KINDAI UNIVERSITY


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OKA Masato

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FacultyDepartment of Robotics / Graduate School of System Enginnering
PositionProfessor
Degree
Commentator Guidehttps://www.kindai.ac.jp/meikan/386-oka-masato.html
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Last Updated :2020/09/08

Education and Career

Education

  •  - 2004 , Yamaguchi University
  •  - 1986 , Kyushu Institute of Technology

Academic & Professional Experience

  •   2013 04 ,  - 現在, Faculty of Engineering, Department of Robotics, Kindai University
  •   2012 04 ,  - 2013 03 , Faculty of Engineering, Kindai University
  •   2009 04 ,  - 2012 03 , Department of Mechanical Engineering, Ube National College of Technology

Research Activities

Research Areas

  • Informatics, Mechanics and mechatronics
  • Manufacturing technology (mechanical, electrical/electronic, chemical engineering), Control and systems engineering

Research Interests

  • Ultrasonic mootor

Published Papers

  • Construction of a Remote Control System Using Video and Voice Communication Software, OKA Masato, The Japan Society of Technology Education, The Japan Society of Technology Education, 59(1), 29 - 37, Mar. 2017 , Refereed
  • Control of Ultrasonic Motor by the NN-PI Controller using Variable Frequency, Masato Oka, Akihiko Uchibori, Akihiro Naganawa, Hiroshi Morioka, Kanya Tanaka, IEEJ Transactions on Industry Applications, IEEJ Transactions on Industry Applications, 124(2), 168 - 174, Sep. 01 2004
    Summary:In this paper, we propose PI controller combined with neural network (NN) for position and tracking control of ultrasonic motor (USM). In the conventional fixed gain PID controller, it is difficult to achieve precise control. Because the input-and-output characteristics of USM change with temperature rise or fluctuatio of load-mass. In this design method, NN controller is used to compensate these characteristics fluctuation. Weights of NN are adjusted by back propagation method so that control error may be minimized. Moreover, variable frequency method is used for the control input in order to simplify drive circuit and realize quick response. The effectiveness of the proposed design method is confirmed by experiments using the existent USM. © 2004, The Institute of Electrical Engineers of Japan. All rights reserved.
  • Position Control of Ultrasonic Motors Based on Two Degree of Freedom Servo Systems with Adaptive Technique, Akihiro Naganawa, Takuo Miyake, Kanya Tan, Masato Oka, IEEJ Transactions on Industry Applications, IEEJ Transactions on Industry Applications, 123(10), 1125 - 1131, Sep. 01 2003
    Summary:Ultrasonic motors (USM) which has many useful features such as small, light and high torque at low speed are expected to find many applications in several fields. However it is difficult to control precisely since the USM contains nonlinear properties caused by driving frictions, changes of temperature, fluctuation of load-mass and so on. To date, a large number of studies have been made on the compensation of the USM nonlinear properties using neural network, fuzzy control and other position control theories as well. However, studies aiming at holding the optimal tracking performance of the USM designed for nominal plant have not been reported yet. Accordingly, in this paper, we propose a position control method of the USM using a Two Degree of Freedom optimal servo system with an adaptive technique. The effectiveness of the proposed method is well demonstrated based on the results of our experimental study. © 2003, The Institute of Electrical Engineers of Japan. All rights reserved.
  • Meal assistance robot with ultrasonic motors, K. Tanaka, Y. Kodani, M. Oka, Y. Nishimura, F. A. Farida, S. Mu, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 36(1-2), 177 - 181, 2011 , Refereed
    Summary:In this paper, we develop a meal assistance robot for people with disabilities of upper limbs and pacemakers in the body. In the robot, ultrasonic motors are used because the motors do not generate an electromagnetic field. The robot is handled using acts of user's eyes so that the people can use it. Moreover, the vibration is small because the arms of our robot move independently of each other. In this paper, we introduce structure of our robot and show the advantage with experiment results.
  • PI Control Adjusted by GA for Ultrasonic Motor, Kanya Tanaka, Yuji Wakasa, Takuya Akashi, Masato Oka, ELECTRICAL ENGINEERING IN JAPAN, ELECTRICAL ENGINEERING IN JAPAN, 169(1), 59 - 65, Oct. 2009 , Refereed
    Summary:This paper proposes a PI control method adjusted by a genetic algorithm (GA) for all ultrasonic motor (USM). In the proposed method, proportional and integral gains are adjusted using a GA in order to compensate the characteristic variations of the plant. The effectiveness of the proposed method is confirmed by experiments. (C) 2009 Wiley Periodicals, Inc. Electr Eng Jpn, 169(1): 59-65, 2009; Published online in Wiley InterScience (www. interscience.wiley.com). DOI 10.1002/eej.20842
  • Precise position control of an ultrasonic motor using the PID controller combined with NN, K Tanaka, M Oka, A Uchibori, Y Iwata, H Morioka, ELECTRICAL ENGINEERING IN JAPAN, ELECTRICAL ENGINEERING IN JAPAN, 146(3), 46 - 54, Feb. 2004
    Summary:The input-output characteristic of an ultrasonic motor (USM) has nonlinear elements and changes with a temperature rise or fluctuation of load-mass. Therefore, it is difficult to accomplish satisfactory control performance by using conventional PID controllers. In this paper, we propose a PID controller combined with a neural network (NN-PID controller). In this design method, the controller gains consist of constant gains of the PID controller and variable gains of the NN controller. The weights of the NN are adjusted by the backpropagation method so that the control error can be minimized. This method does not require long learning time of the NN. The effectiveness of the proposed design method is confirmed by experiments using an existing USM. (C) 2003 Wiley Periodicals, Inc. Electr Eng Jpn, 146(3): 46-54, 2004; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.10199.

Conference Activities & Talks

  • 予測制御によるMRI対応ナビゲーションロボットの高精度位置決め, 伊東 真実子, 長縄 明大, 関 健史, 佐藤 生馬, 田中 幹也, 岡 正人, 正宗 賢, 生活支援工学系学会連合大会講演予稿集,   2009 09 , (一社)ライフサポート学会

Misc

  • Control of Open MRI Compatible Needle Puncture Navigation Robot, NAGANAWA Akihiro, SATO Ikuma, OKA Masato, MASAMUNE Ken, Journal of Life Support Engineering, 22, 2, 51, 56,   2010 06 30 , 10.5136/lifesupport.22.51, http://ci.nii.ac.jp/naid/10029238264
    Summary:The surgical navigation robot is used in order to position the instrument correctly to the target disease. The development of a MRI (Magnetic Resonance Imaging) compatible navigation robot is recently started so as to utilize more rich information of the MR imaging. In this report, we discuss highly precise control of the navigation robot which is used under the MRI. This robot consists of ultrasonic motors (USM) and nonmagnetic materials. We operate the robot by using the phase difference control circuit which we developed as the driver of the USM. In a control system design, two-degrees-of-freedom control system was adopted. In addition, the MRI compatibility such as the skewness of the image and signal to noise ratio which we inspected using 0.2T (Tesla) open MRI was evaluated. From the experimental results that imaged MR images while controlling the robot, we could realize the highly precise control and suppress the influence of the noise.
  • Intelligent IMC-PID Control for Ultrasonic Motor, Shenglin Mu, Kanya Tanaka, Yuji Wakasa, Takuya Akashi, Nobuaki Kobayashi, Shigeru Uchikado, Yasuhiro Osa, 2009 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL, VOLS 1 AND 2, 2C04-4, 195, +,   2009 , https://ieeexplore.ieee.org/document/5333219
    Summary:Ultrasonic motor (USM) causes serious characteristic changes during operation and contains non-linearity caused by frictions. To compensate the characteristics, the internal model control - proportional integral differential (IMC-PID) control which requires only one parameter setting beforehand is widely applied to the control of ultrasonic motor. However, there are limitations of control performance on the conventional fixed-gain type IMC-PID) control. So, in this paper we propose an improved method of variable gain type IMC-PID control combined with neural network (NN). In this proposed method, the identification method is adopted to overcome serious characteristic changes and neural network is used to compensate non-linearity. And, the effectiveness of the proposed method has been confirmed by experiments.
  • Meal assistance robot with ultra sonic motors, Yasuhiro Kodani, Kanya Tanaka, Yuji Wakasa, Takuya Akashi, Masato Oka, ICMIT 2007: MECHATRONICS, MEMS, AND SMART MATERIALS, PTS 1 AND 2, 6794, pp. 67943O-67943O-5,   2008 , 10.1117/12.783967
    Summary:In this paper, we have constructed a robot that help people with disabilities of upper extremities and advanced stage amyotrophic lateral sclerosis (ALS) patients to eat with their residual abilities. Especially, many of people suffering from advanced stage ALS of the use a pacemaker. And they need to avoid electromagnetic waves. Therefore we adopt ultra sonic motor that don't generate electromagnetic waves as driving sources. Additionally we approach the problem of the conventional meal assistance robot. Moreover, we introduce the interface with eye movement so that extremities can also use our system. User operates our robot not with hands or foot but with eye movement.
  • Position control of ultrasonic motor based on 2DF MRACs with neural networks, A Naganawa, M Fujieda, K Tanaka, M Oka, Proceedings of the Sixth IASTED International Conference on Intelligent Systems and Control, 438, 443,   2004
    Summary:The ultrasonic motor (USM) is expected to be applicable to various fields, but it is difficult to precisely control the USM as it contains nonlinear properties caused by various frictions. changes of temperature, fluctuation of load-mass and so on. In this research. we propose a position control method for the USM based on a two-dearces-of-freedom C, control system with a self-tuning PID type neuro controller to hold optimal tracking performance. The gains of the PID controller are self-tuned by a neural network which adaptively suppresses the influence of the plant perturbation and disturbance. The experimental results show the effectiveness of the proposed method.
  • A design of non-linear electro-pneumatic servo systems by using neural-net based linearlizer with off-line learning algorithm, T Oki, K Tanaka, T Yamamoto, A Uchibori, M Oka, PROCEEDING OF THE 2002 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1-3, 968, 973,   2002
    Summary:Many electro-pneumatic servo systems have strong nonlinear property because of compressible air in cylinders. To control their systems, a neural network(NN) based linearlizer with an off line learning is proposed in this paper. The augmented system which consists the controlled object and the linearlizer is controlled by linear controller. The point of the learning algorithm of NN is to estimate from the actual input of the controlled object to the input of the augmented object directly.
  • Application of Time-Delay-Control in variable structure motion control systems, H Morioka, A Sabanovic, A Uchibori, K Wada, M Oka, ISIE 2001: IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS PROCEEDINGS, VOLS I-III, 1313, 1318,   2001
    Summary:A new simple sliding mode controller for the motion control systems is proposed to avoid the problems related to the chattering. The proposed control is based on the time delay estimation used in the Time-Delay-Control (TDC) method. By introducing the concept of time delay estimation into the sliding mode control, the difficulty of the stability analysis of TDC may be resolved. It has been shown that the switching component of the proposed control is not determined by the magnitude of the system's uncertainty but by its change during specified time delay. That leads to much smaller magnitude of the switching component in comparison with other sliding mode controllers. For proposed control scheme the sliding mode reaching and existence conditions for a class of the systems like robotic manipulator are presented. The experimental examples are shown to confirm the validity of the proposed controller.
  • Precise Position Control of Ultrasonic motors Using self-Tuning Neuro-PID Controller, 1608, 1609,   2001
  • Application of Time-Delay-Control in variable structure motion control systems, H Morioka, A Sabanovic, A Uchibori, K Wada, M Oka, ISIE 2001: IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS PROCEEDINGS, VOLS I-III, 1313, 1318,   2001
    Summary:A new simple sliding mode controller for the motion control systems is proposed to avoid the problems related to the chattering. The proposed control is based on the time delay estimation used in the Time-Delay-Control (TDC) method. By introducing the concept of time delay estimation into the sliding mode control, the difficulty of the stability analysis of TDC may be resolved. It has been shown that the switching component of the proposed control is not determined by the magnitude of the system's uncertainty but by its change during specified time delay. That leads to much smaller magnitude of the switching component in comparison with other sliding mode controllers. For proposed control scheme the sliding mode reaching and existence conditions for a class of the systems like robotic manipulator are presented. The experimental examples are shown to confirm the validity of the proposed controller.
  • Precise Position Control of Ultrasonic Motors Using Neural Network, Masato Oka, Akihiko Uchibori, Hiroshi Morioka, Kanya Tanaka, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 67, 659, 2219, 2225,   2001 , 10.1299/kikaic.67.2219
    Summary:Ultrasonic motor (USM) has many advantages such as small, light, high torque at low speed, and so on. However, USM contains nonlinear elements caused by various frictions, changes of temperature, fluctuation of load-mass, and so on. Therefore, it is difficult to accomplish satisfactory control performance in USM by using conventional control method such as PI control. In this paper, we propose a practical design method of neural networks (NN) controller for USM. In this design method, learning of NN is started from using input-output data of PI control for USM to construct NN controller. Once NN controller has been constructed, self-learning of NN is adopted to improve the control performance of USM. The effectiveness of proposed design method is confirmed by experiments using tnxhe existent USM. © 2001, The Japan Society of Mechanical Engineers. All rights reserved.
  • Practical robust control design of pneumatic servo systems, H Morioka, A Nishiuchi, K Kurahara, K Tanaka, M Oka, IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4, 1755, 1760,   2000 , 10.1109/IECON.2000.972541
    Summary:A practical simple control design method for the motion control of pneumatic servo systems is proposed. The proposed control is robust for the change of a plumbing route from the control valve to the pneumatic actuator. That leads to much smaller magnitude of a din and vibration that are generated by control valves. It means that the proposed pneumatic servo systems can be used as an actuator of the equipment that is used in a medical and welfare facilities. The experimental results are shown to confirm the effectiveness of the proposed design scheme.
  • Precise Position Control of Ultrasonic Motors Using Neural Network, 189, 192,   2000
  • Intelligent Control for Ultrasonic Motors,   2000
  • Remote Control Circuit for Controlling Competition Robots via Serial Transmission System, Japanese Coleeges of Technology Education Journal, 23, 399, 403,   2000
  • The Convergency of GA Neural Network, Artificial Life and Robotics, 757, 760,   2000
  • Practical robust control design of pneumatic servo systems, H. Morioka, A. Nishiuchi, K. Kurahara, K. Tanaka, M. Oka, IECON Proceedings (Industrial Electronics Conference), 1, 1755, 1760,   2000 , 10.1109/IECON.2000.972541
    Summary:A practical simple control design method for the motion control of pneumatic servo systems is proposed. The proposed control is robust for the change of a plumbing route from the control valve to the pneumatic actuator. That leads to much smaller magnitude of a din and vibration that are generated by control valves. It means that the proposed pneumatic servo systems can be used as an actuator of the equipment that is used in a medical and welfare facilities. The experimental results are shown to confirm, the effectiveness of the proposed design scheme.
  • Operating System For Competition Robot Using Local Area Network(LAN), Japanese Colleges of Technology Education Journal, 22, 131, 136,   1999
  • A Remote Operations Experiment Using Local Area Network(LAN), Japanese Colleges of Technology Education Journal, 21, 265, 271,   1998

Research Grants & Projects

  • Cooperative Research, Pricise Position Control of Ultrasonic Motors Using Neural Network