66Schematic of FD-OCT 3D measurement of screwOCT angiography OCT images of the ovary of mouse Two-degree-of-freedom control systemcontrol of robot manipulatorFormation control of mobile robotsGraphics Processing Unit3D OCT of finger padrobotvisionsystems.theoryiscrucialtodevelopmechanicalsystems,suchasrobotmanipulator,mobilerobots,Inthesystemdesign,thecontrolledsystemisdescribedbyadifferentialequationanddynamicsofthesystemsisanalyzedtheoretically.Toimprovethesystemresponse,feedbackcontrollerisdesignedutilizingthedifferentialequationandconsideringstabilityandperformanceofthefeedbacksystem.Weconsidercontroltheoryofdynamicalsystems,andapplythetheorytomechanicalsystems.Bio-mimeticcontrolbasedonhumanbrainisappliedtorobotmanipulators.Please put photograph. your Control system design based on control theory is crucial to develop mechanical systems, such as robot manipulator, mobile robots, and robot vision systems. In the system design, the controlled system is described by a differential equation and dynamics of the systems is analyzed theoretically. To improve the system response, feedback controller is designed utilizing the differential equation and considering stability and performance of the feedback system. We consider control theory of dynamical systems, and apply the theory to mechanical systems. Bio-mimetic control based on human brain is applied to robot manipulators. Simulators for robot control systems are also developed using three dimensional computer graphics. Control theory and simulations can be applied to various problems.Yamagata University Graduate School of Science and Engineering Research InterestControl EngineeringE-mail ・ muramatu@yz.yamagata-u.ac.jp Tel ・ +81-238-26-3327 Fax ・ +81-238-26-3327HP・http://mulab.yz.yamagata-u.ac.jp/Content：ContentOCT (Optical Coherence Tomography) is a biological tomographic OCT (Optical Coherence Tomography) is a biological imaging method using low coherence interferometer. We can image tomographic imaging method using low coherence bioligical samples with depth of 2 ~ 3 mm with resolution of about interferometer. We can image bioligical samples with depth 10 μm by irradiating weak near-infrared light. In our laboratory, in of 2～3 mm with resolution of about 10μm by irradiating order to display tomographic images in real time for medical weak near-infrared light. In our laboratory, in order to display diagnosis and product inspection, we are developing optical tomographic images in real time for medical diagnosis and interferometry technology using high speed line camera and high product inspection, we are developing optical interferometry speed image processing method using GPU (Graphics Processing technology using high speed line camera and high speed Unit) for .In the developed OCT system, it is possible to visualize image processing method using GPU (Graphics Processing Unit) for. In the developed OCT system, it is possible to 2D image ofthe internal structure and a slight change in the interior visualize 2D image of the internal structure and a slight (eg, change due to blood flow inside the living body) in real time by change in the interior (eg, change due to blood flow inside data acquisition over the video rate and high speed signal processing. the living body) in real time by data acquisition over the Since optical measurement is non-contact, it can be used for three-video rate and high speed signal processing. Since optical dimensional shape measurement of industrial products besides measurement is non-contact, it can be used for three-bioligical samples.dimensional shape measurement of industrial products besides bioligical samples.Appealing point：We can immediately respond to improvements in hardware and Special objectivessoftware that meet your needs. We can immediately respond to improvements in hardware and software that meet your needs.Yamagata UniversityGraduate School of Science and Engineering Research Interest ：Biomedical Optics, Signal ProcessingYamagata University Graduate School of Science and Engineering E-mail ：ywata@yz.yamagata-u.ac.jpResearch InterestTel ：+81-238-26-3292Biomedical Optics, Signal ProcessingFax：+81-238-26-3292E-mail ・ ywata@yz.yamagata-u.ac.jpTel ・ +81-238-26-3292HP ：http://ywata-lab.yz.yamagata-u.ac.jp/index-e.htmlFax ・ +81-238-26-3292HP・http://ywata-lab.yz.yamagata-u.ac.jp/index-e.htmlContent：ContentControlsystemdesignbasedoncontrolandAppealingpoint:Simulatorsforrobotcontrolsystemsarealsodevelopedusingthreedimensionalcomputergraphics.ControltheoryandsimulationscanSpecial objectivesbeappliedtovariousproblems.Yamagata UniversityGraduate School of Science and Engineering Research Interest : Control EngineeringE-mail：muramatu@yz.yamagata-u.ac.jpTel ：+81-238-26-3327Fax：+81-238-26-3327HP ：http://mulab.yz.yamagata-u.ac.jp/Control Theory and its Application to Robot Control SystemsControl Theoryand its Application to Robot Control SystemsDevelopment of Real-time OCT system using GPUDevelopment of Real-time OCT system using GPUAssociate ProfessorYuuki WatanabeAssociate Professor Eiichi MuramatsuAssociate Professor Eiichi Muramatsu Associate Professor Yuuki Watanabe
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