Kochi University of Technology Academic Resource Repository

?田, 賢一朗

Japanese

デバイスシミュレーションによるIn‐Ga‐Zn‐O/AgxOヘテロ接合型ショットキーダイオードの特性解析

片岡, 崇史

対象のアプリケーションが使うデータ型に特化したJavaScript　VM開発フレームワーク

多田, 菜南

動的グループにおけるクラウドデータ共有を実現するためのデータ所持証明方式の拡張

浦島, 卓也

高知県四万十町における地方移住の定住要因分析と価値共創による定住率向上に向けての具体的提案

山下, 清貴

土光敏夫のリーダーシップの考察 ～改革断行における牽引力～

高知工科大学博士（学術）高知工科大学, 博士論文.thesi

CHANG, Hongbin

－1－ 
 
論 文 内 容 の 要 旨 
 
 
The improvement in living conditions and the increasing life expectancy have led to the gradual 
aging of the population worldwide, resulting in a significant increase in the incidence of age-related 
health issues. Declining motor function (e.g., decreased muscle strength, coordination, and dexterity) is 
commonly associated with aging and can lead to potentially disabling falls. However, the workforce of 
healthcare providers and nurses is decreasing and, therefore, cannot meet the demands of the people 
who require physical rehabilitation; as the birth rate drops, this situation is likely to worsen. Therefore，
the author's laboratory has been focusing on the development of rehabilitation robots for many years. 
The main contribution of this paper is to design suitable control algorithms to improve the 
rehabilitation effect of the omnidirectional rehabilitative training walker (ORTW). 
In order to make the ORTW has the same therapeutic effect as therapist, it must imitate the 
training prescription provided by therapist. Then, the ORTW needs to track the trajectory designed by 
the therapist with high precision. However, some problems affect the precision of trajectory tracking, 
which makes accurate trajectory tracking impossible. Thus, we should solve these problems by 
improving the control algorithm, to enhance the effect of rehabilitation training.  
Firstly, when the ORTW works together with its user, the center of gravity of the ORTW will be 
shifted. It will further lead to some parameters in the system to change randomly. In order to solve this 
problem, we construct a reasonable stochastic model to describe the motion of the robot. Based on this 
model, we design an appropriate controller to converge the tracking error of the robot. Additionally, by 
designing appropriate control parameters, we make the error system is asymptotically stable. 
 
As we know, the ORTW usually works in a narrow and complex environment. Therefore, in this 
study, three omniwheels are mounted on the ORTW to allow it to move omnidirectionally; however, 
this also present a challenge in the control of the robot. Unlike vehicles with standard wheels, 
omnidirectional vehicles suffer from noticeable jitter in the orientation angle. Most of the previous 
studies neglected the problem while others attempted to reduce this jitter by adjusting the gains in the 
controller. Here, we also investigate the structure of the omniwheels touchdown characteristics to 
reveal the cause of the vibration in the orientation angle. Then, we apply an adaptive technique to 
eliminate this vibration. 
A limitation of the previously published tacking methods is that they require at least the 
measurement of velocity on the link side or motor side. However, in robotic applications, velocity 
sensors are frequently omitted because of their considerable the production cost, and the size and the 
weight of the servo-drives. Moreover, in practical robotic systems, the velocity measurements obtained 
through tachometers are easily perturbed by noise. Therefore, to align with the economic and/or 
physical constraints, the ability to control robots without velocity measurements is of great importance. 
A high-gain observer is designed to take place the unmeasurable speed as the feedback information of 
controller. 
The previous trajectory tracking methods relied on the measurements of position output that are 
typically assumed as complete or perfectly available. Unfortunately, this assumption is not always 
practically plausible. Measurement information is incomplete (i.e., missing, delayed, quantized, or 
faded) in many engineering, biological, and chemical systems because of several reasons such as 
intermittent sensor failures, sensor aging, abrupt structure changes, and network induced noises that 
can result in performance degradation or even instability. A state observer is designed to estimate the 
－2－ 
incomplete measurements of position output. 
Owing to omniwheel has a complex structure (in general, an omniwheel is composed of a driven 
wheel and several follower wheels.), the omnidirectional wheel can move in any direction. However, 
this complex structure compromises the structural strength of the machine. For instance, the bearings 
of the follower wheels must be grinded sufficiently thin to be equipped on the driven wheel. Therefore, 
to ensure regular tasking and normal service life of the machine, constraints are required on the control 
inputs. The control constraints guarantee the safety of the omniwheels and the ORTW training process. 
In this study, the saturation function is approximated by a hyperbolic tangent function, which 
guarantees the smoothness and boundedness of the controller. 
Since each problem does not exist independently, we will discuss them gradually in each chapter of 
the paper. In addition, in each chapter, we also give the steps of controller design, stability analysis and 
its proof. In order to ensure the reliability of the proof, we use some mathematical tools, such as. 
Lyapunov function, stochastic stability theory, Young’s inequality, Frobenius norm, Markov’s 
inequality, Lagrange mean value theorem, and so on. In the process of stability analysis, we also 
discuss the relationship between the control parameters and the mean absolute of the errors, which 
makes that asymptotical trajectory tracking is achievable with a certain probability. Therefore, we can 
adjust the parameters of the controller according to this rule to reduce the tracking error. At the end of 
each chapter, we give the corresponding simulation, which proves the effectiveness of the controller. 


English

Trajectory Tracking Control Methods for an Omnidirectional Rehabilitative Training Walker

新井, 広

指数3の無限群が無限可換部分群をもつことの初等的証明

高知工科大学博士（学術）高知工科大学, 博士論文.doctoral thesi

CHENBOONTHAI, Haruthai

 
- 1 - 
 
氏 名（本籍） HARUTHAI CHENBOONTHAI（タイ） 
学位の種類 博士（学術） 
学位記番号 甲第 351 号 
学位授与年月日 令和元年９月２４日 
学位授与の要件 学位規則第４条第１項 
研究科・専攻名 工学研究科・基盤工学専攻 
    学位論文題目      Institutional Analysis for Government Organizations 
Involved in Policy Development and Implementation: A 
Case Study of Energy-from-Waste Targets in Thailand’s 
2015 Alternative Energy Development Planntellectual 
Property 
 論文審査 （主査）高知工科大学     教授    渡邊 法美 
    高知工科大学     教授    小谷 浩示 
    高知工科大学     教授    中川 善典 
    高知工科大学     教授    那須 清吾 
    高知工科大学     准教授   田島 昌樹 
 
 
審 査 結 果 の 要 旨 
 
１.論文の評価 
申請者の母国でもあるタイでも、化石燃料の代替エネルギー開発は重要な課題である。その中の
Energy from Waste(EFW)（廃棄物からのエネルギー生成）は、新エネルギー源確保、廃棄物減少、温室
効果ガス減少という複数の効果を有するため、大きな期待が寄せられている。申請者は、本論文におい
て、分析手法として、Institutional Anakysis and Development(IAD)framework を適用し、EFW 政策の
立案・実施過程の問題点と改善の方向性を検討した。 
IAD framework は、多くの室内実験・現地調査の結果に基づいて提案された汎用性の高い分析の枠組
みである。その主な一因は、枠組みの構成要素である、「アクションアリーナ(Action Arena)」の中の
「アクション状況(Action Situation)、それに直接の影響を与える「外部変数(Exogenous Variables)」
の中の「ルール(Rules)」を表す変数が、充分に、かつ、厳密に定義されている点にある。このため、
ゲーム理論では扱うことが困難な複雑な状況下でも、緻密な分析に耐えられる構成となっている。 
 申請者は研究の過程で、a)EFW 政策研究では、「アクションアリーナ」の中の「主体(Actors)（本研
究では、政策の立案・実施主体）」並びに「アクションアリーナ」の出力である「相互作用(Interaction)」
に関する詳細な検討が必要である、b)しかし、それらの既往研究は不充分であること、に気付いた。そ
こで本研究では、 
①主体の政策容量(Policy Capacity)を表す枠組みの改善案を提案し、各主体の容量を評価し、 
②相互作用を表現するために「協力強度(Cooperation Intensity)」という指標を導入して協力の実態
を分析・評価し、改善の方向性（案）を提案した。 
発表論文は以下のとおりである。 
①Haruthai Chenboonthai and Tsunemi Watanabe, Organaization and Systemic Policy Capacity of 
Government Organizations Involved in Energy-From-Waste(EFW) Development in Thailand, Energies 
2018, 11(10), 2501; https://doi.org/10.3390/en11102501,(JCR-Q2, IF=2.676 in 2017) 
② Haruthai Chenboonthai and Tsunemi Watanabe, Cooperation Intensity for Effective Policy 
Development and Implementation: A Case Study of Thailand’s Alternative Energy Development 
 
- 2 - 
Plan, Energies 2019, 12(13), 2469; https://doi.org/10.3390/en12132469,(JCR-Q3, IF=2.707 in 
2018)  
 
 審査会では、「解決策の方向性（案）を『一般解』と『特異解』によって表現して欲しい」、「さらな
る分析の精度向上に努めて欲しい」、とのご助言、並びに、「結論は納得できる」、「質的研究として一定
の評価ができる」との評価を頂いた。 
 
２.審査の経過と結果 
（１）令和元年７月３日 博士後期課程委員会で学位論文の受理を決定し、５名がその審査委員と
 して指名された。 
（２）令和元年８月２２日 公開論文審査発表会及び最終試験を実施した。 
（３）令和元年９月４日 博士後期課程委員会で学位授与を可とし、教育研究審議会で承認された。 


Institutional Analysis for Government Organizations Involved in Policy Development and Implementation: A Case Study of Energy-from-Waste Targets in Thailand’s 2015 Alternative Energy Development Plan

LIAO, Fangyuan

Super-resolution of Multi-contrast MRI Images with Deep Learning

竹中, 克昭

次世代型全方向輸送機構の開発

Kochi University of Technology

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