Masaru Uchiyama

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A composite control law for end-effector path tracking with a flexible structure mounted manipulator system is proposed, such that no disturbances on the flexible base are induced. The control law is based on the reaction null space concept introduced earlier to tackle dynamic interaction problems of freefloating robots, or moving base robots in general.(More)
A AAC-decoding, H.264 decoding, media processor with embedded forward-body-biasing and power-gating circuit in CMOS technology is proposed. Since all the components necessary for the scheme are simple MOS circuits requiring no extra supply voltages, they can be placed and routed by a commercial CAD tool. A data-mapping flip-flop was proposed as a high(More)
C o o r d i n a t i o n o f t w o r o b o t s t o m a n i p u l a t e a s i n g l e o b j e c t j o i n t l y , n e e d s a c e r t a i n f o r m o f h y b r i d p o s i t i o n / f o r c e c o n t r o l . I n t h i s p a p e r , a n o n m a s t e r / s l a v e scheme, c a l l e d s y m m e t r i c scheme i s p r o p o s e d f o r t h e c o o r d i n a t i(More)
In our previous research, we developed space robot teleoperation technology to achieve control from the ground of effective manual manipulations in orbit. To solve the communication time delay in the space robot teleoperation, we propose a mixed force and motion command-based space robot teleoperation system that is a model-based teleoperation. Moreover, we(More)
We study the one-dimensional asymmetric simple exclusion process (ASEP) with open boundary conditions. Particles are injected and ejected at both boundaries. It is clarified that the steady state of the model is intimately related to the AskeyWilson polynomials. The partition function and the n-point functions are obtained in the integral form with four(More)
The application range of UAVs (unmanned aerial vehicles) is expanding along with performance upgrades. Vertical take-off and landing (VTOL) aircraft has the merits of both fixed-wing and rotary-wing aircraft. Tail-sitting is the simplest way for the VTOL maneuver since it does not need extra actuators. However, conventional hovering control for a(More)
The inverse kinematics problem is formulated as a parameterized autonomous dynamical system problem, and respective analysis is carried out. It is shown that a singular point of work space can be mapped either as a critical or a noncritical point of the autonomous system, depending on the direction of approach to the singular point. Making use of the(More)