Explanipedia

Landing Impact Simulation of a One-Legged Robot with a Series Elastic Actuator Open

Tomoharu Sekine, Satoko Abiko, Teppei Tsujita · 2025

Currently, natural disasters occur frequently. Therefore, disaster response robots are expected to reach disaster areas and operate at dangerous sites as quickly as possible. Humanoid robots are considered promising disaster response robot…

Contactless Surface Following via Teleoperated Manipulator Based on Point Cloud Open

Teppei Tsujita, Shunsuke Matsushima, Tadamasa KITAHARA, Satoko Abiko · 2025

This study focused on security robots as a substitute for security guards. For patrol tasks, the operation of body scans using teleoperated manipulators equipped with metal detectors has been considered to determine whether individuals are…

Fundamental Validation of Forced Soft-landing of UAVs Controlled by Open Source Software with an Abuse Prevention Processor Open

Yuichi Ito, Satoko Abiko, Toshio Fukuda, Teppei Tsujita, Daisuke Sato · 2024

Real-time Performance and Accuracy Evaluation of Two-dimensional Airflow Analysis of Enclosed Space with an Opening Based on PINNs for Veranda Delivery by UAV Open

Masaki Seki, Satoko Abiko, Teppei Tsujita, Daisuke Sato · 2024

A Study on a Path Planning Method Limited Over Rivers for High-Density UAV Delivery in Urban Areas Open

Ryuichi Yamada, Satoko Abiko, Teppei Tsujita, Daisuke Sato · 2024

A Proposal on Stress Distribution Estimation of Permanent Magnet Elastomer Using pix2pix Open

Y. Kikuchi, Satoko Abiko, Teppei Tsujita · 2024

Trajectory Planning Based on Time-space Network for THz Sensor-Equipped Robots for Security Screening in Dynamic Crowded Environments Open

Yuki Uchida, Teppei Tsujita, Yutaka Sakuma, Daisuke Sato, Satoko Abiko · 2024

Thrust Estimation Based on Audio Information Using Machine Learning for Multicopters Open

Shunsuke Makino, Satoko Abiko, Teppei Tsujita, Daisuke Sato · 2024

Emotion Estimation of Displeasure Toward Home Robot Movements Based on Biological Information for Comfortable Coexistence Open

Yutaka Sakane, Daisuke Sato, Satoko Abiko, Teppei Tsujita · 2024

Experimental Verification of the Effect of Interaction Between Two Multicopter UAVs in Close Proximity Focusing on Thrust Changes Open

Ryosuke TAKEDA, Satoko Abiko, Teppei Tsujita, Daisuke Sato, Yuka Iga · 2023

When UAVs approach each other, the airflow affects their flight performance. This paper describes the interaction between two UAVs when two UAVs are close to each other in the vertical direction. In this paper, the proximity flight is imit…

Control Parameter Tuning Using Adaptive PID Control for a Quad Tilt-rotor UAV Open

Ryo Tanaka, Satoko Abiko, Teppei Tsujita, Daisuke Sato · 2023

A quad tilt-rotor UAV is a multicopter that can fly in arbitrary attitude by changing the thrust direction and can be applied independent position and attitude control. This paper proposes a tuning process using an adaptive PID control met…

An Automation of Coating Thickness Inspection for Splice Plates on a Bridge by a Robot Arm Based on Inspection Point Estimation with 3D Point Cloud Registration Open

K. Endo, Satoko Abiko, Tadamasa KITAHARA, Teppei Tsujita, Shunsuke HIRAIKE , et al. · 2023

This paper describes the fundamental experiment for automating the inspection of a paint coating thickness of spline plates on bridge with a robot arm. The inspection point is estimated using the registration between 3D point cloud data ob…

Extension of Contact Initiation Range in Encountered-Type Haptic Display Using MR Fluid Open

Koki Watanabe, Kazuya Sase, Teppei Tsujita, Satoko Abiko · 2023

When using MR fluid to present the sensation of cutting, the fluid container is small, and the range in which the surgical tool and MR fluid can initiate contact is also small. In this study, we developed a control system that makes the fl…

A Study on Magnetic Soft Materials That Can Reproduce the Wide Range of Elasticity Between Lesions and Normal Biological Tissues Open

Y. Kikuchi, Satoko Abiko, Teppei Tsujita · 2023

In this study, to realize a palpation simulator, we fabricate magnetic soft materials that can reproduce the wide range of elasticity between lesions and normal biological tissues. The magnetic soft materials consist of silicone gel as the…

Study on Detumbling Method for Rocket Upper Stage Using Eddy Current Brakes with Permanent Magnets Open

Naoki FUJIMAKI, Satoko Abiko, Shunsuke HIRAIKE, Teppei Tsujita, Daisuke Sato · 2023

This paper proposes a detumbling method using eddy current brakes with permanent magnets for the second stage of the H-IIA rocket. This paper selects three candidate locations for generating the braking force and analyzes the effects of th…

Fundamental Evaluation of Contactless Security Screening Using a Terahertz Sensor Mounted on an Unmanned Ground Vehicle Open

Tomohito WATANABE, Teppei Tsujita, Shunsuke Yamada, Daisuke Sato, Satoko Abiko , et al. · 2023

This paper describes fundamental evaluation of contactless item inspection using an unmanned ground vehicle (UGV) equipped with a terahertz (THz) sensor. To understand the characteristics of the THz sensor, THz waves were irradiated on an …

Verification of Thrust Coefficients for Multicopter UAVs with a Propeller Thrust Measurement Mechanism Open

Satoko Abiko, Akihiro KUNIMOTO, Teppei Tsujita, Daisuke Sato · 2023

This paper presents the validation of thrust coefficients for multicopter UAVs in flight with propeller thrust measurement mechanisms. This paper describes a newer version of the thrust measurement mechanism to avoid resonance which occurr…

Development of Haptic Interface for Neurosurgical Simulators with Micro Scissors Module for Displaying the Cutting Force Open

Teppei Tsujita, Yuto Inoue, Yutaka Takagi, Atsushi Konno, Satoko Abiko , et al. · 2022

Introduction of surgical simulators, which enable repeated learning of new surgical techniques, is advancing and they are desired in the field of neurosurgery. This study aims to make a two-fold contribution. First is the development of a …

Force Feedback Control of an Encountered-type Haptic Interface Using MR Fluid Based on Biaxial Forces Measured by a Surgical Instrument with a Single Strain Area Open

Satoko Abiko, Masaya Suzuki, Teppei Tsujita · 2022

This paper presents force feedback control of an encountered-type haptic interface using MR (Magneto-Rheological) fluid based on biaxial forces measured by a surgical instrument with a single strain area. The haptic interface is developed …

A RAD Framework for Efficient Development of a Quad Tilt-rotor UAV Open

Ryo Tanaka, Satoko Abiko, Teppei Tsujita · 2022

The Rapid Application Development (RAD) concept is an approach for developing high-quality computer systems in a short period using Computer-Aided Software Engineering (CASE) tools. This paper aims to build a RAD framework for UAV developm…

Computational Fluid Dynamics Analysis of Airflow around a Propeller near a Wall Open

Shunya SAKATSUME, Satoko Abiko, Takumi YOSHIHARA, Teppei Tsujita, Shunsuke Yamada · 2022

Recently, multi-copters have been used in various areas, including outside and inside buildings. In the inside flight, airflow due to a wall or ceiling may affect multi-copters. This study aims to clarify the relationship between the airfl…

Mechanism extension of drones and their flight control Open

Satoko Abiko · 2022

This paper presents mechanisms to extend the flight performance of multicopter-type drones and their flight control. A single-axis tilting mechanism or a dual-axis tilting mechanism that enables the change of the thrust direction on each r…

A Study on a Scheme to Measure Coating Thickness of Splice Plates on Bridges with a Teleoperated Manipulator Open

Yoshiyuki Takashima, Satoko Abiko, Teppei Tsujita, Tadamasa KITAHARA, Daisuke Sato · 2022

This paper describes the fundamental experiment for inspecting the paint coating thickness of spline plates of bridges with a teleoperated manipulator. In general, unstable suspended scaffolds are used at the bridge construction sites. In …

Dynamics Simulation of a One-legged Robot with a Flexible Joint for Generating Landing Impact Absorbing Motion Open

Tomoharu Sekine, Satoko Abiko, Teppei Tsujita · 2022

In order to realize the deployment of a humanoid robot to a disaster site by parachute descent, it is necessary to generate a landing impact absorbing motion. This paper develops a dynamic simulator to demonstrate a motion of a one-legged …

Technical Issues of Body Scanning with a Teleoperated Manipulator for Contactless Detection of Dangerous Items Open

Tadamasa KITAHARA, Teppei Tsujita, Satoko Abiko, Daisuke Sato · 2022

In this paper, technical issues of body scanning with a teleoperated manipulator for contactless detection of dangerous items were clarified. A knife is concealed under the clothes of the model of a human body, and the manipulator with a m…

Prototyping of a Secure Processor to Prevent Abuse of Robots Using Open Source Software Open

Akira Hashimoto, Daisuke Sato, Teppei Tsujita, Satoko Abiko · 2022

The goal of this research is to realize a robot development framework to prevent the abuse of robots using open source software. A basic framework has been proposed by demonstrating that program modifications can be identified by applying …

Semi-autonomous Flight for Jet Spraying Drones to Inspect and Repair Structures Open

Kiri Yoshida, Kenta Kojima, Tadahiro Hasegawa, Shin’ichi Yuta, Kentaro Nimura , et al. · 2021

"Jet Spraying Drone" that can spray repair materials onto concrete structures has been developed. However, manual operation of drones that flies in at high altitudes makes it difficult to fly and keep a suitable position for spray works. I…

Position Control of a Quadrotor UAV Equipped with Dual-axis Tilting Mechanisms in Arbitrary Attitudes Open

Akihiro KUNIMOTO, Satoko Abiko · 2021

A quadrotor UAV equipped with dual-axis tilting mechanisms has been developed as an advanced type of a quadrotor UAV, enabling independent control of position and attitude, and flight in arbitrary attitudes without thrust energy loss. The …

Development of an onboard airflow visualization system for flow field measurement around a propeller of a multicopter UAV Open

Sunao TOYODA, Satoko Abiko, Teppei Tsujita · 2021

Multicopters are useful in a variety of fields. However, there is still a risk of loss of control due to updrafts or wind generated by the multicopter itself. Therefore, the goal of this research is to achieve robust flight against wind di…

Flight Experiment for Seamless 90-Degree Attitude Transition Flight of a Quad Tilt-rotor UAV Open

Yusuke Sakai, Satoko Abiko · 2020

With the addition of actuators, the quad tilt-rotor UAV allows independent control of position and attitude and can also hover with tilting attitude. However, to change the attitude from 0 degree to 90 degrees, the conventional control met…

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