My Home Page is Here (Hiroshi Okajima)

The following youtube video shows short introduction of model error compensator we proposed in 2011. Now, we are proceeding our project.

Awards

SICE 2019 Poster Presentation Award Finalist

ICCAS 2017 Outstanding Paper Award

SICE CPD Point Award (2017)

ICCAS 2016 Outstanding Paper Award

SICE CPD Point Award (2011)

SICE 2010 Young Author Award Finalist

### Published articles (English only)

[13] H. Okajima, Y. Minami and N. Matsunaga：A Control Structure for Unilateral System with Communication Rate Constraint, SICE JCMSI, Vol. 11, No. 6, pp. 510-516（2018）j-stage(Open Access, Japan Science and Technology Agency)

[12] G. Ichimasa, H. Okajima, K. Okumura and N. Matsunaga：Model Error Compensator with Parallel Feed-Forward Filter, SICE Journal of Control, Measurement, and System Integration, Vol.10, No.5, pp.468-475 (2017)j-stage(Open Access, Japan Science and Technology Agency)

[11] H. Okajima, K. Sawada and N. Matsunaga：Dynamic Quantizer Design under Communication Rate Constraints, IEEE Transactions on Automatic Control, Vol.61, No.10, pp.3190-3196 (2016)ieee

[10] G. Koutaki, H. Okajima, N. Matsunaga and K. Uchimura：Color Quantization and Optimization of Luminance for Digital Mirror Device–based Projector, IEEE transactions on Consumer Electronics, Vol.62, No.2, pp.103-110 (2016)ieee

[9] H. Okajima and T. Asai：Tracking Performance Limitation for 1-DOF Control Systems Using a Set of Attainable Outputs, SICE Journal of Control, Measurement, and System Integration Vol.8, No.5, pp.348-353 (2015) j-stage(Open Access, Japan Science and Technology Agency)

[8] H. Okajima, M. Honda, R. Yoshino and N. Matsunaga：A Design Method of Delta-Sigma Data Conversion System with Pre-Filter, SICE Journal of Control, Measurement, and System Integration Vol.8, No.2, pp.154-160 (2015) j-stage(Open Access, Japan Science and Technology Agency)

[7] A. T. Zengin, Y. Maruno, H. Okajima, N. Matsunaga：Maneuverability Improvement of Front-Drive-Type Electric Wheelchair STAVi, SICE Journal of Control, Measurement, and System Integration, Vol.6, No.6, pp.419-426 (2013) j-stage(Open Access, Japan Science and Technology Agency)

[6] H. Okajima, H. Umei, N. Matsunaga and T. Asai：A Design Method of Compensator to Minimize Model Error, SICE Journal of Control, Measurement, and System Integration, Vol.6, No.4, pp.267-275 (2013) j-stage(Open Access, Japan Science and Technology Agency)

[5] H. Okajima and T. Asai：Performance Limitation of Tracking Control Problem for a Class of References, IEEE Transactions on Automatic Control, Vol.56, No.11, pp.2723-2727 (2011)

[4] N. Matsunaga, A. T. Zengin, H. Okajima, and S. Kawaji：Emulation of Fast and Slow Pains using Multi-layered Sensor modeled the Layered Structure of Human Skin, Journal of Robotics and mechatronics, Vol.23, No.1, pp.239-247 (2011)

[3] C. L. Ooi, T. Asai and H. Okajima：Extension of Reference Signals in Iterative Learning Control for Non-minimum Phase Systems, SICE Journal of Control Measurement and System Integration, Vol.4, No.1, pp.50-54 (2011) j-stage(Open Access, Japan Science and Technology Agency)

[2] H. Okajima, N. Matsunaga and S. Kawaji：Design of Dynamic Quantizers for 2-DOF IMC and Its Application to the Temperature Control of a Heat Plate, SICE Journal of Control Measurement and System Integration, Vol.4, No.1, pp.77-82 (2011) j-stage(Open Access, Japan Science and Technology Agency)

[1] T. Asai, H. Okajima and C. L. Ooi：Pole Constraints of Reference Models in 2-DOF Servo System Design for Non-Minimum Phase Systems, SICE Journal of Control Measurement and System Integration, Vol.1, No.6, pp.429-434 (2008) j-stage(Open Access, Japan Science and Technology Agency)

### International conference

[50] Yuta Nakabayashi, Hiroshi Okajima, Nobutomo Matsunaga, Inter-Vehicle Distance Stabilization in Adaptive Cruise Control Using Signal Limitation Filter,

Proceeding of 2018 IEEE International Conference on Systems, Man, and Cybernetics, pp.1985-1990 (2018)

[49] Nobutomo Matsunaga, Ryota Kimura, Haruya Ishiguro, Hiroshi Okajima, Driving Assistance of Welfare Vehicle with Virtual Platoon Control Method which has Collision Avoidance Function Using Mixed Reality,

Proceeding of 2018 IEEE International Conference on Systems, Man, and Cybernetics, pp.1911-1916 (2018)

[48] Shizuku Kai, Hiroshi Okajima, Time series modeling of evacuees for evacuation centers in large-scale disasters, Proceedings of the SICE Annual Conference 2018, pp.1148-1151 (2018)

[47] Yuki Tamura, Hiroshi Okajima, Nobutomo Matsunaga, Yasuaki Kaneda, Construction of new robust state estimation observer for packet loss environment, Proceedings of the SICE Annual Conference 2018, pp.1166-1168 (2018)

[46] Yuki Saigo, Hiroshi Okajima, Nobutomo Matsunaga, Design of networked control for multiple inputs and outputs feedback control system, Proceedings of the SICE Annual Conference 2018, pp.1423-1428 (2018)

[45] S. Kimura, N. Matsunaga and H. Okajima：Design of Virtual Platoon Control System using Augmented Reality to Assist Welfare Vehicle Users, Proceedings of ICCAS 2017 (2017) Outstanding Paper Award

[44] S. Sakamoto, T. Tanaka, H. Okajima and N. Matsunaga：Maneuverability Evaluation of Skid Steer Welfare Vehicle for Robust Assistance Control with Model Error Compensator, Proceedings of ICCAS 2017 (2017)

[43] N. Matsunaga, H. Okajima and Y. Yamamoto：Robust Variable Stiffness Control of McKibben Type Pneumatic Artificial Muscle Arm by using Multiple Model Error Compensator, Proceedings of ICCAS 2017 (2017) Outstanding Paper Award

[42] K. Kimura, N. Matsunaga and H. Okajima：Driving Assistance System forWelfare Vehicle using Virtual Platoon Control with Augmented Reality, Proceedings of the SICE Annual Conference 2017

[41] K. Inomoto, H. Okajima, G. Koutaki, N. Matsunaga and K. Uchimura：Method for designing a quantized image for digital micromirror device-based projectors using a weighted evaluation function, Proceedings of the SICE Annual Conference 2017Finalist of the young author award

[40] Y. Nakabayashi, H. Okajima and N. Matsunaga：Signal limitation filter to satisfy velocity and acceleration constraints for arbitrary input signals, Proceedings of the SICE Annual Conference 2017

[39] D. Matsuno, N. Matsunaga, Y. Shida and H. Okajima：Evaluation of Steering Model depending on Gazing Distance by using Driving Simulator, Proceedings of ICCAS 2016 (2016) Outstanding Paper Award

[38] T. Tanaka, H. Okajima and N. Matsunaga：Experiment of Robust Driving Assistance Control for Skid Steer Welfare Vehicle using Model Error Compensator, Proceedings of ICCAS 2016 (2016) Outstanding Paper Award

[37] H. Okajima, Y. Minami and N. Matsunaga：Unilateral Control Structure Under Communication Rate Constraint, Proceedings of NecSys 2016 (6pages) (2016)

[36] G. Ichimasa, K. Okumura, H. Okajima and N. Matsunaga：Extended Structure of MEC for Thermal Process, Proceedings of the SICE Annual Conference 2016, pp.1593-1598 (2016)

[35] T. Sugano, H. Okajima, S. Samura and N. Matsunaga：Narrow Space Driving of Welfare Vehicles using Robust Platoon Control with Adaptive Way Point Tracking, Proceedings of the SICE Annual Conference 2016, pp.1436-1441 (2016)

[34] H. Okajima, T. Asai and N. Matsunaga：Disturbance rejection performance limit for a class of disturbance signals, Proc. of the IEEE Conference on Decision and Control 2015, 2015.12

[33] H.Okajima, N. Matsunaga and K.Uchimura：Optimization of Color Quatization with Total Luminance for DLP Projector and Its Evaluation System, ICIP2015

[32] T.Sugano, H.Okajima and N.Matsunaga：Robust and Precise Platoon Driving Control of Welfare Vehicles along Wheel Track by using Model Error Compensator, IECON2015, YF-001503

[31] H. Okajima, T. Asai and N. Matsunaga：Analytical Solutions for Disturbance Rejection Problems using All Achievable Output Set for Stable Plants, SICE International Symposium on Control Systems 2015, 513-2, (2015.3)

[30] H. Okajima, M. Honda, R. Yoshino and N. Matsunaga：A Design method of Delta-Sigma Data Conversion System with Pre-Filter, SICE Annual Conference 2014, pp.1388-1394, (2014.9)

[29] R. Yoshino, H. Okajima, N. Matsunaga and Y. Minami：Dynamic Quantizers Design under Data Constraints by using PSO Method, SICE Annual Conference 2014, pp.1041-1046, (2014.9)

[28] T. Sugano, Y. Dan, H. Okajima, N. Matsunaga and Z. Hu：Indoor Platoon Driving of Electric Wheelchair with Model Error Compensator along Wheel Track of Preceding Vehicle, The 5th International Symposium on Advanced Control of Industrial Processes, 2014.5

[27] Y. Dan, H. Okajima, N. Matsunaga, Z. Hu and N. Nakamura：Experiment of Indoor Platoon Driving using Electric Wheelchair STAVi Controlled by Modeling Error Compensation System, ICT-PAMM Workshop on Mobility Assistance and Service Robotics, p26-31, 2013.11.

[26] K. Nabekura, H. Okajima, N. Matunaga and N. Nakamura：On Collision-Avoidance Steering Assistance of Piggyback Type Electric Wheelchair with Inference of Driver’s Intention, ICT-PAMM Workshop on Mobility Assistance and Service Robotics, p20-25, 2013.11.

[25] Y. Maruno, Y. Dan, A. T. Zengin, H. Okajima and N. Matsunaga：Maneuverability Analysis of Front Drive Type Personal Vehicle STAVi using Modeling Error Compensation System, 7th IFAC Symposium on Advanced in Automative Control, 2013.9.

[24] A. T. Zengin, Y. Maruno, H. Okajima and N. Matsunaga：Slope Driving Experiment of Front Drive Type Electric Wheelchair with Casters using Yaw-rate Compensation, ICCAS 2012, 2012.10.

[23] Y. Maruno, A. T. Zengin, H. Okajima,N. Matsunaga and N. Nakamura：Driving Experiment of Front Drive Type Electric Wheelchair using Yaw-rate Control, SICE Annual Conference 2012, WeA11-01 pp.1408-1413, 2012.8.

[22] A. T. Zengin, Y. Maruno, H. Okajima and N. Matsunaga：Improvement in Straight-ahead Stability of Front Drive Type Electric Wheelchair using Yaw-rate Control, VTI 2012, 2012.7.

[21] K. Sawada, H. Okajima, N. Matsunaga and Y. Minami：Dynamic quantizer design for MIMO systems based on communication rate constraint, IECON 2011, 2011.11.

[20] Y. Maruno, H. Okajima, A. T. Zengin and N. Matsunaga：Direct Yaw Moment Control of Front Drive Type Electric Wheelchair, ICCAS 2011, 2011.10. Outstanding Award

[19] A. T. Zengin, H. Okajima and N. Matsunaga：On Vibration Feedback Method for Pain Emulation and its Feedback to Human, ICCAS 2011, 2011.10. Finalist of Outstanding Award

[18] H. Umei, H. Okajima, N. Matsunaga and T. Asai：A Design Method of Compensator to Minimize Model Error, SICE Annual Conference 2011, 2011.9. CPD point award

[17] H. Okajima, K. Sawada and N. Matsunaga：Integrated Design of Filter and Interval in Dynamic Quantizer under Communication Rate Constraint, The 18th IFAC World Congress, 2011.8.

[16] N. Matsunaga, H. Okajima, T. Yoshida and S. Kawaji：Passivity Evaluation of Steering Action with adjusting Reaction Torque to the Driver, ASCC2011, 2011.5.

[15] H. Okajima, N. Matsunaga and K. Sawada：Optimal Quantization Interval Design of Dynamic Quantizers which Satisfy the Communication Rate Constraints, Proc. of the IEEE Conference on Decision and Control 2010, 2010.12.

[14] N. Matsunaga, K. Sasano and H. Okajima：An Implementation of Fractional-order PID Controller with Dynamic Quantizer considering the Memory Constraint, Proc. of the IEEE Multi-conference on Systems and Control 2010, 2010.9.

[13] H. Okajima, S. Yonaha, N. Matsunaga and S. Kawaji：Direct Yaw-Moment Control Method for Electric Vehicles to Follow the Desired Path by Driver, SICE Annual Conference 2010, 2010.8., Finalist of the young author award

[12] C. L. Ooi, T. Asai and H. Okajima：Extension of Reference Signal in Iterative Learning Control for Non-minimum Phase Systems, SICE Annual Conference 2010, 2010.8.

[11] A. T. Zengin, N. Matsunaga, H. Okajima and S. Kawaji：Pain Perception Model of Human Skin Using Multiple Pain Sensors, SICE Annual Conference 2010, 2010.8.

[10] H. Okajima, T. Asai and S. Kawaji：Unified Form of Performance Limitations in Reference Tracking Control Problem for Discrete Time Systems, Proc. of the 47th IEEE Conference on Decision and Control/CCC joint, 2009.12.

[9] N. Matsunaga, T. Shiotsuki, H. Okajima, N. Ohmura：Experiment of Measurement and Control using embedded System for Undergraduate Students, the 8th IFAC Symposium on Advances in Control Education, Kumamoto, ThC01.5, 2009.10.

[8] H. Okajima, T. Umemoto, N. Matsunaga and S. Kawaji：Analysis of Dynamic Quantizer in 2-DOF Internal Model Control System, Proc. of ICROS-SICE International Joint Conference 2009, pp.4380-4383, 2009.8.

[7] M. Nakano, N. Matsunaga, H. Okajima and S. Kawaji：Tuning of Feedback Type Decoupling Controller for Two-dimensional Thermal Process based on VRFT Method, Proc. of ICROS-SICE International Joint Conference 2009, pp.925-930, 2009.8.

[6] N. Matsunaga, R. Mera, H. Okajima and S. Kawaji：Stifness Analysis of Crank Motion Task using Six-Muscles Model, Proc. of ICROS-SICE International Joint Conference 2009, pp.4478-4483, 2009.8.

[5] H. Okajima and T. Asai：Performance Limitation of Tracking Control Problem for a Class of References, Proc. of the 47th IEEE Conference on Decision and Control, pp.3694-3699, 2008.12.

[4] H. Okajima, T. Asai and S. Kawaji：Optimal Velocity Control Method in Path following Control Problem, Proc. of The 17th IFAC World Congress, pp.90-95, 2008.6.

[3] H. Okajima and T. Asai：Parameterization of outputs tracking to reference asymptotically and achievable by bounded inputs, Proc. of The 32nd Annual Conference of the IEEE Industrial Electronics Society, pp.682-687, 2006.11.

[2] C. L. Ooi, H. Okajima and T. Asai：Constraints in Servo System Design for Non-Minimum Phase System, Proc. of Sice-Icase International Joint Conference 2006, pp.970-973, 2006.10.

[1] H. Okajima and T. Asai：Path following control based on trajectory differences, Proc. of The 10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems, pp.735-740, 2004.7.