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Shinji Doki - IEEE Xplore Author Profile
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Shinji Doki

Also published under: S. Doki

Publications
242
Citations
2,380
Publications by Year
19902025
Co-Authors:
Show All Co-Authors (190)
Image of author Shinji Doki

Shinji Doki

Also published under: S. Doki

Affiliation

Department of Electrical Engineering and Computer Science
Graduate School of Engineering
Nagoya University, Nagoya, Aichi, Japan

Publication Topics

Biography

Shinji Doki was born in Nagoya, Japan, in 1966. He received the B.E., M.E. and Ph.D. degrees in Electronic-mechanical Engineering from Nagoya University, Japan in 1990, 1992 and 1995, respectively. Since 2012, he has been a Professor at Nagoya University, Japan. His research interests are in the area of control, modeling, siganal/information processing and its application for motor drive system. Prof. Doki received the IEEE IECON'92 best paper award, the paper awards from FANUC FA and Robot Foundation and the Institute of Electrical Engineers of Japan. He is a senior member of the IEEJ. And he is a member of the IEEE.(Based on document published on 20 November 2014).
Publications
242
Citations
2,380
Publications by Year
19902025
Co-Authors:
Show All Co-Authors (190)
Author's Published Works

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Spatial Resolution Ensured Configuration Planning for Visual Inspection using Pan-tilt-zoom Camera-equipped Robots

Weitong Wu;Masaya Haneda;Yuki Funabora;Shinji Doki;Kae Doki

IEEE Access
Year: 2025 | Early Access Article |
We propose a novel pan-tilt-zoom (PTZ) camera configuration planning method to improve data collection for structure visual inspections. This method plans a set of configurations for PTZ camera-equipped robots to collect visual data of target surfaces at the required spatial resolution. Unlike previous methods that focus solely on optimizing camera positions to cover different areas of the target,...Show More

Spatial Resolution Ensured Configuration Planning for Visual Inspection using Pan-tilt-zoom Camera-equipped Robots

Weitong Wu;Masaya Haneda;Yuki Funabora;Shinji Doki;Kae Doki

Year: 2025 | Early Access Article |

Viewpoint Generation Algorithm for Gimbal-Mounted Robots for Visual Inspection of Civil Engineering Structures

Masaya Haneda;Weitong Wu;Yuki Funabora;Shinji Doki;Kae Doki

IEEE Access
Year: 2025 | Volume: 13 | Journal Article |
We propose a viewpoint generation algorithm for the visual inspection of civil engineering structures using robots equipped with a gimbal-mounted camera. This algorithm enables robots to completely inspect target surfaces at the required spatial resolution while reducing movement by effectively utilizing the gimbal. Previous studies generally assume that the camera is always oriented orthogonally ...Show More

Viewpoint Generation Algorithm for Gimbal-Mounted Robots for Visual Inspection of Civil Engineering Structures

Masaya Haneda;Weitong Wu;Yuki Funabora;Shinji Doki;Kae Doki

Year: 2025 | Volume: 13 | Journal Article |

Funabot-Sleeve: A Wearable Device Employing McKibben Artificial Muscles for Haptic Sensation in the Forearm

Yanhong Peng;Yusuke Sakai;Yuki Funabora;Kenta Yokoe;Tadayoshi Aoyama;Shinji Doki

IEEE Robotics and Automation Letters
Year: 2025 | Volume: 10, Issue: 2 | Journal Article |
Haptic feedback systems play a critical role in enriching the user experience in human-robot interaction. However, existing devices designed for evoking haptic sensations often face limitations owing to their low degree of freedom of deformation. In this study, we introduce the Funabot-Sleeve, a haptic device based on McKibben artificial muscles, and investigate its potential to evoke a range of h...Show More

Funabot-Sleeve: A Wearable Device Employing McKibben Artificial Muscles for Haptic Sensation in the Forearm

Yanhong Peng;Yusuke Sakai;Yuki Funabora;Kenta Yokoe;Tadayoshi Aoyama;Shinji Doki

Year: 2025 | Volume: 10, Issue: 2 | Journal Article |

Prototype of Funabot-Plate: Contact Force Base Controlled Wearable Assistive Suit with Rigid Plate

Rin Yasuda;Shinichi Masaoka;Yuki Funabora;Shinji Doki

IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society
Year: 2024 | Conference Paper |
Assistive robots with soft actuators do not have joints like exoskeletons and have attracted attention because of their affinity for humans. In this study, we propose a soft assistive suit called "Funabot-Plate," which is driven by artificial muscles, has no joints, and is partially equipped with rigid plates and contact force distribution sensors. Funabot-Plate is expected to be applied to rehabi...Show More

Prototype of Funabot-Plate: Contact Force Base Controlled Wearable Assistive Suit with Rigid Plate

Rin Yasuda;Shinichi Masaoka;Yuki Funabora;Shinji Doki

Year: 2024 | Conference Paper |

Funabot-Grab: Tactile Internet for Grabbed Tactile with Fabric Actuator and Force Distribution Sensor

Shinichi Masaoka;Yuki Funabora;Shinji Doki

IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society
Year: 2024 | Conference Paper |
Fabric actuator (Funabot) is expected to be applied to the haptic device. On the other hand, conventional control method in fabric actuator only feeding back the surface shape by depth sensor, although haptic device evokes the tactile via the direct contact between the device and the human body. We developed the haptic device for grabbing and established the leader-follower system that include for...Show More

Funabot-Grab: Tactile Internet for Grabbed Tactile with Fabric Actuator and Force Distribution Sensor

Shinichi Masaoka;Yuki Funabora;Shinji Doki

Year: 2024 | Conference Paper |

Smooth Pole Change Method for Multiphase Induction Motor Drive System

Momoka Kobayashi;Shinji Doki;Hirotaka Kato;Jun-Ichi Itoh;Masashi Kobayashi

2024 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC)
Year: 2024 | Conference Paper |
In this study, it is shown that the multiphase IM can be regarded as a superposition of independence, decoupled large-pole and small-pole IM by using the VSD conversion and multiphase IM drive system (IMTS: Induction Motor drive with Transmission System) that actively utilizes pole change is proposed. By deriving a mathematical formula, the factor of torque fluctuation response due to conflict of ...Show More

Smooth Pole Change Method for Multiphase Induction Motor Drive System

Momoka Kobayashi;Shinji Doki;Hirotaka Kato;Jun-Ichi Itoh;Masashi Kobayashi

Year: 2024 | Conference Paper |

An Innovative Discrete-Time dq-Axis Model Considering Phase Discretization Error for High-Speed IM Drive and Its Analysis

Zhifa Fang;Shinji Doki

2024 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC)
Year: 2024 | Conference Paper |
The field-oriented control (FOC)-based auto current regulators (ACRs) are commonly designed under the ideal assumption that the phase is obtained continuously when performing the Park transformation, but the current regulators are always discretely implemented. It will inevitably introduce non-negligible phase discretization errors with the increase of fundamental-to-switching(control) frequency r...Show More

An Innovative Discrete-Time dq-Axis Model Considering Phase Discretization Error for High-Speed IM Drive and Its Analysis

Zhifa Fang;Shinji Doki

Year: 2024 | Conference Paper |

Expansion of Field-Oriented Control Operation Range of Dual Three-Phase Synchronous Motor with Flux Weakening Control in the Inverter Overmodulation Region

Rongjiao Hao;Shinji Doki

2024 Energy Conversion Congress & Expo Europe (ECCE Europe)
Year: 2024 | Conference Paper |
As the theories for expanding the operation range, the inverter overmodulation strategy and the flux weakening control method are widely used on the three-phase motors. In conventional research, it was found that a dual three-phase motor can be field-oriented-controlled in the overmodulation region easier than a three-phase motor. In this study, the theory of utilizing the flux weakening control a...Show More

Expansion of Field-Oriented Control Operation Range of Dual Three-Phase Synchronous Motor with Flux Weakening Control in the Inverter Overmodulation Region

Rongjiao Hao;Shinji Doki

Year: 2024 | Conference Paper |

Pole Change Method Without Torque Fluctuation in Multiphase IM Drive System

Momoka Kobayashi;Shinji Doki;Ryunosuke Nikaido;Akira Chiba;Masashi Kobayashi

2024 Energy Conversion Congress & Expo Europe (ECCE Europe)
Year: 2024 | Conference Paper |
Cited by: Papers (1)
In this study, it is shown that the multiphase IM can be regarded as a superposition of independent, decoupled large-pole and small-pole IM by using the VSD conversion in a multiphase IM drive system (IMTS) that actively utilizes pole change. By deriving a mathematical formula, the factor of torque fluctuation response due to conflict of voltage limiter during pole number change is identified. In ...Show More

Pole Change Method Without Torque Fluctuation in Multiphase IM Drive System

Momoka Kobayashi;Shinji Doki;Ryunosuke Nikaido;Akira Chiba;Masashi Kobayashi

Year: 2024 | Conference Paper |

Applications of Augmented Reality in Assisting Structure Surface Data Collection Using Unmanned Aerial Vehicles

Weitong Wu;Yohan Hong;Yuki Funabora;Shinji Doki;Kae Doki

IEEE Access
Year: 2024 | Volume: 12 | Journal Article |
This paper investigates the feasibility and effectiveness of applying AR (Augmented Reality) technology to assist UAV (Unmanned Aerial Vehicle) pilots in collecting data for structure inspections. The challenge of using UAVs to collect inspection data is that pilots could not precisely determine where to collect qualified data. Using AR technology to provide visual assistance to pilots is expected...Show More

Applications of Augmented Reality in Assisting Structure Surface Data Collection Using Unmanned Aerial Vehicles

Weitong Wu;Yohan Hong;Yuki Funabora;Shinji Doki;Kae Doki

Year: 2024 | Volume: 12 | Journal Article |

Gravity Compensation Method for Whole Body-Mounted Robot With Contact Force Distribution Sensor

Shinichi Masaoka;Yuki Funabora;Shinji Doki

IEEE Robotics and Automation Letters
Year: 2024 | Volume: 9, Issue: 9 | Journal Article |
The emergence of sheet-type force distribution sensors has allowed direct measurement of contact force. We developed a wearable assistive robot that can directly measure contact force and investigated the gravity compensation effect of contact-force-based control. For conventional robots that do not measure the force acting between the robot and the human body (contact force) directly, a precise r...Show More

Gravity Compensation Method for Whole Body-Mounted Robot With Contact Force Distribution Sensor

Shinichi Masaoka;Yuki Funabora;Shinji Doki

Year: 2024 | Volume: 9, Issue: 9 | Journal Article |

Evaluation and Enhancement of Resolution-Aware Coverage Path Planning Method for Surface Inspection Using Unmanned Aerial Vehicles

Weitong Wu;Yuki Funabora;Shinji Doki;Kae Doki;Satoru Yoshikawa;Tetsuji Mitsuda;Jingyu Xiang

IEEE Access
Year: 2024 | Volume: 12 | Journal Article |
Cited by: Papers (4)
We implemented and evaluated our previous path planning method for inspection using unmanned aerial vehicles (UAVs) in real-world, and identified its shortcomings in handling positioning errors. Then, we proposed an enhanced method to address this problem. The previous method theoretically guaranteed complete coverage of targets and data quality. However, we verified it in bridge inspection experi...Show More

Evaluation and Enhancement of Resolution-Aware Coverage Path Planning Method for Surface Inspection Using Unmanned Aerial Vehicles

Weitong Wu;Yuki Funabora;Shinji Doki;Kae Doki;Satoru Yoshikawa;Tetsuji Mitsuda;Jingyu Xiang

Year: 2024 | Volume: 12 | Journal Article |

Position Sensorless Estimation for Surface Permanent Magnet Synchronous Motors Using Eddy Currents with Loads at a Low speed

Yuki Miki;Mutuwo Tomita;Masaru Hasegawa;Shinji Doki

2023 IEEE International Future Energy Electronics Conference (IFEEC)
Year: 2023 | Conference Paper |
Position sensorless control of surface permanent magnet synchronous motors (SPMSMs) in low-speed regions is challenging because the motor has no magnetic saliency. Several methods using the block commutation drive technique to overcome this problem have been proposed; however, the rotor position is estimated only every 60° owing to the features of the block commutation drive method. Therefore, in ...Show More

Position Sensorless Estimation for Surface Permanent Magnet Synchronous Motors Using Eddy Currents with Loads at a Low speed

Yuki Miki;Mutuwo Tomita;Masaru Hasegawa;Shinji Doki

Year: 2023 | Conference Paper |

Clustering Method of Driving Scenes based on Road Shape by using Road Map Images

Kohjiro Hashimoto;Daichi Yanagihara;Hiroshi Kuniyuki;Kae Doki;Yuki Funabora;Shinji Doki

2023 International Conference on Electrical, Communication and Computer Engineering (ICECCE)
Year: 2023 | Conference Paper |
Currently, vehicles are equipped with various sensors that can collect a series of driving behavior data while driving. The driving behavior data obtained in this way can be used to analyze the causes of traffic accidents and evaluate driver skills. However, when performing the above analysis, a specific driving scene is defined and driving behavior data for that driving scene is required. On the ...Show More

Clustering Method of Driving Scenes based on Road Shape by using Road Map Images

Kohjiro Hashimoto;Daichi Yanagihara;Hiroshi Kuniyuki;Kae Doki;Yuki Funabora;Shinji Doki

Year: 2023 | Conference Paper |

Study on a Detection Method of Driving Scenes Using Driver’s Operation Data and In-Vehicle Camera Videos

Kohjiro Hashimoto;Daichi Yanagihara;Hiroshi Kuniyuki;Kae Doki;Yuki Funabora;Shinji Doki

2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference (ONCON)
Year: 2023 | Conference Paper |
In this paper, a method to detect arbitrary driving scenes from actual driving behavior data is proposed. This is positioned as a necessary technology to evaluate a driver’s cognitive ability from actual driving behavior data. In order to evaluate a driver’s cognitive ability from actual driving behavior data, it is first necessary to be able to detect scenes in which cognitive ability can be eval...Show More

Study on a Detection Method of Driving Scenes Using Driver’s Operation Data and In-Vehicle Camera Videos

Kohjiro Hashimoto;Daichi Yanagihara;Hiroshi Kuniyuki;Kae Doki;Yuki Funabora;Shinji Doki

Year: 2023 | Conference Paper |

Acquisition of Association Rules between a Situation and an Operation of Driving Behavior by using Time Series Clustering based on Coupled-GP-HSMM

Kohjiro Hashimoto;Daichi Yanagihara;Hiroshi Kuniyuki;Kae Doki;Yuki Funabora;Shinji Doki

2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference (ONCON)
Year: 2023 | Conference Paper |
With the progress of information and communication technology, it has become easier to observe and store a large amount of digital data. In the field of automobiles, various sensors such as Controller Area Network, GPS sensor, and in-vehicle camera are mounted in vehicles, and it is possible to collect location, operation, and surrounding environment information while driving. The collected drivin...Show More

Acquisition of Association Rules between a Situation and an Operation of Driving Behavior by using Time Series Clustering based on Coupled-GP-HSMM

Kohjiro Hashimoto;Daichi Yanagihara;Hiroshi Kuniyuki;Kae Doki;Yuki Funabora;Shinji Doki

Year: 2023 | Conference Paper |

Arm-Mounted Assistive Robot for Measuring Contact Force and Evaluating Wearer Safety

Shinichi Masaoka;Yuki Funabora;Shinji Doki

IEEE Access
Year: 2023 | Volume: 11 | Journal Article |
Cited by: Papers (3)
We developed a wearable assistive robot that directly measures the contact force acting between the robot and the human body, aiming to enhance the safety of such wearable devices. The force acting on the body is not directly measured, instead, it is estimated by measuring the torque acting on the robot joint in the wearable assistive robot. Despite the risk of failing to recognize dangerous force...Show More

Arm-Mounted Assistive Robot for Measuring Contact Force and Evaluating Wearer Safety

Shinichi Masaoka;Yuki Funabora;Shinji Doki

Year: 2023 | Volume: 11 | Journal Article |

Capacitor Current Reduction in Dual Three-Phase PMSM Drive System by Model Predictive Control Considering Dead Time

Ryosuke Sakauchi;Shinji Doki;Koji Imai;Kosuke Kondo;Yasuaki Aoki

2023 25th European Conference on Power Electronics and Applications (EPE'23 ECCE Europe)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
This paper proposes a novel capacitor current reduction method in Dual Three-Phase PMSM Drive System. By using Model Predictive Control considering the dead time on the premise of implementation, the method modifies the three-phase voltage command generated by the PI current controller for the current reduction. The effectiveness is verified by simulation and experiment.Show More

Capacitor Current Reduction in Dual Three-Phase PMSM Drive System by Model Predictive Control Considering Dead Time

Ryosuke Sakauchi;Shinji Doki;Koji Imai;Kosuke Kondo;Yasuaki Aoki

Year: 2023 | Conference Paper |

Performance Evaluation of Position Sensorless Control System with Initial Speed Estimator for Overall Speed Startup

Rongjiao Hao;Shinji Doki;Kazuki Asahina;Akira Ide

2023 25th European Conference on Power Electronics and Applications (EPE'23 ECCE Europe)
Year: 2023 | Conference Paper |
Position sensorless control for Permanent-magnet synchronous motors has been investigated in numerous studies, but the issues of flying start at high speed are still a major problem. In our previous research, the issues on conventional position control are presented, and the reasons for these issues are distinguished as the initial response of the speed estimation. Based on this discussion, an ini...Show More

Performance Evaluation of Position Sensorless Control System with Initial Speed Estimator for Overall Speed Startup

Rongjiao Hao;Shinji Doki;Kazuki Asahina;Akira Ide

Year: 2023 | Conference Paper |

Modeling of Novel Dual Three Phase PMSM with Pseudo-Triple Winding Structure and its Current Vector Control

Kohei Aiba;Shinji Doki;Hidenori Kato;Koji Isogai

2023 25th European Conference on Power Electronics and Applications (EPE'23 ECCE Europe)
Year: 2023 | Conference Paper |
In this paper, we propose the control model for a novel dual three-phase PMSM with pseudo-triple winding structure(DTP-PMSM with PTWS) which is one of the new multiple stator winding machines. The proposed control model is represented as the extended form of the conventional dual three-phase winding machine, and the validity is demonstrated by being compared with magnetic field analysis results. F...Show More

Modeling of Novel Dual Three Phase PMSM with Pseudo-Triple Winding Structure and its Current Vector Control

Kohei Aiba;Shinji Doki;Hidenori Kato;Koji Isogai

Year: 2023 | Conference Paper |

Optimal Current Control Methods for Dual-Parallel-SPMSM with Different Parameters Using a Single Inverter

Cheonsu Park;Shinji Doki

2023 11th International Conference on Power Electronics and ECCE Asia (ICPE 2023 - ECCE Asia)
Year: 2023 | Conference Paper |
When one inverter drives both motors, the system efficiency deteriorates if both motors have different loads. Moreover, even if their loads are the same, the system efficiency would also deteriorate if the parameters of both motors are different. To address this issue, this paper proposes optimal current control methods for both different motors using a single inverter.Show More

Optimal Current Control Methods for Dual-Parallel-SPMSM with Different Parameters Using a Single Inverter

Cheonsu Park;Shinji Doki

Year: 2023 | Conference Paper |

Application of Finite Control Set–Model Predictive Control for Servo Brake Motion in PMSM Drives

Hiroaki Kawai;Julien Cordier;Ralph Kennel;Shinji Doki

IEEE Canadian Journal of Electrical and Computer Engineering
Year: 2023 | Volume: 46, Issue: 2 | Journal Article |
Cited by: Papers (8)
Finite control set-model predictive control (FCS–MPC) has a simple and intuitive optimization procedure. Therefore, FCS–MPC is increasingly being applied to control strategies for electrical drive systems. This article presents a method for servo brake control of a permanent magnet synchronous motor (PMSM) based on FCS–MPC. Accordingly, we propose a reference trajectory introduced in a cost functi...Show More

Application of Finite Control Set–Model Predictive Control for Servo Brake Motion in PMSM Drives

Hiroaki Kawai;Julien Cordier;Ralph Kennel;Shinji Doki

Year: 2023 | Volume: 46, Issue: 2 | Journal Article |

A Novel Decoupling Control Scheme for Non-Salient Multi-Three-Phase Synchronous Machines Based on Multi-Stator Model

Shen Wang;Koji Imai;Shinji Doki

IEEE Transactions on Industry Applications
Year: 2023 | Volume: 59, Issue: 1 | Journal Article |
Cited by: Papers (9)
As competitive alternatives to conventional three-phase synchronous machines, synchronous multi-three-phase machines (MTPMs) are gaining increasing interests in various fields such as electrified transportation and power generation. The modular configuration is preferred for multi-three-phase drives in specific applications regarding the availability of advanced three-phase power electronics techn...Show More

A Novel Decoupling Control Scheme for Non-Salient Multi-Three-Phase Synchronous Machines Based on Multi-Stator Model

Shen Wang;Koji Imai;Shinji Doki

Year: 2023 | Volume: 59, Issue: 1 | Journal Article |

Direct Speed Control Based on Finite Control Set Model Predictive Control With Voltage Smoother

Hiroaki Kawai;Zhenbin Zhang;Ralph Kennel;Shinji Doki

IEEE Transactions on Industrial Electronics
Year: 2023 | Volume: 70, Issue: 3 | Journal Article |
Cited by: Papers (30)
A direct speed control strategy based on finite control set model predictive control (FCS–MPC) with a voltage smoother is presented herein. In the proposed concept, a finite set of smoothed voltage vectors characterized by an adjustable amplitude and a movable origin is introduced as voltage candidates in the FCS–MPC scheme. The controller predicts the future current and speed and outputs the opti...Show More

Direct Speed Control Based on Finite Control Set Model Predictive Control With Voltage Smoother

Hiroaki Kawai;Zhenbin Zhang;Ralph Kennel;Shinji Doki

Year: 2023 | Volume: 70, Issue: 3 | Journal Article |

Position Sensorless Estimation for Surface Permanent Magnet Synchronous Motor Using Eddy Current at Low-speed

Koki Kataoka;Tatsuki Hayashi;Mutuwo Tomita;Masaru Hasegawa;Shinji Doki

2022 25th International Conference on Electrical Machines and Systems (ICEMS)
Year: 2022 | Conference Paper |
Cited by: Papers (1)
This paper proposes a new method for rotor position sensorless estimation of surface permanent magnet synchronous motor (SPMSM), wherein the sensorless position control is very difficult when the motor is at a standstill and in low-speed regions as the motor has no magnetic saliency. In this method, conductive non-magnetic materials are pasted on the rotor. When a high-frequency voltage is applied...Show More

Position Sensorless Estimation for Surface Permanent Magnet Synchronous Motor Using Eddy Current at Low-speed

Koki Kataoka;Tatsuki Hayashi;Mutuwo Tomita;Masaru Hasegawa;Shinji Doki

Year: 2022 | Conference Paper |

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