Details of a Researcher - Namerikawa, Toru

Presentations -

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Fault-tolerant Sensor Network based on Fault Evaluation Matrix and Compensation for Intermittent Observation

K.Kosugi, S.Tokumoto and T.NAMERIKAWA

2012 51th IEEE Conference on Decision and Control (Maui, Hawaii, USA) ,

2012.12

Oral presentation (general), IEEE Control Systems Society

This paper deals with a fault-tolerant sensor network configuration problem for a target navigation.
A sensor network system consists of many sensor nodes
and its network connections. Each sensor node can exchange information by wireless communication. A disadvantage of this system’s property is that if there is an inaccurate information from a faulty sensor, this information has possibilities to be diffused to other sensors. Therefore, it is important to reduce effects of the inaccurate information by detecting a faulty sensor as possible as we can. And moreover, in feedback control system for navigation, we have to consider a lack of control inputs which happens depending on each sensor’s
intermittent observation. We propose two estimation methods for constructing a fault tolerant system. Specifically, we propose a fault-evaluation matrix for the fault detection, and we define a novel switching rule for shutting off inaccurate measurement data. Then we also propose a compensation algorithm for the problem of intermittent observation by using an estimated observation value.

再生可能エネルギーを含む分散型エネルギー管理システムの需給制御

NAMERIKAWA Toru

ＴＩＣセミナー,

2012.10

Oral presentation (invited, special), 技術情報センター

エネルギーの効率利用に向け、デマンドレスポンスに関する研究開発が進展しています。本セミナーでは、デマンドレスポンスとエネルギーマネジメント技術に焦点をあて、「デマンドレスポンスを活用した次世代の電力システム」、「マイクログリッド制御とデマンドレスポンスを一体化したエネルギーマネジメント技術」、「電力ピークを回避するデマンドレスポンスとスマートメーターシステム」、「再生可能エネルギーを含む分散型エネルギー管理システムの需給制御」について、斯界の第一線でご活躍中の講師陣に詳説頂きます。

Robot Localization and Mapping Problem with Bounded Noise Uncertainties

Hamzah Ahmad and Toru NAMERIKAWA

Proc. of 2012 IEEE Symposium on Industrial Electronics and Applications (Bandung, Indonesia) ,

2012.09

Oral presentation (general), IEEE Industrial Electronics Society

This paper deals with H∞ Filter based SLAM which is also known as minimax filter to estimate robot and landmarks location whose able to stand for non-gaussian noise characteristics. Based on our findings, by selecting appropriate γ and initial state covariance matrix in H∞ Filter, the estimation results can show better performance in comparison to the Kalman Filter approach. From the analysis of convergence properties of H∞ Filter, it is found that the filter is capable to provide a reliable estimation. Besides, from the simulation results, H∞ Filter produces better outcome than the Kalman Filter in the nonlinear case estimation. These condition subsequently provides alternative estimation techniques with the capability to ensure and improve estimation in the robotic mapping problem especially in SLAM.
Category

次世代エネルギーシステム設計に向けて

NAMERIKAWA Toru

SICE Annual Conference 2012 併設特別企画,

2012.08

Oral presentation (invited, special), The Society of Instrument and Control Engineers

スマートグリッドのための分散予測制御

NAMERIKAWA Toru

SICE九州フォーラム 2012,

2012.08

Oral presentation (invited, special), 計測自動制御学会九州支部

本講演では，再生可能エネルギーを含む分散型エネルギーネットワークの分散制御問題に関して，分散型制御方策と予測型制御方策を紹介する．具体的には多くのサブシステムを持つ階層型の大規模システムに対する分散制御問題に対して，情報結合構造を共分散拘束として表現するアプローチや，反復勾配法などの最適化手法，モデル予測制御について議論する．更には電力需要のピーク電力を抑えるための方策として，動的かつ柔軟に電力価格を変更するリアルタイムプライシングに対するアプローチの動向についても解説する．

Short-term Photovoltaic Prediction by using H∞ Filtering and Clustering

Yasuhiko Hosoda NAMERIKAWA Toru

SICE Annual Conference 2012 Akita University (Akita University,Akita,Japan) ,

2012.08

Oral presentation (general), The Society of Instrument and Control Engineers

This paper deals with prediction algorithm applying for photovoltaic (PV) systems in smart grid. This prediction is aim to predict the amount of the next day of generation using the previous data and the weather forecast
which get from Japan Meteorological Agency. The procedure of prediction consists of two steps, the data processing
and the unknown parameters estimation. In the data processing, our proposed method considers the characteristics of PV generation using cluster ensemble. We propose the cluster ensemble based on k-means to choose the groups with a correlation with previous data. In the unknown parameters estimation, we provide the regression model for PV generation and the unknown parameters are estimated via H∞ filtering. The effectiveness of the proposed prediction method is demonstrated through numerical simulations.

Load Leveling Control by Real-Time Dynamical Pricing Based on Steepest Descent Method

Yuki Miyano NAMERIKAWA Toru

SICE Annual Conference 2012 Akita University (Akita University,Akita,Japan) ,

2012.08

Oral presentation (general), The Society of Instrument and Control Engineers

This paper describes load leveling control by Real-Time Dynamical pricing based on optimization method. First, we propose a profit maximization problem of supply and demand, satisfying the supply constraint and the balancebetween supply and demand. Then we rewrite them to dual problem which minimizes electricity price. We madealgorithm to solve the dual problem by Steepest Descent Method and proof its convergence. Finally some numerical simulations show the effectiveness of the proposed load leveling control.

Decentralized Control of Smart Grid by using Overlapping Information

Tomoharu Suehiro NAMERIKAWA Toru

SICE Annual Conference 2012 Akita University (Akita University,Akita,Japan) ,

2012.08

Oral presentation (general), The Society of Instrument and Control Engineers

Abstract: This paper deals with a decentralized control of smart grid by using overlapping information for load frequency of power networks introducing distributed power generations. The control objective is to minimize the cost function of load frequency control problem. We expand the state space of the system of power networks and propose a decentralized state feedback control of subsystems for the expanded system. Then we contract the decentralized feedback law to match the original system. Finally, we show the effectiveness of the load frequency control by using the proposed decentralized control method through the simulation result of decentralized large scale power network systems.

Distributed Load Frequency Control of Electrical Power Networks via Iterative Gradient Methods

Toru Namerikawa and Taichiro Kato

2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC) (Orlando, FL, USA) ,

2011.12

Oral presentation (general), IEEE Control Systems Society

This paper discusses a distributed control for load
frequency of electrical power networks based on iterative gradient
methods. The control objective is to minimize the quadratic
cost function of load frequency control problem, and we apply
the distributed control methodology by using iterative gradient
methods to complicated large scale electrical power networks.
Iterative gradient methods have good flexibility and they are
effective for complicated and time-varying distributed power
networks. Several numerical simulation results of distributed
power network systems including distributed generations, batteries,
and renewable energies in order to show the effectiveness
of the load frequency control compared with conventional
decentralized control and centralized control.

Cooperative Control Based on Force-Reflection with Four-channel Teleoperation System

Nam Duc Do and Toru Namerikawa

2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC) (Orlando, FL, USA) ,

2011.12

Oral presentation (general), IEEE Control Systems Society

This paper focuses on a new Force-Reflection (FR)
algorithm based on input-to-state stability (ISS) small gain
theorem in cooperative work of Single Master-Multiple Slave
(SMMS) teleoperation system with time varying communication
delay. In this work, we propose a new position tracking control
for object grasping and a new FR algorithm based on a PD
control to transfer the positions, velocities and force information
between both sides of teleoperation. The goals of these methods
are to achieve the secure grasping by multiple slave robots and
improve the tracking performance of the cooperation SMMS
teleoperation system. To analyze stability of the system, the ISS
small gain approach is used to show the overall force-reflecting
teleoperation to be input-to-state stable. Several experimental
results show the effectiveness of our proposed method.

再生可能エネルギーを含む分散型エネルギーシステムの分散制御（招待講演）

NAMERIKAWA Toru

制御技術フォーラム,

2011.11

Oral presentation (invited, special), 計測自動制御学会制御部門制御技術部会

Distributed and Cooperative Control of Distributed Energy Systems with Renewable Energy Generators（Invited Talk）

Toru NAMERIKAWA

Korea Railroad Research Institute (Korea Railroad Research Institute) ,

2011.10

Oral presentation (invited, special), Korea Railroad Research Institute

Distributed and Cooperative Control of Distributed Energy Systems with Renewable Energy Generators（Invited Talk）

Toru NAMERIKAWA

Seoul National University (Seoul National University) ,

2011.10

Oral presentation (invited, special), Seoul National University

Predictive Control and Estimation for Systems with Information Structured Constraints

Toru Namerikawa, Takeshi Hatanaka and Masayuki Fujita

2011 11th ICCAS (KINTEX, Gyeonggi-do, Korea) ,

2011.09

Oral presentation (general), The Society of Instrument and Control Engineers

This paper deals with a predictive control and estimation problem with
information structured constraints in a constrained finite-time optimal control framework.
A large-scale system with information structures is defined as a system
in which each subsystem collects spatio-temporally different information, and in
general it is necessary to collect and process information in a distributed fashion.
We propose a novel predictive
control scheme and an estimation law with local information
that each distributed subsystem obtains.
The effectiveness of the proposed control and estimation law is evaluated through numerical simulations
of a simplified micro grid.

Distributed Control for Load Frequency of Power Networks based on Iterative Gradient Methods

Taichiro Kato and Toru Namerikawa

SICE Annual Conference 2011 (Waseda University) ,

2011.09

Oral presentation (general), The Society of Instrument and Control Engineers

This paper deals with a distributed control for load frequency of power networks based on iterative gradient methods.
The control objective is to minimize the quadratic cost function ofload frequency control problem, and we apply this distributed control methodology to complicated large scale electrical power networks by using iterative gradient methods. Finally,simulation results of distributed large scale power network systems including distributed generations, batteries, and renewable energies in order to show the effectiveness of the load frequency control compared with decentralized control and centralized control.

Dynamic Target Navigation based on Multisensor Kalman Filtering and Neighbor Discovery Algorithm

Kazuya Kosugi and Toru Namerikawa

SICE Annual Conference 2011 (Waseda University) ,

2011.09

Oral presentation (general), The Society of Instrument and Control Engineers

This paper deals with an estimate algorithm which considers optimal control input for dynamic target navigation by using wireless sensor networks and distributed Kalman filter. We propose a novel sensor scheduling algorithm based on a neighbor discovery algorithm for discrete-time linear time-invariant systems. Then we propose an estimate algorithm by sharing predicted estimate values and analyze characteristic of this algorithm. Finally, experimental results show effectiveness of the proposed method in sensor networked feedback systems.

Experiments on Transportation Support System using Multi-Vehicle's Formation

Yasunori Kawai, Kentarou Nagashima and Toru Namerikawa

SICE Annual Conference 2011 (Waseda University) ,

2011.09

Oral presentation (general), The Society of Instrument and Control Engineers

Cooperative Conveyance by Vehicle Swarms with Dynamic Network Topology

Koji Ishimura and Toru Namerikawa

SICE Annual Conference 2011 (Waseda University) ,

2011.09

Oral presentation (general), The Society of Instrument and Control Engineers

This paper deals with cooperative conveyance control by vehicle swarms with dynamic network topology. First, we introduce a dynamic network topology that depends on relative distance between the vehicles. Secondly, we propose a novel conveyance strategy based on consensus seeking with dynamic network topology. The proposed strategy needs at least one vehicle which can acquire the information of the target-object and network topology among vehicles is time-varying but always connected. Furthermore the strategy is composed of Surround and Transport mode. To analyze the convergence of conveyance with dynamic network topology, algebraic graph theory and matrix theory are utilized. Finally, numerical simulation results demonstrate the effectiveness of the proposed method.

Synchronization Condition of Power Networks by Using Non-Uniform Kuramoto Model

Y. Fujita #HT. Namerikawa<U/>

2011 International Symposium on Nonlinear Theory and Applications (kobe,Japan) ,

2011.09

Oral presentation (general), The Institute of Electronics, Information and Communication Engineers

This paper discusses the synchronization
problem and it’s solutions for large scale power network
systems. We analyze dynamical properties of power networks
and derive the synchronization condition of electrical
generators. First, we employ a termed Kron reduction
method to derive swing equation, which describes states
of generators. Second, the derived equation is reduced
into Non-uniform Kuramoto model, and then, a synchronization
condition is derived by using the reduced model.
Finally, we have succeed in relaxing the synchronization
condition by controlling power units. Effectiveness of the
proposed condition is shown via numerical control simulations.

環境エネルギーに貢献するシステム制御 (解説)

NAMERIKAWA Toru

CYBERNET NEWS,

2011.09

Other, サイバネットシステム

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