論文 - 滑川　徹

Optimal Pricing Algorithm in the Electricity Market with Battery and Accumulator and Demand–Supply Balancing

滑川 徹

Electrical Engineering in Japan 191 （ 4 ） 8 - 18 2015年04月

研究論文（学術雑誌）, 共著

　概要を見る

This paper considers the day-ahead market with batteries
and accumulators to level power generation. First, we
model consumers with batteries, generators with batteries,
and accumulators, all of whom strive to maximize their
own profit. An optimal pricing algorithm based on dual
decomposition and the steepest descent method is derived
and shown to be stable. Finally, the effectiveness of the algorithm is demonstrated by means of numerical simulations
which indicate that it achieves demand–supply balance.

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気体濃度予測のためのカルマンフィルタを用いた伝播係数推定

徳本晋一郎，入田隆，滑川 徹

計測自動制御学会論文集 51 （ 3 ） 206 - 213 2015年03月

研究論文（学術雑誌）, 共著, 査読有り

　概要を見る

This paper is one of the researches to countermeasure against disaster. This paper treats the short-term future
prediction of gas concentration in a building for safer evacuation. Moreover, in order to treat disaster, such
as re, failure of sensor installed in a building is assumed. Therefore, a fault-tolerant system against sensor's
failure is designed. First, a concept of propagation coefficient is introduced, and a gas concentration model is
constructed by propagation coefficient and amount of gas generation. And, in order to estimate these values,
we apply Kalman Filter to this model. As this paper should consider sensor's failure, the fault-tolerant Kalman
Filter is proposed. Then, by using the estimated result, the short-term future of gas concentration is predicted.
Finally, we show experimental results to analyze effectiveness of the proposed method.

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Sufficient Condition for Estimation in Designing ∞ Filter-Based SLAM

滑川 徹

Hindawi Publishing Corporation Mathematical Problems in Engineering （HINDAWI PUBLISHING CORP）  2015   1 - 15 2015年02月

研究論文（学術雑誌）, 共著, 査読有り,  ISSN  1024-123X

　概要を見る

Extended Kalman filter (EKF) is often employed in determining the position of mobile robot and landmarks in simultaneous localization and mapping (SLAM). Nonetheless, there are some disadvantages of using EKF, namely, the requirement of Gaussian distribution for the state and noises, as well as the fact that it requires the smallest possible initial state covariance. This has led researchers to find alternative ways to mitigate the aforementioned shortcomings. Therefore, this study is conducted to
propose an alternative technique by implementing ∞ filter in SLAM instead of EKF. In implementing ∞ filter in SLAM, the parameters of the filter especially need to be properly defined to prevent finite escape time problem. Hence, this study proposes a sufficient condition for the estimation purposes. Two distinct cases of initial state covariance are analysed considering an indoor environment to ensure the best solution for SLAM problem exists along with considerations of process and measurement noises
statistical behaviour. If the prescribed conditions are not satisfied, then the estimation would exhibit unbounded uncertainties and consequently results in erroneous inference about the robot and landmarks estimation. The simulation results have shown the reliability and consistency as suggested by the theoretical analysis and our previous findings.

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JIT モデリングに基づくカルマンフィルタによる短期風力発電量予測

石川友規、小嶋昂明、滑川 徹

電気学会論文誌C 135 （ 1 ） 81 - 89 2015年01月

研究論文（学術雑誌）, 共著, 査読有り

　概要を見る

This paper addresses wind power prediction which is known to be a key technology in EMS(Energy Management Systems). In this paper, 24 hours ahead power prediction method using a filtering theory is proposed for wind power generation. The prediction method is a simple algorithm, the procedure of prediction consists of two steps, the data processing and the calculation of predicted values. In the data processing, in order to get the correlative data from the database, we employ JIT(Just-In-Time) Modeling. In the calculation of predicted value, we propose the regression model for wind speed and wind power, and the unknown parameters are estimated via constrained kalman filter. Moreover, in a procedure of estimation of the unknown parameters, reduction and the convergence of them are also guaranteed. Finally, the advantages of the proposed
method over the conventional method are shown through actual prediction evaluations.

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バッテリ特性を考慮したスマートグリッドの最適エネルギーマネジメント

向井　達哉、猪狩　俊介滑川 徹

電気学会論文誌C 134 （ 12 ） 1862 - 1868 2014年12月

研究論文（学術雑誌）, 共著, 査読有り

　概要を見る

In this paper, the optimal energy management considering battery characteristics for smart grid and micro grid systems is discussed. The energy storage system is very important for the energy peak shift and peak cut for micro
grid and smart grid system because of these backgrounds. However, optimal battery formulation and energy management
to suppress by using expensive energy storage system and considering battery characteristics are still in a
developmental stage. First, the optimal battery placement for smart grid system with Lithium-ion battery is dealt with
for lifetime extending. The battery choice index for this optimal battery determination problem to formulate optimal
energy management is discussed. Second, the smart grid system with distributed battery system for grid frequency
control considering distributed control and battery characteristics is dealt with. Optimal controllers for each distributed battery systems are designed to reduce battery load and to expend battery lifetime are designed. The effectiveness of the proposed method is shown via simulations by comparing with conventional methods.

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H∞ Filter-Based Short-Term Electric Load Prediction Considering Characteristics of Load Curve

細田　康彦滑川 徹

Electronics and Communications in Japan 97 （ 12 ） 1 - 10 2014年12月

研究論文（学術雑誌）, 共著

　概要を見る

This paper deals with ∞ filter-based short-term electric load prediction taking into consideration the characteristics of the load curve. We propose a predictive
method to forecast the future electric load demand for 36
h from 12:00 PM, and evaluate the peak and bottom of the load curves on the next day. We propose a load model, estimate the unknown parameters of the model by means
of an ∞ filter using the data separated for nonworking
days and weekdays, with the same pattern of the previous
data chosen and assigned to the model parameters.
The simulation results show the effectiveness of the proposed prediction methodology.

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Hierarchical Control of Power Networks by using Overlapping Information

Tomoharu Suehiro, Toru Namerikawa

2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014) （IEEE）     1140 - 1145 2014年10月

研究論文（国際会議プロシーディングス）, 査読有り,  ISSN  2093-7121

　概要を見る

This study deals with decentralized and hierarchical control for electric power networks by using overlapping information. The control objective is to minimize the cost function of the load frequency control problem. The control law consists of three steps. We apply the decentralized hierarchical control methodology to large-scale electrical power networks consisting of distributed power storage and generation sources such as batteries and wind power generators. Through several numerical simulation results of decentralized power networks, we verified their stability, compared the proposed and the previous decentralized methods, and showed the effectiveness of the proposed method.

外乱を考慮したマルチエージェントシステムの協調制御

橘　義博、森　翔平滑川 徹

計測自動制御学会論文集 50 （ 9 ） 669 - 676 2014年09月

研究論文（学術雑誌）, 共著, 査読有り

　概要を見る

This paper proposes a cooperative control of multi-agent system with disturbance. First, we introduce the sec-
ond 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.

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Dynamic Pricing Considering Constraints of Power Grids

Yoshihiro Okawa, Toru Namerikawa

2014 Proceedings of the SICE Annual Conference (SICE) （IEEE）     1484 - 1489 2014年09月

研究論文（国際会議プロシーディングス）, 共著, 査読有り,  ISSN  1550-0322

　概要を見る

This paper deals with a model of a real-time electricity market for a smart grid, and discusses how to decide wholesale and retail prices of electricity among market participants: power consumers, power suppliers and an independent system operator. In this paper, we consider a linearized AC model of a power grid with a direct current process and show that the wholesale price for suppliers is determined as the optimal Lagrange multiplier corresponding to the nodal power balance constraints. In addition, we propose a decision procedure for the retail pricing of electricity for consumers. In order to improve the convergence speed of the algorithm, we apply the iterative gradient method with line search to a retail pricing decision procedure, in which the optimal step size is determined in each iteration step. Simulation results, finally, show the effectiveness of the proposed retail pricing decision procedure.

Actuation technology and its application in ambient intelligence

Namerikawa Toru

Journal of the Institute of Electronics, Information and Communication Engineers （一般社団法人電子情報通信学会）  97 （ 8 ） 679 - 683 2014年08月

単著, 査読有り,  ISSN  0913-5693

　概要を見る

アンビエントセンサネットワーク(ASN)システムでは,知的環境とノード間のネットワークを利用した情報の最適化を行うことが可能であり,単体のセンサによるセンシングと比較して省電力化,耐故障性,多次元情報の収集などの面で優れていることが知られている.最近では大規模センサネットワークに対してアクチュエーション技術(制御技術)を応用することで,エネルギー効率を考慮したシステム構築に関する研究が進んでいる.本稿では,ASNのアクチュエーション,つまり制御システムへの応用を目指し,マルチホップセンサネットワークを介して得られた情報を用いたフィードバック制御系の構成問題を扱う.

Formation Control of UAVs with a Fourth-order Flight Dynamics

Y.KURIKI, T.NAMERIKAWA

SICE Journal of Control, Measurement, and System Integration 7 （ 2 ） 74 - 81 2014年03月

研究論文（学術雑誌）, 共著, 査読有り

　概要を見る

In this paper, we study cooperative control problems with a multi-UAV (Unmanned Aerial Vehicle) system expressed as a fourth-order system using a consensus-based algorithm. We first show that a linearized model of UAVs like quadrotors is expressed as a fourth-order system, and then propose a formation control algorithm for the fourth-order system after formulating a problem. The proposed control law is based on a consensus algorithm, and a leader-follower
structure is also applied to the control law so that the leader can provide the quadrotors with commands such as their desired states. And then, we show that the proposed control algorithm can guarantee accurate formation keeping when fundamental assumptions about the network composed of the multiple UAVs are satisfied. Finally, the proposed approach is validated by some simulations.

SLAM Problem via H-infinity Filter with Compensation for Intermittent Observation

Yoshihiro Okawa, Toru Namerikawa

2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC) （IEEE）  2014年03月

研究論文（国際会議プロシーディングス）, 査読有り,  ISSN  1943-6572

　概要を見る

This paper deals with the Simultaneous Localization and Mapping (SLAM) problem via the H-infinity filter with compensations for intermittent observations. In order to estimate positions of a robot and landmarks accurately under intermittent observations, we propose the method with a novel filter which detects and compensates intermittent observations by comparing the obtained data with their estimations. This paper also shows the convergence of the estimated error covariance matrices. With simulation and experimental results, we confirm that the state of the robot and the environmental conditions are estimated accurately via the proposed filter under intermittent observations and that the derived theorems of the convergence are correct.

状態故障評価行列を用いた 電力ネットワークにおけるサイバー攻撃・故障の診断

藤田 佑樹,大川 佳寛 滑川 徹

計測自動制御学会論文集 （計測自動制御学会）  49 （ 12 ） 1131 - 1138 2013年12月

研究論文（学術雑誌）, 共著, 査読有り

　概要を見る

This paper discusses cyber attacks and faults diagnosis method for networked electrical power systems. A power system is divided into some areas, then phase angles and angular frequencies are estimated by Kalman filter in each area. Then we propose a diagnosis method for the power grid by using state and output fault diagnosis matrices which are composed of the estimate value and output matrix. These diagnosis matrices can immediately reflect an existence or non-existence of abnormal signal. Finally we show simulation results to analyze effectiveness of the proposed method.

重複情報を用いた電力ネットワークの分散階層制御

末廣友晴, 増井健治, 滑川 徹

計測自動制御学会論文集 （計測自動制御学会）  49 （ 12 ） 1121 - 1130 2013年12月

研究論文（学術雑誌）, 共著, 査読有り

　概要を見る

This paper deals with a decentralized hierarchical control of power networks by using overlapping information.
The control objective is to minimize the cost function of load frequency control problem. The control law is constructed through three steps. In the 1st step, we make a hierarchical system with overlapping information. In
the 2nd step, a relationship between the original system and the hierarchical system is confirmed. In the 3rd step,
the hierarchical decentralized control for the hierarchical system is constructed and the decentralized hierarchical
control law is contracted to the original system. Then, we show the effectiveness of the load frequency control
by using the proposed control method.

Passivity and RISE based robust control for bilateral teleoperation system with communication delay

Kawai Yasunori, Namerikawa Toru

Proceedings of 2013 IEEE International Conference on Control Applications （IEEE）     270 - 275 2013年10月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

　概要を見る

<p>In this paper, a method for passivity- and robust integral of the sign of the error (RISE)-based control of a nonlinear teleoperation system with communication delays is proposed. This control strategy can accurately achieve coordinate positioning under conditions with viscous friction and unmodeled effects compensation errors, and its stability condition is independent of robot model parameter uncertainties and time delay. Using passivity-based stability analysis, the stability and tracking performance of this system are demonstrated, and experimental trials are performed to verify its effectiveness. © 2013 IEEE.</p>

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H∞ Filter-based SLAM with the Observation on an a priori Known Landmark

Yoshihiro OKAWA and, Toru NAMERIKAWA

SICE Journal of Control, Measurement, and System Integration （The Society of Instrument and Control Engineers）  6 （ 5 ） 360 - 367 2013年10月

研究論文（学術雑誌）, 共著, 査読有り

　概要を見る

The authors consider the simultaneous localization and mapping (SLAM) problem with an H∞ filter and with
an observation of a landmark that is known a priori. With this observation, the system satisfies observability, and the estimated error is suppressed and the determinant of its covariance matrix becomes small compared with that of the original H∞ filter. As a result, our proposed method avoids finite escape time, the divergence of the error covariance matrix that occurs in the estimation when using the original H∞ filter. We prove the convergence of the error covariance matrix. In addition, with simulations and experimental results, we confirm that finite escape time is avoided, that the derived theorems for the convergence are correct, and that we can accurately estimate the state of the robot and the environment.

蓄電システムを含めた電力市場における 最適価格設定法と需給制御

宮野　雄基, 滑川 徹

電気学会論文誌Ｃ （電気学会）  133 （ 10 ） 1855 - 1863 2013年10月

研究論文（学術雑誌）, 共著, 査読有り

　概要を見る

This paper considers Day-Ahead Market with battery and accumulator to level power generation. First,we model consumer with battery, generator with battery and accumulator to maximize their own profit.
Then, the optimal pricing algorithm based on dual decomposition and Steepest Descent Method and proof
the stability of the algorithm is proposed. Finally, we show the effectiveness of the algorithm with some
numerical simulations which indicate that the proposed algorithm achieves the demand-supply balancing.

双対分解とゲーム理論に基づくリアルタイムプライシングによる 電力網の系統周波数制御

大久保 徳雄, 佐藤 隆太郎, 滑川 徹

計測自動制御学会論文集 （計測自動制御学会）  49 （ 10 ） 961 - 968 2013年10月

研究論文（学術雑誌）, 共著, 査読有り

　概要を見る

This paper deals with game theoretic real-time pricing method based on dual decomposition and its application
to load frequency control of power networks. The proposed pricing method in this study aims to solve the constrained optimization problem consist of each player’s utility and social welfare under selfish players. Selfish player’s decision is a Nash equilibrium solution considering their own cost functions. We show this method can lead their own decision to social welfare maximization.
Finally we show the effectiveness of the proposed methodology for load frequency control by several simulation
results.

Optimal pricing algorithm in the electricity market with battery and accumulator and demand-supply balancing

Miyano Yuki, Namerikawa Toru

IEEJ Transactions on Electronics, Information and Systems 133 （ 10 ） 1855 - 1863 2013年10月

研究論文（学術雑誌）, 共著, 査読有り,  ISSN  0385-4221

　概要を見る

<p>This paper considers Day-Ahead Market with battery and accumulator to level power generation. First, we model consumer with battery, generator with battery and accumulator to maximize their own profit. Then, the optimal pricing algorithm based on dual decomposition and Steepest Descent Method and proof the stability of the algorithm is proposed. Finally, we show the effectiveness of the algorithm with some numerical simulations which indicate that the proposed algorithm achieves the demand-supply balancing. © 2013 The Institute of Electrical Engineers of Japan.</p>

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Control of Formation Configuration Using Leader-Follower Structure

Y. KURIKI, T. NAMERIKAWA

Journal of System Design and Dynamics （JSME）  7 （ 3 ） 254 - 264 2013年09月

研究論文（学術雑誌）, 共著, 査読有り,  ISSN  1881-3046

　概要を見る

In this paper, we study cooperative control problems with trajectory tracking and reconfigurable formation for a multi-vehicle system expressed as a first-order system.
Specifically, we describe a problem that cooperatively controlled vehicles keep geometric configuration among the multiple vehicles while the vehicles are moving in formation. In other words, each of the vehicles must change its position individually to keep the geometric configuration while the vehicle is moved by a cooperative control. In order to achieve this objective, we basically extend our previous result which was a control algorithm to surround a moving target by a group of vehicles cooperatively.
The algorithm was based on a consensus algorithm which was cooperative control.
In addition, we apply a leader-follower structure to our cooperative algorithm so that a leader can individually provide each of the followers with commands. Finally, the
proposed approach is validated by some simulations.