Takeshi Hatanaka

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This paper addresses passivity-based pose synchronization in the Special Euclidean group SE(3). We first develop a passivity-based distributed velocity input law to achieve pose synchronization. We next show that the pose synchronizes exponentially fast under an assumption on the initial states of the bodies, with an exponential convergence rate given by(More)
In this paper the coverage control problem for mobile sensor networks is studied. The novelty is to consider an anisotropic sensor model where the performance of the sensor depends not only on the distance but also on the orientation to the target. By adapting the Lloyd algorithm and assuming a fixed and equal sensor orientation, a distributed control law(More)
In this paper the coverage control for mobile sensor networks is studied. The novelty is to consider an anisotropic sensor model where the performance of the sensor depends not only on the distance but also on the orientation to the target. Moreover we consider sensors with limited-range sensing defined by a probabilistic model and communication(More)
This paper handles a kind of strategic game called potential games and develops a novel learning algorithm Payoff-based Inhomogeneous Partially Irrational Play (PIPIP). The present algorithm is based on Distributed Inhomogeneous Synchronous Learning (DISL) presented in an existing work but, unlike DISL, PIPIP allows agents to make irrational decisions with(More)
This paper investigates visual feedback pose synchronization on SE(3) in leader-follower type visibility structures. After defining visual robotic networks to be controlled, we propose a visual feedback pose synchronization law combining a vision-based observer with the pose synchronization law presented in our previous works. We then prove that the visual(More)
This paper investigates passivity-based visual feedback pose regulation whose goal is to control a vision camera pose so that it reaches a desirable configuration relative to a moving target object. For this purpose, we present a novel visual feedback estimation/control structure including a vision-based observer called visual motion observer under the(More)
Combustion experiments in a laboratory-scale fluidized-bed reactor were performed to elucidate the role of copper chloride in formation of polychlorinated dibenzo-p-dioxins (PCDDs) and dibenzofurans (PCDFs) during model waste incineration. The amounts of PCDDs and PCDFs formed, the homologue profiles, and the isomer distributions were measured in the flue(More)
Combustion experiments in a laboratory-scale fluidized-bed reactor were conducted to elucidate the effects of copper chloride as a catalyst on polychlorinated dibenzo-p-dioxins (PCDDs) formation in municipal waste incineration. We used model wastes with and without copper chloride (CuCl(2) x 2H(2)O), both of which contained polyvinyl chloride as a chlorine(More)