Yudai Nakamura
Mitsubishi Electric
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Publication
Featured researches published by Yudai Nakamura.
Advanced Robotics | 2015
Jouh Yeong Chew; Daisuke Kurabayashi; Yudai Nakamura
This study proposes feed-forward echo state networks (ESN) as an estimator, and couples it with second-order proportional-integral-derivative (PID) feedback extension to compensate for dead time in feedback systems. The system is tested for two-dimensional space motion patterns recognition and prediction using simulations, which allows control of noise input. Tikhonov regularization is employed for training readouts and second-order PID feedback minimizes prediction bias. Evaluation is done using mean squared error and the coupled system performs well compared to any of its standalone versions. The results suggest it is feasible to (1) ‘compress’ the memory capacity of the system, and (2) reduce the number optimization parameters, while maintaining the estimation performance and following the excitation property of the estimator. It is feasible to optimize the ESN using feedback gain although it plays a significant role in the proposed system because the improvement by bias correction is far greater than that of optimization; thus, simplifying the estimation to a feedback problem which is easily tuned using the Ziegler–Nichols method. Graphical abstract
Archive | 2014
Yudai Nakamura; Nobuhiko Yamagishi; Tomonori Fukuta; Yoshiaki Kusunoki
Archive | 2016
Yudai Nakamura; Yoshiaki Kusunoki; Nobuhiko Yamagishi; Tomonori Fukuta
Archive | 2014
Yudai Nakamura; Yoshiaki Kusunoki; Nobuhiko Yamagishi; Tomonori Fukuta
Archive | 2014
Yudai Nakamura; Tomonori Fukuta; Nobuhiko Yamagishi
Archive | 2014
Yudai Nakamura; Tomonori Fukuta; Nobuhiko Yamagishi
Archive | 2014
Yudai Nakamura; Tomonori Fukuta; Nobuhiko Yamagishi
Archive | 2014
Yudai Nakamura; Yoshiaki Kusunoki; Nobuhiko Yamagishi; Tomonori Fukuta
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) | 2013
Yohei Kinowaki; Yudai Nakamura; Chew Jouh Yeong; Daisuke Kurabayashi
Transactions of the Japan Society of Mechanical Engineers. C | 2011
Yudai Nakamura; Takuro Moriyama; Daisuke Kurabayashi; Hidekazu Tanaka