Publications

@article{fozilov2025ist,
  title = {IST-ROS: A flexible object segmentation and tracking framework for robotics applications},
  journal = {SoftwareX},
  volume = {29},
  pages = {101979},
  year = {2025},
  issn = {2352-7110},
  doi = {https://doi.org/10.1016/j.softx.2024.101979},
  url = {https://www.sciencedirect.com/science/article/pii/S2352711024003492},
  author = {Khusniddin Fozilov and Yutaro Yamada and Jacinto Colan and Yaonan Zhu and Yasuhisa Hasegawa},
  bibbase_note ={},
  custom_type = {A. Journal Article}
  }

@ARTICLE{unde2024novel,
  author={Unde, Jayant and Colan, Jacinto and Hasegawa, Yasuhisa},
  journal={IEEE Robotics and Automation Letters}, 
  title={Novel Articulated Lead Screw Linear Actuator Enabled by Transforming Linkage Mechanism}, 
  year={2025},
  volume={10},
  number={2},
  pages={1369-1376},
  doi={10.1109/LRA.2024.3521682},
  bibbase_note ={},
  custom_type = {A. Journal Article}
  }

@article{colan2024tactile,
  author = {Colan, Jacinto and Davila, Ana and Hasegawa, Yasuhisa},
  title = {Tactile Feedback in Robot-Assisted Minimally Invasive Surgery: A Systematic Review},
  journal = {The International Journal of Medical Robotics and Computer Assisted Surgery},
  volume = {20},
  number = {6},
  pages = {e70019},
  keywords = {haptic interface, minimally invasive surgery, robotic assisted surgery, tactile feedback},
  doi = {https://doi.org/10.1002/rcs.70019},
  url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.70019},
  year = {2024},
  bibbase_note ={},
  custom_type = {A. Journal Article}
  }

@ARTICLE{unde2024design,
  author={Unde, Jayant and Colan, Jacinto and Hasegawa, Yasuhisa},
  journal={IEEE Robotics and Automation Letters}, 
  title={Design, Modelling, and Experimental Verification of Passively Adaptable Roller Gripper for Separating Stacked Fabric}, 
  year={2024},
  volume={9},
  number={11},
  pages={9335--9342},
  doi={10.1109/LRA.2024.3461550},
  url={https://ieeexplore.ieee.org/document/10680377},
  bibbase_note ={},
  custom_type = {A. Journal Article}
  }

@article{unde2024development,
  title       = {Development of a Compliant Gripper for Safe Robot-Assisted Trouser Dressing-Undressing},
  author = {Jayant Unde and Takumi Inden and Yuki Wakayama and Jacinto Colan and Yaonan Zhu and Tadayoshi Aoyama and Yasuhisa Hasegawa},
  title = {Development of a compliant gripper for safe robot-assisted trouser dressing-undressing},
  journal = {Advanced Robotics},
  volume = {},
  number = {},
  pages = {1--17},
  year = {2024},
  publisher = {Taylor \& Francis},
  doi = {10.1080/01691864.2024.2376024},
  url={https://www.tandfonline.com/doi/full/10.1080/01691864.2024.2376024},
  bibbase_note ={},
  custom_type = {A. Journal Article}
}

@article{colan2024variable,
  title       = {Variable step sizes for iterative Jacobian-based inverse kinematics of robotic manipulators},
  author={Colan, Jacinto and Davila, Ana and Hasegawa, Yasuhisa},
  journal={IEEE Access}, 
  title={Variable Step Sizes for Iterative Jacobian-Based Inverse Kinematics of Robotic Manipulators}, 
  year={2024},
  volume={12},
  number={},
  pages={87909-87922},
  doi={10.1109/ACCESS.2024.3418206},
  url={https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10568941},
  bibbase_note ={},
  custom_type = {A. Journal Article}
}

@Article{davila2024realtime,
  author = {Ana Davila and Jacinto Colan and Yasuhisa Hasegawa},
  journal = {Journal of Computational Design and Engineering},
  title = {Real-time Inverse Kinematics for Robotic Manipulation under Remote Center of Motion Constraint using Memetic Evolution},
  volume = {11},
  number = {3},
  pages = {248--264},
  year = {2024},
  doi={10.1093/jcde/qwae047},
  url={https://doi.org/10.1093/jcde/qwae047},
  bibbase_note ={},
  custom_type={A. Journal Article}
}

@Article{yamada2024multimodal,
  author={Yamada, Yutaro and Colan, Jacinto and Davila, Ana and Hasegawa, Yasuhisa},
  journal={International Journal of Computer Assisted Radiology and Surgery},
  title={Multimodal semi-supervised learning for online recognition of multi-granularity surgical workflows},
  volume = {19},
  number = {6},
  pages={1075--1083},
  year={2024},
  doi={10.1007/s11548-024-03101-6},
  url={https://link.springer.com/article/10.1007/s11548-024-03101-6},
  bibbase_note ={},
  custom_type={A. Journal Article}
}

@Article{davila2024comparison,
  author = {Ana Davila and Jacinto Colan and Yasuhisa Hasegawa},
  journal = {Image and Vision Computing},
  title = {Comparison of fine-tuning strategies for transfer learning in medical image classification},
  volume = {146},
  pages = {105012},
  year = {2024},
  doi={10.1016/j.imavis.2024.105012},
  url={https://www.sciencedirect.com/science/article/pii/S0262885624001161},
  custom_type={A. Journal Article}
}

@Article{liu2023latent,
  author={Liu, Songtao and Colan, Jacinto and Zhu, Yaonan and Kobayashi, Taisuke and Misawa, Kazunari and Takeuchi, Masaru and Hasegawa, Yasuhisa},
  journal={Advanced Robotics}, 
  title={Latent Regression based Model Predictive Control for Tissue Triangulation}, 
  year={2024},
  volume = {38},
  number = {5},
  pages = {283--306},
  publisher = {Taylor \& Francis},
  doi={10.1080/01691864.2024.2324303},
  url={https://www.tandfonline.com/doi/epdf/10.1080/01691864.2024.2324303?needAccess=true},
  custom_type={A. Journal Article}
}

@Article{fozilov2023endoscope,
  author={Khusniddin Fozilov and Jacinto Colan and Ana Davila and Kazunari Misawa and Jie Qiu and Yuichiro Hayashi and Kensaku Mori and Yasuhisa Hasegawa},
  journal={Sensors}, 
  title={Endoscope Automation Framework with Hierarchical Control and Interactive Perception for Multi-Tool Tracking in Minimally Invasive Surgery}, 
  year={2023},
  volume={23},
  number={24},
  pages={9865},
  doi={10.3390/s23249865},
  url={https://www.mdpi.com/1424-8220/23/24/9865},
  url_code={https://github.com/husikl/asar_hqp_endoscope},
  custom_type={A. Journal Article}
}

@Article{fozilov2023toward,
  author={Fozilov, Khusniddin and Colan, Jacinto and Sekiyama, Kosuke and Hasegawa, Yasuhisa},
  journal={IEEE Access}, 
  title={Toward Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees}, 
  year={2023},
  volume={11},
  number={},
  pages={91206-91224},
  doi={10.1109/ACCESS.2023.3308619},
  url={https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10230219}, 
  url_code={https://github.com/husikl/asar_hybrid_tmp},
  custom_type={A. Journal Article}
}

@Article{colan2023concurrent, 
  title={A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots}, 
  author={Colan, Jacinto and Davila, Ana and Fozilov, Khusniddin and Hasegawa, Yasuhisa}, 
  journal={Sensors}, 
  year={2023}, 
  volume={23}, 
  number={6}, 
  pages={3328},
  ISSN={1424-8220}, 
  doi={10.3390/s23063328}, 
  publisher={MDPI AG}, 
  month={Mar}, 
  url={https://www.mdpi.com/1424-8220/23/6/3328/pdf?version=1679467382}, 
  url_code={https://github.com/jcolan/CoIKS},
  custom_type={A. Journal Article}
}

@Article{colan2023openrst,
  title={OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools}, 
  author={Colan, Jacinto and Davila, Ana and Zhu, Yaonan and Aoyama, Tadayoshi and Hasegawa, Yasuhisa},
  journal={IEEE Access}, 
  year={2023},
  volume={11},
  number={},
  pages={6092--6105},
  doi={10.1109/ACCESS.2023.3236821},
  url={https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10016698}, 
  url_code={https://github.com/jcolan/OpenRST},
  custom_type={A. Journal Article}
}

@Article{colan2022review, 
  title={A Review on Tactile Displays for Conventional Laparoscopic Surgery}, 
  author={Colan, Jacinto and Davila, Ana and Hasegawa, Yasuhisa}, 
  journal={Surgeries}, 
  year={2022}, 
  volume={3}, 
  number={4}, 
  pages={334--346},
  ISSN={2673-4095}, 
  url={https://www.mdpi.com/2673-4095/3/4/36/pdf?version=1669366159}, 
  publisher={MDPI AG}, 
  month={Nov}, 
  doi={10.3390/surgeries3040036}, 
  custom_type={A. Journal Article}
}

@Article{colan2021optimization, 
  title={Optimization-Based Constrained Trajectory Generation for Robot-Assisted Stitching in Endonasal Surgery}, 
  author={Colan, Jacinto and Nakanishi, Jun and Aoyama, Tadayoshi and Hasegawa, Yasuhisa}, 
  journal={Robotics}, 
  year={2021}, 
  volume={10}, 
  number={1}, 
  pages={27},
  ISSN={2218--6581}, 
  url={https://www.mdpi.com/2218-6581/10/1/27/pdf?version=1615982716}, 
  publisher={MDPI AG}, 
  month={Feb}, 
  doi={10.3390/robotics10010027}, 
  custom_type={A. Journal Article}
}

@Article{colan2020cooperative, 
  title={A Cooperative Human-Robot Interface for Constrained Manipulation in Robot-Assisted Endonasal Surgery},
  author={Colan, Jacinto and Nakanishi, Jun and Aoyama, Tadayoshi and Hasegawa, Yasuhisa}, 
  journal={Applied Sciences}, 
  year={2020}, 
  volume={10}, 
  number={14}, 
  pages={4809},
  ISSN={2076--3417}, 
  url={https://www.mdpi.com/2076-3417/10/14/4809/pdf?version=1594725182}, 
  doi={10.3390/app10144809}, 
  publisher={MDPI AG}, 
  month={Jul}, 
  custom_type={A. Journal Article}
}

@Article{hasegawa2019smartarm,
  title={スマートアーム (Smart-Arm: User Interface)},
  author={Hasegawa, Yasuhisa and Colan, Jacinto and Uozumi,Daisuke and Aoyama, Tadayoshi and Nakanishi, Jun},
  journal={システム／制御／情報 (Systems, Control and Information)},
  year={2019},
  volume={63},
  number={10},
  pages={424--430},
  doi={10.11509/isciesci.63.10_424},
  url={https://www.jstage.jst.go.jp/article/isciesci/63/10/63_424/_pdf/-char/ja},
  custom_type={B. Invited Journal Paper}
}

@InProceedings{colan2023enhancing,
  author={Davila, Ana and Colan, Jacinto and Hasegawa, Yasuhisa},
  booktitle={2024 International Symposium on Micro-NanoMechatronics and Human Science},
  title={Voice control interface for surgical robot assistants},
  year= {2024},
  volume={},
  number={},
  pages={},
  doi={},
  url={},
  bibbase_note ={Accepted},
  custom_type={C. International Conference}
}

@InProceedings{colan2023enhancing,
  author={Jacinto Colan and Keisuke Sugita and Ana Davila and Yutaro Yamada and Yasuhisa Hasegawa},
  booktitle={2024 International Symposium on Micro-NanoMechatronics and Human Science},
  title={Embedded Image-to-Image Translation for Efficient Sim-to-Real Transfer in Learning-based Robot-Assisted Soft Manipulation},
  year= {2024},
  volume={},
  number={},
  pages={},
  doi={},
  url={},
  bibbase_note ={Accepted},
  custom_type={C. International Conference}
}

@InProceedings{colan2024hierarchical,
  author={Jacinto Colan and Ana Davila and Khusniddin Fozilov and Yasuhisa Hasegawa},
  booktitle={2024 IEEE International Conference on Cyborg and Bionic Systems (CBS)}, 
  title={A hierarchical framework for collision avoidance in robot-assisted minimally invasive surgery}, 
  year={2024},
  volume={},
  number={},
  pages={},
  doi={},
  url={},    
  bibbase_note ={Accepted},
  custom_type={C. International Conference}
}

@InProceedings{davila2023latent,
  author={Davila, Ana and Colan, Jacinto and Hasegawa, Yasuhisa},
  booktitle={2023 International Symposium on Micro-NanoMechatronics and Human Science},
  title={Gradient-Based Fine-Tuning Strategy for Improved Transfer Learning on Surgical Images},
  year={2023},
  volume={},
  number={},
  pages={1--5},
  doi={10.1109/MHS59931.2023.10510130},
  url={https://ieeexplore.ieee.org/abstract/document/10510130},
  custom_type={C. International Conference}
}

@InProceedings{colan2023enhancing,
  author={Colan, Jacinto and Davila, Ana and Hasegawa, Yasuhisa},
  booktitle={2023 International Symposium on Micro-NanoMechatronics and Human Science},
  title={Enhancing Gradient-Based Inverse Kinematics with Dynamic Step Sizes},
  year= {2023},
  volume={},
  number={},
  pages={1-6},
  doi={10.1109/MHS59931.2023.10510153},
  url={https://ieeexplore.ieee.org/abstract/document/10510153},
  custom_type={C. International Conference}
}

@InProceedings{unde2023single,
  author={Unde, Jayant and Colan, Jacinto and Zhu, Yaonan and Aoyama, Tadayoshi and Hasegawa, Yasuhisa},
  title={Single Actuator Tendon Driven Two Finger Linkage Gripper with Strong Pinch and Adaptable Cylindrical Grasp}, 
  booktitle={2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)}, 
  year={2023},
  volume={},
  number={},
  pages={119--125},
  doi={10.1109/RO-MAN57019.2023.10309512},
  bibbase_note ={Best Paper Award},
  custom_type={C. International Conference}
}

@InProceedings{colan2023manipulability,
  author={Colan, Jacinto and Davila, Ana and Hasegawa, Yasuhisa},
  title={Manipulability maximization in constrained inverse kinematics of surgical robots}, 
  booktitle={2023 IEEE International Conference on Mechatronics and Automation (ICMA)}, 
  year={2023},
  volume={},
  number={},
  pages={569--574},
  doi={10.1109/ICMA57826.2023.10215986},
  bibbase_note ={Finalist Best Paper Award},
  custom_type={C. International Conference}
}

@InProceedings{colan2023constrained,
  author={Colan, Jacinto and Davila, Ana and Hasegawa, Yasuhisa},
  title={Constrained Motion Planning for a Robotic Endoscope Holder Based on Hierarchical Quadratic Programming}, 
  booktitle={2023 8th International Conference on Control and Robotics Engineering (ICCRE)}, 
  year={2023},
  volume={},
  number={},
  pages={198--203},
  doi={10.1109/ICCRE57112.2023.10155579},
  custom_type={C. International Conference}
}

@InProceedings{yamada2023task,
  author={Yamada, Yutaro and Colan, Jacinto and Davila, Ana and Hasegawa, Yasuhisa},
  title={Task Segmentation Based on Transition State Clustering for Surgical Robot Assistance}, 
  booktitle={2023 8th International Conference on Control and Robotics Engineering (ICCRE)}, 
  year={2023},
  volume={},
  number={},
  pages={260--264},
  doi={10.1109/ICCRE57112.2023.10155581},
  custom_type={C. International Conference}
}

@InProceedings{zhu2023visual,
  author={Zhu, Yaonan and Nazirjonov, Shukrullo and Jiang, Bingheng and Colan, Jacinto and Aoyama, Tadayoshi and Hasegawa, Yasuhisa and Belousov, Boris and Hansel, Kay and Peters, Jan},
  booktitle={2022 IEEE International Conference on Cyborg and Bionic Systems (CBS)}, 
  title={Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation}, 
  year={2023},
  volume={},
  number={},
  pages={49--52},
  doi={10.1109/CBS55922.2023.10115342},
  url={https://arxiv.org/abs/2212.13007},    
  bibbase_note ={Best Paper Award},
  custom_type={C. International Conference}
}

@InProceedings{colan2022sensorless,
  author={Colan, Jacinto and Hasegawa, Yasuhisa},
  title={Sensorless grip force estimation of a cable-driven robotic surgical tool based on Gaussian Process Regression}, 
  booktitle={2022 International Symposium on Micro-NanoMehatronics and Human Science (MHS)}, 
  year={2022},
  volume={},
  number={},
  bibbase_note ={Best Paper Award},
  custom_type={C. International Conference}
}

@InProceedings{fusano2022intension,
  title={Intension Reading based Task Outcome Prediction for Operability Improvement of Time-Delayed Teleoperation System}, 
  author={Fusano, Keisuke and Zhu, Yaonan and Colan, Jacinto and Aoyama, Tadayoshi and Hasegawa, Yasuhisa},
  booktitle={2022 International Symposium on Micro-NanoMehatronics and Human Science (MHS)}, 
  year={2022},
  volume={},
  number={},
  pages={1--1},
  doi={10.1109/MHS56725.2022.10092073},
  custom_type={C. International Conference}
}

@InProceedings{zhu2022cutaneous,
  title={Cutaneous Feedback Interface for Teleoperated In-Hand Manipulation}, 
  author={Zhu, Yaonan and Colan, Jacinto and Aoyama, Tadayoshi and Hasegawa, Yasuhisa},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  year={2022},
  volume={},
  number={},
  pages={605--611},
  doi={10.1109/IROS47612.2022.9982247},
  url={https://arxiv.org/abs/2303.03250},
  custom_type={C. International Conference}
}

@InProceedings{unde2021bidirectional,
  title={Bidirectional Tether Less Soft Actuator with Expeditious Position Control Mechanism}, 
  author={Unde, Jayant and Colan, Jacinto and Hasegawa, Yasuhisa},
  booktitle={The 32nd 2021 International Symposium on Micro-NanoMechatronics and Human Science}, 
  year={2021},
  volume={},
  number={},
  pages={1--6},
  doi={10.1109/MHS53471.2021.9767140},
  custom_type={C. International Conference}
}

@InProceedings{uozumi2019usability,
  title={Usability Study on Hands-on User Interface for Neurosurgical Articulated Forceps: Joystick and Serial link based Design}, 
  author={Uozumi, Daisuke and Colan, Jacinto and Nakanishi, Jun and Aoyama, Tadayoshi and Hasegawa, Yasuhisa},
  booktitle={2019 International Symposium on Micro-NanoMechatronics and Human Science (MHS)}, 
  year={2019},
  volume={},
  number={},  
  bibbase_note ={Best Paper Award},
  custom_type={C. International Conference}
}

@InProceedings{ohara2018development,
  title={Development of a Precision-grip based Interface for 4-DoF Articulated Forceps}, 
  author={Ohara, Keisuke and Colan, Jacinto and Uozumi, Daisuke and Aoyama, Tadayoshi and Nakanishi, Jun and Hasegawa, Yasuhisa},
  booktitle={2018 International Symposium on Micro-NanoMechatronics and Human Science (MHS)}, 
  year={2018},
  volume={},
  number={},
  pages={1--4},
  doi={10.1109/MHS.2018.8886921},
  custom_type={C. International Conference}
}

@InProceedings{colan2017concept,
  title={A concept of a user interface capable of intuitive operation of 4-DoF articulated forceps}, 
  author={Colan, Jacinto and Nakanishi, Jun and Ohara, Keisuke and Aoyama, Tadayoshi and Hasegawa, Yasuhisa},
  booktitle={2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS)}, 
  year={2017},
  volume={},
  number={},
  pages={1-3},
  doi={10.1109/MHS.2017.8305268},
  custom_type={C. International Conference}
  }

@inproceedings{sugita2023,
  title       = {医師からの信頼性向上のための確率分布出力に基づいた追加学習 (Additional learning based on probability distribution output for reliability improvement from doctors)},
  author      = {Sugita, Keisuke and Colan, Jacinto and Aoyama, Tadayoshi and Takeuchi, Masaru and Hasegawa, Yasuhisa},
  booktitle   = {The Proceedings of JSME Annual Conference on Robotics and Mechatronics (ROBOMECH 2023)},
  year        = {2023},
  volume      = {},
  pages       = {1P1-C20},
  custom_type = {D. Domestic Conference}
}

@InProceedings{fusano2022improvement,
  title={環境認識に基づく協調制御を用いた時間遅れのある遠隔操作システムの操作性向上 (Improvement of operability of remote operation system with time delay using cooperative control based on environmental recognition)},
  author={Fusano, Keisuke and Zhu, Yaonan and Colan, Jacinto and Aoyama, Tadayoshi and Hasegawa, Yasuhisa},
  booktitle={The Proceedings of JSME Annual Conference on Robotics and Mechatronics (ROBOMECH 2022)},
  year={2022},
  volume={2022},
  number={},
  pages={2A1-N05},
  doi={10.1299/jsmermd.2022.2A1-N05},
  custom_type={D. Domestic Conference},
}

@InProceedings{uozumi2020proposal,
  title={鉗子軸把持を基本とした示指による直感的鉗子先端姿勢操作インターフェースの提案 (Proposal of an intuitive forceps tip posture operation interface based on forceps axis grasping by pointing)},
  author={Uozumi, Daisuke and Colan, Jacinto and Hasegawa, Yasuhisa and Aoyama, Tadayoshi and Nakanishi, Jun},
  booktitle={The Proceedings of JSME Annual Conference on Robotics and Mechatronics (ROBOMECH 2020)},
  year={2020},
  volume={2020},
  number={},
  pages={2P2--F13},
  doi={10.1299/jsmermd.2020.2P2-F13},
  custom_type={D. Domestic Conference}
}

@InProceedings{uozumi2019development,
  title={鉗子直接操作機構と鉗子先端屈曲の同時操作を可能とする手の動きを活用した操作インターフェースの開発 (Development of an interface that utilizes hand movements to enable simultaneous operation of the forceps opening and bending)},
  author={Uozumi, Daisuke and Ohara, Keisuke and Colan, Jacinto and Aoyama, Tadayoshi and Nakanishi, Jun and Hasegawa, Yasuhisa},
  booktitle={The Proceedings of JSME Annual Conference on Robotics and Mechatronics (ROBOMECH 2019)},
  year={2019},
  volume={2019},
  number={ },
  pages={2P2--R02},
  doi={10.1299/jsmermd.2019.2P2-R02},
  custom_type={D. Domestic Conference}
}

@InProceedings{ohara2018prototype,
  title={多自由度能動鉗子用ピンチ操作型インターフェースの試作 (Prototype of a pinch operation type interface for multi-degree of freedom forceps)},
  author={Ohara, Keisuke  and Colan, Jacinto and Uozumi, Daisuke and Aoyama, Tadayoshi and Nakanishi, Jun and Hasegawa, Yasuhisa},
  booktitle={36th Annual Conference of The Robotics Society of Japan},
  year={2018},
  number={3A1-08},
  custom_type={D. Domestic Conference}
}

@InProceedings{colan2017preliminary,
  title={A Preliminary Study on Cooperative Force Control based Guidance for Accurate Pre-insertion Positioning of Surgical Instruments},
  author={Colan, Jacinto and Sato, Yuichiro and Nakanishi, Jun and Hasegawa, Yasuhisa},
  booktitle={The Proceedings of JSME Annual Conference on Robotics and Mechatronics (ROBOMECH 2017)},
  year={2017},
  volume={2017},
  number={},
  pages={2A1--O10},
  doi={10.1299/jsmermd.2017.2A1-O10},
  custom_type={D. Domestic Conference}
}

@InProceedings{sato2016design,
  title={多自由度鉗子の直感的操作可能なユーザーインタフェースの設計・試作 (Design and Prototype of an Intuitive User Interface for Forceps with Multi-Degrees of Freedom)},
  author={Sato, Yuichiro and Colan, Jacinto and Nakanishi, Jun and Hasegawa, Yasuhisa},
  booktitle={SICE System Integration Division Annual Conference},
  year={2016},
  pages={352--353},  
  bibbase_note ={Best Presentation Award},
  custom_type={D. Domestic Conference}
}