Papers - Takahashi, Masaki

Optimal Trajectory Planning of Aircraft for Fair-Sharing of Noise

Saito Y., Yoshimura S., Inoue M., Takahashi M., Sugihara Y.

IFAC-PapersOnLine (IFAC-PapersOnLine)  52 ( 8 ) 368 - 374 2019

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© 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. In this paper, we propose a trajectory planning of aircraft to ensure the reduction and fair-sharing of aircraft noise. The fair-sharing of noise is realized by dispersing aircraft trajectories. The proposed trajectory planning consists of two stages. In the first stage, a performance index, which evaluates the accumulated noise for all areas, is calculated. The index, which takes into account noise accumulation, plays an essential role for trajectory dispersion. In the second stage, using the index, an optimization problem of planning aircraft trajectories is solved. Repeating these stages in a day, we realize to reduce and spatially share the noise. The effectiveness of the method is verified in a numerical experiment with actual flight data.

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Nonlinear model predictive control for two-wheeled service robots

Sekiguchi S., Yorozu A., Kuno K., Okada M., Watanabe Y., Takahashi M.

Advances in Intelligent Systems and Computing (Advances in Intelligent Systems and Computing)  867   452 - 463 2019

ISSN  9783030013691

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© 2019, Springer Nature Switzerland AG. Two-wheeled service robots capable of following a person are an active research topic. These robots will support and follow customers like tourists to many places. It is necessary that an appropriate distance be maintained between the human and the robot. In addition, robots need to not only approach but also turn toward the human to provide services when the human stops walking. Therefore, the control system should change its property depending on the situation. However, many of the previous researches report an algorithm having only one property. Thus, this research proposed a motion control system of a two-wheeled service robot that could turn around while simultaneously following a human. To achieve this, we use nonlinear model predictive control (NMPC) and evaluation function weights depending on the relative distance between robots and human.

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Multimodal path planning using potential field for human–robot interaction

Kawasaki Y., Yorozu A., Takahashi M.

Advances in Intelligent Systems and Computing (Advances in Intelligent Systems and Computing)  867   597 - 609 2019

ISSN  9783030013691

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© 2019, Springer Nature Switzerland AG. In a human–robot interaction, a robot must move to a position where the robot can obtain precise information of people, such as positions, postures, and voice. This is because the accuracy of human recognition depends on the positional relation between the person and robot. In addition, the robot should choose what sensor data needs to be focused on during the task that involves the interaction. Therefore, we should change a path approaching the people to improve human recognition accuracy for ease of performing the task. Accordingly, we need to design a path-planning method considering sensor characteristics, human recognition accuracy, and the task contents simultaneously. Although some previous studies proposed path-planning methods considering sensor characteristics, they did not consider the task and the human recognition accuracy, which was important for practical application. Consequently, we present a path-planning method considering the multimodal information which fusion the task contents and the human recognition accuracy simultaneously.

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Minimum-time attitude maneuver and robust attitude control of small satellite mounted with data relay communication antenna

Mori K., Takahashi M.

Applied Sciences (Switzerland) (Applied Sciences (Switzerland))  9 ( 5 )  2019

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© 2019 by the authors. This paper proposes a nonlinear control method for carrying out Minimum-time satellite attitude maneuver and antenna motion which have robustness against model uncertainty. In recent years, small Earth observation satellites have been utilized and expected to maneuver rapidly in missions such as multi-target acquisition. On the other hand, small satellites need to send the observation data to ground station. Recently, small Earth observation satellites acquire high-resolution data, resulting in an increase in the time required for data communication. Thus, small satellites need to use inter-orbit communication link through Data Relay test satellite sending data from Data Relay communication (DRC) antenna. In conventional operations, the antenna motion is implemented after satellite attitude maneuver. However, this method has a time delay between the completion of the attitude maneuver and the start of data communication. The purpose of this study is to extend the time of earth observation and data communication by carrying out satellite maneuver and antenna motion concurrently. Because small satellite mounted with DRC antenna has large mass ratio of the antenna, we cannot ignore time variability of the moment of inertia of the whole system and reaction torque generated by antenna motion. Hence, in order to take the influence of the antenna motion into consideration, we combine a satellite attitude control system and an antenna drive system into one control system by governing equations and constructing the optimal control problem. We convert the optimal control problem into a NLP by discretizing the control input (a series of pulses) to minimize the final time of the total maneuver that includes the antenna adjustment. In addition, it is considered that a model uncertainty and unknown disturbance occurs in real space. Thus, we have to design feedback controller to secure robustness in model error and unknown disturbance. Accordingly in order to propose a nonlinear control method for carrying out minimum-time satellite attitude maneuver and antenna motion which have robustness against model uncertainty and unknown disturbance, we calculate a reference attitude by application of optimal control input torque to ideal satellite model and design servo controller by using state-dependent Riccati equation (SDRE) control method in order to track time-variant reference attitude.

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Minimum-time attitude maneuver and robust attitude control of small satellite mounted with communication antenna

Mori K., Takahashi M.

AIAA Scitech 2019 Forum (AIAA Scitech 2019 Forum)   2019

ISSN  9781624105784

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© 2019 by Xin Ning. Published by the American Institute of Aeronautics and Astronautics, Inc. This paper proposes a simultaneous control method for small satellites mounted with a communication antenna; the objective is to reduce the time involved in satellite maneuver and antenna motion. Recently, small Earth observation satellites have been utilized, even though agile large angle satellite attitude maneuver has been in demand. Small Earth observation satellites acquire high-resolution data, resulting in an increase in the time required for data communication. Therefore, it has become important to ensure that small Earth observation satellites are capable of being maneuvered rapidly so that communication time can be extended by using a data relay system. The purpose of this study is to extend the time for Earth observation and data communication even if satellite has model uncertainty or space disturbance. In order to achieve this, we propose a simultaneous control method for satellite maneuver and antenna motion by using a nonlinear programming problem (NLP) and robust servo control method by using the state dependent Riccati equation (SDRE).

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Milp-based dual-arm motion planning considering shared transfer path for pick-up and place

Kurosu J., Yorozu A., Takahashi M.

Advances in Intelligent Systems and Computing (Advances in Intelligent Systems and Computing)  867   67 - 77 2019

ISSN  9783030013691

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© 2019, Springer Nature Switzerland AG. One of the most basic tasks that a dual-arm robot does is pick-up and place work. Pick-up and place work consists of tasks in which the robot carries objects from a start position (initial position) to a goal position. The following three important points should also be considered when the dual-arm robot does this work efficiently: (1) collision avoidance of the arms, (2) which arm should move an object, and (3) the order in which the objects should be picked up and placed. In addition, dual-arm robot has operation range constraints. Depending on the position relationship between a start position and goal position, unless both arms are used, the object may not be transferred to a goal position. In this paper, we define the transfer path which must use both arms as “shared transfer path”. First, we use mixed integer linear programming (MILP) based planning for the pick-up and place work to determine which arm should move an object and in which order these objects should be moved while considering the dual-arm robot’s operation range. Second, we plan the path using the rapidly exploring random tree (RRT) so that the arms do not collide, enabling the robot to perform efficient pick-up and place work based on the MILP planning solution. The effectiveness of proposed method is confirmed by simulations and experiments using the HIRO dual-arm robot.

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Autonomous Navigation Using Multimodal Potential Field to Initiate Interaction with Multiple People

Kawasaki Y., Yorozu A., Takahashi M.

IEEE International Conference on Intelligent Robots and Systems (IEEE International Conference on Intelligent Robots and Systems)     7654 - 7659 2018.12

ISSN  9781538680940

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© 2018 IEEE. In a human-robot interaction, a robot needs to move to a position where the robot can obtain high reliability data of people, such as positions, postures, and voice. This is because the human recognition reliability depends on the positional relation between the people and the robot. In addition, the robot should choose the sensor data which is necessary to perform the interaction task. Therefore, it is necessary to navigate the robot to the position to obtain the data for initiation of the interaction task. Accordingly, we need to design a path-planning method considering sensor characteristics, human recognition reliability, and task contents. Although previous studies proposed path-planning methods using an interaction potential considering sensor characteristics, they did not consider the task contents and the human recognition reliability, which are important for practical application and did not applied to interaction with multiple people. Consequently, we present a path-planning method considering the task contents and the human recognition reliability using multimodal potential field integrating these information. We verified effectiveness of the path-planning method for interaction with multiple people.

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Accessible Calibration of Insole Force Sensors Using the Wii Balance Board for Kinetic Gait Analysis

Eguchi R., Takahashi M.

Proceedings of IEEE Sensors (Proceedings of IEEE Sensors)  2018-October 2018.12

ISSN  9781538647073

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© 2018 IEEE. This paper presents a novel calibration method of insole sensors to estimate vertical ground reaction force (vGRF) during walking using the Wii Balance Board (WBB) as an accessible alternative to costly force plates. The sensor forces were weighted using linear least-squares regression to fit to the measurements of the WBB during walking and standing. By comparison with force plates, the accuracies of the vGRF estimated by the method with walking through the WBB were equivalent to the force plate-based calibration. In addition, the method using standing on the WBB did not have large deteriorations when compared to the above methods.

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Interaction between low back pain and knee pain contributes to disability level in individuals with knee osteoarthritis: a cross-sectional study

Iijima H., Suzuki Y., Aoyama T., Takahashi M.

Osteoarthritis and Cartilage (Osteoarthritis and Cartilage)  26 ( 10 ) 1319 - 1325 2018.10

ISSN  10634584

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© 2018 Osteoarthritis Research Society International Objective: To test the hypothesis that the interaction between low back pain (LBP) and knee pain intensity contributes to the disability level of individuals with knee osteoarthritis (OA). Design: Community-dwelling participants with knee OA (Kellgren/Lawrence [K/L] grade ≥1) were enrolled. LBP and its severity were identified using questionnaires. Knee pain severity and disability level were evaluated using the Japanese Knee Osteoarthritis Measure (JKOM) subscale. Multiple linear regression analyses were performed to examine the effect of the LBP–knee pain interaction, an independent variable, on disability, a dependent variable. Results: A total of 260 participants (age, 48–88 years; 77.7% women) were included. Of them, 151 (58.1%) had LBP. The LBP–knee pain interaction was significantly associated with disability after the adjustment for covariates. A post-hoc subgroup analysis revealed that the relationship between knee pain intensity and disability level was higher in individuals with LBP (beta: 0.621 points; 95% confidence interval [CI]: 0.511 to 0.731 points) than in those without LBP (beta: 0.402 points; 95% CI: 0.316 to 0.487 points). Conclusions: LBP interacts with knee pain intensity and contributes to disability level in individuals with knee OA. Coexisting LBP and knee pain had a stronger impact on disability level than LBP or knee pain alone. These findings highlight the potential deteriorative effects of the LBP–knee interaction on disability. Maximal treatment effects for disability might be achieved when LBP and knee pain are targeted simultaneously, rather than separately.

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Gait analysis of pregnant patients with lumbopelvic pain using inertial sensor

Tanigawa A., Morino S., Aoyama T., Takahashi M.

Gait and Posture (Gait and Posture)  65   176 - 181 2018.09

ISSN  09666362

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© 2018 Background: Lumbopelvic pain (LPP) is one of the most common discomforts during pregnancy. However, few studies have evaluated relation between LPP and gait in pregnancy quantitatively. Research question: This study aimed to investigate the relation between the LPP and gait characteristics such as symmetry, stability, and the degree of motion during pregnancy. Methods: Gait data were collected for fifty-two pregnant women between the third and tenth month of pregnancy on smooth, horizontal walkway by using inertial measurement sensor units attached to the participants’ lumbar. The degrees of trunk movement, movement symmetry, gait variability, and symmetry of rotation were expressed as the root mean square (RMS), autocorrelation peak (AC), coefficient of variance (CV), and the degree of asymmetry at the approximate amount of angular variation (DA) respectively, which were calculated from measured acceleration data and angular velocity data. An independent t-test was performed to investigate differences in these gait parameters between LPP group and pain free group classified according to the presence or absence of the pain, which is evaluated by using a questionnaire. In addition, LPP group was divided into 5 subgroups based on the types of pain, and the differences between the groups were also investigated by using a one way ANOVA. Results: Rotational asymmetry was observed in movement of the roll direction of the LPP patients. The DA of the roll angle of the LPP group was significantly greater than that in the pain free group (0.140 ± 0.093 vs. 0.077 ± 0.053, respectively; p = 0.004). In the analysis of pain complications, the significant difference in DA of roll angle, and CV of yaw angle were observed. Significance: The results indicated that motion asymmetry of both rotation and translation increased significantly in LPP patients’ gait.

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Inverted Rearfoot posture in subjects with coexisting patellofemoral osteoarthritis in medial knee osteoarthritis: An exploratory study

Iijima H., Ohi H., Fukutani N., Aoyama T., Kaneda E., Abe K., Takahashi M., Matsuda S.

Journal of Foot and Ankle Research (Journal of Foot and Ankle Research)  11 ( 1 )  2018.05

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© 2018 The Author(s). Background: While abnormal rearfoot posture and its relationship to patellofemoral (PF) pain has been thoroughly discussed in the literature, its relationship to patellofemoral osteoarthritis (PFOA) has not been determined. This study aimed to examine whether rearfoot posture is associated with a higher prevalence of radiographic PFOA in a compartment-specific manner in patients with medial tibiofemoral osteoarthritis (TFOA). Methods: Participants from orthopedic clinics (n=68, age 56-90 years, 75.0% female), diagnosed with radiographic medial TFOA (Kellgren/Lawrence [K/L] grade≥2) were included in this study. The presence of PFOA and static rearfoot posture were evaluated using a radiographic skyline view and a footprint automatic measurement apparatus, respectively. The relationship between rearfoot posture and PFOA was examined using analysis of covariance and propensity score-adjusted logistic regression analysis. Results: On average, patients with coexisting PFOA and medial TFOA (n=39) had an inverted calcaneus 3.1° greater than those with isolated medial TFOA (n=29). Increased calcaneus inverted angle was significantly associated with a higher probability of the presence of medial PFOA (odds ratio: 1.180, 95% confidence interval: [1.005, 1.439]; p=0.043). Calcaneus inverted angle was not associated with higher odds of lateral PFOA presence based on the adjusted values. Conclusions: The presence of an inverted rearfoot was associated with PFOA. Although these findings do not clearly indicate a biomechanical link between rearfoot posture and PFOA, this study shed light on the potential relationship between altered rearfoot posture and PFOA, as can be seen between rearfoot abnormality and PF pain.

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Comparison of the Effects of Kilohertz- and Low-frequency Electric Stimulations: A Systematic Review with Meta-analysis

Hirotaka Iijima, TAKAHASHI MASAKI, Yuta Tashiro, Tomoki Aoyama

PLOS ONE (PLoS ONE)  13 ( 4 )  2018.04

Research paper (scientific journal), Joint Work, Accepted

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© 2018 Iijima et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. Objective This study aimed to determine whether kilohertz-frequency alternating current (KFAC) is superior to low-frequency pulsed current (PC) in increasing muscle-evoked torque and lessening discomfort. Data sources The electronic databases PubMed, PEDro, CINAHL, and CENTRAL were searched for related articles, published before August 2017. Furthermore, citation search was performed on the original record using Web of Science. Review methods Randomized controlled trials, quasi-experimental studies, and within-subject repeated studies evaluating and comparing KFAC and PC treatments were included. The pooled standardized mean differences (SMDs) of KFAC and PC treatments, with 95% confidence intervals (CIs), were calculated using the random effects model. Results In total, 1148 potentially relevant articles were selected, of which 14 articles with within-subject repeated designs (271 participants, mean age: 26.4 years) met the inclusion criteria. KFAC did not significantly increase muscle-evoked torque, compared to PC (pooled SMD: -0.25; 95% CI: -0.53, 0.06; P = 0.120). KFAC had comparable discomfort compared to that experienced using PC (pooled SMD: -0.06; 95% CI: -0.50, 0.38; P = 0.800). These estimates of the effects had a high risk of bias, as assessed using the Downs and Black scale, and were highly heterogeneous studies. Conclusions This meta-analysis does not establish that KFAC is superior to PC in increasing muscle-evoked torque and lessening discomfort level. However, no strong conclusion could be drawn because of a high risk of bias and a large amount of heterogeneity. High quality studies comparing the efficacy between PC and KFAC treatments with consideration of potential confounders is warranted to facilitate the development of effective treatment.

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Pelvic alignment risk factors correlated with sacroiliac joint pain during pregnancy

Saori Morino, Mika Ishihara, Fumiko Umezaki, Hiroko Hatanaka, Mamoru Yamashita, Tomoki Aoyama, TAKAHASHI MASAKI

Clinical and Experimental Obstetrics & Gynecology  2018.04

Research paper (scientific journal), Joint Work, Accepted

Low back pain and causative movements in pregnancy: a prospective cohort study

Saori Morino, Mika Ishihara, Fumiko Umezaki, Hiroko Hatanaka, Hirotaka Iijima, Mamoru Yamashita, Tomoki Aoyama, TAKAHASHI MASAKI

BMC Musculoskeletal Disorders  2018.04

Research paper (scientific journal), Joint Work, Accepted

Effectiveness of Mesenchymal Stem Cells for Treating Patients with Knee Osteoarthritis: A Meta-analysis toward the Establishment of Effective Regenerative Rehabilitation

Hirotaka Iijima, Takuya Isho, Hiroshi Kuroki, TAKAHASHI MASAKI, Tomoki Aoyama

npj(nature partner journals) Regenerative Medicine (npj Regenerative Medicine)  3 ( 1 )  2018.04

Research paper (scientific journal), Joint Work, Accepted

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© 2018, The Author(s). This systematic review with a meta-analysis aimed to summarize the current evidence of the effectiveness of mesenchymal stem cell (MSC) treatment for knee osteoarthritis (OA) and to examine whether rehabilitation is an effect modifier of the effect estimate of MSC treatment. A literature search yielded 659 studies, of which 35 studies met the inclusion criteria (n = 2385 patients; mean age: 36.0–74.5 years). The meta-analysis results suggested that MSC treatment through intra-articular injection or arthroscopic implantation significantly improved knee pain (standardized mean difference [SMD]: −1.45, 95% confidence interval [CI]: −1.94, −0.96), self-reported physical function (SMD: 1.50, 95% CI: 1.09, 1.92), and cartilage quality (SMD: −1.99; 95% CI: −3.51, −0.47). However, the MSC treatment efficacy on cartilage volume was limited (SMD: 0.49; 95% CI: −0.19, 1.16). Minor adverse events (knee pain or swelling) were reported with a wide-ranging prevalence of 2–60%; however, no severe adverse events occurred. The evidence for these outcomes was “very low” to “low” according to the Grades of Recommendation, Assessment, Development and Evaluation system because of the poor study design, high risk of bias, large heterogeneity, and wide 95% CI of the effects estimate. Performing rehabilitation was significantly associated with better SMD for self-reported physical function (regression coefficient: 0.881, 95% CI: 0.049, 1.712; P = 0.039). We suggest that more high quality randomized controlled trials with consideration of the potential rehabilitation-driven clinical benefit would be needed to facilitate the foundation of effective MSC treatment and regenerative rehabilitation for patients with knee OA.

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Effects of Kilohertz-Frequency Electrical Stimulation on Muscle Performance and Adverse Event in Individuals with Neuromuscular Skeletal Disorders: A Systematic Review

Iijima H, TAKAHASHI MASAKI, Tashiro Y, Aoyama

The Japanese Journal of Rehabilitation Medicine  2018.04

Research paper (scientific journal), Joint Work, Accepted

ベクタリングによる管制間隔の調整と騒音の広域分担を目的とした着陸航空機の軌道計画

杉原 有理花, 髙橋 正樹

日本航空宇宙学会論文集 (日本航空宇宙学会)  66 ( 2 ) 53 - 60 2018.04

Research paper (scientific journal), Joint Work, Accepted

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慣性センサを用いた妊婦の腰椎骨盤周囲痛に関連する体幹部の動作解析

森野 佐芳梨, 髙橋 正樹

日本機械学会論文集 (日本機械学会)  84 ( 859 ) 01 - 13 2018.03

Research paper (scientific journal), Joint Work, Accepted

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Biomechanical characteristics of stair ambulation in patients with knee OA: A systematic review with meta-analysis toward a better definition of clinical hallmarks

Hirotaka Iijima, Kanako Shimourab, Tomoki Aoyama, TAKAHASHI MASAKI

Gait & Posture (Gait and Posture)  62   191 - 201 2018.03

Research paper (scientific journal), Joint Work, Accepted,  ISSN  09666362

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© 2018 Elsevier B.V. Background: Stair climbing was suggested to be the first affected task in individuals with knee osteoarthritis (OA). Research question: This review aimed to identify consistent kinematic, kinetic, and spatiotemporal alterations of stair climbing exhibited by individuals with knee OA. Methods: A literature search published until September 2017 was conducted in PubMed, PEDro, CINAHL, and Cochrane CENTRAL. Reviewer extracted data in accordance with the Cochrane Handbook. Where possible, data were combined into a meta-analysis; the pooled standardized mean differences between individuals with knee OA and healthy adults were calculated using the random-effect model. Results: In total, 585 potentially relevant articles were selected, of which 12 (695 participants, mean age: 58.4 years) met the inclusion criteria. Meta-analysis revealed that kinematic and kinetic alterations during stair climbing associated with knee OA were lower external knee flexion moment in conjunction with a larger trunk/hip flexion angles and smaller knee flexion/ankle dorsiflexion angles. Individuals with knee OA showed a delayed quadriceps activation during stair ascent. A lack of evidence was detected for alterations in external knee adduction moment during stair climbing. Effect estimate in each meta-analysis was judged “very low” on the GRADE approach. Significance: No strong conclusion can be drawn because of the low quality of evidence; however, individuals with knee OA may exhibit altered kinematics and kinetics changes in sagittal plane during stair climbing, and have delayed quadriceps muscle activity. Further studies with adequate adjustment for confounders are warranted to facilitate clinical hallmarks of the knee OA, particularly in early stages of the disease.

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Validity of the Nintendo Wii Balance Board for Kinetic Gait Analysis

Ryo Eguchi, TAKAHASHI MASAKI

Applied Sciences (Applied Sciences (Switzerland))  8 ( 25 )  2018.02

Research paper (scientific journal), Joint Work, Accepted

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© 2018 by the authors. The Nintendo Wii Balance Board (WBB) has been suggested as an inexpensive, portable and accessible alternative to costly laboratory-grade force plates for measuring the vertical ground reaction force (vGRF) and center of pressure (COP). Kinetic gait analysis provides important information for the rehabilitation of patients with gait disorders; however, the validity of the WBB for measuring kinetic gait parameters has not been evaluated. Therefore, the purpose of this study is to determine the accuracy of walking force measurements-which change dynamically in a short period of stance time-collected with the WBB. Three healthy adults were asked to walk 10 steps along both straight and curved paths in clockwise (CW) and counterclockwise (CCW) directions while measurements were taken using the WBB and the force plate. The accuracy of the vGRF, COP trajectory, and stance duration were evaluated using the root-mean-square error (RMSE), Pearson's correlation coefficient and Bland-Altman plots (BAPs) to compare the WBB and the force plate. The results of the vGRF showed high accuracy (r > 0.96 and %RMSE < 6.1% in the mean values), and the stance duration as defined by the vGRF and COP trajectory was equivalent to that of commercial instrumented insoles, which are used as an alternative to the force plates. From these results, we determined that the WBB may be used for kinetic gait analysis in clinical settings where lower accuracy is acceptable.

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