Presentations -

H∞ Filter-SLAM:A Sufficient Condition for Estimation

HAMZAH Ahmad NAMERIKAWA Toru

Preprints of 18th IFAC World Congress (Milano Italy) , 

2011.09

, 

Oral presentation (general), International Federation of Automatic Control

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A theoretical study about HFilter based SLAM is proposed to propose a sufficient condition
for estimation purposes. Two different cases of initial state covariance are given and analyzed to obtain
a best solution for SLAM problem with consideration of process and measurement noises statistical
behavior. If the proposed conditions are not satisfied during estimation, then the estimation will exhibit
unbounded uncertainties and consequently result in erroneous inference. Simulation results demonstrates
the performance as what this paper suggested on the theoretical analysis. These results consistently
supports and guarantees our previous findings.

再生可能エネルギーと分散協調制御 （招待講演）

NAMERIKAWA Toru

JST研究開発戦略センター (未入力) , 

2011.08

, 

Other

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再生可能エネルギーを本格的に導入するためには，大規模・複雑化していくシステムをどのような形態で接続するかというネットワークトポロジーの視点から，電力システムの安定性・最適性のための協調分散制御などの理論や構造設計論が必要である．
また環境に依存した不安定な属性を持つ再生可能エネルギーから引き出す電力品質（周波数・電圧など）の確保のために，再生可能エネルギー源と蓄電池の組合せに予測制御を施すことにより，安定化する必要がある．
本講演では，これらの課題に対して，最新の分散協調制御理論についてご紹介する．

Covariance Inflation Efficiency in H∞ Filter Based SLAM

H. Ahmad and T. Namerikawa

Proc of International Conference on Electrical, Control and Computer Engineering (Kuantan,Malaysia) , 

2011.06

, 

Oral presentation (general)

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本論文は自律移動ロボットの自己位置推定と地図作成問題(SLAM)に対して，位置センサの確率的振舞が未知の場合に対して，H∞フィルタを用いて推定誤差の解析を行った．ここでは特に共分散膨張法を用いることにより，位置推定精度を向上させ，誤差共分散行列の漸近的収束性を証明した．更には，小型移動ロボット用いた実時間制御実験により，理論解析の有効性を実験的に示すとともに，SLAM問題に対してH∞フィルタと共分散膨張法の有用性も実証した．

EKF based SLAM with FIM Inflation

H. Ahmad and T. Namerikawa

Proc of the 2011 Asian Control Conference (Kaohsiung,Taiwan) , 

2011.05

, 

Oral presentation (general)

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本論文は自律移動ロボットの自己位置推定と地図作成問題(SLAM)に対して，特に通信環境の変動により計測データが断続的に得られる場合において，拡張カルマンフィルタを用いて自己位置推定した場合の位置推定誤差の上下限をフィッシャー情報行列を用いて算出する方法を提案している．具体的には仮に計測データが届かない場合でもFIMを用いることで，誤差共分散の上下限が与えられることを理論的に証明している．最後に数値シミュレーションにっより提案法の有効性を検証している．

Energy Network and Control Theory

NAMERIKAWA Toru

制御フォーラム 第２回公開フォーラム (日本鉄鋼協会) , 

2011.04

, 

Oral presentation (invited, special), 日本鉄鋼協会計測・制御・システム工学部会

Cooperative conveyance by vehicle swarms with dynamic network topology

Ishimura Koji, Namerikawa Toru

SICE Annual Conference 2011, 

2011

, 

Oral presentation (general)

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<p>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. © 2011 SICE.</p>

Covariance inflation efficiency in H_∞ filter based SLAM

Ahmad Hamzah, Namerikawa Toru

International Conference on Electrical, Control and Computer Engineering 2011 (InECCE), 

2011

, 

Oral presentation (general)

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<p>This paper analyzes the performance of H_∞ Filter(HF) based SLAM(Simultaneous Localization and Mapping) by applying the Covariance Inflation method. We show that via Covariance Inflation, the updated state error covariance matrix is restrictively depends on the number of decorrelated landmarks such as if smaller number of landmarks are being decorrelated from other landmarks, then the decorrelated landmarks has smaller covariance than the correlated landmarks. Even more, HF with Covariance Inflation shows better confidence regarding its estimation in comparison with EKF with Covariance Inflation if the initial state covariance and measurement noise are big. The results are evaluated through several simulation analysis and consistently supports our claims. © 2011 IEEE.</p>

Predictive control and estimation for systems with information structured constraints

Namerikawa Toru, Hatanaka Takeshi, Fujita Masayuki

2011 11th International Conference on Control, Automation and Systems, 

2011

, 

Oral presentation (general)

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<p>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. © 2011 ICROS.</p>

H _∞Filter-SLAM

Ahmad Hamzah, Namerikawa Toru

18th IFAC World Congress, 

2011

, 

Oral presentation (general)

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<p>A theoretical study about H _∞Filter based SLAM is proposed to propose a sufficient condition for estimation purposes. Two different cases of initial state covariance are given and analyzed to obtain a best solution for SLAM problem with consideration of process and measurement noises statistical behavior. If the proposed conditions are not satisfied during estimation, then the estimation will exhibit unbounded uncertainties and consequently result in erroneous inference. Simulation results demonstrates the performance as what this paper suggested on the theoretical analysis. These results consistently supports and guarantees our previous findings. © 2011 IFAC.</p>

Cooperative control based on Force-Reflection with four-channel teleoperation system

Duc Do Nam, Namerikawa Toru

2011 50th IEEE Conference on Decision and Control and European Control Conference, 

2011

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<p>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. © 2011 IEEE.</p>

Demand Prediction and Distributed Control of Power Grid

Toru Namerikawa

SICEプラントモデリング部会 第2回オープンフォーラム (東京工業大学) , 

2010.12

, 

Oral presentation (invited, special), SICEプラントモデリング部会

Four-channel Force Reflecting Teleoperation System Based on ISS Small Gain Theorem

Nam Duc Do and Toru Namerikawa

MECATRONICS2010-Yokohama (Keio University) , 

2010.11

, 

Oral presentation (general), JSPE Technical Committee on Industrial Application of Image Processing

H-infinity Filter-based Robotic Localization and Mapping with Intermittent Measurements

Hamzah Ahmad and Toru Namerikawa

MECATRONICS2010-Yokohama (Keio University) , 

2010.11

, 

Oral presentation (general), JSPE Technical Committee on Industrial Application of Image Processing

Multi-Agent Systems and Optimal Sensor Scheduling

Toru Namerikawa

第8回 安全・安心な社会を支える運動と振動の制御研究分科会 (慶應義塾大学) , 

2010.10

, 

Oral presentation (invited, special), 日本機械学会

Demand Prediction and Distributed Control of Power Grid

Toru Namerikawa

JST/CRDS制御システム分科会―SICE 合同ワークショップ (JST研究開発戦略センター) , 

2010.10

, 

Oral presentation (invited, special), JST研究開発戦略センター

Bilateral Teleoperation of Multiple Cooperative Robots with Time-Varying Delay

Nam Duc Do, Yusuke Yamashina and Toru Namerikawa

2010 IEEE Multi-conference on Systems and Control (Yokohama, Japan) , 

2010.09

, 

Oral presentation (general), The Institute of Electrical and Electronics Engineers (IEEE)

10911940397120110430173914PDF1.pdf

Electric Demand Prediction and Predictive Control of Micro Grid

Toru Namerikawa

2010 IEEE Multi-conference on Systems and Control (Yokohama, Japan) , 

2010.09

, 

Oral presentation (invited, special), The Institute of Electrical and Electronics Engineers (IEEE)

10911940394220110430180401PDF1.pdf

Robot Localization and Mapping Problem with Unknown Noise Characteristics

Hamzah Ahmad and Toru Namerikawa

2010 IEEE Multi-conference on Systems and Control (Yokohama, Japan) , 

2010.09

, 

Oral presentation (general), The Institute of Electrical and Electronics Engineers (IEEE)

10911940397120110430173914PDF1.pdf

Bilateral Teleoperation of Wheeled Mobile Robot with Time Delay Using Virtual Image Robot

Yasunori Kawai, Toru Namerikawa and Masayuki Fujita

2010 IEEE Multi-conference on Systems and Control (Yokohama, Japan) , 

2010.09

, 

Oral presentation (general), The Institute of Electrical and Electronics Engineers (IEEE)

10911940396220110430173052PDF1.pdf

Sensor Network Scheduling Algorithm Considering Estimation Error Variance and Communication Energy

Takashi Takeda and Toru Namerikawa

2010 IEEE Multi-conference on Systems and Control (Yokohama, Japan) , 

2010.09

, 

Oral presentation (general), The Institute of Electrical and Electronics Engineers (IEEE)

10911940397120110430173914PDF1.pdf