Namerikawa, Toru

写真a

Affiliation

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

Position

Professor

E-mail Address

E-mail address

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

  • Control engineering/System engineering (Control Theory)

  • Control engineering/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

  • 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.

  • Advances in Wireless Sensors and Sensor Networks

    Takashi Takeda and Toru Namerikawa, Springer, 2010.08

    Scope: 151-176

     View Summary

    T.Takeda and T.Namerikawa
    本書は無線センサとセンサネットワークに関する世界の最新技術を収めた書籍であり,全15章から構成されている.ここでは第7章”Optimal Sensor Network Configuration Based on Control Theory”を分担した.制御理論の観点からエネルギー消費を最小化する最適センサネットワークの構成理論について詳しく記載している.

    10911940387720110430152644PDF1.pdf

  • Optimal sensor network configuration based on control theory

    Takeda Takashi, Namerikawa Toru, Springer, 2010

     View Summary

    <p>Recently wireless sensor networks with the function distribution of memory units, communications, calculations etc. have attracted much attention, and there has been increasing research. It is well known that sensor networks are superior to observation by a system with single sensor in a fault tolerance, load reduction of operator, collection and application of information etc. and its application to not only a sensing system but also the guidance control system via a sensor network has received attention. Meanwhile, it is important to utilize the energy efficiently to achieve the energy-saving and prolong sensor nodes life. For this requirement, the sensor scheduling, the optimization of the communication rate and communications traffic and decreasing communication distances by the multi-hop communication are discussed. Consequently, in this book chapter, we discuss a sensor scheduling problem selecting available sensor nodes considering the estimation error variance and communication energy in a feedback control system via a sensor network. </p>

  • はじめて学ぶ機械の安全設計

    滑川 徹,他 20名, 日刊工業新聞社, 2005.04

     View Summary

    本書は安全に配慮した機械システムの設計をわかりやすく解説している.具体的な設計例をもとに,その考え方や個々のテクニックについて丁寧に解説している.また,これまでの国際規格に則った安全の考え方についても従来の機械設計の基本的な知識の取得をしながら学べるように配慮してある.アクチュエータ,モータの章を担当.

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Papers 【 Display / hide

  • A hypothesis of state covariance decorrelation effects to partial observability SLAM

    H Ahmad, NA Othman, MM Saari, MS Ramli, MBM Mazlan, T Namerikawa

    Indonesian Journal of Electrical Engineering and Computer Science 14 (2 … (Indonesian Journal of Electrical Engineering and Computer Science)  14 ( 2 ) 588 - 596 2019.05

    Joint Work, Except for reviews,  ISSN  25024752

     View Summary

    © 2019 Institute of Advanced Engineering and Science. All rights reserved. This paper analyze the performance of partial observability in simultaneous localization and mapping(SLAM) problem. The study focuses mainly on the effect of having a decorrelation technique known as Covariance Inflation to the estimation. The matrix inversion will be the main element to be investigated through two conditions with respect to some defined environment namely as unstable partially observable SLAM and partially observable SLAM via matrix norm analysis. For assessment purposes, the Extended Kalman Filter estimation is referred as the estimator to understand how the conditions can influence the results. The simulation results depicted that, the matrix norm is able to determine the efficiency of estimation and is proportional to the uncertainties of the system.

  • Disturbance Compensation by RISE for Cooperative Transport System with Multiple Quad-rotor

    Kotani Kento, Namerikawa Toru

    IEEJ Transactions on Electronics, Information and Systems (The Institute of Electrical Engineers of Japan)  139 ( 4 ) 341 - 349 2019

    Joint Work, Except for reviews,  ISSN  03854221

     View Summary

    <p>In this paper, we propose a novel control method which combine collision avoidance method and RISE(Robust Integral of the Sign of Error) for multiple Quad-rotor formation control methods for cooperative control, and confirm effectiveness of this method by experiment using actual Quad-rotor. First, this work describes a method to suppress nonlinear disturbance using RISE which is a type of sliding mode control. In addition, collision avoidance method and the conditions to achieve accurate formation are explained. Finally, the effectiveness of proposed method is confirmed functioning correctly, by implemented an algorithm in the actual Quad-rotor.</p>

  • Resilient Reinforcement in Secure State Estimation against Sensor Attacks with a priori Information

    T Shinohara, T Namerikawa, Z Qu

    IEEE Transactions on Automatic Control  2019

    Joint Work, Except for reviews

  • RISE を用いた外乱の抑制および衝突回避に対応するマルチ Quad-rotor システムのフォーメーション制御

    小谷健人, 滑川徹

    計測自動制御学会論文集 55 (1), 68-77  2019

  • Formation Control Multi Quad-rotor System Corresponding to Suppression of Disturbance and Collision Avoidance Using RISE

    KOTANI Kento, NAMERIKAWA Toru

    Transactions of the Society of Instrument and Control Engineers (The Society of Instrument and Control Engineers)  55 ( 1 ) 68 - 77 2019

    ISSN  0453-4654

     View Summary

    <p>In this paper, we propose a control method which combine collision avoidance method and RISE (Robust Integral of the Sign of Error) for multiple Quad-rotor formation control methods, and confirm effectiveness of this method that is resistant to disturbance by lowering the risk of collision. First, we modeled quad-rotor as a linear system. Next, we described a method to suppress nonlinear disturbance using RISE which is a type of sliding mode control. In addition, we introduced collision avoidance method, and derived the conditions to achieve accurate formation by using Lyapunov stability theory. Finally, we implemented an algorithm in the simulation, and confirmed that the proposed method is functioning correctly.</p>

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

Reviews, Commentaries, etc. 【 Display / hide

  • Control Theoretic Approach to Super Smart City

    Toru Namerikawa

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

    Introduction and explanation (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

    Introduction and explanation (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

    Introduction and explanation (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.

  • 知的環境とセンサネットワーク~アンビエントセンサネットワーク~

    大槻 知明,渡辺 尚,中澤 仁,川島 英之,滑川 徹,山本 高至

    電子情報通信学会誌 (電子情報通信学会)  96 ( 7 ) 495 - 500 2013.07

    Introduction and explanation (scientific journal), Joint Work

     View Summary

    アンビエントセンサネットワークは,アンビエント情報を収集するセンサネットワークと,アンビエント情報を処理して人の活動を拡張・強化あるいは補完・補助する知的環境から成り,従来にない利便性の提供や抜本的なコスト削減が期待できるため,スマートグリッドによる電力の有効利用,効率的な交通システム,市民に優しい街環境の実現などが注目されている.そこで本稿ではまず,アンビエントセンサネットワークの概念と応用事例を述べるとともに,要素技術としてのセンシング技術,プロセッシング技術,アクチュエーション技術,ネットワーク技術について最近の研究動向と技術課題を概説する.最後にアンビエントセンサネットワークの今後の展望を述べ本稿をまとめる.

  • Dynamics and Cooperative Consensus Control for Multi-Agent Systems

    T. Namerikawa

    Journal of The Society of Instrument and Control Engineers (The Society of Instrument and Control Engineers)  52 ( 3 ) 264 - 270 2013.03

    Introduction and explanation (scientific journal), Single Work

     View Summary

    制御理論,通信理論,計算科学の進展が,我々の身の回りの動的システムを多機能化,高機能化させ,その結果益々対象システムは大規模複雑化している.大規模複雑系には,ネットワーク構造が内在し,複数の動的エージェントがこのネットワークを介して相互作用し合う.このようなシステムはマルチエージェントシステムと呼ばれ,その応用は,ビークルフォーメーション,協調ロボット制御,センサネットワーク,スマートグリッドなど多岐に渡る.一方で複雑系・力学系やシステム生物学の解析ツールとしても研究が進んでいる.
    近年,システム制御理論の分野においてマルチエージェントシステムに関する研究が活発に行なわれており,本稿では特にマルチエージェントシステムにおけるダイナミクスと合意協調制御を安定性とクラスタリングの観点から解説する.またその応用展開に関して,国内外の研究の趨勢をご紹介する.

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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

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

    2017.04
    -
    2020.03

    MEXT,JSPS, Grant-in-Aid for Scientific Research, 滑川 徹, 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, 松野 文俊, 郡司 幸夫, 池上 高志, 辻 瑞樹, 大倉 和博, 滑川 徹, 土畑 重人, Grant-in-Aid for Scientific Research (A)

  • 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, 滑川 徹, 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: Awards of Publisher, Newspaper Company and Foundation

     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

    2019

  • SEMINAR IN SYSTEM DESIGN ENGINEERING

    2019

  • LINEAR CONTROL THEORY

    2019

  • LABORATORIES IN SYSTEM DESIGN ENGINEERING 2)

    2019

  • INDEPENDENT STUDY ON INTEGRATED DESIGN ENGINEERING

    2019

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Courses Previously Taught 【 Display / hide

  • 社会・経済・文化と工学

    Keio University, 2017, Autumn Semester, Major subject, Lecture, Within own faculty

  • Dynamical System

    Keio University, 2017, Autumn Semester, Major subject, Lecture

  • Linear Control Theory

    Keio University, 2017, Spring Semester, Within own faculty

  • 電磁気工学

    Keio University, 2017, Spring Semester, Major subject, Lecture

  • Systems and Control Theory

    Keio University, 2017, Spring Semester, Major subject, Lecture, Within own faculty

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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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