Department of Mechanical Engineering

Measurement & Control Laboratory

(Japanese)

HOME > Publications

2024

• ◤ Published Papers ◢
• [1] Ueyama, Y., Harada, M., "Basketball free-throw training with augmented reality-based optimal shot trajectory for novice shooters", Scientific Reports, Vol. 14, No. 891, 2024.
• ◤ Conferences ◢
• (1) Arai, Y., Sago, T., Ueyama, Y., Harada, M., "Avoidance Trajectory Generation for Quad-Rotors by Polygonal Bounding of Congested Obstacles", Proceedings of AIAA Science and Technology Forum and Exposition 2024(SCITECH2024), Orlando, USA, 2024
• (2) Sago, T., Arai, Y., Ueyama, Y., Harada, M., "Model predictive control that includes an optimal route generator", JSME Transportation and Logistics Division Newsletter, No. 67, p. 4, 2024.(in Japanese)

2023

• ◤ Published Papers ◢
• [1] Arai, Y., Sago, T., Ueyama, Y., Harada, M., "MGV Obstacle Avoidance Trajectory Generation Considering Vehicle Shape", Journal of Robotics and Mechatronics, Vol. 35, No. 2, pp. 262-270, 2023.
• [2] Ueyama, Y., Harada, M., "Augmented Reality-Based Trajectory Feedback Does Not Improve Aiming in Dart-Throwing", IEEE Access, Vol. 11, 2023.
• [3] Sago, T., Arai, Y., Ueyama, Y., Harada, M., "Obstacle Avoidance Maneuver Using Optimal Path Generator Embedded Model Predictive Control", Transaction of the Japan Society of Mechanical Engineers, Vol. 89, No. 926, pp. 1-12, 2023.(in Japanese)
• [4] Sago, T., Arai, Y., Ueyama, Y., Harada, M., "Obstacle Avoidance Maneuver by Optimal Feedback Control Using Deep Learning Neural Networks", Transactions of Society of Automotive Engineers of Japan, Vol. 54, No. 6, pp. 1281-1286, 2023.(in Japanese)
• ◤ Conferences ◢
• (1) Arai, Y., Harada, M., Açı kmeşe, B., "Quad-Rotor Path Planning for Cluttered Environments Using Obstacle Clustering", Proceedings of AIAA Science and Technology Forum and Exposition 2023(SCITECH2023), National Harbor, USA & Online, 2023
• (2) Harada, M., Sago, T., Arai, Y., Ueyama, Y., "Obstacle Avoidance Maneuver Using Clock-Based Real-Time Optimal Control", Proceedings of the JSAE 2023 Annual Congress Spring, Yokohama, Japan, 2023.(in Japanese)
• (3) Sago, T., Arai, Y., Ueyama, Y., Harada, M., "Obstacle Avoidance Maneuver Using DNN Optimal Feedback Control", Proceedings of the JSAE 2023 Annual Congress Spring, Yokohama, Japan, 2023.(in Japanese)
• (4) Arai, Y., Sago, T., Ueyama, Y., Harada, M., "Optimal Flight Path Generation Using Intra-Convex Domain Constraint", Proceedings of the 61st Aircraft Symposium, Kitakyushu, Japan, 2023.(in Japanese)
• (5) Sago, T., Arai, Ueyama, Y., Y., Harada, M., "Nonlinear Feedback Control of an Aircraft Based on Deep Learning", Proceedings of the 61st Aircraft Symposium, Kitakyushu, Japan, 2023.(in Japanese)
• (6) Nara, T., Hoshi, T., Ueyama, Y., Harada, M., "Longitudinal Optimal Avoidance Trajectory Generation for a Quadrotor Against a Falling Object", Proceedings of the 61st Aircraft Symposium, Kitakyushu, Japan, 2023.(in Japanese)
• (7) Hoshi, T., Nara, T., Ueyama, Y., Harada, M., "Tracking Control of a Quadrotor Using Dynamic Inversion", Proceedings of the 61st Aircraft Symposium, Kitakyushu, Japan, 2023.(in Japanese)
• (8) Sago, T., Arai, Y., Ueyama, Y., Harada, M., "Obstacle Avoidance Using PG-MPC Considering Variations of Vehicle Speed", Proceedings of the 32nd Transportation and Logisics, Tokyo&Online, 2023.(in Japanese)

2022

• ◤ Published Papers ◢
• [1] Ueyama, Y., Harada, M., "Effects of First- and Third-Person Perspectives Created Using a Head-Mounted Display on Dart-Throwing Accuracy", Virtual Reality, Vol. 26, Issue 2, 2022.
• [2] Ueyama, Y., Sago, T., Kurihara, T., Harada, M., "An Inexpensive Autonomous Mobile Robot for Undergraduate Education: Integration of Arduino and Hokuyo Laser Range Finders", IEEE Access, Vol. 10, 2022.
• ◤ Conferences ◢
• (1) Harada, M., Sago, T., Ueyama, Y., "Optimal Feedback Control for an Aircraft Approach Flight in Microburst", Proceedings of AIAA Science and Technology Forum and Exposition 2022(SCITECH2022), San Diego, USA & Online, 2022.
• (2) Kurihara, T., Ueyama, Y., Harada, M., "Gait phase-based control of a robotic prosthesis for hip-disarticulation prosthesis using a simulation environment with deep reinforcement learning", NEURO 2022, 1WD07e2-05Ginowan, Japan, 2022
• (3) Kurihara, T., Ueyama, Y., Harada, M., "Effects of a Robotic Hip Prosthesis on Energy Metabolism: A Pilot Case Study in a Non-Amputee Individual", IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM2022, ThMPl.7, Sapporo, Japan, 2022
• (4) Sago, T., Ueyama, Y., Harada, M., "Deep Learning-Based Optimal Obstacle Avoidance for a Micro Ground Vehicle", Proceedings of International Symposium on Advanced Vehicle Control 2022 (AVEC2022), Virtual, Kanagawa, Japan, 2022.
• (5) Nara, T., Arai, Y., Harada, M., "Comparative Study of Return Trajectory Generation Method for Space Transportation Systems", Proceedings of the 60th Aircraft Symposium, Nigata, Japan, 2022.(in Japanese)
• (6) Arai, Y., Sago, T., Ueyama, Y., Harada, M., "Obstacle Avoidance for Quad-Rotor Considering Planar Shape Using Successive Convexification and State-Triggered Constraints", Proceedings of the 2022 Asia-Pacific International Symposium on Aerospace Technology(APISAT2022), Nigata, Japan & Online, 2022.
• (7) Sago, T., Arai, Y., Ueyama, Y., Harada, M., "Nonlinear Feedback Control of a Quad-Rotor Based on Deep Learning", Proceedings of the 2022 Asia-Pacific International Symposium on Aerospace Technology(APISAT2022), Nigata, Japan & Online, 2022.
• (8) Sago, T., Arai, Y., Ueyama, Y., Harada, M., "Obstacle Avoidance Maneuver Using Optimal Path Generator Embedded Model Predictive Control", Proceedings of the 31th Transportation and Logisics, Tokyo&Online, 2022.(in Japanese) Excellent Paper Presentation Award

2021

• ◤ Published Papers ◢
• [1] Ueyama, Y., "Costs of position, velocity, and force requirements in optimal control induce triphasic muscle activation during reaching movement", Scientific Reports, Vol. 11, 16815, 2021.
• [2] Sago, T., Ueyama, Y., Harada, M., "Minimum-Time Feedback Control of a Rotary Pendulum Using Deep Learning", Transaction of the Japan Society of Mechanical Engineers, Vol. 87, No. 904, pp. 1-14, 2021.(in Japanese)
• ◤ Conferences ◢
• (1) Kurihara, T., Ueyama, Y., Harada, M., "Simulated Reproduction of Prosthetic Walking using a Humanoid Model and Deep Reinforcement Learning", 2021 IEE-Japan Industry Application Society Conference, Nagaoka&Hybrid, 2021.(in Japanese)
• (2) Sago, T., Ueyama, Y., Harada, M., "Real-time Optimal Control Using Flight Path Coordinates", Proceedings of the 2021 Asia-Pacific International Symposium on Aerospace Technology(APISAT2021), Jeju, South Korea & Online, 2021.
• (3) Sago, T., Ueyama, Y., Harada, M., "Deep Learning Based Control System for a Small Ground Vehicle", Proceedings of the 30th Transportation and Logisics, Online, 2021.(in Japanese)

2020

• ◤ Published Papers ◢
• [1] Harada, M., Ueyama, Y., "Tracking Control of a Micro Ground Vehicle Using the Course Coordinate", Journal of Robotics and Mechatronics, Vol. 32, No. 3, pp. 571-579, 2020.
• ◤ Conferences ◢
• (1) Ueyama, Y., Harada, M., "A Third-Person View may Improve Performance of Pricise Aiming in Dart-Throwing", The 43rd Annual Meeting of the Japan Neuraoscience Society, 2P-112, Online, 2020.
• (2) Sago, T., Ueyama, Y., Harada, M., "Minimum-Time Feedback Control of a Rotary Pendulum Using Deep Learning", Proceedings of the 29th Transportation and Logisics, Online, 2020.(in Japanese)
• (3) Harada, M., Sago, T., Ueyama, Y., "Aircraft Nonlinear Feedback Control by Optimal Control Solution Based Deep-Learning", Proceedings of the 58th Aircraft Symposium, Online, 2020.(in Japanese)
• (4) Sago, T., Ueyama, Y., Harada, M., "Moving Object Avoidance of a Quadrotor during Hovering", Proceedings of the 57th Aircraft Symposium, Shimonoseki, Japan, 2019.(in Japanese)

2019

• ◤ Published Papers ◢
• [1] Harada, M., Ueyama, Y., "Clock-Based Real-Time Optimal Control in Curved Road Section", Transactions of Society of Automotive Engineers of Japan, Vol. 50, No. 6, pp. 1575-1580, 2019.(in Japanese)
• ◤ Conferences ◢
• (1) Harada, M., Okubo, A., "Minimum-Time Relocation Maneuver of a Micro Air Vehicle Considering Uncertain Parameters", Proceedings of AIAA Science and Technology Forum and Exposition 2019(SCITECH2019), San Diego, USA
• (2) Harada, M., Ueyama, Y., "Four-dimensional Trajectory Optimization for Aircraft Collision Avoidance", Proceedings of the 50th JSASS Annual Meeting, Tokyo, Japan, 2019.(in Japanese)
• (3) Harada, M., Ueyama, Y., "Clock-Based Real-Time Optimal Control in Curved Road Section", Proceedings of the JSAE 2019 Annual Congress Spring, Yokohama, Japan, 2019.(in Japanese)
• (4) Harada, M., Ueyama, Y., "Arrival Trajectory Optimization Using Flight Path Coordinate", Proceedings of the 57th Aircraft Symposium, Shimonoseki, Japan, 2019.(in Japanese)
• (5) Ueyama, Y., Harada, M., "Estimation of Wind Disturbances with a Kalman Filter to Stabilize Control for a Toy Drone", Proceedings of the 57th Aircraft Symposium, Shimonoseki, Japan, 2019.(in Japanese)

2018

• ◤ Published Papers ◢
• [-]
• ◤ Conferences ◢
• (1) Harada, M., "Guidance and Control Design for a Quadrotor Using L₁ Adaptive Controller", Proceedings of the 49th JSASS Annual Meeting, Tokyo, Japan, 2018.(in Japanese)
• (2) Harada, M., Arai, Y., "Flight Control of a Quadrotor Using L₁ Adaptive Controller", Proceedings of the 56th Aircraft Symposium, Yamagata, Japan, 2018.(in Japanese)
• (3) Harada, M., Arai, Y., "Pose Estimation of a MAV with an Onboard Optical System of MGV", Proceedings of the 27th Transportation and Logisics, Tokyo, Japan, 2018.(in Japanese)

2017

• ◤ Published Papers ◢
• [1] Watanabe, S., Harada, M., "Experimental Study on Optimal Tracking Control of an Micro Ground Vehicle", Journal of Robotics and Mechatronics, Vol. 29, No. 4, pp. 757-765, 2017.
• [2] Watanabe, S., Harada, M., "Propagation Type Clock-Based Real-Time Optimal Control for Autonomous Vehicle", Transactions of Society of Automotive Engineers of Japan, Vol. 48, No. 4, pp. 953-958, 2017.(in Japanese)
• ◤ Conferences ◢
• (1) Watanabe, S., Harada, M., "Stability Augmentation of Clock-Based Real-Time Optimal Control using Model Predictive Control", Proceedings of the 48th JSASS Annual Meeting, Tokyo, Japan, 2017.(in Japanese)
• (2) Watanabe, S., Harada, M., "Optimal Environmental Surveillance of a Quadrotor using a Flip Maneuver", Proceedings of the 48th JSASS Annual Meeting, Tokyo, Japan, 2017.(in Japanese)
• (3) Watanabe, S., Harada, M., "Real-Time Optimal Control of Landing Approach in Downburst", Proceedings of the 55th Aircraft Symposium, Matsue, Japan, 2017.(in Japanese)
• (4) Okubo, A., Watanabe, S., Harada, M., "Optimal Approach Trajectory with Specified Flight Path Constraints", Proceedings of the 55th Aircraft Symposium, Matsue, Japan, 2017.(in Japanese)
• (5) Watanabe, S., Harada, M., "Clock-Based Real-Time Optimal Control of a Skid-Steered Vehicle", Proceedings of the 2017 Fourth Asian Conference on Defense Technology, Tokyo, Japan, 2017.

2016

• ◤ Published Papers ◢
• [1] Watanabe, S., Harada, M., "Real-Time Optimal Feedback Control of MGV's in K-turn Maneuver", Transactions of Society of Automotive Engineers of Japan, Vol. 47, No. 4, pp. 985-990, 2016.(in Japanese)
• ◤ Conferences ◢
• (1) Watanabe, S., Okubo, A., Harada, M., "Disturbance Effect on SCR MAV near Floor and Object", Proceedings of the 47th JSASS Annual Meeting, Tokyo, Japan, 2016.(in Japanese)
• (2) Okubo, A., Ichikawa, R., Watanabe, S., Harada, M., "Real-Time Optimal Control of SCR MAV : Flight Experiment", Proceedings of the 47th JSASS Annual Meeting, Tokyo, Japan, 2016.(in Japanese)
• (3) Harada, M., Ichikawa, R., Watanabe, S., Bollino, K., "L₁ Adaptive Control for a Single Coaxial Rotor MAV", Proceedings of AIAA Science and Technology Forum and Exposition 2016(SCITECH2016), San Diego, USA
• (4) Harada, M., Watanabe, S., Ichikawa, R., Bollino, K., "Stability Augmentation for Rotor MAV Takeoff and Landing using a Meshed Platform", Proceedings of AIAA Science and Technology Forum and Exposition 2016(SCITECH2016), San Diego, USA
• (5) Watanabe, S., Harada, M., "Real-Time Obstacle Avoidance of MGV Using Modified Caratheodory-π Solutions", Proceedings of International Symposium on Advanced Vehicle Control 2016(AVEC2016), Munich, Germany, 2016.
• (6) Harada, M., "Minimum-Time Turns of Aircraft Using Riemann-Stieltjes Optimal Control", Proceedings of the 2016 Asia-Pacific International Symposium on Aerospace Technology(APISAT2016), Toyama, Japan, 2016.
• (7) Harada, M., Watanabe, S., "Stability Analysis of Modified Clock-Based Real-Time Optimal Control", Proceedings of the 2016 Asia-Pacific International Symposium on Aerospace Technology(APISAT2016), Toyama, Japan, 2016.
• (8) Watanabe, S., Harada, M., "Optimal Trajectory Tracking Control of an SCR MAV Using Model Predictive Control", Proceedings of the 2016 Asia-Pacific International Symposium on Aerospace Technology(APISAT2016), Toyama, Japan, 2016.
• (9) Watanabe, S., Okubo, A., Harada, M., "Stability Augmentation of an SCR MAV with Slung Load", Proceedings of the 2016 Asia-Pacific International Symposium on Aerospace Technology(APISAT2016), Toyama, Japan, 2016.

2015

• ◤ Published Papers ◢
• [1] Watanabe, S, Harada, M., "Optimal Tracking Control of an Micro Ground Vehicle", Journal of Robotics and Mechatronics, Vol. 27, No. 6, pp. 653-659, 2015
• ◤ Conferences ◢
• (1) Watanabe, S., Harada, M., "Climb Trajectory Optimization for High-Altitude UAVs in the Westerlies Within Restricted Airspace", Proceedings of the 46th JSASS Annual Meeting, Tokyo, Japan, 2015.(in Japanese)
• (2) Ichikawa, R., Watanabe, S., Harada, M., "Automatic Takeoff and Landing Control of a Single Coaxial Rotor UAV", Proceedings of the 46th JSASS Annual Meeting, Tokyo, Japan, 2015.(in Japanese)
• (3) Ichikawa, R., Watanabe, S., Harada, M., "Optimal Feed-Forward Control of a Skid-Steering Vehicle", Proceedings of the JSAE 2015 Annual Congress Spring, Yokohama, Japana, 2015.(in Japanese)
• (4) Watanabe, S., Harada, M., "Real-Time Optimal Feedback Control of MGV's in K-turn Maneuver", Proceedings of the JSAE 2015 Annual Congress Spring, Yokohama, Japana, 2015.(in Japanese)
• (5) Ichikawa, R., Watanabe, S., Okubo, A., Harada, M., "Real-Time Optimal Control of a SCR UAV", Proceedings of the 53rd Aircraft Symposium, Matsuyama, Japan, 2015.(in Japanese)
• (6) Okubo, A., Watanabe, S., Harada, M., "Three-Dimensional Trajectory Optimization Considering Arrival Time at the Merging Point", ENRI International Workshop on ATM/CNS, Tokyo, Japan, 2015.
• (7) Watanabe, S., Ichikawa, R., Harada, M., "Optimal Trajectory Based Tracking Control of a Skid-Steer Small Unmanned Ground Vehicle", Proceedings of the 24th Transportation and Logisics, Tokyo, Japan, 2015.(in Japanese)

2014

• ◤ Published Papers ◢
• [1] Watanabe, S., Harada, M., "Analysis of Optimal Maneuver Using an Obstacle Layout Method", Transaction of the Japan Society of Mechanical Engineers, Vol. 80, No. 817, pp. 1-12, 2014.(in Japanese)
• ◤ Conferences ◢
• (1) Harada, M., Watanabe, S., "Climb Trajectory Optimization for High-Altitude UAVs Within Restricted Airspace", Proceedings of the 45th JSASS Annual Meeting, Tokyo, Japan, 2014.(in Japanese)
• (2) Watanabe, S., Harada, M., "Flow Visualization around a Meshed Platform for a MAV", Proceedings of the 45th JSASS Annual Meeting, Tokyo, Japan, 2014.(in Japanese)
• (3) Watanabe, S., Harada, M., "Optimal Guidance and Control of Micro Ground Vehicles", Proceedings of the JSAE 2014 Annual Congress Spring, Yokohama, Japana, 2014.(in Japanese)
• (4) Harada, M., Watanabe, S., "Trajectory Optimization of a Circuit Racing Vehicle Using an Obstacle Layout Method", Proceedings of the JSAE 2014 Annual Congress Spring, Yokohama, Japana, 2014.(in Japanese)
• (5) Watanabe, S., Harada, M., "Real-Time Optimal Feedback Control of UGVs Using Modified Caratheodory-π Solutions", Proceedings of International Symposium on Advanced Vehicle Control 2014, Tokyo, Japan, 2014.
• (6) Ichikawa, R., Watanabe, S., Harada, M., "Guidance and Control of an SCR MAV Using L₁ Adaptive Control", Proceedings of the 52nd Aircraft Symposium, Nagasaki, Japan, 2014.(in Japanese)
• (7) Watanabe, S., Ichikawa, R., Harada, M.,"Influence of Surface Shape in Meshed Platform for MAV", Proceedings of the 52nd Aircraft Symposium, Nagasaki, Japan, 2014.(in Japanese)

2013

• ◤ Published Papers ◢
• [1] Harada, M., "Covector Estimation for Optimal Control Solver using a Jacobi Pseudospectral Method", Transactions of the Society of Instrument and Control Engineers, Vol. 49, No. 8, pp. 808-815, 2013.(in Japanese)
• ◤ Conferences ◢
• (1) Harada, M., Nagata, H., Simond, J., "Optimal Avoidance Trajectory Generation and Guidance Control of Small UAVs", Proceedings of the 44th JSASS Annual Meeting, Tokyo, Japan, 2013.(in Japanese)
• (2) Harada, M., Nagata, H., "Guidance Control of a Coaxial Rotor UAV Using Dynamic Inversion", Proceedings of the 44th JSASS Annual Meeting, Tokyo, Japan, 2013.(in Japanese)
• (3) Harada, M., "Analysis of Collision Avoidance Maneuver for Motorcycles using Pseudospectral Optimization Method", Proceedings of the JSAE 2013 Annual Congress Spring, Yokohama, Japana, 2013.(in Japanese)
• (4) Harada, M., Nagata, H., Simond, J., Bollino, K., "Optimal Trajectory Generation and Tracking Control of a Single Coaxial Rotor UAV", Proceedings of AIAA Guidance, Navigation and Control Conference 2013, Boston, USA, 2013
• (5) Harada, M., Nagata, H., Bollino, K., "Tracking Control of a Single Coaxial Rotor UAV Using Dynamic Inversion", Proceedings of AIAA Guidance, Navigation and Control Conference 2013, Boston, USA, 2013
• (6) Watanabe, S., Harada, M., "Stability Augmentation on Landing Approach of a Rotor MAV by a Meshed Platform", Proceedings of the 2013 Asia-Pacific International Symposium on Aerospace Technology, Takamatsu, Japan, 2013.
• (7) Harada, M., Watanabe, S., "Optimal Landing Approach Trajectory in Two Microburst Cells", Proceedings of the 2013 Asia-Pacific International Symposium on Aerospace Technology, Takamatsu, Japan, 2013.
• (8) Harada, M., Watanabe, S., "Minimum-Time Maneuver of Rotary Pendulum using Open-Loop Control", Proceedings of the 22nd Transportation and Logisics, Tokyo, Japan, 2013.(in Japanese)
• (9) Watanabe, S., Harada, M., "Optimal Manuever using an Obstacle Layout Method", Proceedings of the 22nd Transportation and Logisics, Tokyo, Japan, 2013.(in Japanese)
• (10) Watanabe, S., Harada, M., "Feedback Linearization of Rotary Pendulum", Proceedings of the 22nd Transportation and Logisics, Tokyo, Japan, 2013.(in Japanese)