Details of a Researcher - Namerikawa, Toru

Presentations -

Division display 101 - 120 of about 184 ／ All the affair displays >>

システム制御でエネルギーの未来を拓く:制御理論による風力発電とスマートグリッド（招待講演）

早川朋久，滑川徹

2010 年IEEE システムと制御に関する合同会議 (Yokohama.Japan) ,

2010.09

Oral presentation (invited, special)

2010 IEEE MSC （システムと制御に関する合同会議）において，本会議併設行事として，広く，公開市民講座を開催した．具体的にはH∞フィルタに基づく電力需要予測とマイクログリッドの分散予測制御について述べた．需要予測のためにH∞フィルタを用いて電力需要特性のパラメータ推定を行い，これによって, モデル化誤差に対し，より正確な推定が可能となったことを平易に解説した．さらに実際の運用を想定し平日と休日の需要曲線の特徴を考慮した電力需要予測手法について詳しく説明した．

A Sensor Network Configuration Considering Priori Estimation Error and Communication Energy

Takashi Takeda and Toru Namerikawa

12th IFAC LSS Symposium (Lille, France) ,

2010.07

Oral presentation (general), The International Federation of Automatic Control (IFAC)

10911940393720110430170652PDF1.pdf

Feasibility Study of Partial Observability in H-infinity Filtering for Robot localization and Mapping Problem

Hamzah Ahmad and Toru Namerikawa

2010 American Control Conference (Baltimore, MD, USA) ,

2010.07

Oral presentation (general), American Automatic Control Council

10911940392720110430164458PDF1.pdf

Consensus Algorithm and Cooperative Target-enclosing Strategy for Multiple Vehicles

Toru Namerikawa

SICE 第27回誘導制御シンポジウム (東京都市大学) ,

2010.05

Oral presentation (invited, special), 計測自動制御学会

Electric Load Prediction and Distributed Predictive Control of Micro Grid

Toru Namerikawa

Focus Period 2: Distributed Decisions via Games and Price Mechanisms (Lund University) ,

2010.03

Oral presentation (invited, special), Lund Center for Control of Complex Engineering Systems

A sensor network configuration considering priori estimation error and communication energy

Takeda Takashi, Namerikawa Toru

12th IFAC Symposium on Large Scale Systems: Theory and Applications,

2010

Oral presentation (general)

This paper deals with a network configuration considering priori estimation error variance and communication energy in sensor networked feedback system. Each sensor transmits information to a fusion center via multi-hop communication network. We propose a novel network configuration algorithm that each sensor node transmits information with a same dimension. The transmitted information is merged in each sensor node and consists of measurement data with time delay. Then the priori estimate can be minimum variance estimation. The proposed algorithm achieves sub-optimal network topology with minimum energy and a desired variance. Experimental results show an effectiveness of the proposed method.

Feasibility study of partial observability in H_∞ filtering for robot localization and mapping problem

Ahmad Hamzah, Namerikawa Toru

2010 American Control Conference,

2010

Oral presentation (general)

This paper presents H_∞ Filter SLAM, which is also known as the minimax filter to estimate the robot and landmarks location with the analysis on partial observability. Some convergence conditions are also presented to aid the analysis. Due to SLAM is a controllable but unobservable problem, it's difficult to estimate the position of robot and landmarks even though the control inputs are given to the system. As a result, Covariance Inflation which is a method of adding a pseudo positive semidefinite(PsD) matrix is proposed as one approach to analyze Partial Observability effects in SLAM and to reduce the computation cost. H_∞ Filter is capable of withstand non-gaussian noise characteristics and therefore, may provide another available approach towards SLAM solution. © 2010 AACC.

Sensor network scheduling algorithm considering estimation error variance and communication energy

Takeda Takashi, Namerikawa Toru

2010 IEEE International Conference on Control Applications,

2010

Oral presentation (general)

This paper deals with a sensor scheduling algrithm considering estimation error variance and communication energy in sensor networked feedback systems. We propose a novel decentralized estimation algorithm with unknown inputs in each sensor node. Most existing works deal with the sensor network systems as sensing systems and it is difficult to apply them to the real physical feedback control systems Then some local estimates are merged and the merged estimates can be optimized in the proposed method and the estimation error covariance has a unique positive definite solution under some assumptions. Next, we propose a novel sensor scheduling algorithm in which each sensor node transmits information. A sensor node uses energy by communication between other sensor node or the plant. The proposed algorithm achieves a sub-optimal network topology with minimum energy and a desired variance. Experimental results show an effectiveness of the proposed method. © 2010 IEEE.

Bilateral teleoperation of multiple cooperative robots with time-varying delay

Do Nam Duc, Yamashina Yusuke, Namerikawa Toru

2010 IEEE International Conference on Control Applications,

2010

Oral presentation (general)

This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots under time varying delay in the communication line. At first, we decompose the dynamics of multiple slave robots into two decoupled dynamics: the Shape-System describing dynamics of the cooperative works, and the Locked-System representing overall behavior of the multiple slave robots. Second, we propose a PD control method for bilateral teleoperation to guarantee the asymptotical stability of the system for time varying delay. Finally, experimental results show the effectiveness of our proposed teleoperation. © 2010 IEEE.

Robot localization and mapping problem with unknown noise characteristics

Ahmad Hamzah, Namerikawa Toru

2010 IEEE International Conference on Control Applications,

2010

Oral presentation (general)

In this paper, we examine the H? ?Filter-based SLAM especially about its convergence properties. In contrast to Kalman Filter approach that considers zero mean gaussian noise, H_∞ Filter is more robust and may provide sufficient solutions for SLAM in an environment with unknown statistical behavior. Due to this advantage, H_∞ Filter is proposed in this paper, to efficiently estimate the robot and landmarks location under worst case situations. H_∞ Filter requires the designer to appropriately choose the noise's covariance with respect to γ to obtain a desired outcome. We show some of the conditions to be satisfy in order to achieve better estimation results than Kalman Filter. From the experimental results, H_∞Filter performs better than Kalman Filter for a case of bigger robot initial uncertainties. Subsequently, this proved that H _∞ Filter can provide another available estimation method for especially in SLAM. © 2010 IEEE.

Bilateral Control with Constant Feedback Gains for Teleoperation with Time Varying Delay

NAMERIKAWA Toru

Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference (Shanghai, P.R. China) ,

2009.12

Oral presentation (general), IEEE Control Systems Society

This paper describes a bilateral control of nonlinear
teleoperation with time varying communication delay.
The proposed method are simple PD-type controllers which
are independent of the rate of time delay change and depend
on the upper bound of round-trip delay. The proposed control
strategy is independent of parameter uncertainties of the model of the robots and the operator and remote environment. The delay-dependent stability of the origin is shown via Lyapunov stability theorem. Furthermore the proposed strategy also achieves master-slave position coordination and bilateral static force reflection.
Several experimental results with wireless communication
and the Internet show the effectiveness of our proposed strategy.

10911937617520100411210613PDF1.pdf

Control Theoretic Approach to Environmental Problems

NAMERIKAWA Toru

SICEセミナー「実践的な制御系設計」予測・分散・協調の制御：環境への貢献を目指して (Japan) ,

2009.12

Oral presentation (invited, special), 計測自動制御学会制御部門

サステイナブルな社会の実現のために，限りある資源を有効利用し，地球温暖化を防止する計測制御技術の開発が求められている．一方で産業の発展と快適な社会の持続のためには，エネルギーの安定確保と供給が必要とされる．
　本講義では「環境計測技術」と「エネルギー供給技術」のための分散協調制御理論とセンサスケジューリングに関する国内外の趨勢を紹介し，この分野における制御理論の貢献の可能性を概観する．

Networked Robotics and Systems and Control Theory

NAMERIKAWA Toru

SICE四国支部講演会 (Japan) ,

2009.11

Oral presentation (invited, special), SICE四国支部

Impedance Control for Force - Reflecting Teleoperation with Communication Delays Based on IOS Small Gain Theorem

DO Duc Nam and NAMERIKAWA Toru

ICROS-SICE International Joint Conference 2009 (Fukuoka International Congress Center, Japan) ,

2009.08

Oral presentation (general), ICROS-SICE

This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR)
scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency,
the control algorithm uses one more communication channel to transfer the FR information from the master side to the
slave side. Using variable damping values, the contact stability is achieved at the time while the slave robot contacts with the environment. In this work, the input-to-output stability (IOS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable (ISS). Several experimental results show the effectiveness of our proposed algorithm.

10911937618820100411222748PDF1.pdf

H∞ filtering Convergence and It's Application to SLAM

AHMAD Hamzah and NAMERIKAWA Toru

ICROS-SICE International Joint Conference 2009 (Fukuoka International Congress Center, Japan) ,

2009.08

Oral presentation (general), ICROS-SICE

KF-SLAM(Kalman filter-SLAM) have been used as a popular solution by researchers in many SLAM application.
Nevertheless, it shortcomings of assumption for Gaussian noise limited its efficiency and demand researcher to consider better filter and algorithm to achieve a promising result of estimation. In this paper, we proposed one of its
family, the H∞ filter-based SLAM to determine its competency for SLAM problem. Unlike Kalman filter, H∞ filter able to work in an unknown statistical noise behavior and thus more robust. It rely on a guess that the noise is in bounded energy and does not require a priori knowledge about the system. Therefore, we proposed the H∞ filter as other available technique to infer the location for both robot and landmarks while simultaneously building the map. From the results of simulation, H∞ filter produces better outcome than the Kalman filter especially in the linear case estimation. As a result, H∞ filter may provides another available estimation methods with the capability to ensure and improve estimation for the robotic mapping problem especially in SLAM.

10911937618420100411222352PDF1.pdf

GIMC Structure based Anti-Windup Control Considering L2 Performance

NAKASHIMA Yusuke and NAMERIKAWA Toru

2009 IEEE Multi-conference on Systems and Control (Saint Petersburg, Russia) ,

2009.07

Oral presentation (general), IEEE Control Systems Society

This paper deals with GIMC (Generalized Internal Model Control) structure based Anti-Windup (AW) control system design.
First, we setup a L2 performance criterion based on GIMC structure for Anti-Windup control problems. The design problem is formulated as an optimization problem with a parameter Q. Then we calculate the optimization problem and find an optimal Q. Finally, the effectiveness of proposed method is shown by experimental results for a magnetic suspension system.

10911937618120100411215801PDF1.pdf

Delay-Independent Stabilization for Teleoperation with Time Varying Delay

FUJITA Hiroyuki and NAMERIKAWA Toru

2009 American Control Conference (St. Louis, MO, USA) ,

2009.06

Oral presentation (general), American Automatic Control Council

This paper deals with the stability for nonlinear
teleoperation with time varying communication delays. The proposed method is passivity-based controllers with time varying gains which depend on the rate of change of time varying delay.
In our proposed method, stability condition is independent of the magnitude of the communication delay and the damping
of the system. The delay-independent stability is shown via
Lyapunov stability methods. Several experimental results show the effectiveness of our proposed teleoperation.

Cooperative Target-capturing Strategy for Multi-vehicle Systems with Dynamic Network Topology

KAWAKAMI Hiroki and NAMERIKAWA Toru

2009 American Control Conference (St. Louis, MO, USA) ,

2009.06

Oral presentation (general), American Automatic Control Council

This paper deals with cooperative target-capturing
problem for multi-vehicle systems with dynamic network topology.
Firstly, we introduce a dynamic network topology that depends on relative distance between the vehicles. Secondly,
we propose the target-capturing strategy based on consensus
seeking with dynamic network topology. In proposed strategy,
at least one vehicle can acquire the information of the targetobject and network topology among vehicles is time-varying but always connected. To analyze the convergence of targetcapturing behavior with dynamic network topology, algebraic graph theory and matrix theory are utilized. Finally, numerical simulation results and experimental results are provided that demonstrate the effectiveness of the proposed method.

Stability and Tracking Properties in Predictive Control with Adaptation for Bilateral Teleoperation

YOSHIDA Kouei and NAMERIKAWA Toru

2009 American Control Conference (St. Louis, MO, USA) ,

2009.06

Oral presentation (general), American Automatic Control Council

This paper deals with an environment estimation based predictive control for teleoperation with communication time delay. In this predictive control framework, the delayed position tracking and non-delayed force reflection are attempted.
The goal of this paper is to propose a new control method
which guarantees the stability, the convergence of position
tracking error to zero and the small force tracking error
theoretically. Proposed control structure is the 3ch architecture with environment estimation based force prediction. In this proposed method, the master controller implements force control with environmental force prediction while the slave controller implements position and force control. The theoretical analysis shows the stability, the convergence of position error to zero
and the small force tracking error. Experimental results show the effectiveness of the proposed method.

Cooperative Control for Networked Teleoperation Systems with Communication Delay

NAMERIKAWA Toru

制御フォーラム「鉄鋼プロセス制御への先端的アプローチ」,

2009.05

日本鉄鋼協会計測・制御・システム工学部会

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