は，プラントへの入力はもはやフィードバックコントローラによってではなく，フィードフォワードコントローラによって供給される．提案するシステムの有用性は，様々な規範入力や外乱入力に対して実験的に検証されている．

Proceeding of Domestic Conference:

1.	NISHIMURA Toshiki, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Convolutional LSTMを用いた気象衛星画像に基づく雲分布予測, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.15-12, 151, Sep. 2024.
2.	ONO Kosei, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : ミニトマト収穫ロボットのための深度カメラを用いた果実の位置検出とエンドエフェクタの姿勢決定, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.13-9, 114, Sep. 2024.
3.	MATSUMOTO Kohei, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : ロボットアームによるばら積みピッキングのための物体認識と把持動作, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.13-8, 113, Sep. 2024.
4.	MUTO Minoru, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : ブレーキを用いた斜面横断中における手動車いすの片流れ抑制システムの評価, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.8-6, 49, Sep. 2024.
5.	AKI Yoshiki, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : ホーム上における人の流れを表現するための人間モデルを用いた群衆シミュレーション, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.8-5, 48, Sep. 2024.
6.	OKADA Ippei, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 深度カメラを用いた溝検知による電動車椅子の転落防止システム, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.8-4, 47, Sep. 2024.
7.	KATAOKA Ryota, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 電気式人工筋肉を用いた布型アクチュエータの抵抗値フィードバックによる屈曲制御, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.8-1, 44, Sep. 2024.
8.	SHIMIZU Kuuta, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 自動運転のための 3D-LiDAR を用いた走行路面計測値の補正手法, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.7-4, 42, Sep. 2024.
9.	SAKURAI Ryota, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 周波数解析に基づくLSTMを用いた風速予測, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.3-1, 33, Sep. 2024.
10.	MIYAKE Yuta, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : ホタルアルゴリズムを用いた CPG モデルの発振パラメータ探索における外乱の影響, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.1-4, 4, Sep. 2024.
11.	Tomoki Matsuo, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 操作入力値を用いたオートメーションサプライズ検出手法, 2024年電気学会電子・情報・システム部門大会, No.TC5-3, 172-175, Sep. 2024.
12.	KATAOKA Ryota, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 電気式繊維状人工筋肉を用いた布型アクチュエータの屈曲制御, 2024年電気学会産業応用部門大会, No.3-S10-5, III-75-III-78, Aug. 2024.
13.	Tomoki Matsuo, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 表情認識を用いたオートメーションサプライズ検出手法, National Convention Record I.E.E. Japan, No.3-045, 63, Mar. 2024.
14.	SHIMAZAKI Jun, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 深度カメラ画像を用いたミニトマト着果処理ロボットのための花群検出法, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.13-19, 183, Sep. 2023.
15.	KARIYAMA Hirokazu, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : トマト葉かきロボットのための深度カメラを用いた切断点検出手法, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.13-18, 182, Sep. 2023.
16.	MIYAKE Tatsuya, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : ROS2 搭載群移動ロボットにおけるLiDAR の測域特性, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.8-6, 111, Sep. 2023.
17.	KATO Ayumu, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 閉リンク機構を有する2 脚ロボットの脚開度に基づく跳躍高さ制御, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.8-5, 110, Sep. 2023.
18.	KANATANI Kohei, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 施設園芸における農作業支援を目的とした自律型ロボット台車の走行制御, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.8-2, 107, Sep. 2023.
19.	MUTO Minoru, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and 住友祐介 : 車いすの斜面横断走行におけるブレーキを用いた操作負担軽減効果, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.8-1, 106, Sep. 2023.
20.	SHIMIZU Kuuta, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 自動運転のための3D-LiDAR を用いた路面状況認識, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.7-8, 99, Sep. 2023.
21.	MORIMOTO Aoi, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 臀部仮想装具装着位置が下肢筋肉に与える影響の解析, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.7-7, 98, Sep. 2023.
22.	YAMASHITA Sonoka, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 多層パーセプトロンを用いた施設園芸ハウス内の温湿度空間分布推定, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.7-6, 97, Sep. 2023.
23.	AOKI Tomohiro, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : BiLSTM を用いた天気予報とMSM-GPV に基づく日射量予測, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.3-8, 84, Sep. 2023.
24.	OYAMA Yasufumi, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : FCN を用いたMSM-GPV の予報風速補正モデル, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.3-7, 83, Sep. 2023.
25.	KATAOKA Ryota, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 電気式繊維状人工筋肉を用いた布型アクチュエータの基本特性, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.1-13, 52, Sep. 2023.
26.	MIYAKE Yuta, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : ホタルアルゴリズムを用いたCPG モデルの発振パラメータ自動探索, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, No.1-12, 51, Sep. 2023.
27.	Kosei Hirano, Tomoki Matsuo, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 空気圧インタフェースを用いた電動車いすのための人間親和型衝突回避システム, 2023年電気学会電子・情報・システム部門大会, No.TC11-3, 446-450, Sep. 2023.
28.	Koki Akiyama, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : FCN を用いた予測気象衛星画像に基づく日射量予測, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, 139-140, Dec. 2022.
29.	Takahiro Kitajima, Hiroshi Suzuki, Akinobu Kuwahara, Takashi Yasuno, 井上雅弘 and 藤井威男 : ジャイロセンサを用いた農作業支援ラジコンの操作性向上手法の検討, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, 90-93, Dec. 2022.
30.	Yuki Yamazaki, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 視覚障がい者のための深度カメラを用いた障害物検知および伝達システムの検証, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, 39-42, Dec. 2022.
31.	Kai Ishida, Mutsumi Aihara, Takaaki Shimohata, Shiori Kitayama, 勢川玲花, Takashi Uebanso, Kazuaki Mawatari, Hiroshi Suzuki, Masatake Akutagawa, Takahiro Emoto, 山本光生, 富久章子, 和田敬宏, 岡本雅之, 伊藤浩, Takashi Yasuno, Yohsuke Kinouchi and Akira Takahashi : 鶏舎におけるUV-LED導入による衛生環境改善効果の検討, 第43回日本食品微生物学会学術総会, Sep. 2022.
32.	Nozomi Maeda, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 深度カメラとMask R-CNN を用いた葉面積算出, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 147, Sep. 2022.
33.	Ryota Mori, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 筋骨格モデルを用いた膝部リハビリテーション支援のための運動解析, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 132, Sep. 2022.
34.	JUN Shimazaki, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 深度カメラを用いたミニトマト着果処理ロボットのための花位置推定, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 110, Sep. 2022.
35.	HIROKAZU Kariyama, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : トマト葉かきロボットのための深度カメラを用いた主茎認識, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 109, Sep. 2022.
36.	Kyosuke Hamaguchi, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 果樹園除草ロボットのためのSLAM を用いた自己位置推定精度の検証, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 54, Sep. 2022.
37.	YUTO Yamada, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : マスター・スレーブロボットマニピュレータの位置と力のハイブリッド制御, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 53, Sep. 2022.
38.	KOHSEI Hirano, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 2つの空気圧式インタフェースを用いた電動車いすの運転システム, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 52, Sep. 2022.
39.	AYUMU Kato, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : スライディングモード制御を用いた2 脚ロボットの跳躍移動制御, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 51, Sep. 2022.
40.	SONOKA Yamashita, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 機械学習を用いた施設園芸ハウス内の温湿度空間分布推定, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 46, Sep. 2022.
41.	Tomoki Kazari, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 介護予防のためのスマートフォンを用いた歩幅推定, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 45, Sep. 2022.
42.	TAKUYA Hashimoto, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : U-Net を用いた気象衛星画像に基づく雲分布予測, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 38, Sep. 2022.
43.	HIROTO Kanagawa, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : ディープニューラルネットワークを用いた風速・風向予測, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 37, Sep. 2022.
44.	TOMOHIRO Aoki, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Fully Convolutional Network とDay Microphysics RGB を用いた雲分布予測, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 36, Sep. 2022.
45.	TOMOHIRO Aoki, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : ディープニューラルネットワークを用いた天気予報とMSM-GPV に基づく日射量予測, Shikoku-Section Joint Convention Record of the Institutes of Electrical and Related Engineers, 35, Sep. 2022.
46.	Kai Ishida, Mutsumi Aihara, Takaaki Shimohata, Shiori Kitayama, 勢川玲花, Takashi Uebanso, Kazuaki Mawatari, Hiroshi Suzuki, Masatake Akutagawa, Takahiro Emoto, 山本光生, 富久章子, 和田敬宏, 岡本雅之, 伊藤浩, Takashi Yasuno, Yohsuke Kinouchi and Akira Takahashi : 鶏舎内へのUV―LED導入による鶏の生育及び衛生環境の改善効果の検討, 日本家禽学会2022年度秋季大会, Sep. 2022.
47.	Ayumu Kato, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : リアクションホイールを用いた姿勢制御装置のスライディングモード制御による倒立点モデル化誤差に対するロバスト性の評価, 2022年電気学会産業応用部門大会, No.No.2-S14-4, 53-56, Sep. 2022.
48.	KITAYAMA Shiori, Takaaki Shimohata, 白石志帆, ISHIDA Kai, Miyuki Ogata, Takashi Uebanso, Kazuaki Mawatari, Mutsumi Aihara, Masatake Akutagawa, Takahiro Emoto, Hiroshi Suzuki, Takashi Yasuno, 伊藤浩, 和田敬宏, 岡本雅之, 富久章子, Akira Takahashi and Yohsuke Kinouchi : UV-LEDによる鶏舎内光環境の構築, LED総合フォーラム2022 in 徳島, 169-172, Jan. 2022.
49.	Yasufumi Wakita, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Solar Radiation Forecasting based on Meteorological Satellite Image Prediction Using Retrospective CycleGAN, 令和3年度計測自動制御学会四国支部学術講演会, No.PS2-30, Dec. 2021.
50.	Kohki Akiyama, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Prediction of Cloud Distribution Based on Meteorological Satellite Images Using FCN, 令和3年度計測自動制御学会四国支部学術講演会, No.PS2-24, Dec. 2021.
51.	Tatsuki Murakami, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Firefly Algorithm Using Quaternion Representation and Distance Scaling, 令和3年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.17-23, 202, Sep. 2021.
52.	Ryota Mori, Hiroshi Suzuki and Takashi Yasuno : Kinematic Analysis for Rehabilitation Support Using Musculoskeletal Model, 令和3年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.14-3, 165, Sep. 2021.
53.	Tatsuro Funai, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Filter Effect of Improvement Feature Point Tracking for In-vehicle Monocular Camera Images, 令和3年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.13-8, 140, Sep. 2021.
54.	Nozomi Maeda, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Estimation of Tomato Stem Length Using Depth Camera, 令和3年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.13-7, 139, Sep. 2021.
55.	LIU ZHEN, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Obstacle Avoidance for Electric Wheelchair in Unknown Environments Using Vector Field Histogram Algorithm, 令和3年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.8-4, 77, Sep. 2021.
56.	Kyosuke Hamaguchi, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Accuracy Verification of SLAM-based Environmental Mapping for Orchard Weeding Robot, 令和3年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.8-3, 76, Sep. 2021.
57.	Suguru Uramoto, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Harvesting Mechanism Control for Automatic Tomato Harvesting Robot, 令和3年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.8-2, 75, Sep. 2021.
58.	Kohki Akiyama, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Prediction of Cloud Distribution Based on Multiple Bands Meteorological Satellite Images Using FCN, 令和3年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.3-9, 52, Sep. 2021.
59.	Tomoya Kawauchi, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Motion Classification Model Based on Motion State Measurement for Care Workers, 2021年電気学会電子・情報・システム部門大会講演論文集, No.TC3-8, 117-121, Sep. 2021.
60.	Hiroshi Suzuki, Yu Yamanaka, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Jumping Movement Control of Biped Robot with Spring and Closed Link Mechanism, 2021年電気学会産業応用部門大会講演論文集, No.2-S9-7, II-53-1II-58, Aug. 2021.
61.	Yasufumi Wakita, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Time-series Prediction of Meteorological Satellite Image Using Retrospective CycleGAN, 令和2年度計測自動制御学会四国支部学術講演会, No.PS2-12, Dec. 2020.
62.	Yoshiki Sanada, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Drift Phenomenon Suppression Control and Examination of its Evaluation Method for Electric Wheelchair, 令和2年度計測自動制御学会四国支部学術講演会, No.PS2-2, Dec. 2020.
63.	Sari Puspita Anggraini, Hiroshi Suzuki, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Forecasting Model of Wind Speed and Direction using CNN-CLSTM, 令和2年度計測自動制御学会四国支部学術講演会, No.PS1-18, Dec. 2020.
64.	Takahiro Kitajima, Seigo Kajikawa, Hiroshi Suzuki and Takashi Yasuno : Estimation method of ground solar radiation using deep learning and satellite image, 日本太陽エネルギー学会講演論文集, No.70, 231-234, Nov. 2020.
65.	Suguru Uramoto, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Fruit Recognition Algorithm Using Depth Camera for Tomato Harvesting Robot, 令和2年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.13-24, Sep. 2020.
66.	Yotaro Oki, Hiroshi Suzuki, Takashi Yasuno, Kenji Yamanaka, Takahiro Kitajima and Akinobu Kuwahara : Gutter Detection on Road Using Haar-like feature and In-Vehicle Camera Images, 令和2年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.13-23, Sep. 2020.
67.	Tatsuki Murakami, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Hopping Control of Biped Robot with Spring-damper and Closed Link Mechanism Using CPG Network, 令和2年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.8-7, Sep. 2020.
68.	Hikaru Homma, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno and Akinobu Kuwahara : Primary Study on Motion Performances of Reduced Actuator Type Quadruped Robot with Spring-damper, 令和2年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.8-6, Sep. 2020.
69.	Tatsuro Funai, Hiroshi Suzuki, Takashi Yasuno, Takahiro Kitajima and Akinobu Kuwahara : Self-driving Vehicle Control System Based on Inter-vehicle Communication System for Giving Way to Emergency Vehicle, 令和2年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.8-5, Sep. 2020.
70.	Yoshiki Sanada, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Suppression Control of Drift Phenomenon on Slope for Electric Wheelchair, 令和2年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.8-4, Sep. 2020.
71.	Zhen Liu, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Navigation System of Electric Wheelchair Using RRT Algorithm, 令和2年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.8-3, Sep. 2020.
72.	Ryunosuke Saitoh, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Visualization and Trend Analysis of Temperature and Humidity Spatial Distribution in Tomato Cultivation House, 2020 SHIKOKU-SECTION JOINT CONVENTION RECORD OF THE INSTITUTES OF ELECTRICAL AND RELATED ENGINEERS, No.7-7, Sep. 2020.
73.	Sari Puspita Anggraini, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Prediction of Wind Speed and Direction by Deep One-dimensional Convolutional Neural Network, 2020 SHIKOKU-SECTION JOINT CONVENTION RECORD OF THE INSTITUTES OF ELECTRICAL AND RELATED ENGINEERS, No.3-6, Sep. 2020.
74.	Yasufumi Wakita, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Prediction of Meteorological Satellite Image by Generative Adversarial Network, 令和2年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.3-5, Sep. 2020.
75.	Daichi Horihata, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno, Takayuki Kimura and Kiyoshi Takigawa : Effects of Target Area on Correction Accuracy for Numerically Forecast Wind Speed Data Correction Model using CNN, 令和2年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.3-4, Sep. 2020.
76.	Mao Toyonaga, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno, Takayuki Kimura and Kiyoshi Takigawa : Improvement of Wind Speed Prediction Accuracy by CNN Inputting Cloud Optical Flow, 令和2年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.3-3, Sep. 2020.
77.	Seigo Kajikawa, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Effectiveness of Land Information in Estimating Solar Radiation by CNN Based on Meteorological Satellite Images, 令和2年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.3-2, Sep. 2020.
78.	Masanori Tanabe, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Effect of Input Period on Prediction Accuracy of Satellite Cloud Image Prediction Model by PredNet, 令和2年度電気・電子・情報関係学会四国支部連合大会講演論文集, No.3-1, Sep. 2020.
79.	Takahiro Kitajima, Satoshi Yamashita, Yuya Iwawaki, Hiroshi Suzuki, Hisashi Takai, Akinobu Kuwahara and Takashi Yasuno : Development of Human Following Carrier Robot with LiDAR for Agriculture Works, 第7回計測自動制御学会制御部門マルチシンポジウム, No.2G1-2, Mar. 2020.
80.	Rui Fukuoka, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : Prediction Interval Estimation of Wind Speed Prediction Using Quantile Regression by Deep Learning, 第24回日本知能情報ファジィ学会中国・四国支部大会講演論文集, 61-62, Dec. 2019.
81.	Naoto Fujioka, Hiroshi Suzuki, Hiroshi Suzuki, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : Ultra Short-term Prediction for Meterological Satellite Cloud Images using Convolutional LSTM, 第24回日本知能情報ファジィ学会中国・四国支部大会講演論文集, 57-60, Dec. 2019.
82.	Sari Puspita Anggraini, Hiroshi Suzuki, Rui Fukuoka, Takahiro Kitajima and Takashi Yasuno : Prediction Model of Wind Speed and Direction using Convolutional Neural Network, 令和元年度計測自動制御学会四国支部学術講演会, No.PS2_05(SO2_05), Dec. 2019.
83.	Kosaku Tsuchiya, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno and Kenji Terada : トマト収穫ロボットのための果実個別検出によるX-Y tableの位置制御, 令和元年度計測自動制御学会四国支部学術講演会, No.PS1-05(SO1-05), Dec. 2019. (Keyword) computer vision / image processing / human sensing
84.	Yotaro Oki, Hiroshi Suzuki, Takashi Yasuno, Takahiro Kitajima and Akinobu Kuwahara : Cruising Control of Self-driving Car Based on Recognition of Road Condition, 2019電気関係学会四国支部連合大会, No.8-5, 74, Sep. 2019.
85.	Yoshiki Sanada, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Estimation of Drift Phenomenon of Electric Wheelchair on Slope, 2019電気関係学会四国支部連合大会, No.8-4, 73, Sep. 2019.
86.	Mao Toyonaga, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno and Kiyoshi Takigawa : Wind Speed Prediction by Convolutional Neural Network Using AirmassRGB, 2019電気関係学会四国支部連合大会, No.3-5, 50, Sep. 2019.
87.	Masanori Tanabe, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno and Kiyoshi Takigawa : Prediction Model of Solar Radiation Using LSTM, 2019電気関係学会四国支部連合大会, No.3-4, 49, Sep. 2019.
88.	Seigo Kajikawa, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno and Kiyoshi Takigawa : Estimation of Solar Radiation Using CNN Based on Meterological Satellite Images, 2019電気関係学会四国支部連合大会, No.3-3, Sep. 2019.
89.	Rui Fukuoka, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : Improving Accuracy of Wind Speed Prediction Based on Prediction of Rapid Fluctuation Using LSTM, 2019電気関係学会四国支部連合大会, No.3-2, 47, Sep. 2019.
90.	Daichi Horihata, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno and Kiyoshi Takigawa : Correction of Numerical Forecast Wind Speed Data Using Deep Neural Network, 2019電気関係学会四国支部連合大会, No.3-1, 46, Sep. 2019.
91.	Kosaku Tsuchiya, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno and Kenji Terada : トマト収穫ロボットのための収穫対象選定システム, 2019電気関係学会四国支部連合大会, No.13-12, Sep. 2019. (Keyword) computer vision / image processing / robot / robot vision
92.	Rui Fukuoka, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : Study on Prediction Accuracy Improvement of Multipoint Input Wind Speed Prediction System Using LSTM Based on Wind Map, 第40回風力エネルギ-利用シンポジウム講演論文集, 203-206, Dec. 2018.
93.	Naoto Fujioka, Hiroshi Suzuki and Takashi Yasuno : Action Pattern Learning of Air Hockey Robot by Deep Q-Network, 平成30年度電気関係学会四国支部連合大会講演論文集, 68, Sep. 2018.
94.	Satoshi Yamashita, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Autonomous Traveling Control of Mobile Robot Supporting Multipurpose Farm Works, 平成30年度電気関係学会四国支部連合大会, 67, Sep. 2018.
95.	Yu Yamanaka, Hiroshi Suzuki and Takashi Yasuno : Upright Stabilizing for Biped Robot by Upper Body Attitude Control, 平成30年度電気関係学会四国支部連合大会講演論文集, 66, Sep. 2018.
96.	Ayaka Sumoto, Hiroshi Suzuki, HEEJIN LEE and Takashi Yasuno : Estimation of Assist Timing for Power Assist waist orthosis by Accelerometer, 平成30年度電気関係学会四国支部連合大会講演論文集, 65, Sep. 2018.
97.	Tomoki Matsuo, Hiroshi Suzuki and Takashi Yasuno : Backward Movement Characteristics of Safe Driving Support System for Electric Wheelchair, 平成30年度電気関係学会四国支部連合大会, 64, Sep. 2018.
98.	Yuki Emoto, Hiroshi Suzuki and Takashi Yasuno : Motion Analysis Using Simple Measurement System for Design of Knee-joint Orthosis, 平成30年度電気関係学会四国支部連合大会講演論文集, No.7-6, 55, Sep. 2018.
99.	Kosuke Okumoto, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Satellite Cloud Image Prediction Using Multipoint Images for Training Data Sets, 平成30年度電気関係学会四国支部連合大会講演論文集, 43, Sep. 2018.
100.	Rui Fukuoka, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : Prediction of Sudden Fluctuation of Wind Speed by Ensemble Learning Using Deep Neural Network, 平成30年度電気関係学会四国支部連合大会講演論文集, 42, Sep. 2018.
101.	Naoto Fujioka, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : A Learning Method Using Virtual Cloud Image for Cloud Image Prediction Model Based on Deep Learning, 平成30年電気学会電力・エネルギー部門大会予稿集, 99-100, Sep. 2018.
102.	Fukuoka Rui, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : Wind Speed Prediction Model by LSTM Using Observation Data at Multiple Points, 平成30年電気学会電力・エネルギー部門大会予稿集, 95-96, Sep. 2018.
103.	Takashi Yasuno : モノ作りの立場からの人間支援の取り組み, 第20回徳島脳卒中研究会抄録集, No.I-, Feb. 2018.
104.	Yuki Sakamoto, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : パワーアシスト装具のための加速度情報に基づく運動の予備動作検出, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.PS1-29(SO1-29), Nov. 2017.
105.	Kosuke Okumoto, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Kiyoshi Takigawa : フィルタを共有する複数の畳み込み層を持つ雲移動予測モデルの評価, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.PS1-17(SO1-17), Nov. 2017.
106.	Heejin Lee, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : GNSS Coordinate Correction Algorithm for Self-driving Using Vehicle Dynamics, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.7-7, 63, Sep. 2017.
107.	Shogo Yoshida, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : Deep Belief Networkを用いた風速増減予測システムのクラスタリングによる学習データ構築に関する一考察, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.3-5, 47, Sep. 2017.
108.	Noriaki Baba, Hiroshi Suzuki and Takashi Yasuno : 筋骨格バネシステムを模擬した2自由度閉リンク機構脚の基本跳躍特性, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-1, 64, Sep. 2017.
109.	Kyohei Toriu, Hiroshi Suzuki and Takashi Yasuno : 粒子群最適化法を用いたDCモータの動特性を含んだCPGモデルの発振パラメータ探索, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-2, 65, Sep. 2017.
110.	Naoki Nakao, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Masahiro Inoue : 地図データに基づく防除ロボットの自律ナビゲーション, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-3, 66, Sep. 2017.
111.	Hiroki Kojima, Hiroshi Suzuki and Takashi Yasuno : 自律走行車両の動的障害物回避制御シミュレーション, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-4, 67, Sep. 2017.
112.	Kouhei Komatsu, Hiroshi Suzuki and Takashi Yasuno : 自律走行車輌のための安全性を考慮した障害物回避速度制御アルゴリズム, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-5, 68, Sep. 2017.
113.	Yuki Ochi, Hiroshi Suzuki and Takashi Yasuno : 群移動ロボットによる逃避ターゲットの協調捕獲アルゴリズム, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-7, 70, Sep. 2017.
114.	Tomohito Uchiyama, Hiroshi Suzuki and Takashi Yasuno : 群移動ロボットの意思決定関数に基づく行動制御ルールの有用性評価, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-8, 71, Sep. 2017.
115.	Tomoki Matsuo, Hiroshi Suzuki and Takashi Yasuno : 車両加速度に基づく電動車いすの滑り推定, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-9, 72, Sep. 2017.
116.	Ayaka Sumoto, Hiroshi Suzuki, Hisashi Takai, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 動力学シミュレーションを用いたパワーアシスト装具の人体に与える力学的影響解析, 平成29年電気学会電子・情報・システム部門大会, No.TC12-8, 536-541, Sep. 2017.
117.	Tomohito Uchiyama, Hiroshi Suzuki and Takashi Yasuno : パネル巡航問題における移動ロボットの意思決定関数を用いた行動制御ルールの評価, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.PS2-27(SO2-27), 197-200, Nov. 2016.
118.	Mizuki Higashi, Hiroshi Suzuki, Takashi Yasuno and Akinobu Kuwahara : センサ情報の画像化によるテレオペレーションシステムの操作性評価, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.PS2-15(SO2-15), 146-148, Nov. 2016.
119.	Shohei Akita, Hiroshi Suzuki and Takashi Yasuno : 2関節筋機構を有する2リンクロボットマニピュレータの位置制御特性, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.PS1-05(SO1-05), 17-20, Nov. 2016.
120.	Kassim bin Mohamed Anuar, Takashi Yasuno and Hiroshi Suzuki : Evaluation of Power Consumption on Improved Electronic Spectacle for Blind Person, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.14-1, 192, Sep. 2016.
121.	Takuya Agui, Hiroshi Suzuki and Takashi Yasuno : 人体の動力学モデルを用いた腰関節パワーアシスト装具のアシストトルク評価, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.14-3, 194, Sep. 2016.
122.	Shota Nakazawa, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 遠隔操作型介護ロボットのためのkinectセンサの計測精度検証, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.14-2, 193, Sep. 2016.
123.	Naoki Nakao, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 人の動作に応じた農作業支援ロボットの走行制御, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-6, 80, Sep. 2016.
124.	Hiroki Kojima, Hiroshi Suzuki, Akinobu Kuwahara and Takashi Yasuno : 自律型UGVの動的障害物回避シミュレーション, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-5, 79, Sep. 2016.
125.	Tomohito Uchiyama, Hiroshi Suzuki and Takashi Yasuno : パネル巡航問題における群移動ロボットのスケーラビリティ評価, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-4, 78, Sep. 2016.
126.	Kyohei Toriu, Hiroshi Suzuki and Takashi Yasuno : PSOを用いたCPGモデルの発振パラメータ自動探索, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-3, 77, Sep. 2016.
127.	Shohei Mizuishi, Hiroshi Suzuki and Takashi Yasuno : 一次元ホッピングロボットのCPGモデルに基づく跳躍制御システム, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-2, 76, Sep. 2016.
128.	Heejin Lee, Hiroshi Suzuki, Takashi Yasuno, Akinobu Kuwahara and Takahiro Kitajima : Positioning Error Correction Method for the GNSS Using Relative Position of Satellite and Receiver, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.7-7, 73, Sep. 2016.
129.	Ryota Takahashi, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and 原田正志 : 施設園芸ハウス内の温湿度空間分布計測システム, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.7-5, 71, Sep. 2016.
130.	Nobuto Ohkubo, Hiroshi Suzuki, Takahiro Kitajima, Takashi Yasuno and Kiyoshi Takigawa : 気象衛星画像を用いた畳み込みニューラルネットワークによる雲移動予測, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.3-5, 54, Sep. 2016.
131.	Shogo Yoshida, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : 中間層出力を継承する複数の階層型ニューラルネットワークを用いた風速の増減予測, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.3-4, 53, Sep. 2016.
132.	Kassim Mohamed Anuar, Takashi Yasuno, Hiroshi Suzuki, Jaafar Izzuan Hazriq and Aras Shahrieel Mohd : Improvement and Evaluation of Electronic Spectacle Device based on Obstacle Detection System for Visually Impaired Person, 2016 Annual Conference of Electronics, Information and Systems Society, I.E.E. of Japan, No.NMo.GS10-5, 1246-1251, Sep. 2016.
133.	Hiroshi Suzuki, 松本卓也 and Takashi Yasuno : データマイニング手法を用いた群ロボット操縦における意思決定スキルの抽出, Proceedings of the Japan Industry Applications Society Conference, No.2-OS1-3, II-65-II-68, Aug. 2016.
134.	Kazuya Yamamoto, Kassim Bin Mohamed Anuar, Hiroshi Suzuki, Takashi Yasuno and Akinobu Kuwahara : 複数のDCモータを相互結合したCPGモデルの発振特性, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.2-27, Nov. 2015.
135.	Mizuki Higashi, Hiroshi Suzuki, Takashi Yasuno and Akinobu Kuwahara : 3連パラレルクローラ型移動ロボットのテレオペレーションにおけるカメラ視点の検討, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.2-20, Nov. 2015.
136.	Yohei Miyabe, Takahiro Kitajima, Hiroshi Suzuki and Takashi Yasuno : 複数の階層型ニューラルネットワークを用いた簡易風速予測における最適な入力情報の検討, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.1-26, Nov. 2015.
137.	Sejati Purnomo, Hiroshi Suzuki, Takahiro Kitajima and Takashi Yasuno : A Preliminary Study of Electrolocation for Floating Swarm Robot, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.1-24, Nov. 2015.
138.	Sejati Purnomo, Takashi Yasuno, Takahiro Kitajima, M.S.M Aras and (名) Sivaraos : Performance Investigation of Complex Valued Neural Network for Object Conveyance Problem by Multiple Mobile Robots, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-9, 93, Sep. 2015.
139.	Kassim Bin Mohamed Anuar, Takashi Yasuno, K.T Long, M.S.M Aras and (名) Sivaraos : Evaluation of Power Consumption on Wireless Vibration Warning System for Blind Person, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-4, 88, Sep. 2015.
140.	Takahiro Kitajima, Takashi Yasuno, Nobuto Ohkubo and Kiyoshi Takigawa : 気象衛星画像とニューラルネットワークを用いた短時間先雲移動予測, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.17-20, 255, Sep. 2015.
141.	Takahiro Kitajima, Takashi Yasuno, Nobuto Ohkubo and Kiyoshi Takigawa : 気象衛星画像とニューラルネットワークを用いた短時間先雲移動予測, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.17-20, 255, Sep. 2015.
142.	Yohei Miyabe, Takahiro Kitajima and Takashi Yasuno : 階層型ニューラルネットワークを複数用いた風速予測における最適な学習手法に関する一考察, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.17-20, 253, Sep. 2015.
143.	Nobuto Ohkubo, Takahiro Kitajima, Takashi Yasuno and Kiyoshi Takigawa : 気象衛星画像の特徴量を用いた階層型ニューラルネットワークによる雲移動予測, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.17-20, 254, Sep. 2015.
144.	Mizuki Higashi, Takashi Yasuno and Akinobu Kuwahara : 3連パラレルクローラ型移動ロボットの実環境におけるテレオペレーションの性能評価, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-6, 90, Sep. 2015.
145.	Takuya Agui and Takashi Yasuno : パワーアシスト装具の仕様設計を目的とした逆動力学解析に基づく関節トルク推定, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-3, 87, Sep. 2015.
146.	Takafumi Inoue, Takahiro Kitajima and Takashi Yasuno : ZMPのPI フィードバックを有する複素CPGネットワークを用いた4 脚ロボットの歩行制御, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-1, 85, Sep. 2015.
147.	Kassim Bin Mohamed Anuar, Takashi Yasuno, Zhi X. C., Lun J. S. W. J. and Shukor Z. A. : Blind Navigation System by using RFID and Digital Compass Technology, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.SO2-25, PS2-25, 186-191, Nov. 2014.
148.	Sejati Purnomo, Takashi Yasuno and Takahiro Kitajima : Push Position Estimation for Object Conveyance Problem Using Multiple Mobile Robots System, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.SO2-20, PS2-20, 172-175, Nov. 2014.
149.	Yuta Tagami, Takahiro Kitajima and Takashi Yasuno : GPVの平均化データを入力情報に加えた簡略化ファジィ推論による日射量予測モデル, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.19-49, 309, Sep. 2014.
150.	Sejati Purnomo, Takashi Yasuno and Takahiro Kitajima : Investigation of Three Mobile Robots Performance on Cooperative Conveyance Control using Complex-Valued Neural Network, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-9, 97, Sep. 2014.
151.	Takahiro Nagai, Takashi Yasuno, Takahiro Kitajima, Kenji Yamanaka and Akinobu Kuwahara : 半自律制御を実装した遠隔操作型移動ロボットの自動化レベルに基づく操作性の一考察, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.3-4, 60, Sep. 2014.
152.	Takuya Matsumoto, Takahiro Kitajima, Takashi Yasuno and Akinobu Kuwahara : パネル巡行問題における人間の意思決定データ収集システムを用いた行動パターンの特徴抽出, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-7, 95, Sep. 2014.
153.	Kazuya Yamamoto, Takahiro Kitajima and Takashi Yasuno : DCモータを相互結合したCPGモデルの発振特性, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-6, 94, Sep. 2014.
154.	Takafumi Inoue, Takahiro Kitajima, Takashi Yasuno and Akinobu Kuwahara : 複素CPGネットワークを用いた4脚ロボットの未知不整地踏破制御, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-5, 93, Sep. 2014.
155.	Masaharu Inoue, Takahiro Kitajima, Takashi Yasuno and Akinobu Kuwahara : 複数台の簡易GPSを用いた移動体の測位補正, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.7-4, 82, Sep. 2014.
156.	Hiroki Takashina, Takashi Yasuno, Masaki Abe, Takahiro Kitajima and Akinobu Kuwahara : Kinectと床反力計を用いた立ち座り運動状態計測に基づく膝関節アシスト力推定, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.7-3, 81, Sep. 2014.
157.	Yohei Miyabe, Takahiro Kitajima and Takashi Yasuno : 観測風速のクラス分類に基づく階層型ニューラルネットワークを用いた風速予測, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.3-4, 60, Sep. 2014.
158.	Prasetya Arman Dwi, Takashi Yasuno and Zhang Yong : Cooperative tracking control of moving target for multiple mobile robot using particle swarm optimization, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-5, 99, Sep. 2013.
159.	Zhang Yong, Takashi Yasuno and Prasetya Arman Dwi : Quadruped Robot Walking Control on Irregular Terrain Using CPG Networks, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-4, 98, Sep. 2013.
160.	Masaharu Inoue, Takashi Yasuno and Akinobu Kuwahara : 階層型ニューラルネットワークを用いた複数台簡易GPSによる移動体の位置補正, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.16-14, 289, Sep. 2013.
161.	Yuta Tagami and Takashi Yasuno : 日照時間を入力情報に加えた簡略化ファジィ推論を用いた日射量予測モデル, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.16-13, 288, Sep. 2013.
162.	Takahiro Kitajima and Takashi Yasuno : エルマン型ニューラルネットワークを用いた極短時間先風速予測, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.16-12, 287, Sep. 2013.
163.	Yoshio Soneda and Takashi Yasuno : 複素CPGネットワークを用いた4脚ロボットのZMPフィードバックによる適応的歩行制御, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-3, 97, Sep. 2013.
164.	Takahiro Nagai, Takashi Yasuno, Takahiro Kitajima, Kenji Yamanaka and Akinobu Kuwahara : 半自律制御を実装した遠隔操作型移動ロボットの操作性に関する一考察, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-2, 96, Sep. 2013.
165.	Atsushi Shibai, Kenichi IIda and Takashi Yasuno : 群ロボットシステムによる協調搬送行動の獲得, 平成25年電気学会全国大会講演論文集, Vol.4, No.4-172, 296, Mar. 2013.
166.	Takumi Kawabushi, Kenichi IIda and Takashi Yasuno : 光学マウスセンサとLRFを用いた全方位移動車輌の自己位置推定, 平成25年電気学会全国大会講演論文集, Vol.4, No.4-170, 293, Mar. 2013.
167.	Takahiro Kitajima and Takashi Yasuno : 小型風力発電機の機械的時定数と風速の予測情報を用いた最大出力制御法, 平成25年電気学会全国大会講演論文集, Vol.6, No.6-288, 493, Mar. 2013.
168.	Takemasa Okabe and Takashi Yasuno : 機械的動特性を内包したCPGモデルによる一次元ホッピングロボットの適応的跳躍制御, 平成25年電気学会全国大会講演論文集, Vol.3, No.3-36, 45, Mar. 2013.
169.	Takahiro Kitajima, Takashi Yasuno, Kenji Yamanaka, Akinobu Kuwahara, Takaharu Yamada, Hisashi Takai, Takaaki Bando and Yuzuru Ishihara : Development of Remote Control LED Illumination Robot Q-po, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.SO2-15, Nov. 2012.
170.	Takashi Yasuno, Daiki Tanaka and Akinobu Kuwahara : Autonomous Navigation of UGV Considering of Trade-off between Path Tracking and Obstacle Avoidance Based on Collision Danger-degree, 第55回自動制御連合講演会, No.1I303, 586-591, Nov. 2012.
171.	Prasetya Arman Dwi, Takashi Yasuno and Yong Zhang : Cooperative Control For Multiple Targets Tracking Using Particle Swarm Optimization, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-17, 118, Sep. 2012.
172.	Kazuki Sato, Takashi Yasuno and Akinobu Kuwahara : 簡略化ファジィ推論を用いた短期日射量予測モデルの構築, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.16-41, 342, Sep. 2012.
173.	Naoya Ikeda, Takashi Yasuno and Takahiro Kitajima : 複素ニューラルネットワークを用いた風速予測システムにおける正規化手法の一考察, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.16-40, 341, Sep. 2012.
174.	Yoshio Soneda, Takashi Yasuno, Yong Zhang and Akinobu Kuwahara : 複素CPGネットワークを用いた4脚ロボットの適応的歩行, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-16, 117, Sep. 2012.
175.	Masaki Shindo, Takashi Yasuno and Akinobu Kuwahara : 遠隔操作型3連パラレルクローラロボットの試作と基本制御特性, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-14, 115, Sep. 2012.
176.	Takahiro Kitajima and Takashi Yasuno : 風速の予測情報を用いた風力発電機の最大出力制御, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-12, 113, Sep. 2012.
177.	Takemasa Okabe, Takashi Yasuno and Yong Zhang : 一次元ホッピングロボットの動特性を考慮したCPGモデルによる跳躍制御, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-10, 111, Sep. 2012.
178.	Daisuke Irahara and Takashi Yasuno : パネル巡航問題における人間の意思決定スキルの評価, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-8, 109, Sep. 2012.
179.	Takumi Tada, Takashi Yasuno and Akinobu Kuwahara : 実群ロボットによるリアルタイム環境マップ生成, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-4, 105, Sep. 2012.
180.	Hiroyuki Takao, Takashi Yasuno, Akinobu Kuwahara, Koichi Iwabu and Kiyoshi Takigawa : 多地点同時雲画像撮影装置を用いた雲底高度の推定, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.7-10, 100, Sep. 2012.
181.	Masaki Abe, Takashi Yasuno, Hiroki Takashina and Akinobu Kuwahara : Kinectを用いた立ち上がり・下がり運動状態計測に基づく膝関節アシストタイミングの一考察, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.7-4, 94, Sep. 2012.
182.	Takashi Yasuno, Takahiro Kitajima, Daiki Tanaka, Kenji Yamanaka, Akinobu Kuwahara, Takaharu Yamada, Takaaki Bando and Yuzuru Ishihara : LED発光型遠隔操作ロボットQ-poの開発と探索シミュレータへの応用, LED総合フォーラム2012in徳島論文集, No.P-17, 101-102, Apr. 2012.
183.	Takumi Kawabushi, Kenichi Iida and Takashi Yasuno : 全方向移動車輌におけるモーションコントロール, 平成23年電気学会全国大会講演論文集, Vol.4, No.4-239, 404, Mar. 2012.
184.	Atsushi Shibai, Kenichi Iida and Takashi Yasuno : 並列サブシステムからなるSwarm Robot Systemによる搬送制御, 平成23年電気学会全国大会講演論文集, Vol.4, No.4-194, 332, Mar. 2012.
185.	Takahiro Kitajima, Takashi Yasuno and Naoya Ikeda : Basic Investigation of Output Predictive Control System for Micro Wind Power Generator, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.SO1-16, Nov. 2011.
186.	Daiki Tanaka, Takashi Yasuno and Akinobu Kuwahara : Simulation of Path Tracking Control at Fixed Time for Autonomous UGV, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.SO1-27, Nov. 2011.
187.	Daisuke Nishigawa and Takashi Yasuno : Position Control and Disturbance Input Characteristic of Tendon-driven Joint Model Using Adaptive Two Degree-of-freedom Control, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.SO1-28, Nov. 2011.
188.	Zhang Yong and Takashi Yasuno : Adaptive Walking Control Using CPG Network for Quadruped Robot on Up-down Slope, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.SO1-30, Nov. 2011.
189.	Prasetya Arman Dwi and Takashi Yasuno : Target Following Control For Multiple Mobile Robot Using Particle Swarm Optimization, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.SO1-31, Nov. 2011.
190.	Kazuki Sato, Takashi Yasuno, Akinobu Kuwahara and Hiroaki Hayashi : Correction Effects of Prediction Value by Simplified Fuzzy Reasoning for Solar Radiation Prediction System Using Weather Forecast, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.SO2-22, Nov. 2011.
191.	Takashi Yasuno and Emiko Yasuno : Present Situation and Educational Effects of Shikoku Mobile and Autonomous Robot Tournament, Proceedings of Shikoku Branch Conference of Society of Instrument and Control Engineers, No.SO2-32, Nov. 2011.
192.	Yuuki Atake, Takashi Yasuno, Eri Yoneda, Hiroshi Suzuki and Akinobu Kuwahara : 階層型ニューラルネットワークを用いた膝関節用パワーアシスト装具のアシスト力推定と制御, 第34回生体医工学会中四国支部大会講演抄録, No.13, 33, Oct. 2011.
193.	Naoya Ikeda, Takashi Yasuno and Takahiro Kitajima : Wind Speed Prediction System Using Complex-valued Neural Network Under Frequency Analysis of Wind Speed, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.16-8, 277, Sep. 2011.
194.	Takahiro Kitajima and Takashi Yasuno : Study on Wind Speed Prediction System Using Complex-valued Neural Network with Multipoint Numerical Weather Prediction Data, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.16-7, 276, Sep. 2011.
195.	Takumi Tada and Takashi Yasuno : Realtime Mapping Algorithm for Multiple Mobile Robot System, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-13, 113, Sep. 2011.
196.	Masahiro Kijima, Takashi Yasuno and Akinobu Kuwahara : Oscillation Characteristics of Complex-valued CPG Model, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-12, 112, Sep. 2011.
197.	Prasetya Arman Dwi and Takashi Yasuno : Cooperative Control For Multiple Mobile Robot Using Particle Swarm Optimization, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-6, 106, Sep. 2011.
198.	Takeshi Nakatani, Takashi Yasuno, Kenji Yamanaka and Akinobu Kuwahara : Slip Restrain Control for Electric Wheelchair by Switching of Feedback Controller, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-5, 105, Sep. 2011.
199.	Daisuke Nishigawa and Takashi Yasuno : Position Control Characteristics of Tendon-driven Joint Model Using Adaptive Two Degree-of-freedom Control, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-4, 104, Sep. 2011.
200.	Yong Zhang, Takashi Yasuno and Kyouhei Sumitomo : Adaptive Walking Control for Quadruped Robot on Irregular Terrain Using CPG Networks with Motor Dynamics, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-3, 103, Sep. 2011.
201.	Kyouhei Sumitomo, Takashi Yasuno, Yong Zhang and Akinobu Kuwahara : Oscillation Characteristics for Sensory Feedback of CPG Model with Two DC Motors, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-2, 102, Sep. 2011.
202.	Daiki Tanaka, Takashi Yasuno and Akinobu Kuwahara : Autonomous Navigation for UGV Considering Trade-off between Path Tracking and Obstacle Avoidance, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-1, 101, Sep. 2011.
203.	Kazuki Sato, Takashi Yasuno and Akinobu Kuwahara : Prediction System of Solar Radiation Under Simplified Fuzzy Reasoning Using Weather Forecast and MSM-GPV, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.3-7, 59, Sep. 2011.
204.	Takashi Yasuno, Hiroshi Suzuki, Akinobu Kuwahara, Takaharu Yamada, Takaaki Bando and Yuzuru Ishihara : 自律型LED発光ロボットMini-poの開発と群ロボットシステムへの応用, LED総合フォーラム2011in徳島論文集, No.P-20, 111-112, Jun. 2011.
205.	Yuji Tanaka, Takashi Yasuno, Hiroshi Suzuki, Akinobu Kuwahara and Emiko Yasuno : 3連パラレルクローラ型ロボットのクローラ間速度協調制御システム, Proceedings of The Society of Instrument and Control Shikoku Branch Conference 2010, No.321, Nov. 2010.
206.	Takahiro Kitajima and Takashi Yasuno : 複素エルマン型ニューラルネットワークを用いた風力発電出力予測システム, Proceedings of The Society of Instrument and Control Shikoku Branch Conference 2010, No.212, Nov. 2010.
207.	Yong Zhang and Takashi Yasuno : Stable Walking Control for Quadruped Robot with Different Ground Reaction Force by Using CPG Network, Proceedings of The Society of Instrument and Control Shikoku Branch Conference 2010, No.211, Nov. 2010.
208.	Manabu Kariya, Haruya Nakagoshi, Osamu Kawasaki and Takashi Yasuno : 近傍アクチュエータ情報を用いた油圧リフタの同調制御, 第53回自動制御連合講演会, No.247, 699-702, Nov. 2010.
209.	Hiroshi Suzuki, Takashi Yasuno, Shirou Urushihara, Emiko Yasuno and Akinobu Kuwahara : 群移動ロボットによる協調搬送速度および軌道追従制御, 第53回自動制御連合講演会, No.341, 757-762, Nov. 2010.
210.	Yong Zhang and Takashi Yasuno : Walking Control Systems for Quadruped Robot on Unknown Up-down Slope by Using CPG Network, 第53回自動制御連合講演会, No.339, 749-752, Nov. 2010.
211.	Takahiro Kitajima and Takashi Yasuno : 複素 Elman 型ニューラルネットワークを用いた風速風向予測における有効な入力情報の検討, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.16-1, Sep. 2010.
212.	Yong Zhang and Takashi Yasuno : Walking Control for Quadruped Robot on Irregular Terrain Using CPG Networks, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-15, Sep. 2010.
213.	Masahiro Kijima, Takashi Yasuno, Yong Zhang and Akinobu Kuwahara : CPG ネットワークを用いた二関節筋機構を有する犬型ロボットの適応的歩容生成, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-14, Sep. 2010.
214.	Kyouhei Sumitomo, Takashi Yasuno, Hiroshi Suzuki and Akinobu Kuwahara : 自立型 4 脚ロボットのための DC モータドライバの設計・試作と運動制御特性, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-13, Sep. 2010.
215.	Yuji Tanaka, Takashi Yasuno, Hiroshi Suzuki, Akinobu Kuwahara and Takaharu Yamada : 3 連パラレルクローラ型ロボットに実装した適応型 2 自由度速度サーボシステムの外乱抑圧特性, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-12, Sep. 2010.
216.	Kensaku Hiraoka, Takashi Yasuno, Takashi Sakamoto and Akinobu Kuwahara : 遠隔操作型クローラ式移動ロボットの左右クローラ速度協調制御システム, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-11, Sep. 2010.
217.	Eri Yoneda, Takashi Yasuno, Yuki Atake, Hiroshi Suzuki and Akinobu Kuwahara : 膝関節用パワーアシスト装具 i-PASKO4 の機構設計とアシスト力特性, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-9, Sep. 2010.
218.	Yuki Atake, Takashi Yasuno, Eri Yoneda and Akinobu Kuwahara : 膝関節用パワーアシスト装具(i-PASKO4)装着時の簡易人体運動シミュレーション, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-8, Sep. 2010.
219.	Daiki Tanaka, Takashi Yasuno and Akinobu Kuwahara : 屋外環境における自律型 UGV の経路定時走行制御システム, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-4, Sep. 2010.
220.	Mao Yamamoto, Takashi Yasuno and Akinobu Kuwahara : 測域センサ搭載自律型移動ロボットの危険度に基づく行動制御アルゴリズム, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-3, Sep. 2010.
221.	Hiroshi Suzuki, Takashi Yasuno, Shiro Urushihara, Emiko Yasuno and Akinobu Kuwahara : 群ロボットによる協調搬送システムの障害物回避手法, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-2, Sep. 2010.
222.	Kuniyuki Koide, Takashi Yasuno and Emiko Yasuno : データマイニングを用いた群ロボットのためのパネル巡航交通ルール獲得, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-1, Sep. 2010.
223.	Emiko Yasuno, Takashi Yasuno and Takuya Kagawa : 群ロボットを用いたパネル巡航問題における共有動作ルールの生成, 平成22年電気学会全国大会講演論文集, Vol.3, No.3-093, 139, Mar. 2010.
224.	Hitoshi Sori and Takashi Yasuno : 階層型ニューラルネットワークとリアルタイム観測データを用いた台風接近時の風速風向予測システム, 平成22年電気学会全国大会講演論文集, Vol.3, No.3-082, 122, Mar. 2010.
225.	Yuji Tanaka, Takashi Yasuno, Hiroshi Suzuki, Akinobu Kuwahara and Takaharu Yamada : Motion Control of Three-Parallel Crawler Type Mobile Robot Using Adaptive Two-Degree-of-Freedom Control, Proceedings of The Society of Instrument and Control Shikoku Branch Conference 2009, No.343, Nov. 2009.
226.	Kassim Bin Mohamed Anuar, Takashi Yasuno and Akinobu Kuwahara : Moving and Breaking Motion Control of Quadruped Hopping Robot Using Adaptive CPG Networks, Proceedings of The Society of Instrument and Control Shikoku Branch Conference 2009, No.331, Nov. 2009.
227.	Masataka Tobari, Takashi Yasuno, Akinobu Kuwahara, Hiroaki Hayashi and Akihiro Sato : Growth and Quality Estimation of Tomato Using Automatic Irrigation Control Based on Predicted Solar Radiation, Proceedings of The Society of Instrument and Control Shikoku Branch Conference 2009, No.321, Nov. 2009.
228.	Hiroshi Suzuki, Takashi Yasuno, Shiro Urushihara, Emiko Yasuno and Akinobu Kuwahara : Indirect Cooperative Conveyance Control for Multi-Robot System Using Complex-Valued Neural Network, Proceedings of The Society of Instrument and Control Shikoku Branch Conference 2009, No.243, Nov. 2009.
229.	Tatsuya Yamane, Takashi Yasuno, Hiroshi Suzuki, Eri Yoneda, Akinobu Kuwahara and Kazuo Odani : Motion Control on Real-environment of Power Assist Knee Orthosis for Care Prevention, Proceedings of The Society of Instrument and Control Shikoku Branch Conference 2009, No.222, Nov. 2009.
230.	Shiro Ozaki, Takashi Yasuno, Akinobu Kuwahara and Daiki Tanaka : Self-Tuning Fuzzy Tracking Control for Autonomous UGV Using Preview of Reference Path, Proceedings of The Society of Instrument and Control Shikoku Branch Conference 2009, No.112, Nov. 2009.
231.	Eri Yoneda, Takashi Yasuno, Tatsuya Yamane, Akinobu Kuwahara and Kazuo Odani : Measurement on Sitting and Standing Motion Using Acceleration Sensor Modules for Power Assist Knee Orthosis, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.7-6, Sep. 2009.
232.	Hiroki Arimochi, Takashi Yasuno, Emiko Yasuno and Akinobu Kuwahara : Attitude Angle Correction of Autonomous Mobile Robot Under Magnetic Disturbance Detection Using Geomagnetic Sensor, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.7-5, Sep. 2009.
233.	Kensaku Hiraoka, Takashi Yasuno and Akinobu Kuwahara : Omni-Directional Moving Control for Leg-Wheeled Separable Type Quadruped Robot, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-15, Sep. 2009.
234.	Yuji Tanaka, Takashi Yasuno, Hiroshi Suzuki, Akinobu Kuwahara and Takaharu Yamada : Basic Motion Control of Three-Parallel Crawler Type Robot and Control on Irregular Terrain, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-14, Sep. 2009.
235.	Shiro Ozaki, Takashi Yasuno, Akinobu Kuwahara and Daiki Tanaka : Fuzzy Tracking Control for UGV Using Preview of Reference Path, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-13, Sep. 2009.
236.	Mao Yamamoto, Takashi Yasuno and Akinobu Kuwahara : Computation of Static Danger-degree Using Fuzzy Reasoning for Autonomous Mobile Robot with Scanning Laser Range Sensor, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-11, Sep. 2009.
237.	Hiroshi Suzuki, Takashi Yasuno, Shiro Urushihara, Emiko Yasuno and Akinobu Kuwahara : Cooperative Conveyance Control for Distributed Autonomous Mobile Robot System Using Complex-Valued Neural Network, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-10, Sep. 2009.
238.	Masataka Tobari, Takashi Yasuno, Akinobu Kuwahara, Hiroaki Hayashi and Akihiro Sato : Control Characteristics of Automatic Irrigation System Based on Predicted Solar Radiation, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-8, Sep. 2009.
239.	Ryohei Nogami, Takashi Yasuno and Akinobu Kuwahara : Jumping Height Control of One-leg Robot with Bi-articular Muscles using CPG Network, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-6, Sep. 2009.
240.	Shinji Irahara, Takashi Yasuno and Akinobu Kuwahara : Evaluation of Touch Vibration Device for Safety Driving Support System of Electric Wheelchair, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-5, Sep. 2009.
241.	Syo Fujisawa, Takashi Yasuno, Satoshi Yura and Hironobu Harada : Slip Restrain Control Using Current Feedback for Electric Wheelchair, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-3, Sep. 2009.
242.	Takuya Kagawa, Takashi Yasuno, Shiro Urushihara, Emiko Yasuno and Akinobu Kuwahara : Genaration of Return Rules to Charging Station for Multiple Mobile Robot using GP, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-2, Sep. 2009.
243.	Kuniyuki Koide, Takashi Yasuno, Takuya Kagawa and Emiko Yasuno : Acquisition of Human Decision-making Skills for Panel Cruising Problem Using Multiple Robots, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-1, Sep. 2009.
244.	Takahiro Kitajima and Takashi Yasuno : Wind Speed Prediction Using Hierarchical Neural Network Based on Frequency Information of Wind Speed, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.3-10, Sep. 2009.
245.	Taichi Mori, Kenichi Iida and Takashi Yasuno : Inspection of Dead-Reckoning using Multiple Optical Mouse Sensor, 電気学会電子·情報·システム部門大会論文集, No.GS5-7, 1142-1143, Sep. 2009.
246.	Shiro Ozaki, Takashi Yasuno and Akinobu Kuwahara : Fuzzy Tracking Control for Autonomous All Terrain Vehicle on Outdoor Environment, 電気学会電子·情報·システム部門大会論文集, No.GS5-6, 1138-1141, Sep. 2009.
247.	Yuji Tanaka, Takashi Yasuno, Hiroshi Suzuki and Akinobu Kuwahara : Development of Three-Parallel Crawler Type Robot and Remote Control on Irregular Terrain, 電気学会電子·情報·システム部門大会論文集, No.GS5-5, 1134-1137, Sep. 2009.
248.	Hiroshi Suzuki, Takashi Yasuno, Akinobu Kuwahara, Shiro Urushihara and Emiko Yasuno : Cooperative Conveyance Control for Multi-Robot System using Complex-Valued Neural Network, 電気学会電子·情報·システム部門大会論文集, No.GS5-3, 1126-1129, Sep. 2009.
249.	Ryohei Nogami, Takashi Yasuno and Akinobu Kuwahara : Jumping Control of One-Leg Robot with Bi-articular Muscles using CPG Network, 電気学会電子·情報·システム部門大会論文集, No.GS5-2, 1122-1125, Sep. 2009.
250.	Kassim Bin Mohamed Anuar, Takashi Yasuno and Akinobu Kuwahara : Two-Dimensional Moving Control of Quadruped Hopping Robot Using Adaptive CPG Networks, 電気学会電子·情報·システム部門大会論文集, No.GS5-1, 1118-1121, Sep. 2009.
251.	Tatsuya Yamane, Takashi Yasuno and Akinobu Kuwahara : Motion Control Characteristics of Power Assist Knee Orthosis for Care Precention, 電気学会電子·情報·システム部門大会論文集, No.MC8-7, 825-828, Sep. 2009.
252.	Takahiro Kitajima and Takashi Yasuno : Wind Speed Prediction System using Complex-valued Neural Network, 電気学会電子·情報·システム部門大会論文集, No.GS17-4, 1491-1492, Sep. 2009.
253.	Hitoshi Sori and Takashi Yasuno : Several-Hours-Ahead Wind Speed Prediction System Using Recurrent Neural Network, Proceedings of the Annual Conference of Power & Energy Society, IEE of Japan, No.104, 01-7-01-8, Aug. 2009. (Keyword) Wind Speed Prediction / Reccurent Neural Network
254.	Kenichi Iida, Taichi Mori and Takashi Yasuno : Control System Considering Environment for Omni-directional Vehicle, National Convention Record I.E.E. Japan, Vol.4, No.4-250, 413, Mar. 2009.
255.	Taichi Mori, Kenichi Iida and Takashi Yasuno : Control for Omni-Directional Vehicle with Dead-Reckoning, 電気関係学会関西支部連合大会講演論文集, No.G3-11, Nov. 2008.
256.	Kassim Bin Mohamed Anuar, Takashi Yasuno, Akinobu Kuwahara and Hironobu Harada : Stable Motion Control of Quadruped Hopping Robot on Irregular Terrain, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.17-44, Sep. 2008.
257.	Yuji Tanaka, Takashi Yasuno, Hiroshi Suzuki, Emiko Yasuno and Akinobu Kuwahara : Development of Teaching Material "Moving Japanese Cushion" for Engineering Education, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-21, Sep. 2008.
258.	Tatsuya Yamane, Takashi Yasuno, Akinobu Kuwahara and Hironobu Harada : Simple Human Motion Simulator for Rehabillitation Tools Using Open Dynamics Engine, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-20, Sep. 2008.
259.	Katsunori Kuwajima, Takashi Yasuno, Akinobu Kuwahara and Hironobu Harada : Control Characteristics of Developed Power Assist Knee Orthosis During Bend and Stretch Motion, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-19, Sep. 2008.
260.	Munetatsu Hara, Takashi Yasuno, Akinobu Kuwahara and Hironobu Harada : Availability Assesment of Vibration Sensing Device for Driving Support of Electric Wheelchair, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-18, Sep. 2008.
261.	Hitoshi Nakayama, Takashi Yasuno, Akinobu Kuwahara and Hironobu Harada : Omni Directional Moving Control of Leg-Wheeled Type Quadruped Robot Using Omni Wheels, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-17, Sep. 2008.
262.	Kenta Yuasa, Takashi Yasuno, Akinobu Kuwahara and Hironobu Harada : Walking Control and Estimation of Tumble Danger Degree Using Pressure-Sensitive Sensor for Quadruped Robot, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-16, Sep. 2008.
263.	Takashi Sakamoto, Takashi Yasuno, Akinobu Kuwahara and Hironobu Harada : Development and Characteristics by Remote Control of Crawler-Type Rescue Robot, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-15, Sep. 2008.
264.	Ryouhei Nogami, Takashi Yasuno, Akinobu Kuwahara and Hironobu Harada : Motion COntrol of Tendon-Driven Joint Using CPG, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-7, Sep. 2008.
265.	Sho Fujisawa, Takashi Yasuno, Satoshi Yura and Hironobu Harada : Control Characteristics of Two Axes Synchronizing Controller Using Speed and Position Error Feedback, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-6, Sep. 2008.
266.	Shiro Ozaki, Takashi Yasuno, Akinobu Kuwahara and Hironobu Harada : Tracking COntrol of Autonomous All Terrain Vehicle Using Fuzzy Control, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-4, Sep. 2008.
267.	Masayuki Tada, Takashi Yasuno, Akinobu Kuwahara and Hironobu Harada : Acquisition of Standing Up Motion for Quadruped Robot Using Reinforcement Learning, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-3, Sep. 2008.
268.	Hiroshi Suzuki, Takashi Yasuno, Shirou Urushihara, Akinobu Kuwahara and Hironobu Harada : Characteristics of Cooperative Guidance Control for Escaping Robot Using Real Multiple Robots, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-2, Sep. 2008.
269.	Takuya Kagawa, Takashi Yasuno, Shirou Urushihara and Emiko Yasuno : Generation of Collision Avoidance Rules for Multiple Sweeping Robots Using Genetic Programming, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.8-1, Sep. 2008.
270.	Hiroki Arimochi, Takashi Yasuno, Hiroshi Suzuki, Akinobu Kuwahara and Hironobu Harada : Self Localization of Autonomous Mobile Robot Using Digital Compass, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.7-8, Sep. 2008.
271.	Satoru Takiwaki, Takashi Yasuno, Katsunori Kuwajima, Akinobu Kuwahara and Hironobu Harada : Development and Basic Control Characteristics of Power Assist System for a Knee Joint, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.7-2, Sep. 2008.
272.	Ryota Yakushiji, Takashi Yasuno, Naoto Fujimiura, Kiyoshi Takigawa and Kensuke Kawasaki : Fuzzy Prediction of Wind Power Using Error Persistent Model, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.3-12, Sep. 2008.
273.	Naoto Fijimura, Kiyoshi Takigawa, Yoshihiko Matsuura, Kensuke Kawasaki and Takashi Yasuno : Improvement of Wind Power Prediction Model using GA, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.3-11, Sep. 2008.
274.	Takahiro Kitajima, Hitoshi Sori and Takashi Yasuno : Accuracy Estimation of Wind Speed Prediction System Using Hierarchical Neural Network, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.3-10, Sep. 2008.
275.	Masataka Tobari, Takashi Yasuno, Akinobu Kuwahara, Hironobu Harada and Hironori Suzue : Corrrection of Predicted Maximum Solar Radiation Using Difference in Temperature and Predicted Humidity, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, No.3-7, Sep. 2008.
276.	Masataka Tobari, Takashi Yasuno, Akinobu Kuwahara, Hironobu Harada and Hironori Suzue : ファジィ推論を用いた簡易日射量予測システムの予測値補正, Proceedings of the Japan Industry Applications Society Conference, Y-89, Aug. 2008.
277.	Hiroshi Suzuki, Takashi Yasuno, Hironobu Harada, Akinobu Kuwahara and Shiro Urushihara : 群知能ロボットによる複数台逃避ロボットの協調誘導制御, Proceedings of the Japan Industry Applications Society Conference, Y-72, Aug. 2008.
278.	Taichi Mori, Kenichi Iida and Takashi Yasuno : 光学マウスセンサを用いた全方向移動車輛制御, Proceedings of the Japan Industry Applications Society Conference, Y-71, Aug. 2008.
279.	Ryohei Nogami, Takashi Yasuno, Kentarou Hamamoto, Hironobu Harada and Akinobu Kuwahara : 電流フィードバックを有するCPGを用いた4脚ロボットの適応的歩容生成, Proceedings of the Japan Industry Applications Society Conference, Y-64, Aug. 2008.
280.	Sho Fujisawa, Takashi Yasuno and Satoshi Yura : 階段昇降装置"Kongo-Zue"の階段昇降特性, Proceedings of the Japan Industry Applications Society Conference, Y-60, Aug. 2008.
281.	Kenichi Iida, Taichi Mori and Takashi Yasuno : 球状車輪を用いた全方位移動車輌の応答特性, National Convention Record I.E.E. Japan, Vol.4, No.4-189, 314, Mar. 2008.
282.	Katsunori Kuwajma, Takashi Yasuno and Hironobu Harada : 加速度情報に基づく膝関節用パワーアシスト装具の制御特性, National Convention Record I.E.E. Japan, Vol.3, No.3-085, 123, Mar. 2008.
283.	Junji Fukumi, Tatsumi Toumiya, Ken'ichi Fujimoto, Takayuki Suzuki, Takuya Kamano and Takashi Yasuno : ウェーブレット変換を用いた小型風車の騒音解析, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, 105, Sep. 2001.
284.	Teruhisa Yano, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno, Hironobu Harada and 片岡雄 : 階層型ニューラルネットワークによる一次元ホッピングロボットの制御シミュレーション, Transactions of the Institute of Systems, Control and Information Engineers, May 1996.
285.	Teruhisa Yano, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno, Hironobu Harada and 片岡雄 : 階層型ニューラルネットワークによる一次元ホッピングロボットの制御, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, Nov. 1995.
286.	Teruhisa Yano, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno, Hironobu Harada and 片岡雄 : ニューラルネットワークを用いた一次元ホッピングロボットの制御, National Convention Record I.E.E. Japan, Mar. 1995.
287.	Teruhisa Yano, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno, Hironobu Harada and 片岡雄 : ファジィコントローラによる温度制御システム, Journal of Shikoku-Section Joint Convention of the Institutes of Electrical and Related Engineers, Oct. 1994.

Et cetera, Workshop:

1.	ONO Kosei, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : YOLOv8を用いた果実認識に基づくミニトマト収穫ロボットのマニピュレータ制御, The Papers of Technical Meeting, IEE JAPAN, No.PI-24-030&IIS-24-045, 23-28, Sep. 2024.
2.	Hiroshi Suzuki, HIRANO Kosei, Tomoki Matsuo, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Shinjiro Takata : 単純な操作入力に対応したVFHアルゴリズムによる電動車いすの半自律運転システム, The Papers of Technical Meeting, IEE JAPAN, No.CT-24-049, 25-29, Jan. 2024.
3.	Tomoya Kawauchi, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Shinjiro Takata : Analysis of Lifting Motion Based on Musculoskeletal Simulation and Classification Using Machine Learning, The Papers of Technical Meeting, IEE JAPAN, No.CT-22-102, 11-15, Dec. 2022.
4.	Kohsei Hirano, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Shinjiro Takata : Traveling Control of Electric Wheelchair Using Pneumatic Interface, The Papers of Technical Meeting, IEE JAPAN, No.CT-22-064, 17-20, Mar. 2022.
5.	Takashi Yasuno, Akinobu Kuwahara, Hiroshi Suzuki, Takahiro Kitajima, 木村かおる, 篠宮恵子, 田中育美 and 山本麻貴 : Practice of Science Education in Early Childhood and Its Effects, The Papers of Technical Meeting, IEE JAPAN, No.FIE-20-016, 5-10, Dec. 2020.
6.	Zhen Liu, Hiroshi Suzuki, Yoshiki Sanada, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Navigation System for Electric Wheelchair Using Improved RRT Algorithm, The Papers of Technical Meeting, IEE JAPAN, No.CT-20-108, 55-59, Oct. 2020.
7.	Yoshiki Sanada, Hiroshi Suzuki, Tomoki Matsuo, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Human Friendly Safe Driving Support System for Electric Wheelchair, The Papers of Technical Meeting, IEE JAPAN, No.CT-19-114, 3-8, Aug. 2019.
8.	Yuki Emoto, Hiroshi Suzuki, Tomoki Matsuo, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Assist Control of Lumbar power Assist Suit Based on Upper Body Acceleration, IEICE Technical Report, Vol.MBE2019, No.25, 33-38, Jul. 2019.
9.	Yuki Emoto, Hiroshi Suzuki, Ayaka Sumoto, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Influence Analysis on Lower Limb Motion at Using Waist-Joint Power Assistive Suit for Nursing Care, The Papers of Technical Meeting, IEE JAPAN, No.CT-19-067, 31-36, Mar. 2019.
10.	Heejin Lee, Syota Nakazawa, Hiasashi Takai, Ayaka Sumoto, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : デジタルヒューマンモデルを用いた動力学シミュレーションに基づく腰関節用パワーアシスト装具の開発, The Papers of Technical Meeting, IEE JAPAN, No.CT-18-107, 21-26, Jul. 2018.
11.	KASSIM MOHAMED Anuar, Hiroshi Suzuki, Takashi Yasuno, ARAS SHAHRIEEL MOHD Mohd and RASHID ZAMZURI ABDUL Mohd : Performance Evaluation of Obstacle Detection System at Upper Body Level for Visually Impaired Person through Field Test, IEICE Technical Report, No.MBE2017-30, 63-68, Jul. 2017.
12.	Shota Nakazawa, Takuya Agui, Hiroshi Suzuki, 高井久司, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 人体の動力学モデルを用いた腰関節用パワーアシスト装具の設計と評価, The Papers of Technical Meeting, IEE JAPAN, No.CT-17-053, 25-30, Jun. 2017.
13.	Kassim Mohamed Anuar, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : Development and Evaluation of Multimodal Warning System on Electric Spectacle for Visually Impaired Person, The Papers of Technical Meeting, IEE JAPAN, No.CT-16-076, 27-32, Dec. 2016.
14.	Takuya Agui, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara and Takashi Yasuno : 人体の3次元動力学シミュレーションに基づく腰関節用パワーアシスト装具のパラメータ設計, The Papers of Technical Meeting, IEE JAPAN, No.CT-16-074, 17-22, Dec. 2016.
15.	LEE Heejin, Takahiro Kitajima, Masaharu Inoue and Takashi Yasuno : Accuracy Improvement Method of Self-Localization for Outdoor Multiple Mobile Robots Using Neural Network, IEICE Technical Report, No.NC2015-12, 1-6, Jul. 2015.
16.	Kassim Bin Mohamed Anuar, Takashi Yasuno, Jaafar Izzuan Hazriq, Aras Shahrieel Mohd Mohd and Abas Norafizah : Path Plannning Algorithm for Blind Navigation System by using RFID Networks, The Papers of Technical Meeting, IEE JAPAN, Vol.CT-15, No.024, 17-22, Mar. 2015.
17.	Takahiro Kitajima, Takashi Yasuno and Naoya Ikeda : 複素ニューラルネットワークと風速の周波数情報を用いた風速予測システム, IEICE Technical Report, Vol.113, No.148, 35-40, Jul. 2013.
18.	Hiroki Takashina, Takashi Yasuno, Takahiro Kitajima, Kenji Yamanaka, Akinobu Kuwahara, Takaharu Yamada, Hisashi Takai, Takaaki Bando and Yuzuru Ishihara : Kinectを用いたロボットの操作体験による運動不足解消システム, IEICE Technical Report, Vol.113, No.147, 37-40, Jul. 2013.
19.	Masaki Abe, Takashi Yasuno and Akinobu Kuwahara : アクチュエータの動特性を考慮したニューラルネットワークによる膝関節用パワーアシスト装具の運動制御, IEICE Technical Report, Vol.113, No.148, 19-22, Jul. 2013.
20.	Hitoshi Sori, Takashi Yasuno and Takahiro Kitajima : Several-Hours-Ahead Wind Speed Prediction System Using Self-Organizing Map and Hierarchical Neural network, 風力エネルギー利用シンポジウム, 453-456, Nov. 2012.
21.	Kiyoshi Takigawa, Koichi Iwabu and Takashi Yasuno : Estimation of Solar Radiation Distribution using Cloud Images, The Papers of Technical Meeting, IEE JAPAN, Vol.FTE-11-30,MES-11-16, 7-13, Nov. 2011.
22.	Takashi Yasuno and Hiroki Arimochi : 群移動ロボットシステムのための自己位置同定およびマップ生成手法, 電気学会産業計測制御研究会資料, No.IIC-10-180, 41-46, Sep. 2010.
23.	Yong Zhang and Takashi Yasuno : Design Method of Adaptive Walking Control Systems for Quadruped Robot Using CPG Network, 15th Intelligent Mechatoronics Workshop, No.D4, Sep. 2010.
24.	Masahiro Kijima, Takashi Yasuno and Yong Zhang : CPGネットワークを用いた二関節筋機構を有する4脚ロボットの適応的未知不整地歩行, 第15回知能メカトロニクスワークショップ, No.E2, Sep. 2010.
25.	Hiroshi Suzuki, Takashi Yasuno, Shiro Urushihara, Emiko Yasuno and Akinobu Kuwahara : 複素ニューラルネットワークを用いた群ロボットシステムの耐故障特性, 第15回知能メカトロニクスワークショップ, No.E1, Sep. 2010.
26.	Daiki Tanaka, Takashi Yasuno and Akinobu Kuwahara : 屋外環境における自律型UGVの経路定時走行制御システム, 第15回知能メカトロニクスワークショップ, No.D3, Sep. 2010.
27.	Kassim Bin Mohamed Anuar and Takashi Yasuno : Motion Control for Quadruped Hopping Robot Using CPG Networks with Mechanical Dynamics, National Convention Record I.E.E. Japan, Vol.4, No.4-S21-8, S21(29)-(32), Mar. 2009.
28.	Hitoshi Sori and Takashi Yasuno : リカレント型ニューラルネットワークを用いた短時間先風速予測, 第30回風力エネルギー利用シンポジウム, 125-128, Nov. 2008.
29.	Naoto Fujimura, Takashi Yasuno, Kiyoshi Takigawa, Ryota Yakushiji and Kensuke Kawasaki : 偏差持続モデルに基づくファジィ推論を用いた風力発電の出力予測, 第30回風力エネルギー利用シンポジウム, 201-204, Nov. 2008.
30.	Naoyuki Shimomura, Ikuro Morita, Takashi Yasuno, Masahide Hojo, Masatake Kawada, Kenji Teranishi and Tokuo Ohnishi : An Approach on Electrical Electronic Engineering Laboratory, --- Things to Appear from Small-Group Instruction ---, The Papers of Technical Meeting, IEE JAPAN, Vol.FIE-08, No.2, 11-15, Sep. 2008.
31.	Takashi Yasuno, Ryouhei Nogami, Kentarou Hamamoto, Akinobu Kuwahara and Hironobu Harada : 駆動電流フィードバック型CPGネットワークを用いた4脚ロボットの適応的歩容制御, The Papers of Technical Meeting, IEE JAPAN, No.IIC-08-153, 21-26, Sep. 2008.
32.	Takuya Kagawa, Takashi Yasuno, Shiro Urushihara and Emiko Yasuno : Motion Control of Multiple Sweeping Robots Using Genetic Programming, 第13回知能メカトロニクスワークショップ講演論文集, 275-278, Sep. 2008.
33.	Katsunori Kuwajima, Takashi Yasuno, Akinobu Kuwahara and Hironobu Harada : バネ機構を有する膝関節用パワーアシスト装具の制御特性, 第13回知能メカトロニクスワークショップ講演論文集, 59-62, Sep. 2008.
34.	Munetatsu Hara, Takashi Yasuno, Akinobu Kuwahara and Hironobu Harada : 電動車いすのための触覚振動デバイスを用いた運転支援システムの評価, 第13回知能メカトロニクスワークショップ講演論文集, 45-48, Sep. 2008.
35.	Manabu Kariya, 川崎修 and Takashi Yasuno : 非線形オートチューニングコントローラを用いた油圧理蓋の同調制御, 第13回知能メカトロニクスワークショップ講演論文集, 174-178, Sep. 2008.
36.	Hiroshi Suzuki and Takashi Yasuno : 群知能ロボットの協調搬送制御, National Convention Record I.E.E. Japan, Vol.4, No.S-16-3, S16(9)-(12), Mar. 2008.
37.	Naoto Fujimura, Kiyoshi Takigawa, Kensuke Kawasaki and Takashi Yasuno : ファジィ推論を用いた風力発電の出力予測, 第29回30周年記念風力エネルギー利用シンポジウム予稿集, 267-270, Nov. 2007.
38.	Hitoshi Sori and Takashi Yasuno : 階層型ニューラルネットワークを用いた簡易風速予測法による1時間先風速予測, 第29回30周年記念風力エネルギー利用シンポジウム予稿集, 263-266, Nov. 2007.
39.	Takashi Yasuno : 4脚車輪型移動ロボットの未知環境における適応的行動制御, 平成19年電気学会全国大会講演論文集, Vol.4, No.4-S15-5, S15(17)-S15(20), Mar. 2007.
40.	Takashi Yasuno, Tadasuke Kaneizumi, Takuya Kamano and Hironobu Harada : Adaptive Action Control for Four Leg-Wheeled Type Mobile Robot, The Papers of Technical Meeting, IEE JAPAN, No.IIC-06-130, 87-92, Sep. 2006.
41.	Hiroshi Suzuki, Takashi Yasuno and Shiro Urushihara : Generation of Cooperative Conveyance Pattern for Two Mobile Robots Using Hierarchical Neural Network, The Papers of Technical Meeting, IEE JAPAN, No.IIC-06-128, 75-80, Sep. 2006.
42.	Takashi Yasuno : 自ら学ぶ環境作りと継続学習∼プロジェクト演習における取り組み∼, 平成17年度工学教育連合講演会講演予稿集, No.6, 81-91, Sep. 2005.
43.	Takashi Yasuno : プロジェクト演習におけるもの作り教育と継続学習への取り組み, 工学教育シンポジウム2005, Mar. 2005.
44.	Yuka Kasai, Takuya Kamano, Takashi Yasuno and Hironobu Harada : Measurement of Tumble Danger-Degree for Quadruped Robot at Walking Environment Changes, 第14回インテリジェント·システム·シンポジウム講演論文集, No.1-103, 5-6, Oct. 2004.
45.	Mitsuhiro Yano, Takuya Kamano, Takashi Yasuno and Hironobu Harada : Motion Control for Autonomous Mobile Robot in Consideration of Obstacle Avoidance and Trajectory Tracking Using Neural Network, 第14回インテリジェント·システム·シンポジウム講演論文集, No.1-204, 51-52, Oct. 2004.
46.	Takashi Yasuno, Takuya Kamano, Yuji Yamanaka and Yurak Son : Motion Control for Autonomous Mobile Robot using Operator's Decision-Making Skill Based on Image Information, The Papers of Technical Meeting, IEE JAPAN, No.IIC04-89, 65-70, Jul. 2004. (Summary) 本論文では，未知走行環境において自律移動可能な知能ロボットを実現するためには，視覚情報が不可欠であるとの観点から，汎用的かつ手軽な非接触外界センサの一つである小型CMOSカメラを使用し，得られる局所的な画像情報を環境情報として用いることを考えている．そして，得られた様々なシーンと自律型移動ロボットの取るべき行動とを関連付ける写像関数を階層型ニューラルネットワークの学習機能を用いて獲得している．このとき，オペレータが実際に画像情報のみを参照しながら移動ロボットを操縦したときの操作データを教師データとし，階層型ニューラルネットワークによりオペレータの状況判断スキルを実現している．さらに，学習したニューラルネットワークの適応能力を確認するために，未知環境下で種々の走行実験を行い，提案する制御システムの有用性を確認している．
47.	Takuya Kamano, Takashi Yasuno and Takayuki Suzuki : 研究室紹介徳島大学工学部電気電子工学科鎌野研究室, Wind Energy, Vol.28, No.2, 82-87, Jun. 2004. (Summary) 研究室では，鈴木が昭和50年代始めから，自然エネルギー利用システムの中でも主として風力発電システムに対し，制御工学的見地から研究を続けている．その結果として，風力発電システムのシミュレータの開発や最大出力制御法の提案など，多くの成果を挙げてきた．近年では，鎌野や安野も研究スタッフとして加わり，ファジィやニューラルネットワーク，遺伝的アルゴリズム(GA)等のインテリジェント制御手法の適用にも取り組むようになった．ここでは特に，風力発電システムヘのGAの適用例として，風車トルク係数と慣性モーメントの同時推定法とプロペラ形風速風向計の校正，さらに，風力発電システムの出力制御法を取り上げ，簡単に解説している．
48.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki and Hironobu Harada : The Basic Study of Powered Ankle Foot Orthosis, IEICE Technical Report, No.MBE2003-48, 35-38, Jul. 2003. (Summary) 本論文では，疾患等によって足首関節に運動機能障害を持つ患者に対し，運動能力の低下を補助する動力装具の開発を目的として，閉リンク機構を有するパワーアシスト短下肢装具と歩行運動計測システムを提案している．提案した動力装具は，着脱が容易であり，閉リンク機構を採用することにより，足首関節の運動に十分な自由度を確保している．また，複数個の小型リニアアクチュエータ(直流サーボモータとボールネジ)を用いることにより，十分な推力で足首関節を制御できることを実験により確かめている．しかし，本研究は基礎的な段階にあり，パワーアシスト短下肢装具に必要とされる安全性，信頼性，親和性に加え，動力源を実装するための小型·軽量化についての検討が不十分である．また，よりスムーズな歩行を実現するために，インテリジェントな制御手法についても検討が必要である．
49.	Manabu Kariya, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Hironobu Harada and Sayaka Ogura : Cooperative Catching Behavior of Multiple Mobile Robots Based on Fuzzy Pincer Attack Rules, The Papers of Technical Meeting, IEE JAPAN, No.IIC-03-85, 15-20, Jul. 2003. (Summary) 本論文では，群捕獲ロポヅトにおいて2台の捕獲ロボヅトの協調挟撃行動を基本と考え，その挟撃行動の生成法と群への適用法について検討している．まず，協調行動をファジィ挟撃ルールとして記述し，そのルールを捕獲行動を通してGAを用いてシミュレーションにより生成している．生成したファジィ挟撃ルールを実機に実装し，その行動が協調挟撃行動となることを実験により確認している．次に，ファジィ挟撃ルールを間接法により3台の捕獲ロボット実装し，ターゲットの捕獲実験を行って協調行動が実現できることを確認している．その中で，初期位置に依存しない協調捕獲行動や，協調行動への参加が遅れるロボヅトが存在する場合でも協調捕獲が可能であることを確認している．これらの結果から，提案手法により捕獲問題における群移動ロポットの協調行動が状況に応じて柔軟に実現可能なことと，その有用性を確認している．
50.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Masahiro Yamada and Hironobu Harada : Control of Multi-Wheeled Conveyer System using Reinforcement Learning, The Papers of Technical Meeting, IEE JAPAN, No.IIC-03-84, 9-14, Jul. 2003. (Summary) 本論文では，分散アクチュエータの考え方に着目し，ホロノミック特性を有するオフセット駆動輪を複数用いた車輪群コンベアシステムを提案している．また，2つの物体の対向搬送制御問題に対し，強化学習特有の性質である環境同定と報酬獲得のトレードオフを考慮したQ-PSPleaming法を適用し，オフライン学習によりQ値テーブルの獲得を試みている．そして，オフライン強化学習により得たQ値テーブルを試作した車輸群コンベアシステムに実装することにより，最短時間で互いに衡突することなく対向搬送制御が実現できることを確認している．
51.	Seiji Kiyota, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Hironobu Harada : Performances of Omnidirectional Mobile Robot Driven by Inertia Force Resulting from Arm Swing Motion, 第12回インテリジェント·システム·シンポジウム講演論文集, No.2-114, 325-326, Nov. 2002. (Summary) 本論文では，移動機構の一方式として，人聞の上半身を模擬した双腕マニュビュレータの腕振り動作に伴う慣性カを利用した全方位移動ロボットを提案し，その移動特性について検討している．一般に，車輪式駆動および脚式駆動の全方位移動ロボットは，その推進力を床面との摩擦を介して伝達している．一方，提案する全方位移動ロボットは，双腕マニュピュレータの腕振り動作に伴う慣性力を利用して推進カを得るのが特徴である．ただし，良好な平面移動特性を実現するためには，動作条件や床面の状態，ロボットの身体性等に応じて適切な腕振り動作パターンを与える必要がある．ここでは，試作した全方位移動ロボットに対し，オンラインで遺伝的アルゴリズムを適用することにより，直進及び旋回移動のための腕振り動作パターンを生成している．
52.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Hiroki Fukuda and Hironobu Harada : Generation of Moving Pattern for Looper-Type Multijoints Robot using Genetic Algorithm, The Papers of Technical Meeting, IEE JAPAN, No.IIC-02-64, 65-70, Jul. 2002. (Summary) 本論文では，不整地な環境下においても移動可能なロボットとして伸縮多関節ロボットを提案し，その前進移動パターンの生成法について検討している．まず，試作した伸縮多関節ロボツトの各関節に設けた直流サーボモータに周期的な運動を行わせるため，直流サーボモータを構成要素とするCPGを提案し，結合係数を適切に設定することによって様々な発振パターンを生成できることを確認している．次に，各CPGを関節間結合係数を介してCPGネットワークを構成し，遺伝的アルゴリズムを用いて結合係数の探索を行っている．その結果，CPG間の結合状態が異なる3つのCPGネットワークに対し，それぞれの構成に適した前進移動パターンが生成できることを確認している．
53.	Fei Wang, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Hironobu Harada : Generation of Obstacle Avoidance Scheme for Autonomous Mobile Robot under Danger Degrees, The Papers of Technical Meeting, IEE JAPAN, No.IIC-02-63, 59-64, Jul. 2002. (Summary) 本論文では，自律型移動ロボットの障害物回避問題について検討している．提案する制御システムは，主に状況判断ブロック，チューニングブロック，危険度評価ブロックで構成されている．状況判断ブロックでは，人工ニューラルネットワークが適切な回避行動を選択するために用いられている．ニューラルネットワークは，動的危険度と静的危険度が目的地に到達するまでの間に最小となるよう遺伝的アルゴリズムにより調整される．動的危険度と静的危険度は，危険度評価ブロックにおいてファジィ推論によって算出される．試作自律型移動ロボットを用いた実験により，提案する制御システムは適切な障害物回避制御を実現できることを確認している．
54.	Hiroki Fukuda, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Hironobu Harada : Moving Characteristics of Looper-Type Multijoints Robot using CPG Network, IEICE Technical Report, Vol.MBE2001, No.34, 7-12, Jul. 2001. (Summary) 本論文では，従来の車輪式移動機構では移動が困難である環境下での移動機構として尺取虫型移動機構を提案し，試作した尺取り虫型多関節ロボットの前進移動パターンの生成について検討している．試作した尺取虫型多関節ロボットは，9個のサーボモータを使用し，自身の屈曲によって前進する機構を有している．各モータには周期的な発振を行わせるため，それ自体を構成要素としたCPGを用いている．CPGは，各結合係数を適切に設定することによって様々な発振パターンを生成することができる．また，各CPGを関節間結合係数によって結合し，CPGネットワークを構成することで尺取虫型多関節ロボットの前進パターンを生成する．CPGネットワークの各パラメータの決定には遺伝的アルゴリズムを用いており，10秒での移動距離を評価とし遺伝的操作を行うことでCPGパラメータを探索している．ここでは，関節間の結合において3つの結合パターンで探索を行った結果，それぞれの条件下で異なる前進移動パターンの生成が確認された．
55.	Kouki Tsunemi, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Hironobu Harada : Evolutive Generation of Walking Pattern for Hexapod Robot using Genetic Algorithm, IEICE Technical Report, Vol.MBE2001, No.33, 1-6, Jul. 2001. (Summary) 本論文では，6脚ロボットを目標位置まで歩行させるための各脚の動作タイミング(位相差)を遺伝的アルゴリズムを用いて進化的に生成する実験を行っている．初期位置におけるロボットの方向を種々変更して歩行実験を行ったところ，左右に旋回する歩行パターンを生成できることを確認した．世代を重ねていく過程で，蟹のように横方向に移動するパターンや，大きく迂回する歩行パターンなども得られることを確認している．ここでは，個体の評価に6脚ロボットの方向を含めていないため，目標位置付近に到達したときのロボットの向きは様々であったが，これは多種多様な歩行パターンを生成できることを示していると考えられる．また，世代を重ねるごとにエリート個体以外にも目標位置に向かう個体の数が増加していたことも確認され，1世代全体の個体が進化していることも確認できた．
56.	Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Manabu Kariya and Hideki Okamoto : Catching Formation Behavior of Multiple Hunter Robots based on Fuzzy Pincer Rules, The Papers of Technical Meeting, IEE JAPAN, Vol.IIC-01, No.61, 71-76, Jul. 2001. (Summary) 本論文では，2台の捕獲ロボットによるターゲットの挟撃行動を基本フォーメーション行動とする複数台ロボットの捕獲行動について検討している．捕獲ロボットの行動はファジィ挟撃ルールとして記述され，それらは予め遺伝的アルゴリズムによりターゲットを挟み込むように調整される．生成された挟撃ルールを複数台ロボットに適用するために，すべての2台のペアの組み合わせに直接適用する直接協調法と，最近傍のロボットのみに適用する間接協調法を提案している．6台のロボットによるターゲットの捕獲行動のシミュレーション結果から，使用したルールが挟撃ルールであるにもかかわらず，ターゲットを取り囲むフォーメーション行動を実現できることを確かめている．特に，間接協調法では，捕獲ロボットの行動が生成したルールを介した間接的な協調であるにもかかわらず，群としての協調行動を実現できることが確かめられた．
57.	Hironobu Harada, Takayuki Suzuki, Takuya Kamano and Takashi Yasuno : The Output Power Control of Hybrid Generating System With Fuzzy Control, 第22回風力エネルギー利用シンポジウム, 198-200, Nov. 2000. (Summary) 現在，地球環境悪化等の問題により化石燃料の使用量削減等が進められているが，本土の電カ系統から切り離されている離島などの電カ供給では，ほとんど化石燃料を利用したディーゼル発電によりまかなわれている．そこで本論文では，ディーゼル発電システムにクリーンな自然エネルギーを利用する発電システムを併用したハイブリッド発電システムを想定し，要求される電カ量をディーゼル発電システム側を制御することにより最適制御する手法について検討している．ここでは特に，比例制御とファジィ制御を利用した場合について，シミュレーション実験によりその有用性を検討している．
58.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki and Hironobu Harada : Structure of Neuro Servo Controller for Positioning System and Online Tuning using Genetic Algorithm, システム·情報部門シンポジウム2000講演論文集, 109-114, Nov. 2000. (Summary) 本論文では，非線形プラントの位置サーボシステムとして，非線形オートチューニングコントローラ(NATC)を用いたフィードフォワード型2自由度位置サーボシステムを提案している．NATCは，ファジィ，ニュー口，遺伝的アルゴリズムを補完的に融合したコントローラとして捉えることができ，主として非線形プラントの逆システムをフィードフォワードパス内に構成することにより，目標値追従特性の改善を図ることができる．一方，フィードバック制御システムは，プラントの線形近似モデルを基に外乱抑圧特性のみに着目して設計され，十分な外乱抑圧特性およびNATCのチューニング過程における安定性を確保している．試作システムを用いた実験により，チューニング速度の高速化と位置決め精度の向上が確認でき，例えば，油空圧アクチュエータなどの非線形性の強いプラントに対するサーボシステムとして期待できる．
59.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Yasushi Ohnishi and Hironobu Harada : Generation of Carrying Motion Pattern of Cilia using CPG Network, 第9回インテリジェント·システム·シンポジウム講演論文集, No.2-108, 464-469, Nov. 1999. (Summary) 本論文では，繊毛の周期的運動およぴ繊毛群の協調動作に着目し，2関節リンク機構を有する繊毛モデルの周期的運動パターンの生成と，それを用いた繊毛群モデルの部品搬送システムヘの応用について検討している．まず，興奮性ユニットと抑制性ユニットを有するCPG(Central Pattern Genarator)モデルを基に，抑制性ユニットを直流サーボモータで代替した新しいCPGモデルを提案し，その発振特性を確認している．次に，提案したCPGモデルを相互結合して構成した繊毛群モデルに対し，遺伝的アルゴリズムを用いて繊毛間結合係数を探索することにより，各繊毛が協調して部品を搬送できるよう周期的に運動することをシミュレーション解析により確認している．
60.	Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Yasunori Hasegawa and Hironobu Harada : Generation of Coorperative Catching Rules for Multiple Robots using Genetic Algorithm, 第9回インテリジェント·システム·シンポジウム講演論文集, No.2-107, 458-463, Nov. 1999. (Summary) 本論文では，群ロボットシステムの一例として，3台のロボットによる捕獲問題を取り上げ，ロボット間の協調的行動を実現するための捕獲ルールの生成について検討している．各ロボットの行動は，ターゲットに接近するためのアプローチルールとターゲットを取り囲むフォーメーションルールにより決定され，状況変化に応じていずれかが選択される．アプローチルールは捕獲ロボットが本能的に備えているルールであるのに対し，フォーメーションルールは各ロボットが共有するルールであり，捕獲行動の中から学習される．ここでは，フォーメーションルールをif-then形式のファジィルールとして記述し，ターゲットを逃がさないように取り囲むことを評価として遺伝的アルゴリズム(GA)により調整している．その結果，初期位置に依存しないフォーメーションルールが獲得でき，ターゲットを追いつめた後，捕獲できることを確かめている．また，捕獲したルールは，捕獲ロボットのうち1台が故障した場合においても有効であることをシミュレーション解析により確かめている．
61.	Hironobu Harada, Takayuki Suzuki, Takuya Kamano and Takashi Yasuno : The Parallel Operation and Output Control for Wind Power Generating System, 第21回風力エネルギー利用シンポジウム, 89-92, Nov. 1999. (Summary) 風カ発電システムにおける風のエネルギー利用において，風車を利用した発電システムは，その設置場所の条件や周囲の環境などにより複数設置される．この場合，それぞれの風カ発電システムの特性がどのように相互影響するのか，また，その出カ制御はどのような方法で行うのかが問題となる．そこで本論文では，その一例として，2台の風カ発電システムが並列運転される時，その定常状態における相互の影響や特性について検討すると共に，簡単な発電出カ制御についてもシミュレーション実験を基に検討している．
62.	Hitoshi Sori, Takuya Kamano, Takashi Yasuno and Takayuki Suzuki : Piecewise Linear Estimation of Parameter for Propeller Type Windmill using Genetic Algorithm, 第21回風力エネルギー利用シンポジウム, 82-85, Nov. 1999. (Summary) 風車の運転特性は，風車慣性モーメントや風車トルク係数に依存する．それゆえ，これらの値を事前に知ることができれば，風力発電システムの効率的運用法の開発が容易となる．特に，風車トルク係数は変動する風エネルギーを抽出するための重要なパラメータであり，その正確な値は必要不可欠である．そこで本論文では，遺伝的アルゴリズムを用いて風車慣性モーメントの推定と同時に，風車トルク係数を区分線形化して推定する手法を提案している．提案手法において，風車トルク係数は周速比に対して分割され，各領域において線形近似される．各領域の近似式のパラメータと風車慣性モーメントは遺伝子とみなされ，選択，交叉，突然変異などの遺伝的操作により回転速度と回転加速度が実機の値と一致するような最適値を探索する．提案手法の推定精度は区分領域数に依存するものの，任意の風車トルク係数を近似することができるため，幅広い種類の風車に適用可能である．
63.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Shunji Ikegaya and Hironobu Harada : Motion Control of Carrying Robot Based on Operator's Skills, システム情報部門シンポジウム1999講演論文集, 233-238, Nov. 1999. (Summary) 本論文では，熟練者のスキルを工学的にモデル化するために，熟練者の操作データをもとにニュー口/ファジィ複合システムを学習させ，熟練者の状況判断スキルと行動制御スキルを獲得する手法を提案している．また，垂直多関ロボットを用いた部品搬送システムに提案手法を適用し，試作システムの実測によりその有用性を検討している．その結果，ニュー口/ファジィ複合システムの汎化能力により，獲得したスキルモデルは未知作業環境下においても有効であり，熟練者と同様の搬送作業が実現できることを確認している．これらの結果から,提案手法は部品搬送作業のみならず，熟練者のスキルを要する高度な作業の自動化に有効であると考えられる．
64.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Hironobu Harada and Yu Kataoka : Extracting Schime of Operator's Skills and its Application for Carrier Robot Systems, The Papers of Technical Meeting, IEE JAPAN, No.IIC-99-41, 55-60, Jul. 1999. (Summary) 本論文では，熟練者と同様な知的行動を実現する搬送ロボット(自律型移動ロボットと垂直多関節ロボット)の開発を目的として，熟練者の操作データから，状況判断スキルと操縦スキルをニュー口/ファジイ複合システムの学習により獲得する手法について検討ししている．種々の作業環境下において，試作した自律型移動ロボットの走行実験，及び垂直多関節ロボットを用いた部品搬送実験を行った結果，未知作業環境下においても，ニュー口/ファジィ複合システムの汎化能力により，熟練者と同様の部品搬送が実現できることを確認ししている．これより，提案したシステムは部品搬送動作のみならず，熟練者のスキルを要する高度な作業の自動化に有効であると考えられる．
65.	Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Naoki Yawata and Yu Kataoka : Generation of Gait of Quadrupedal Robot using CPG Network, The Papers of Technical Meeting, IEE JAPAN, No.IIC-99-41, 47-53, Jul. 1999. (Summary) 本論文では，試作した4足歩行ロボットを対象として，CPG(Central Pattern Generator)ネットワークによる歩行パターンの生成について実測により検討している．一般に，CPGは興奮性ニューロンと抑制性ニューロンの相互結合により発振し，筋·骨格系の指令となる周期的動作パターンを生成している．ここでは，CPGの抑制性ニューロンの機能をアクチュエータで代替した新しいCPGを提案している．これにより，アクチュエータの動特性に応じた発振パターンの生成が可能となる．提案したCPGを4足ロボットの各関節に配置し，第2関節のCPGは第1関節のCPGと，また，4足の全ての第1関節のCPGを相互に結合したネットワークを構成している．各CPG間の結合パラメータを適切に設定することでWa1k，Trot，Ga11opの歩行パターンを実現できることを実測により確かめている．また，結合パラメータを変更することにより，歩行パターンを遷移できることも確かめている．
66.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Yasushi Ohnishi and Hironobu Harada : Generation of Carrier Motion Pattern for Cilia using CPG Network under Genetic Algorithm, IEICE Technical Report, No.MBE99-45, 55-60, Jul. 1999. (Summary) 本論文では，繊毛の周期的運動および繊毛群の協調動作に着目し，2関節リンク機構を有する繊毛モデルの周期的運動パターンの生成と，それを用いた繊毛群モデルの部品搬送システムへの応用について検討している．興奮性ユニットと抑制性ユニットを有する神経振動体モデルを基に，抑制性ユニットを直流サーボモータで代替した新たな神経振動体モデルを提案し，その発振特性を確認している．また，提案する神経振動体モデルを相互結合して繊毛群を構成し，各繊毛の協調動作により部品を搬送するよう，神経振動体モデルの相互結合係数と繊毛間結合係数を遺伝的アルゴリズムを用いて探索している．
67.	Hironobu Harada, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki and Sori Hitoshi : Parameter Estimation of Propeller Type Windmill using Genetic Algorithm, 第20回記念国際風力エネルギー利用シンポジウム, 134-137, Nov. 1998. (Summary) 風力発電システムにおいて，風車パラメータの推定は基本的な問題の一つであり，正確な風車バラメータが得られたならば，最大出力制御も容易になると考えられる．それゆえ，従来より風車トルク係数，風車慣性モーメントなどの風車パラメータを推定する方法が種々提案されている．しかしながら，それらは風車トルク係数か風車慣性モーメントのいづれか一方が既知であることを前提としており，両者を同時に推定する方法は提案されていない．そこで本稿では，遺伝的アルゴリズム(GA)を用いて風車トルク係数と風車慣性モーメントを同時に推定する手法を提案している．一般に，GAは生物の進化の過程を模擬したアルゴリズムであり，解候補を遺伝子配列として表現して遣伝子操作を行うことにより最適解を効率的に探索することができる．ここでは，風車パラメータの推定問題を風車の動的入出力関係を満足させるための最適組み合わせ問題とみなし，GAを適用する．そのため，風車トルク係数と風車慣性モーメントを遣伝子として個体を生成し，選択，交叉，突然変異なとの遺伝子操作により最適解を求める．その結果，風車トルク係数を周速比の2次式で近似した場合，ほぼ真値を推定できることを確認している．
68.	Yoshiro Yoshida, Takuya Kamano, Takashi Yasuno, Hironobu Harada, Takayuki Suzuki and Yu Kataoka : Generation of Jumping Motion Pattern of Hopping Robot under Genetic Algorithm, 第8回インテリジェント·システム·シンポジウム講演論文集, No.D202, 441-446, Oct. 1998. (Summary) 本論文では，ホッピングロボットの最適跳躍パターンをGAを用いて生成する手法を提案している．CPG(Central Pattern Generator)モデルで生成する跳躍パターンは，アクチュエータヘの電流指令として与えられ，ホッピングロボットを最小トルクで目標高さまで連続跳躍させる．CPGのゲインは遺伝子とみなされ，跳躍ごとの跳躍誤差と駆動電流面積を最小とするよう意図的突然変異，瞬時淘汰，選択，交叉などの遺伝的操作によって調整される．提案したアルゴリズムを用いて試作ホッピングロボットの跳躍特性を実測した結果，より小さな駆動電流で目標高まで跳躍させるための適切な跳躍パターンが生成できることを確かめている．また，提案したアルゴリズムはホッピングロボットの内部構造変化(バネ定数変化)に対しても有効であることをシミュレーション結果から明らかにしている．
69.	Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Kazuo Uemura and Yu Kataoka : Control of Autonomous Mobile Robot under Human Skill, 第8回インテリジェント·システム·シンポジウム講演論文集, No.B209, 235-240, Oct. 1998. (Summary) 本論文では，自律型移動ロボットの開発を目的として，人間が超音波センサの出力のみを見て移動ロボットを走行させたときの操作データから，ニューラルネットワークとファジィルールの学習により比較的容易に人間と同等の状況判断スキルと操舵スキルを獲得することを確認している．また，提案する状況判断ニューラルネットワークおよび操舵ファジィルールをオフラインで十分学習させた後，試作した自律型移動ロボットに実装して種々の環境下で走行特性を実測している．その結果，走行軌跡は環境認識システムのノイズにより若干の乱れはあるものの，スキル学習に用いていない未走行路においても妥当な回避動作を選択しながら目標軌道に追従するよう走行できることを確かめている．
70.	Koji Kawaguti, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno and Yu Kataoka : Fuzzy Two-Degree-of-Freedom Positioning System using Genetic Algorithm and Gradient Method, 第14回ファジィシステムシンポジウム講演論文集, No.FE4-3, 781-784, Jun. 1998. (Summary) ファジィ制御は，if-then-形式の制御ルールに基づいて操作量を決定するため，良好な制御結果を得るためには適切な制御ルールの記述が必要である．そこで本論文では，前件部のメンバシップ関数の形状を遺伝的アルゴリズムにより，また，後件部のシングルトン変数を勾配法により調整するチューニング法を提案している．一般に，前件部と後件部を同時に調整することは，ルールの評価を困難とする．そこで，メンバシップ関数の形状は勾配法で後件部を十分にチューニングした後，遺伝的アルゴリズムを用いて調整する．これにより，制御対象に適した前件部と後件部の最適な組み合わせが実現できる．提案するアルゴリズムの有用性を確認するために，非線形要素を含む位置決めシステムのファジィフィードフォワードコントローラに適用し，実測により確認している．
71.	Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Takayuki Kitahara and Kiyoshi Sano : Fuzzy Prediction System for Wind Speed and Wind Direction based on Tyhoon Model, 第14回ファジィシステムシンポジウム講演論文集, No.TF1-1, 481-484, Jun. 1998. (Summary) 本論文では，台風モデルを用いて台風接近時の風速風向を予測するシステムを提案している．予測には台風モデルから求められる観測地点上空の理論風速·風向と観測地点での風速·風向を関係づけるファジィルールを導入している．ファジィ予測ルールは過去の台風接近時のデータを用いてチューニングされる．チューニングされたルールを用いて予測した結果，電力系統運用上十分な精度で風速·風向を予測できることを確かめている．また，チューニングされたルールには観測地点の地形因子の影響が含まれたものとなっているため，今後，予測ルールと地形因子の関係を検討する必要が課題として残されている．
72.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Kazuo Uemura and Yu Kataoka : Motion Control System for Autonomous Mobile Robot Based on Behavior-Decision Method of Human Skill, 第14回ファジィシステムシンポジウム講演論文集, No.WD6-3, 229-232, Jun. 1998. (Summary) 本論文では，知的な行動を行う自律型移動ロボットの開発を目的として，人問の状況判断機能と操縦スキルをそれぞれ階層型ニューラルネットワークとファジィルールにより学習する手法を提案している．階層型ニューラルネットワークは，センサ情報に基づいて人間が選択した目標軌道追従パターン，右左折回避パターンの行動パターンのうちいずれかと，階層型ニューラルネットワークが選択した行動パターンが一致するようにBack Propagation A1gorithmにより学習される．また，選択された行動パターンを実現するために，人間の操縦スキルを教師信号としてファジィルールをチューニングし，チューニング後のファジイルールを用いて各行動パターンに対する操舵角指令と走行速度指令を決定する．提案するアルゴリズムを試作した自律型移動ロボットに実装し，種々の環境下で走行特性を実測した結果，環境認識システムのノイズにより走行軌跡に若干の乱れはあるものの，障害物のある経路において，人間の思考·判断に似た走行動作を実現できることを確認している．
73.	Shinichirou Urushihara, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno, Hironobu Harada and Hiromu Satake : Dynamic Modeling of Action Potential in Neuro under Anesthetizing, IEICE Technical Report, Vol.MBE97, No.41, 13-18, Jul. 1997. (Summary) 生体の情報伝達を担う神経信号は，活動電位によって構成される．活動電位は神経管表面に存在するイオンチャネルと呼ばれる器官によって生成され，現在種々のモデルによってイオンチャネルの機能が検討されている．本論文では，麻酔投与時における活動電位の動特性を考察するための簡易モデルを提案し，遺伝的アルゴリズムを用いて実測結果と一致させるためのパラメータの調整法について検討している．また，活動電位に及ぼす麻酔投与の影響が提案したモデルにより考察されている．
74.	Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Toshio Konishi and Yu Kataoka : Generation of Jumping and Walking Motion Patterns for Hopping Robot, The Papers of Technical Meeting, IEE JAPAN, Vol.IIC-97, No.38, 35-40, Jun. 1997. (Summary) 本論文では，CPG(Central Pattern Generator)によるホッピングロボットの跳躍および走行パターンの生成について検討している．CPGが発生する動作パターンは，ホッピングロボットからのフィードバック情報をもとに評価基準を満足するようニューラルネットワークにより調整される．一次元ホッピングロボットについては，評価基準として目標到達点を与えることで連続跳躍できることが実測により確かめられた．また，二次元ホッピングロボットについては，評価基準として目標到達点および目標平均移動速度を与え，それらを満足するような跳躍走行ができることをシミュレーションにより確かめている．以上の結果から，ホッピングロボットの跳躍および走行動作に対して，提案した手法の有用性を確かめている．
75.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Kenichi Kumabe and Yu Kataoka : Trajectory Prediction and Catching System of Moving Object using Fuzzy Reasoning, The Papers of Technical Meeting, IEE JAPAN, Vol.IIC-97, No.39, 41-46, Jun. 1997. (Summary) 本論文では，人問の優れた予測および捕獲動作の考察を踏まえ，ロボットマニピュレータを用いた3次元空間内を周期的に運動する物体の捕獲問題を取り上げ，物体の移動軌道をファジィ推論により予測することにより，人間と同様の効率良い捕獲動作を実現するシステムについて検討している．その結果，提案する軌道予測システムと把持ハンドの最大移動速度を考慮した捕獲アルゴリズムを併用することにより，任意に設定した時間に移動物体の捕獲が可能であることがシミュレーション解析により確認できた．また，移動軌道の種類によっては，予測能力に限界があることが確認された．物体の移動軌道の種類に関係なく効率の良い捕獲軌道を実現するためには，基本モジュールの推論能力向上が不可欠であり，捕獲動作開始時において物体の移動軌道が正確に把握できれば，効率のよい捕獲動作は実現可能である．
76.	Junji Fukumi, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno and Shinji Noguchi : Two-Degree-of-Freedom Positioning System using Fuzzy Controller, 第13回ファジィシステムシンポジウム講演論文集, No.WEA3-3, 39-42, Jun. 1997. (Summary) クレーンなどの建設機械では，性能および安企性の向上に加え，機械の高機能化，操作の簡略化が求められている．しかしながら，一般に油圧アクチュエータが建設機械には用いられており，不感帯や摩擦などの強い非線形性を有している．それゆえ，従来用いられている固定ゲインコントローラによる制御では，精度に限界がある．そこで本論文では，自己調整ファジィフィードフォワードコントローラ(STFFC)とファジィ外乱オブザーバ(FDO)を用いた二自由度制御システムを油圧サーボシステム(ここでは高所作業車)に適用した場合について検討している．その結果，提案システムは強い非線形性を有する制御対象に対しても良好な目標値追従特性を得られることを確認している．
77.	Takuya Kamano, Takayuki Suzuki, Takashi Yasuno, Toshiya Hosotani and Kensuke Kawasaki : Thunderbolt Prediction System under Fuzzy Reasoning Method, 第13回ファジィシステムシンポジウム講演論文集, No.FRA2-4, 615-618, Jun. 1997. (Summary) 落雷の発生や移動方向または盛衰をより早く正確に判断できれば，電力系統の信頼度維持あるいは安全確保などの強化が期待できる．しかしながら，気象学に基づいて落雷の移動予測を行う場合，広範囲に渡る落雷の移動に関する複雑なモデルの構築が避けられず，しかも大規模な気象観測設備や高速な計算処理能力を必要とし，容易に予測できない．そこで，LLS(Lightni㎎ Locati㎝ System)による落雷データや気象庁からの降雨データなど比較的容易に入手可能なデータを用いて，電力系統の運用面から見て十分な精度を得るためのファジィ推論を用いた簡易雷移動予測システムを提案している．ここでは特に，ファジィルール数の低減化と周辺地域の状況を考慮するために，落雷危険度を導入したファジィ予測システムを提案している．そして，シミュレーション解析により，提案する落雷予測システムの有用性を確認している．
78.	Shinji Noguchi, Kazuaki Kagamihara, Takuya Kamano, Takayuki Suzuki and Takashi Yasuno : High performance Control for Complex Operations of Aerial Working Platform under Self-Tuning Fuzzy Technique, 第6回FANシンポジウム講演論文集, No.225, 318-319, Oct. 1996. (Summary) 高所作業車においては，作業台の垂直移動や水平移動といった複合操作の自動化は既に実現されている．しかし，それらはPI制御のみを用いており，充分な制御性能は得られていない．本論文では，実用化を前提とした複数駆動軸の協調動作システムを提案している．提案するシステムは，従来の固定ゲインフィードバック位置制御システムに加え，システムの追従特性を改善するフィードフォワードコントローラおよび特性の異なるアクチュエータを協調動作させるための協調コントローラを自己調整ファジィ制御により生成している．
79.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki and Yu Kataoka : mization of Nonlinear Auto-tuning controller using Genetic Algorithm and its Application to Two-degree-of-freedom Positioning System, 第6回FANシンポジウム講演論文集, No.226, 320-323, Oct. 1996. (Summary) 非線形制御対象に対して有効なサーボコントローラとして，非線形オートチューニングコントローラ(NATC)が提案されている．NATCはWidrawが提案したAdalineを非線形関数を用いて拡張したものである．しかし，NATCの制御性能はコントローラ内部の非線形関数に大きく依存し，複数個ある非線形関数の組み合わせはかなり多く存在する．それゆえ，その調整には多くの試行錯誤を必要とし，その簡素化が課題となっていた．そこで本論文では，近年最適化手法の一つとして制御の分野にも積極的に応用されている遺伝的アルゴリズム(GA)に着目し，GAを用いてNATSCの非線形関数を最適化する手法を提案している．また，提案した手法の有用性を確認するために，NATCを用いた二自由度位置決めシステムを提案し，非線形制御対象のサーボシステムに適用した場合の応答特性をシミュレーション解析により検討している．
80.	Junji Fukumi, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno and Yu Kataoka : Two-degree-of-freedom Control System under Fuzzy Control, 第6回FANシンポジウム講演論文集, No.119, 67-68, Oct. 1996. (Summary) 産業ロボットなどのモーションコントロールにおいて，高精度な位置決め特性および良好な外乱抑圧特性の両立が必要とされ，近年，これらの特性を両立する制御法が種々提案されている．本論文では，自己調整ファジィフィードフォワードコントローラ(STFC)と固定ルールファジィフィードバックコントローラ(FRFC)を用いた二自由度制御システムを提案している．また，提案したシステムを超音波モータを用いた位置決めシステムに適用し，試作したシステムの実測結果から，優れた目標値追従特性および外乱抑圧特性を有することを実験により確認している．
81.	Shinji Noguchi, Kazuaki Kagamihara, 草薙裕亮, Takuya Kamano, Takayuki Suzuki and Takashi Yasuno : 自己調整ファジィ制御による高所作業車の高精度化, 第1回知能メカトロニクスワークショップ講演論文集, No.95, 251-254, Jul. 1996. (Summary) 高所作業車においては，作業台の垂直移動や水平移動といった複合操作の自動化は既に実現されているが，それらはPI制御のみを用いており，充分な制御性能は得られていない．そこで本論文では，実用化を前提とした複数駆動軸の協調動作システムを提案している．提案するシステムは，従来の固定ゲインフィードバック位置制御システムに加え，システムの追従特性を改善するフィードフォワードコントローラおよび特性の異なるアクチュェータを協調動作させるための協調コントローラを自己調整ファジィ制御により構成している．ここでは，各コントローラの構成および制御アルゴリズムについて述べるとともに，シミュレーションにより高所作業車の垂直·水平移動操作を行った場合の応答特性について述べている．
82.	Takuya Kamano, Takayuki Suzuki, Takashi Yasuno, Takayuki Kitahara and Kiyoshi Sano : Fuzzy Wind Prediction System in Typhoon Area, 第12回ファジィシステムシンポジウム講演論文集, No.THA1-1, 435-438, Jun. 1996. (Summary) 本論文では，容易に入手可能な風速·風向データと台風データを用いたファジィ推論による風速·風向予測手法を提案し，台風襲来時の系統鉄塔の風速·風向予測をシミュレーションしている．まず，ファジィ推論を風速·風向予測に適用するために，過去の台風接近時の風速·風向データと台風データに基づく予測ルールのチューニング法について検討している．得られた予測データには地形などの影響が過去の風速·風向データとして暗に含まれているため，観測点ごとに異なるものとなる．次に，チューニングされた予測ルールを用いて異なる台風接近時の風速·風向予測を行っている．その結果，提案する予測システムは，電力系統の運用面からみて十分な精度を有していることを確認している．
83.	Junji Fukumi, Takuya Kamano, Takayuki Suzuki, Takashi Yasuno, Hironobu Harada and Yu Kataoka : Fuzzy Two-Degree-of-Freedom Control System with Ultrasonic Motor, 第12回ファジィシステムシンポジウム講演論文集, No.THC1-3, 545-548, Jun. 1996. (Summary) 本論文では，自己調整ファジィコントローラ(STFC)とファジィ外乱オブザーバ(FDO)を用いた二自由度制御システムを提案している．ここでは特に，提案システムを非線形性の強い制御対象として超音波モータを用いた位置決めシステムに適用し，試作システムを用いた実験によりその有用性を確認している．その結果，STFCにより追従特性の改善が図られ，また，FDOにより良好な外乱抑圧特性が得られることを確認している．以上の結果から，モーションコントロールに必要とされる高精度の位置決めおよび外乱抑圧を両立したシステムが実現できると考えられる．
84.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Makoto Kagawa and Hironobu Harada : Two-Degree-of-Freedom Positioning System with Ultrasonic Motor using Nonlinear Auto-Tuning Servo Conroller, 第8回「電磁力関連のダイナミクス」シンポジウム講演論文集, No.A6, 27-32, Jun. 1996. (Summary) 本論文では，進行波形超音波モータの二自由度位置決めシステムを提案し，同システムの有用性を試作システムの実測結果により検討している．提案するシステムは，アダプティプフィードフォワードコントローラ(AFC)と補正形の非線形オートチューニングサーボコントローラ(NATSC)から構成される二自由度位置制御システムである．AFCはオンラインで用いられ，NATSCには遺伝的アルゴリズム(GA)を用いてオフラインでコントローラの最適化を行う．その結果，アームの位置によって常に外乱トルクが加わる垂直2関節ロボットマニピュレータに対し，提案するコントローラは超音波モータ固有の非線形特性に加え，外乱トルクなどの影響も十分補償し，追従特性の著しい改善が図られることを確認している．
85.	Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Takayuki Kitahara and Kiyoshi Sano : Self-Tuning Fuzzy Prediction Algorithm for Wind Speed and Wind Direction in Typhoon Area, The Papers of Technical Meeting, IEE JAPAN, No.IIC-96-3, May 1996. (Summary) 本論文では，容易に入手可能な風速·風向データと台風データを用いたファジィ推論による風速·風向予測手法を提案し，台風接近時の系統鉄塔上の風速·風向予測を行っている．提案する予洲手法は，まず，過去の台風接近時の風速とその変化量，観測点と台風中心間の距離および中心気圧から風速を，また，風向とその変化量，観測点から見た台風中心の方位およぴ移動方位から風向をそれぞれ予測するファジィルールをチューニングしている．その結果，実測結果とほぼ一致する予測結果を得るルールの獲得ができることを確かめている．次に，チューニングされた予測ルールを用いて異なる台風接近時の風速·風向予測を行い，さらに，より高精度の予測のために予測ルールを逐次修正する追加チューニング手法について検討している．その結果，提案した予測システムは電力系統の運用面からみて十分な精度を有していることが確かめられた．
86.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Makoto Kagawa and Yu Kataoka : Responses of 2-Links Robot with Ultrasonic Motor gNonlinear Auto-Tuning Servo Controller, The Papers of Technical Meeting, IEE JAPAN, No.IIC-96-7, 57-66, May 1996. (Summary) 本論文では，超音波モータ駆動垂直2関節形ロボットの位置決めシステムとして，アダプティプフィードフオワードコントローラ(AFC)と遺伝的アルゴリズム(GA)により最適化される非線形オートチューニングサーポコントローラ(NATSC)を併用した二自由度位置決めシステムを提案している．提案システムを用いて実験を行った結果，超音波モータ固有の強い非線形特性に加えて，ロボットの各関節軸に加わる非線形外乱の影響もNATSCが補債し，良好な位置決め特性が得られることを確認している．また，GAを用いることでNATSCの非線形関数の自動調整が可能となり，従来のシステムで問題となっていた設計者の負担を大幅に軽減している．
87.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Akio Uotani, Hironobu Harada and Yu Kataoka : Positioning System with Progressive Wave Type Ultrasonic Motor using Auto-Tuning Controller, 第7回「電磁力関連のダイナミクス」シンポジウム講演論文集, No.174, 413-418, May 1995. (Summary) 本論文では，オートチューニングフィードフォワードコントローラを用いた進行波形超音波モータの二自由度位置決めシステムを提案し，同システムの有用性を試作システムの実測結果により検討している．提案するオートチューニングコントローラは，非線形変換部とゲイン調整部により構成され，非線形変換部ではコントローラヘの入力信号(規範速度，規範加速度およぴ追従誤差信号)により，それぞれ6種類の入力情報を算出する．また，これらの信号は追従誤差信号を零収束するように調整される可調節パラメータにより重み付けされる．提案システムの有用性を確認するために，アームの位置により外乱トルクが加わる垂直2関節ロボットマニピュレータに対し，各軸に同一の台形波状規範入力を加えた場合の応答特性を測定している．その結果，提案するコントローラは，超音波モータ固有の非線形特性に加え，外乱トルクなどの影轡も十分補償し，追従特性の著しい改普が図られることを確認している．
88.	Toshikazu Noda, Takuya Kamano, Takayuki Suzuki and Takashi Yasuno : ニューラルサーボコントローラを用いた多軸協調システム, The Papers of Technical Meeting, IEE JAPAN, No.IIC-94-36, 25-34, Oct. 1994. (Summary) 本論文では，ニューラルサーボコントローラを用いた二軸位置決めシステムに協調誤差を導入することにより，両軸の高速な協調動作を実現するシステムを提案している．同システムを溶接ロポットを模擬したモデルに適用し，その応答特性を模擬システムを用いた実測により確かめている．その結果，提案するシステムは動特性が未知で大幅に異なる位置決め軸の追従特性を著しく改善できるともに，定常状態のみならず過渡状態においても高速な協調動作を実現できることが確認された．
89.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Akio Uotani and Hironobu Harada : オートチューニングフィードフォワードコントローラによる超音波モータ位置決めシステムの応答特性, The Papers of Technical Meeting, IEE JAPAN, No.IIC-94-38, 43-52, Oct. 1994. (Summary) 本論文では，オートチューニングフィードフォワードコントローラを用いた進行波形超音波モータの二自由度位置決めシステムを提案し，同システムの有用性を試作システムの実測結果より検討している．提案するオートチューニングフィードフォワードコントローラは，非線形変換部と可調整パラメータから構成され，非線形変換部ではコントローラヘの入力信号(規範位置，規範速度，規範加速度)によりそれぞれ6種類の情報を算出する．また，可調整パラメータは，追従誤差信号を零収東するように学習アルゴリズムに基づいて調整される．進行波型超音波モータにアームを取り付けて常時外乱トルクが加わるように設定し，台形波状規範位置入力に対する追従特性を実測した結果，提案するコントローラは超音波モータの非線形特性および外乱トルクの影響を十分に補償し，追従特性の著しい改善が図られた．以上の結果から，提案システムは数学モデルとして表現することが困難な強い非線形特性を有するシステムに適応可能であり，しかも，外乱トルクに対して十分なロバスト性を有する二自由度位置決めシステムであることを確認している．
90.	Toshikazu Noda, Takuya Kamano, Takayuki Suzuki and Takashi Yasuno : ニューロサーボコントローラを用いた多軸協調システムの応答特性, 第4回インテリジェント·システム·シンポジウム講演論文集, 259-262, Oct. 1994. (Summary) 本論文では，ニューロサーポコントローラを用いた二軸位置決めシステムに協調誤差を導入することにより，両軸の高速な協調動作を実現するシステムを提案している．そして，同システムを溶接ロボットを模擬したモデルに適用し，その応答特性をシミュレーションにより確かめている．その結果，提案するシステムは動特性が未知かつ大幅に異なる位置決め軸の追従特性を著しく改善するとともに，定常状態のみならず過渡状態においても，高速な協調動作を実現できることを確認している．
91.	Takashi Yasuno, Takuya Kamano, Takayuki Suzuki, Junji Fukumi and Hironobu Harada : 状態フィードバック形自己調整ファジィコントローラによる超音波モータ位置決めシステム, 第15回超音波エレクトロニクスの基礎と応用に関するシンポジウム講演論文集, No.PB-42, 245-246, Oct. 1994.
92.	Atsushi Hamada, Kensuke Kawasaki, Takuya Kamano, Takayuki Suzuki and Takashi Yasuno : ニューラルネットワークを用いた雷移動予測の基礎的研究, The Papers of Technical Meeting, IEE JAPAN, No.ED-94-110 HV-94-69, 147-152, Oct. 1994. (Summary) 本論文では，LLSデータなどの手軽に得られるデータからニューラルネットワークを用いて前線雷の移動を予測する簡易な手法を提案している．ニューラルネットワークの目的は，前線雷の移動パターンを学習することであり，各エリアの過去30分間の落雷数を入力とし，次の30分間の落雷数を予測する．ニューラルネットワークの重みは，教師データと予測データが一致するようバックブロパゲーションアルゴリズムを用いて調整している．前線雷とみられる襲雷データを用いて学習させた緒果，ニューラルネットワークにより前線雷の移動バターンを学習できることが確かめられた．また，学習データと気象条件が類似した異なる前線雷のデータを予測した結果，雷移動予測ができる可能性のあることが確かめられた．しかしながら，雷移動パターンが学習に用いたパターンと異なる場合は，予測誤差が大きくなる傾向があった．
93.	Takashi Yasuno, Takayuki Suzuki, Takuya Kamano, Hironobu Harada and Yu Kataoka : 適応制御を用いた二自由度速度および位置サーボシステムの設計と応答, The Papers of Technical Meeting, IEE JAPAN, No.IIC-93-16, 79-88, May 1993. (Summary) 本論文では，目標値追従特性の改善と十分な外乱抑圧特性の両立を目的とした適応二自由度速度およ稚置サーボシステムを提案し，システムの設計法について検討している．また，提案したシステムを試作し，目標値追従特性と外乱抑圧特性を実験により確かめている．その結果，AFCにより良好な目標値追従特性が得られるとともに，固定ゲインフィードバックコントローラにより十分な外乱抑圧特性を有することが確認された．それゆえ，本システムは産業用ロボットや工作機械等への応用に有用であると考えられる．
94.	Takashi Yasuno, Takayuki Suzuki, Takuya Kamano and Hironobu Harada : 適応二自由度制御を用いた位置サーボシステム, 第13回適応制御シンポジウム講演論文集, 125-130, Jan. 1993. (Summary) 本論文では，目標値追従特性の改善と充分な外乱抑圧特性の両立を目的とした適応二自由度位置サーボシステムについて検討している．本システムにおいては，まず，外乱抑圧のみを目的として閉ループシステムのゲインが全周波数領域で充分小さくなるようにPIコントローラを設計し，適応機能を有するアダプティブフィードフォワード·コントローラ(AFC)により追従特性の改善を試みている．AFCの各適応パラメータはフィードバックループの誤差信号を零収東させるよう調整され，適応後においては，フィードフォワードパス内に対象の逆システムが構成される．提案したシステムを試作し，目標値追従特性と外乱抑圧特性を実験により確かめた結果，AFCにより応答特性の改善が図られるとともに，外乱入力に対して充分な抑圧特牲を有していることを確認している．

Report:

1.	Takahiro Kitajima, Takashi Yasuno, Hiroshi Suzuki and Akinobu Kuwahara : Excel VBAとオシロスコープによるデータ測定システムの構築, 徳島大学技術支援部技術報告, Vol.7, 3-6, Feb. 2024.
2.	Takahiro Kitajima, Takashi Yasuno and Hiroshi Suzuki : Windows WSL2におけるTensorflowベースのディープラーニング用サーバの構築, 徳島大学技術支援部技術報告, Vol.7, 1-2, Feb. 2024.
3.	Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Hiroshi Suzuki : 環境制御型施設園芸における自動潅水制御システムの開発第2報, 徳島大学技術支援部技術報告, Vol.5, 27-28, Mar. 2022.
4.	Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno and Hiroshi Suzuki : 環境制御型施設園芸における自動潅水制御システムの開発, 徳島大学技術支援部技術報告, Vol.3, 1-2, Mar. 2020. (Tokushima University Institutional Repository) ● Metadata: 114576 (Tokushima University Institutional Repository: 114576)
5.	Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno, Hiroshi Suzuki and 高井久司 : 農業支援のための自律移動型ロボット台車の開発, 徳島大学技術支援部技術報告, Vol.1, 15-16, Feb. 2018.
6.	Takashi Yasuno : ロボットのインテリジェントコントロール, 技術交流会2008 基調報告, 37-44, Aug. 2008.

Patent:

1.	Takayuki Suzuki, Takuya Kamano and Takashi Yasuno : 植物の栽培方法および植物の栽培装置, 2003-030149 (Feb. 2003), .
2.	Takayuki Suzuki, Takuya Kamano and Takashi Yasuno : 夜間電力を使用する蓄熱装置, 2002-122859 (Apr. 2002), .

Grants-in-Aid for Scientific Research (KAKEN Grants Database @ NII.ac.jp)

Establishment and verification of maximum power control method for small wind power generator using wind speed / wind direction prediction model (Project/Area Number: 15K00048 )
Development of agricultural support system using the environmental sensing robot (Project/Area Number: 26450369 )
Development of the photovoltaic power generation system for greenhouse roofs that will not affect the growth of plants. (Project/Area Number: 24580375 )
人間の操作スキルに基づく自律型移動ロボットの進化的走行制御スキル獲得に関する研究 (Project/Area Number: 14750372 )
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Professor : Yasuno, Takashi

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Grants-in-Aid for Scientific Research (KAKEN Grants Database @ NII.ac.jp)