Namerikawa, Toru

写真a

Affiliation

Faculty of Science and Technology, Department of System Design Engineering (Yagami)

Position

Professor

Related Websites

External Links

Profile 【 Display / hide

  • Distributed and cooperative control problems for large-scale networked systems are studied in Namerikawa laboratory via both of control theoretical and application approaches. The current main topic of Namerikawa Lab is the developments of safe, reliable and resilient control/prediction methodologies for electrical power network and smart city and smart infrastructure systems. The other important topic is the developments of cooperative formation control strategies for multi-agent systems including unmanned aerial vehicles.

Profile Summary 【 Display / hide

  • Distributed and cooperative control problems for large-scale networked systems are studied in Namerikawa laboratory via both of control theoretical and application approaches. The current main topic of Namerikawa Lab is the developments of safe, reliable and resilient control/prediction methodologies for electrical power network and smart city and smart infrastructure. The other important topic is the developments of cooperative formation control strategies for multi-agent systems including unmanned aerial vehicles.

Career 【 Display / hide

  • 1994.04
    -
    1997.12

    金沢大学, 工学部電気・情報工学科, 助手

  • 1998.01
    -
    2000.10

    金沢大学, 大学院自然科学研究科, 助手

  • 1998.11
    -
    1998.12

    スイス連邦工科大学, ロボティクス研究所, 客員研究員

  • 2000.11
    -
    2002.02

    金沢大学, 工学部電気電子システム工学科, 講師

  • 2001.03
    -
    2002.01

    カリフォルニア大学サンタバーバラ校, 客員研究員

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Academic Background 【 Display / hide

  • 1991.03

    Kanazawa University, Faculty of Engineering, 電気・情報工学科

    University, Graduated

  • 1993.03

    Kanazawa University, Graduate School, Division of Engineering, 電気・情報工学専攻

    Graduate School, Completed, Master's course

  • 1994.03

    Kanazawa University, Graduate School, Division of National Science and Technology, システム科学

    Graduate School, Withdrawal before completion, Doctoral course

Academic Degrees 【 Display / hide

  • 博士(工学), Kanazawa University, Dissertation, 1997.03

 

Research Areas 【 Display / hide

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering (Control Engineering)

Research Keywords 【 Display / hide

  • Cyber-Physical & Human Systems

  • Energy Management System

  • Multi-Agent System

  • Robust Control

  • Distributed Control

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Research Themes 【 Display / hide

  • Cyber-Physical & Human Systems, 

    2018.01
    -
    Present

  • 社会インフラシステムの分散最適化, 

    2015.04
    -
    Present

  • Control Theoretic Approach for Green Innovation, 

    2010
    -
    2011

  • Optimal Distributed Sensor Network, 

    2009
    -
    Present

  • Consensus Problem for Multi-agent Systems and Cooperative Control, 

    2006.01
    -
    Present

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Proposed Theme of Joint Research 【 Display / hide

  • Control of Smart Grid

    Interested in joint research with industry (including private organizations, etc.),  Desired form: Cooperative Research

  • Cooperative Control of Multi Agent Systems

    Interested in joint research with industry (including private organizations, etc.),  Desired form: Cooperative Research

  • Cooperative Estimation, Prediction and Control via Sensor Networks

    Interested in joint research with other research organizations (including universities, etc.),  Desired form: Cooperative Research

  • Optimal Control and Scheduling of Batteries

    Interested in joint research with industry (including private organizations, etc.),  Desired form: Cooperative Research

  • Power Generation Prediction of Distributed Power Network

    Interested in joint research with industry (including private organizations, etc.),  Desired form: Cooperative Research

 

Books 【 Display / hide

  • 3rd IFAC Workshop on Cyber-Physical & Human Systems (CPHS 2020) : Beijing, China 3-5 December 2020

    IFAC Workshop on Cyber-Physical & Human-Systems, 滑川 徹, International Federation of Automatic Control, Elsevier, 2021

  • 3rd IFAC Workshop on Cyber-Physical & Human Systems (CPHS 2020) : Beijing, China 3-5 December 2020

    IFAC Workshop on Cyber-Physical & Human-Systems, 滑川 徹, International Federation of Automatic Control, Elsevier, 2021

  • Distributed Dynamic Pricing in Electricity Market with Information Privacy

    T Namerikawa, Y Okawa, Economically Enabled Energy Management: Interplay Between Control Engineering and Economics, 2020.01

     View Summary

    © Springer Nature Singapore Pte Ltd. 2020. In the future power network, power consumers as well as power generators participate in electricity market trading as selfish market players. Dynamic pricing is one of the useful tools to manage such networks in a distributed manner by changing electricity prices appropriately. In this chapter, we show distributed price decision procedures regarding the dynamic pricing to maximize social welfare in a power grid with information privacy of market players. Specifically, we first deal with an electricity market that covers multiple regional areas in a power grid and propose a market trading algorithm to derive the optimal regional electricity prices based on alternating decision making of market players. Subsequently, we deal with an electricity market in one regional area where an aggregator participates in the market trading as a mediator between the market operator and consumers. For this market, we propose a trading algorithm to adjust power demand of consumers depending on their lifestyles in a day-ahead electricity market. This chapter also shows the convergence properties of the proposed market trading algorithms and illustrates that these methods enable us not only to derive the optimal electricity prices but also to improve their convergence speed through numerical simulation.

  • Robot Control Handbook

    NAMERIKAWA Toru, Kindai kagaku sha Co.,Ltd, 2017.12

    Scope: Chapter 21

     View Summary

    日本では従来からロボットの研究開発が盛んであったが、その進歩は、ともすれば部品や材料・機械設計・コンピュータソフトによるものと捉えられ、ロボットに必須の「制御技術」が見逃されがちである。
    そこで、ロボットを思いどおりに動かすために必要な制御技術を知り、ロボットを使えるようにするために、ロボットの制御に特化した領域を「ロボット制御学」と名づけ、本書のの出版を企画した。
    本書は、なぜロボットに制御が必要なのか? から始まり、モデリング→設計→実装まで一連の流れを理解し、実践できるようになることを目的とする。

  • 飛躍するドローン

    NAMERIKAWA Toru, 株式会社 ニッケイ印刷, 2016.01

     View Summary

    改正航空法が成立し、いよいよ動き出す"空の産業革命" -その主役たるドローンへの期待はこれまで以上の高まりを見せている。
    回転翼タイプのドローンを中心に、その制御・駆動系・通信の各技術の解説から応用技術の紹介、さらに先行する国外事例とドローンのリスクにまで至る内容を網羅している.

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Papers 【 Display / hide

  • Construction of One-Way Car Sharing System Considering Coalition Rationality based on Mechanism Design

    S Sasaki, E Yamamoto, T Namerikawa

    IEEE Transactions on Control of Network Systems (IEEE Transactions on Control of Network Systems)   2022

     View Summary

    This paper proposes a control algorithm for one-way car sharing. The problem with one-way car sharing is that the origin and the destination parking lots, tend to be biased because user traffic demands, and the cost of relocating the vehicle to increase the operating rate is high. To solve this problem, we propose providing incentives to users in the form of discounts and also changing the parking lots and departure times to prevent bias in the number of vehicles in the parking lots. In this study, based on the Vickrey-Clarke-Groves (VCG) mechanism design, an incentive design was created to satisfy desirable properties, such as strategy-proofness, individual rationality, and coalition rationality. In the proposed one-way car sharing system, the system manager decides the proposal based on the information reported by the users. Therefore, satisfying these properties not only guarantees not only that the users will benefit from agreeing to the proposal, but also that even in case of a false declaration or shill bidding, the discount will not be unreasonably profitable. Finally, the increase in demand acceptance by applying the proposed method was confirmed by numerical simulation.

  • Distributed secure state estimation with a priori sparsity information

    T Shinohara, T Namerikawa

    IET Control Theory & Applications (IET Control Theory and Applications)  16 ( 11 ) 1086 - 1097 2022

    ISSN  17518644

     View Summary

    This paper addresses the problem of distributed secure state estimation of a discrete-time linear dynamical system in an adversarial environment. Much of the recent work on this problem has imposed redundancy requirements on measurement and communication networks for state estimation in the presence of attacks. In this paper, the authors aim to relax this redundancy requirement by using prior information about the state to be estimated. A scenario where sparsity information of the state is given is especially considered, and it is shown that the a priori sparsity information alleviates the redundancy requirement. An algorithm for distributed secure state estimation is then derived and a sufficient condition on the convergence of the algorithm is given. Numerical simulations finally illustrate the effectiveness of the algorithm.

  • Carriers Collaboration Routing Optimization of Mixed Cargo and Passenger Vehicles Based on Stable Matching

    YAMAMOTO Eri, NAMERIKAWA Toru

    Transactions of the Society of Instrument and Control Engineers (The Society of Instrument and Control Engineers)  58 ( 2 ) 81 - 91 2022

    ISSN  0453-4654

  • 安定マッチングに基づく貨客混載車両のキャリア間提携経路最適化

    山本英里, 滑川徹

    計測自動制御学会論文集 58 (2), 81-91  2022

  • Parking Lot Allocation Using Rematching and Dynamic Parking Fee Design

    T Nakazato, Y Fujimaki, T Namerikawa

    IEEE Transactions on Control of Network Systems (IEEE Transactions on Control of Network Systems)   2022

     View Summary

    In this study, we propose a novel smart-parking system that allocates parking lots based on the matching theory, considering both the drivers and parking managers preferences. Some drivers may be unable to be allocated to parking lots because of the high traffic volume in urban areas that makes many parking lots full. Therefore, we propose a prior reservation system that can reallocate parking lots considering the waiting time until vacant parking spaces appear. The drivers preference is redetermined considering the waiting time obtained by both the parked drivers and reallocated drivers information. We also present a parking lot allocation algorithm, including rematching, and discuss stability and strategy-proofness, which are important properties of matching. Furthermore, we propose a dynamic parking fee design, considering different parking statuses. By combining the price increase with the price decrease based on parking status, the proposed dynamic parking fee aims not only to level out parking utilization, but also to secure the parking managers profit. Finally, numerical simulations confirm the effectiveness of the proposed method.

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Papers, etc., Registered in KOARA 【 Display / hide

Reviews, Commentaries, etc. 【 Display / hide

  • Foreword

    Namerikawa T.

    IFAC-PapersOnLine (IFAC-PapersOnLine)  53 ( 5 )  2020

  • Welcome Address

    Mizuno T, Namerikawa T, Hirata M

    2019 12th Asian Control Conference, ASCC 2019 (2019 12th Asian Control Conference, ASCC 2019)   2019.06

    Other, Joint Work,  ISSN  9784888983006

  • Control Theoretic Approach to Super Smart City

    Toru Namerikawa

    Journal of the Society of Instrument and Control Engineers 57 ( 7 ) 497 - 500 2018.07

    Article, review, commentary, editorial, etc. (scientific journal), Single Work,  ISSN  1883-8170

  • 電力市場における最適価格設定法と需給制御

    NAMERIKAWA Toru

    計測と制御 (計測自動制御学会)  53 ( 1 ) 12 - 17 2014.01

    Article, review, commentary, editorial, etc. (scientific journal), Single Work

     View Summary

    This paper deals with an optimal real-time pricing based on control theory for electrical markets of distributed demand/supply electrical power networks.First,we setup a profit maximization problem of demand and supply with an equality constraint for demand and supply.Then we transform the problem into an equivalent dual one which minimizes electricity price.We solve the problem via a simple optimization technique and show an asymptotical convergence property.Finally some numrrical simulations show the effectiveness of the proposed problem formulation and the optimal real-time pricing methodology.

  • 制御理論アプローチによる電力需要予測と再生可能エネルギー発電予測

    Toru NAMERIKAWA

    シミュレーション (日本シミュレーション学会)  32 ( 3 ) 168 - 175 2013.09

    Article, review, commentary, editorial, etc. (scientific journal), Single Work

     View Summary

    本稿では近未来の再生可能エネルギーを含む分散型電源の大量導入を見据え,安定な電力ネットワーク構築のために鍵となる電力需要の予測と再生可能エネルギー発電の予測技術についてシステム制御理論的な視点から解説する.

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Presentations 【 Display / hide

  • RISE-based robust formation control for multi-UAV system

    Komagine Yu, Toyota Ryo, Kotani Kento, Namerikawa Toru

    2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), 

    2017.11

    Oral presentation (general)

     View Summary

    <p>This paper deals with a robust formation control methodology for the Multi-UAV system with uncertain exogenous disturbance. The fourth-order UAV model with disturbance and the disturbance estimate system is introduced. In order to achieve the rigid formation fight, graph theory and consensus algorithm are utilized and the state of the UAVs converges to desired value by using Leader-Follower structure. The proposed control law includes the Robust Integral of the Sign of error (RISE) for estimation of the disturbance and also involves collision avoidance property based on potential method. The stability and convergent properties are proven based on Lyapunov theory. Finally, several simulation results show the effectiveness of the proposed method compared with a conventional sliding mode control.</p>

  • Formation control of multi-agent system considering obstacle avoidance

    Toyota Ryo, Namerikawa Toru

    2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), 

    2017.11

    Oral presentation (general)

     View Summary

    <p>This paper deals with distributed and cooperative control algorithm to make each agents to form a formation for a second-order system. However, when forming a formation with a multi-agent system, there is a possibility that the agents collide with each other or collide with obstacles other than the agent. Also, if the agents avoid other agents and obstacles, the distance between agents may be temporarily too far apart. In order to solve these problems, this paper proposes a control algorithm which consists of Leader-Follower structure, consensus algorithm and artificial force based on artificial potential field. For the control algorithm to make agents achieve formation in a decentralized cooperative way, we derive the condition concerning the control gain to ensure stability. In addition, by comparing the amount of energy, we design conditions that ensure collision avoidance between agents, collision avoidance with obstacles, and distance between agents, and also design potential functions that satisfy the conditions. The validity of the control algorithm proposed in this paper is verified by numerical simulations.</p>

  • Collision Avoidance between Multi-UAV-Systems considering Formation Control using MPC

    Ille Marc, Namerikawa Toru

    2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 

    2017.08

    Oral presentation (general)

     View Summary

    <p>This paper deals with the scenario of two multi- UAV systems (so-called teams), each flying from a starting point to a target point. The teams meet on their ways and have to avoid collisions in the horizontal plane. Both teams work independent of each other but use the same formationcontrol and obstacle-collision-avoidance algorithm. The leaders measure obstacles' positions, use a Kalman Filter to estimate their movement and predict their future positions. With the information about the other agents' positions each agent calculates its reference trajectory. The leader also computes a trajectory to guide the team towards the target point. Distributed MPC is used for each agent to track its reference trajectory. If there is a risk of colliding with an obstacle, the MPC cost function is extended by a penalty term to ensure obstacle collision avoidance. The stability of formation control is proved in this paper. The capability of two teams avoiding collisions is shown in a simulation.</p>

  • RISE-based cooperative control of uncertain multi-agent system

    Tachibana Yoshihiro, Namerikawa Toru

    2017 American Control Conference (ACC), 

    2017.06

     View Summary

    <p>This paper proposes a RISE-based cooperative control of uncertain multi-agent system with exogenous disturbances. First, we introduce the second order model with disturbance for agent. The network topology among agents is undirected and connected, and information of reference is allowed to be available to at least one agent. Second, we propose the control law consists of graph theory, consensus algorithm and RISE. Graph theory and consensus algorithm are utilized to converge the states of agents to reference value, and RISE is utilized to suppress the disturbance. Then, we show the proposed control law guarantees the agents achieve synchronization, and derive the condition to achieve the control objective. Finally, simulation results show the effectiveness of the proposed control law.</p>

  • Detection of replay attack on smart grid with code signal and bargaining game

    Irita Takashi, Namerikawa Toru

    2017 American Control Conference (ACC), 

    2017.06

    Oral presentation (general)

     View Summary

    <p>Ensuring cyber security of smart grid based on supervisory control and data acquisition using information and communications technology has been becoming a major challenge. Especially, a replay attack is a dangerous cyber attack affecting integrity and authorization. The goal of this paper is to detect replay attack that is one of cyber attacks on the sensors of a control system. We propose a detecting method adding intentional noise to not only sensors as code signal but also input. Replay attack can immediately be reflected by using fault diagnosis matrices that are composed of the estimator and observed values even if code signal is decrypted. Finally, we show simulation results to analyze effectiveness of the proposed method.</p>

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Research Projects of Competitive Funds, etc. 【 Display / hide

  • 制御学と経済学で共創する次世代メカニズムデザインとスマートシティへの展開

    2022.04
    -
    2025.03

    Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (B), No Setting

  • Plug & Play Control and Optimization of Large-scale Urban Infrastructure System

    2017.04
    -
    2020.03

    MEXT,JSPS, Grant-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (B), Principal investigator

  • Understanding and realization of swarm intelligence based on ethology and theory life sciences

    2017.04
    -
    2020.03

    Kyoto University, Matsuno Fumitoshi, Grant-in-Aid for Scientific Research (A), No Setting

     View Summary

    The objective of this study is understanding of adaptive function to environmental change of social insects and construction of adaptive strategies that can control swarm robots based on the understanding. We obtained following results. (1) We analyze behaviors of ants by biological experiments and behaviors of multi-agent systems based on Boids model. We design a control law of swarm robots and carry out experimental validation of formation control of multi-UAVs. (2) The division of labor based on social communication of ants between two nests with large distance can be found in experimental observation. (3) Estimation function of global information based on local behaviors is analyzed. Based on the derived decentralized control strategies experimental demonstration using modular legged robots is carried out. (4) An agent dynamic model is constructed based on Bayesian and Inverse-Bayesian estimation methods.

  • Distributed and Optimal Control for Dynamical Systems with Hierarchical Structures and Multi Time-Scale Properties and Its Application to Distributed Energy Management Systems

    2014.04
    -
    2017.03

    MEXT,JSPS, Grant-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (C), Principal investigator

     View Summary

    The distributed and optimal control for large-scale dynamical systems with hierarchical structures and multi time-scale properties was investigated and some application technologies of the proposed control algorithms for distributed energy management systems were studied.
    First, a novel direct load control method to stabilize the system frequency was proposed. The proposed method utilized the consumers' controllable loads for load frequency control. Second, a load frequency control of a microgrid system was investigated based on static H-infinity control algorithm considering time-scale properties of generators. Then, hierarchical and cooperative model predictive control methodology for load frequency of large-scale electrical power network was studied. An efficient frequency control method was proposed considering economic dispatch and load frequency regulation. Finally, numerical simulation results and experimental results showed the effectiveness of the proposed approaches.

Awards 【 Display / hide

  • 2017 SICE Outstanding Paper Award

    2017.09, The Society of Instrument and Control Engineers, via a paper "Multi-Period Regional Energy Management Based on Dynamic Pricing with Non-Deficit Real-Time Market Trading"

  • Pioneer Technology Award of Control Division

    2014.03, In appreciation for the most outstanding research for "Distributed and cooperative control of energy management systems"

  • Technical Award of 10th Annual Conference on Control Systems

    NAMERIKAWA Toru, 2011.03, 計測自動制御学会制御部門, H-infinity Filter-based Electric Load Forecasting considering Characteristic of Load Curve

     View Description

    The paper " H-infinity Filter-based Electric Load Forecasting considering Characteristic of Load Curve" which was presented in the 10th annual conference on Control Systems was selected as the most outstanding technical paper.

  • Award of 9th Annual Conference on Control Systems

    NAMERIKAWA Toru, 2010.03, 計測自動制御学会制御部門, Network-Topology Independent Cooperative Target-enclosing Behavior by Swarms of Vehicles

     View Description

    The paper "Network-Topology Independent Cooperative Target-enclosing Behavior by Swarms of Vehicles" which was presented in the 9th annual conference on Control Systems was selected as the most outstanding one.

  • 金沢大学-コマツ産学連携実用化賞

    NAMERIKAWA Toru, 2009.07, 株式会社 小松製作所, 現代制御理論に基づいた制御器開発

    Type of Award: Award from publisher, newspaper, foundation, etc.

     View Description

    現代制御理論に基づいた制御器開発・シミュレーションを構築、実機採用に至り実際に性能向上、コスト改善で成果を出すことができた.

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Courses Taught 【 Display / hide

  • SOCIETY, ECONOMY, CULTURE, AND ENGINEERING

    2022

  • SEMINAR IN SYSTEM DESIGN ENGINEERING

    2022

  • LINEAR CONTROL THEORY

    2022

  • LABORATORIES IN SYSTEM DESIGN ENGINEERING 2)

    2022

  • INTRODUCTION TO SYSTEM DESIGN ENGINEERING

    2022

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Courses Previously Taught 【 Display / hide

  • システムデザイン工学概論

    Keio University

    2017.04
    -
    2018.03

    Spring Semester, Lecture, Within own faculty, 1h

  • 社会・経済・文化と工学

    Keio University

    2017.04
    -
    2018.03

    Autumn Semester, Lecture, Within own faculty

  • Dynamical System

    Keio University

    2017.04
    -
    2018.03

    Autumn Semester, Lecture

  • Linear Control Theory

    Keio University

    2017.04
    -
    2018.03

    Spring Semester, Within own faculty

  • 電磁気工学

    Keio University

    2017.04
    -
    2018.03

    Spring Semester, Lecture

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Memberships in Academic Societies 【 Display / hide

  • 計測自動制御学会, 

    1991.04
    -
    Present
  • IEEE, 

    1995.01
    -
    Present
  • 電気学会, 

    1991.11
    -
    Present
  • 日本機械学会, 

    2011.04
    -
    Present
  • IFAC Technical Committees on Power and Energy Systems, 

    2011.09
    -
    Present

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Committee Experiences 【 Display / hide

  • 2015.09
    -
    2017.08

    主査(委員長), SICE 制御部門 都市インフラシステム構築と制御調査研究会

  • 2010.01
    -
    2011.12

    主査(委員長), SICE 制御部門 エネルギー・環境システム制御技術調査研究会

  • 2010.01
    -
    2010.12

    制御部門 幹事, 計測自動制御学会

  • 2009.01
    -
    2010.12

    制御理論部会 委員, 計測自動制御学会

  • 2009.01
    -
    Present

    評議員, 計測自動制御学会

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