KAZUSHI NAKANO
| Emeritus Professor etc. | Emeritus Professor |
Researcher Information
Field Of Study
Career
Educational Background
Member History
- Aug. 2012 - Jul. 2014
専門委員, 日本学術振興会特別研究員等審査会, Others - Oct. 2012 - Mar. 2014
理事, 人工生命とロボット国際会議, Society - Jan. 2014
理事, 横断型基幹科学技術研究団体連合, Society - Jan. 2013 - Dec. 2013
制御部門部門長, 計測自動制御学会, Society - 01 Apr. 2013
編集委員会（システム全般）, 信号処理学会, Society - 2010 - 2013
第22期日本学術会議 ・ 総合工学委員会 ・ 自動制御の多分野応用小委員会委員、自動制御連合講演会運営委員会委員, 日本学術会議 ・ 総合工学委員会 ・ 自動制御の多分野応用小委員会, Government - Jan. 2012 - Dec. 2012
制御部門副部門長, 計測自動制御学会, Society - Dec. 2010 - Nov. 2012
診断・監視協同研究委員会委員, 電気学会, Society - Jan. 2010 - Mar. 2012
理事, 計測自動制御学会, Society - Apr. 2009 - Mar. 2012
産業計測制御技術委員会委員長, 電気学会, Society - Jan. 2010
評議員, システム制御情報学会, Society - Jan. 2010
代議員, 横断型基幹科学技術研究団体連合（横幹連合）, Society - 2008
制御部門MBD調査研究会幹事, 計測自動制御学会, Society - May 2007
論文査読委員, 信号処理学会, Society - 2006
論文査読委員, Society - 2006
論文査読委員, 電子情報通信学会, Society - Jul. 2005
予防保全と維持管理技術の公共施設応用に関する協同研究委員会委員長, 電気学会, Society - Apr. 2005
論文委員会委員（論文幹事）, 電気学会, Society - 2005
制御部門事業委員会委員長, 計測自動制御学会, Society - 2004
論文査読委員, 日本ロボット学会, Society - 2003
産業計測制御技術委員会委員, 電気学会, Society - 2003
制御と情報通信ネットワークに関する調査研究会委員, 計測自動制御学会, Society - 2003
ウェーブレットとその周辺技術に関する協同研究委員会委員, 電気学会, Society - 2003
IFAC委員会委員, 計測自動制御学会, Society - 2001 - 2002
会誌編集委員, 計測自動制御学会, Society - 2001 - 2002
ウェーブレット解析の産業応用に関する協同研究委員会委員長, 電気学会, Society - 2000 - 2002
産業計測制御技術委員会幹事, 電気学会, Society - 1995
論文査読委員, システム制御情報学会, Society - 1988
論文査読委員, 計測自動制御学会, Society
Research Activity Information
Award
- Oct. 2018
横断型基幹科学技術研究団体連合
第９回横幹連合コンファレンス 感謝状 - May 2016
関東工学教育協会
関東工学教育協会業績賞, 前佛 栄;中野和司;三木哲也
Others - May 2011
電気学会
電気学会第14回優秀技術活動賞（技術報告賞） - Aug. 2010
ICCAS
ICCAS-SICE 2009 表彰(ICROS) - Sep. 2009
計測自動制御学会
ICCAS-SICE 2009 表彰(SICE) - May 2007
電気学会
電気学会第10回優秀技術活動賞（グループ著作賞） - Jun. 2005
ICCAS 2005 Best Presentation Award - May 2005
ECTI-CON 2005 Best Presentation Award - Feb. 2005
AROB 2005 Best Paper Award - Sep. 1997
IFAC SYSID '97 表彰(SICE)
Paper
- LMI-Based Non-Iterative Design Strategies for Guaranteed Cost Static Output Feedback Control for Linear Systems
Hidetoshi Oya; Takuya Nakagawa; Shunya Nagai; Kazushi Nakano
2023 5th International Conference on Electrical, Control and Instrumentation Engineering (ICECIE), IEEE, 22 Dec. 2023
International conference proceedings - Frequency Characteristic Estimation of Transient Response Signals with Non-Zero Steady-State Values
Matsui Yoshihiro; Ayano Hideki; Masuda Shiro; Nakano Kazushi
IEEJ Transactions on Electronics, Information and Systems, The Institute of Electrical Engineers of Japan, 143, 3, 250-257, 01 Mar. 2023, This paper gives a method for converting finite-length transient response signals with non-zero steady-state values into the frequency domain. In the method, the signal is discrete Fourier transformed after adding a linear function without DC component. The linear function is equivalent to the AC components of a step function whose amplitude is the steady-state value of the signal in the frequency domain. The usefulness of the proposed method is confirmed by a numerical experiment and an experiment to estimate the frequency characteristics of the transient response signals obtained from an actual position control system for a mass-spring-damper system.
Japanese - A Prediction System for the Effect of Electrical Defibrillation Based on Efficient Combinations for Feature Parameters
Yuta Yoshikawa; Takayuki Okai; Hidetoshi Oya; Yoshikatsu Hoshi; Kazushi Nakano
2022 11th International Conference on Control, Automation and Information Sciences, ICCAIS 2022, 48-53, 2022, In this paper, we propose a prediction system of the effect of electrical defibrillation for shockable arrhythmias. In order to develop the proposed prediction system, ECGs are firstly analyzed by Gabor wavelet transform, Poincare plot and spectral entropy, and feature parameters are extracted by these analysis results. Moreover, the imbalanced data are corrected by using SMOTE (Synthetic Minority Over-sampling TEchnique), and we adopt Pearson's χ2 test so as to evaluate the efficient feature parameters. Finally, by using selected feature parameters, support vector machines (SVM) based on three kernels (Linear, Gaussian, and Polynomial) are constructed, and the effectiveness of the prediction system is presented.
International conference proceedings - A New LMI-Based Non-Iterative Design Method for Static Output Feedback Controllers for Linear Systems
Hidetoshi Oya; Satoshi Hayakawa; Shunya Nagai; Kazushi Nakano
ICMT 2022 - 25th International Conference on Mechatronics Technology, 2022, This paper presents a new non-iterative LMI-based design method for static output feedback controllers for linear systems. The proposed design method is derived from the well-known necessary and sufficient condition for the existence of the static output feedback control for linear systems. In this paper, we show the new non-iterative LMI-based design procedure for static output feedback controllers for linear systems, and the effectiveness of the proposed controller design approach is shown through a simple numerical example.
International conference proceedings - A New Recongnition System Based on Gabor Wavelet Transform for Shockable Electrocardiograms
Takayuki Okai; Shonosuke Akimoto; Hidetoshi Oya; Kazushi Nakano; Hiroshi Miyauchi; Yoshikatsu Hoshi
Journal of Applied Life Sciences International, Sciencedomain International, 23, 12, 40-51, 01 Jan. 2021, Peer-reviwed, This paper presents a new recognition system for shockable arrhythmias for patients suffering from sudden cardiac arrest. In order to develop the recognition system, lots of electrocardiogram (ECGs) have been analyzed by using gabor wavelet transform (GWT). Although, there is a huge number of spectrum feature parameters, recognition performance for all combinations for spectrum feature parameters are evaluated, and on the basis of the evaluation results, useful and effective spectrum features for ECGs are extracted. As a result, the proposed recognition system based on the selected effective spectrum feature parameters can achieved good performance comparing with the existing results.
Scientific journal - Detailed Performance Analysis of Recognition Algorithm Based on Spectrum Feature Parameters for Electrocardiogram
Takayuki Okai; Shogo Hirata; Hidetoshi Oya; Yoshikatsu Hoshi; Kazushi Nakano; Yoshihiro Yamaguchi; Takashi Igarashi; Hiroshi Miyauchi
2019, 13th International Conference on Signal Processing and Communication Systems, ICSPCS 2019 - Proceedings, Dec. 2019, Early defibrillation plays very important role to survive patients suffering from sudden cardiac arrest. Thus, there are lots of recognition algorithms for electrocardiogram, and we have also proposed recognition algorithms based on spectrum feature parameters of electrocardiograms (ECGs). In this paper, we show the detailed analysis result of our recognition algorithm, and in particular the degree of similarity between Ventricular Tachycardia (VF) and PEA (Pulseless Electrical Activity) is evaluated.
International conference proceedings - A Controller Tuning Method Based on Finite Impulse Response Estimation Using Closed-Loop Response Data
Yoshihiro Matsui; Hideki Ayano; Senior Member; Shiro Masuda; Kazushi Nakano
IEEJ Transactions on Electronics, Information and Systems, The Institute of Electrical Engineers of Japan, C-139, 8, 858-865, Aug. 2019, Peer-reviwed,This paper gives a method for tuning controllers using one-shot closed-loop data. The method estimates the plant impulse response from the data and the response is utilized as the plant model in a Finite Impulse Response filter form. The controller tuning is carried out so that the output fluctuation of the closed-loop system with the plant model due to step disturbance is minimized. Therefore, the proposed method does not require reference models for controller tuning that are necessary in data-driven controller tuning methods such as VRFT (Virtual Reference Feedback Tuning) and FRIT (Fictitious Reference Iterative Tuning). Finally, the effectiveness of the proposed method is shown through experiments of a position control system with a BLDC motor.
Scientific journal, Japanese - Detailed Performance Analysis of Recognition Algorithm Based on Spectrum Feature Parameters for Electrocardiogram.
Takayuki Okai; Shogo Hirata; Hidetoshi Oya; Yoshikatsu Hoshi; Kazushi Nakano; Yoshihiro Yamaguchi; Takashi Igarashi; Hiroshi Miyauchi
13th International Conference on Signal Processing and Communication Systems(ICSPCS), IEEE, 1-6, 2019
International conference proceedings - A new recognition algorithm for shockable arrhythmias and its performance analysis
Takayuki Okai; Shogo Hirata; Hidetoshi Oya; Yoshikatsu Hoshi; Kazushi Nakano; Yoshihiro Yamaguchi; Takashi Igarashi; Hiroshi Miyauchi
Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2671-2676, 26 Dec. 2018, This paper proposes a new recognition algorithm for shockable arrhythmias for patients suffering from sudden cardiac arrest. In this paper, by using gabor wavelet transform (GWT), useful and effective spectrum features for electrocardiogram (ECG) are extracted. The proposed recognition algorithm based on spectrum features can achieve good performance comparing with the existing results, i.e. the result of this paper is useful.
International conference proceedings - Influence of Noise on a Model Matching Controller Tuning Using Closed-Loop Data
Matsui Yoshihiro; Ayano Hideki; Masuda Shiro; Nakano Kazushi
Proceedings of the Japan Joint Automatic Control Conference, The Japan Joint Automatic Control Conference, 61, 0, 693-697, 2018
Japanese - Development of Quasi-Shift-Invariant Complex Discrete Wavelet Transform
Makoto Kobayashi; Kazushi Nakano
Journal of Signal Processing, Research Institute of Signal Processing, Japan, 21, 5, 211-224, Sep. 2017, Peer-reviwed, The downsampling of a discrete wavelet transform (DWT) has a side effect of the lack of shiftinvariance. There are two main solutions for this effect: one is the stationary wavelet transform (SWT), which does not apply downsampling. The other is the complex DWT (CDWT), which uses dual multiresolution analysis(MRA). We choose the CDWT as a target of research. It is well known that wavelet functions become Hilbert transform pairs if the low-pass filters (LPFs) on the reconstruction side have half-sample shifts. In this paper, we propose a quasi-shift-invariant (QSI) CDWT for bi-/orthogonal wavelets as a new CDWT. We report three new works (W1-W3) on it: (W1) we generalized the condition of Hilbert transform pairs and employed a complex wavelet function as a conjugate analytical signal. (W2) We defined a structure that achieves shift-invariance. The structure requires half-sample delays between the inputs of real and imaginary parts. (W3) We proposed an implementation of the QSI-CDWT and confirmed that our method has higher shift-invariance than the conventional CDWT. However, two problems (P1, P2) remain unsolved: (P1) our method requires more resources, such as memory and calculation time, than the conventional CDWT. (P2) Our theory cannot make all packets shift-invariant in a classical wavelet packet transform tree.
Scientific journal, English - FIRフィルタによるVRFTのためのプレフィルタの実現
松井義弘; 綾野秀樹; 増田士朗; 中野和司
電気学会論文誌, C-137, 7, 884-890, Jul. 2017, Peer-reviwed
Scientific journal, Japanese - A recognition algorithm for electrocardiogram based on wavelet transform and feature selection
Takayuki Okai; Hidetoshi Oya; Yoshikatsu Hoshi; Yoshihiro Ogino; Kazushi Nakano; Yoshihiro Yamaguchi; Hiroshi Miyauchi
Proceedings of the IASTED International Conference on Modelling, Identification and Control, 848, 125-132, 2017, In order to improve survival rate of patients suffering from sudden cardiac arrest, it is very important to develop high accurate and quick recognition algorithm for shockable electrocardiogram (ECG). In this paper, we propose a new ECG recognition algorithm based on some features which are derived by analyzing ECG signals via wavelet transform, and evaluate useful feature parameters by a feature selection approach.
International conference proceedings - Realization of FIR prefilter for virtual reference feedback tuning
Yoshihiro Matsui; Hideki Ayano; Shiro Masuda; Kazushi Nakano
IEEJ Transactions on Electronics, Information and Systems, Institute of Electrical Engineers of Japan, 137, 7, 884-890, 2017, Peer-reviwed, In this paper, a realizing method of a prefilter to cancel the effect of input/output data of plants on controller tuning with Virtual Reference Feedback Tuning (VRFT) is proposed. VRFT tunes controllers based on model matching. The reference model of the model matching for VRFT is a desired complementary sensitivity function. The corresponding transfer function to the reference model consists of the plant and the controller to be tuned. The controller is tuned so that the squared 2-norm of the error between the impulse responses of these transfer functions is minimized. To obtain the impulse response of the latter transfer function, the impulse response of the plant is necessary. An inverse filter, which is a finite impulse response filter and is contained in the prefilter, is employed to reproduce the plant impulse response from the data. Therefore, the ideal model matching error not affected by the data can be obtained. The usefulness of the method is shown through numerical examples.
Scientific journal, Japanese - Realization of prefilter for virtual reference feedback tuning using closed-loop step response data
Yoshihiro Matsui; Hideki Ayano; Shiro Masuda; Kazushi Nakano
Journal of Robotics and Mechatronics, Fuji Technology Press, 28, 5, 707-714, 01 Oct. 2016, Peer-reviwed, Prefilters for Virtual Reference Feedback Tuning (VRFT) in the time domain are realized by the least squares method with step reference response data acquired from the closed-loop system to be tuned and are used to obtain controller parameters for making closed-loop systems as close as possible to the desired reference model. The usefulness of this proposal is shown in numerical examples in which fifth-order and PID controllers for a flexible transmission system are tuned by VRFT with prefilters.
Scientific journal, English - Leader-following formation navigation with virtual trajectories for dynamic multi-agents
Manabu Suzuki; Ryo Kobayashi; Kazushi Nakano; Tetsuro Funato; Yoshihiro Matsui
Transactions of ISCIE, THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 29, 8, 382-389, 15 Aug. 2016, Peer-reviwed,In recent years, cooperative control of multi-agents, especially formation control, has attracted considerable interest among control engineers. As one of the formation control methods, we deal with the leader-following formation navigation (LFFN). The LFFN is defined such that a human operator or an autonomous leader agent forms a queue of agents to guide multiple followers. The followers pass along the leader's trajectory with the same motion as the leader. When the leader passes along a safe route to avoid obstacles, the followers also pass along a similar safe trajectory. However, when using the LFFN, the followers can shape only a single column formation.
In this study, we first extend the above LFFN's usage to parallel single columns using adjoining virtual leaders. Next, we consider virtual leaders adjoining the leader to design virtual trajectories along which virtual leaders passed and virtual leader's velocities on their path. We design the followers' target points which track the virtual leaders path with designed virtual velocity. Using our proposed method, the followers shape a formation which is not a single column but a multiple column type. Finally, we demonstrate the effectiveness of our newly proposed method through simulation and experimentation.
Scientific journal, English - 閉ループ過渡応答データを用いた Hammerstein モデルのための モデルベース制御器設計
松井義弘; 綾野秀樹; 増田士朗; 中野和司
電気学会論文誌, 電気学会, C-136, 5, 625-632, May 2016, Peer-reviwed
Scientific journal, Japanese - A new detection algorithm based on spectrum features for electrocardiogram
Hidetoshi Oya; Yuki Nishida; Yoshihide Onishi; Yoshihiro Ogino; Kazushi Nakano; Yoshihiro Yamaguchi; Hiroshi Miyauchi; Takayuki Okai
Proceedings of the IASTED International Conference on Modelling, Identification and Control, Acta Press, 830, 88-94, 2016, In Electrocardiogram (ECG), it is well known that serious arrhythmia such as Ventricular Fibrillation (VF) and Ventricular Tachycardia (VT) are lethal cardiac and will lead to sudden cardiac death. For these serious arrhythmic events, the timely employment of an electrical defibrillator may lead to successful results and thus widespread deployment of Automated External Defibrillators (AEDs) has been suggested. Although accurate and quick detection of these events is the most important function in AEDs, it is not easy. In this paper, we propose a new ECG detection algorithm based on spectrum features of ECG.
International conference proceedings, English - Mode-based controller design for Hammerstein models using closed-loop tranjent response data
Yoshihiro Matsui; Hideki Ayano; Shiro Masuda; Kazushi Nakano
IEEJ Transactions on Electronics, Information and Systems, Institute of Electrical Engineers of Japan, 136, 5, 625-632, 2016, Peer-reviwed, This paper proposes a controller design method for Hammerstein model which is a dynamical linear system with static input nonlinearity. The method requires only one-shot closed-loop reference response data for controller design. The estimation of the plant model and the validation of the linear part of the plant using the data are performed in time and frequency domains, respectively. Since the method estimates the plant model and the plant is linearized by a nonlinear compensator, the controller for the linearized plant can be designed in consideration of the trade-off between the closed-loop bandwidth and the stability margin by a model-based approach. The effectiveness of the method is numerically evaluated.
Scientific journal, Japanese - On Leader Follower Formation Control of Multi-agent Systems with Obstacle Avoidance using Complex Laplacian
Daiki Yamada; Kazushi Nakano; Tetsuro Funato
Int. Symp. on Artificial Life and Robotics (AROB 21st), (CD-ROM), Jan. 2016, Peer-reviwed
International conference proceedings, English - PSO-based Adaptive Kalman Filter for Real-time Mobile Robot Localization
Shogo Kimura; Kazushi Nakano; Tetsuro Funato
Int. Symp. on Artificial Life and Robotics (AROB 21st), (CD-ROM), Jan. 2016, Peer-reviwed
International conference proceedings, English - Necessary and sufficient condition for average consensus of networked multi-agent systems with heterogeneous time delays
Kazunori Sakurama; Kazushi Nakano
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, TAYLOR & FRANCIS LTD, 46, 5, 818-830, Apr. 2015, Peer-reviwed, This paper deals with an average-consensus problem of networked multi-agent systems with heterogeneous time delays. First, a necessary and sufficient condition is derived for multi-agent systems to achieve average consensus. This condition is represented in the form of an algebraic condition by using the delay-transition and the delay-weighted Laplacians. Second, a performance criterion is introduced to evaluate multi-agent systems that do not achieve average consensus. The criterion is represented in terms of the norms with respect to the above Laplacians. These results imply that the introduced Laplacians play important roles in analysing multi-agent systems with heterogeneous time delays. The validity of the analysis results is demonstrated by simulations with six-agent systems.
Scientific journal, English - Formation Control of Multi-agent Systems with Input Constraints and Obstacle Avoidance
Naoaki Niizuma; Kazushi Nakano; Tetsuo Funato
The 1st IEEJ Int. Workshop on Sensing, Actuation, and Motion Control (SAMCON 2015), TT5-1-1, 09 Mar. 2015, Peer-reviwed
International conference proceedings, English - Group motion control of multi-agent systems with obstacle avoidance: column formation under input constraints
Naoaki Niizuma; Kazushi Nakano; Tetsuro Funato; Kohji Higuchi
Artificial Life and Robotics, Springer-Verlag Tokyo, 20, 1, 70-77, 2015, Peer-reviwed, This paper proposes a formation controller for multi-agent systems focusing on the obstacle avoidance and input constraints. In our proposed method, the limitation of translation and angular velocities is adaptably tuned depending on the existence of obstacles, such that the velocities can increase when the robots potentially hit obstacles. Moreover, a potential function of the input velocities that easily satisfies velocity constraints is designed. We also design a formation controller that realizes obstacle avoidance while satisfying the velocity constraints. Mathematical analysis shows the stability of the formation of robots controlled by the proposed model. Simulation results also demonstrate the effectiveness of the proposed method.
Scientific journal, English - StRRT-based path planning with PSO-tuned parameters for RoboCup soccer
Katsumichi Sameshima; Kazushi Nakano; Tetsuro Funato; Shu Hosokawa
Artificial Life and Robotics, Springer-Verlag Tokyo, 19, 4, 388-393, 10 Dec. 2014, Peer-reviwed, Invited, Path planning in various situations is an essential ability for a useful mobile robot in the real world, and technologies facilitating this have been tested in the RoboCup soccer leagues. The main difficulty in path planning lies in the presence of (mobile) obstacles and the kinematic and computational constraints of robots. Rapidly exploring random trees (RRTs) and spatio-temporal RRTs (StRRTs) are popular algorithms for mobile robots in the small size league, one of the RoboCup’s soccer leagues. In these algorithms, paths of finite length are randomly generated in each time interval, and adequate paths among these are selected. Thus, path length and selection probability are important factors. In this paper, we propose a method to determine these parameters using particle swarm optimization. The proposed method is examined using simulations and its real-time tuning ability is verified. The automatically tuned controllers are also capable of real-time path planning through a mobile robot with limited computational ability, such as those used in RoboCup.
Scientific journal, English - Dirichlet Process Crescent-signal Mixture Model for Ground-Penetrating Radar Signals
Makoto Kobayashi; Kazushi Nakano
IECON 2014 - 40TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, IEEE, 3431-3437, 2014, Peer-reviwed, There are many pipes buried underground in urban areas. An installation of signal posts requires information about actual underground conditions in order not to crack any pipes. However, some areas do not have the accurate pipe layouts because the constructions make a gap between the layouts and the results. Using a ground-penetrating radar (GPR) is a solution for preventing damage to the pipes regardless of the accuracy of layouts. Our goal is to propose an automatic pipes-detection method using the GPR signals. The achievement provides the following two things: streamlining a survey of the underground without expert's experience and reducing a burden on the users. In this paper, we propose a new detection method based on the Dirichlet process mixture (DPM) model. This paper aims at examining the estimation accuracy of our method. First of all, the method of our previous work reduces noises of the GPR signals. Secondly, the two-dimensional Gabor wavelet (2D-GWT) is applied for the denoised signals. Next, samples are drawn from the 2D-GWT result which we regard as a probability distribution. Finally, we obtain the partition of samples by using the fixed DPM model to be proposed. We call it the Dirichlet Process Crescent-signal Mixture model. We estimate the positions of buried pipes from the partitions. Some estimated positions are close to the true ones. However, the estimated depths tend to be greater than the true ones because the relative permittivity of underground is apt to increase. We find that the constant relative permittivity is an erroneous assumption. This issue for precise estimation will be addressed in our future research.
International conference proceedings, English - An Application of Fictitious Reference Iterative Tuning to State Feedback Control
Yoshihiro Matsui; Shunichi Akamatsu; Tomohiko Kimura; Kazushi Nakano; Kazunori Sakurama
ELECTRONICS AND COMMUNICATIONS IN JAPAN, WILEY-BLACKWELL, 97, 1, 1-11, Jan. 2014, Peer-reviwed, This paper proposes the use of the fictitious reference iterative tuning (FRIT) method, which has been developed for controller gain tuning in single-input single-output systems, in state feedback gain tuning for a single-input multivariable system. The transient response data for a single-input multivariable plant obtained in closed-loop operation is used for model matching by FRIT in the time domain. The data is also used in the frequency domain to estimate the stability and improve the control performance of the closed-loop system with the state feedback gain tuned by the FRIT method. The FRIT method is applied to a state feedback control system for an inverted pendulum with an inertial rotor, and its usefulness is illustrated through experiments. (c) 2013 Wiley Periodicals, Inc. Electron Comm Jpn, 97(1): 1-11, 2014; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/ecj.11506
Scientific journal, English - Identification of Continuous-Time Systems Using Closed-Loop Transient Data
MATSUI YOSHIHIRO; AYANO HIDEKI; MASUDA SHIRO; NAKANO KAZUSHI
電気学会論文誌 C, 134, 9, 1206-1213 (J-STAGE), 2014
Japanese - A Wavelet Approach to Identification of Ventricular Fibrillation Including State Transition
Y. Ogino; K. Nakano
Int. Symp. on Artificial Life and Robotics (AROB 19th), (USB)-, Jan. 2014, Peer-reviwed
International conference proceedings, English - On group motion control of multi-agent systems with obstacle avoidance - the case of column formation under input constraints -
N. Niizuma; K. Nakano
Int. Symp. on Artificial Life and Robotics (AROB 19th), OS16-5, Jan. 2014, Peer-reviwed
International conference proceedings, English - Experimental validation of nonlinear PID model for human standing with large body sway
Sekiya Noro; Tetsuro Funato; Shinya Aoi; Kazushi Nakano; Kazuo Tsuchiya
2014 11TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING/ELECTRONICS, COMPUTER, TELECOMMUNICATIONS AND INFORMATION TECHNOLOGY (ECTI-CON), IEEE, 1346, 2014, Peer-reviwed, Human generates very slow (<1[Hz]) and large (>20[mm]) body sway. This sway is considered to reflect the characteristic of human neural control. We propose a human control model with nonlinearlity and the effect of nonlinearlity is considered by mathematical analysis and simulation. As a result, we found that the proposed model has bifurcation structure with the magnitude of control gain. We consider that body sway is caused by this bifurcation structure. In order to verify the existence of such a nonlinear nature in human, we performed human experiment with two floor environments: fix and rotate floors. As a result, we verified the existence of nonlinearlity in human body sway and showed the potential existence of bifurcation structure.
International conference proceedings, English - An Wavelet Transform-Based Discrimination Algorithm for Electrocardiogram
Yoshihide Onishi; Hidetoshi Oya; Yuki Nishida; Yoshihiro Ogino; Kazushi Nakano; Yoshihiro Yamaguchi; Hiroshi Miyauchi; Takayuki Okai
2014 ASIA-PACIFIC SIGNAL AND INFORMATION PROCESSING ASSOCIATION ANNUAL SUMMIT AND CONFERENCE (APSIPA), IEEE, (USB), 2014, Peer-reviwed, Serious arrhythmic events in most of patients suffering from sudden cardiac arrest are Ventricular Fibrillation (VF) and Ventricular Tachycardia (VT). For these serious arrhythmic events, the timely employment of an electrical defibrillator may lead to successful results. From this viewpoint, widespread deployment of Automated External Defibrillators (AEDs) has been suggested and the most important component in AEDs is accurate and quick detection of these events by means of an appropriate algorithm. However quick and accurate detection of ventricular arrhythmia is not easy. In this paper, we analyze ECG data by using Gabor Wavelet Transform (GWT) and on the basis of the analysis results, we propose a new detection algorithm. Finally, we evaluate the proposed detection algorithm.
International conference proceedings, English - Denoising and Detection of Reflected Waves from Buried Pipes with Ground-penetrating Radar Data, APSAR 2013, Tsukuba
Y. Ogino; T. Uchikado; K. Nakano; Y. Nakamura; T. Ogawa; T. Matsuyama
APSAR 2013, (USB), Oct. 2013, Peer-reviwed
International conference proceedings, English - A Method for Emphasizing Reflection Waves from Buried Objects by Using Ground-Penetrating Radar
Makoto Kobayashi; Kazushi Nakano
ELECTRONICS AND COMMUNICATIONS IN JAPAN, WILEY-BLACKWELL, 96, 10, 22-36, Oct. 2013, Peer-reviwed, SUMMARYGround-penetrating radar (GPR) is a useful tool for performing subsurface imaging by using radar pulses. In a previous paper we proposed a method for denoising GPR signals by using the 2D Gabor wavelet transform. In this paper we present a new method for emphasizing GPR reflected waves from buried objects. We evaluate the results of time-frequency analysis of the reflected waves on the basis of the Markov Chain Monte Carlo (MCMC) and Infinite Gaussian Mixture Model (IGMM) methods. Our methods are found to be effective as preprocessing for detecting the positions of buried metal pipes. (c) 2013 Wiley Periodicals, Inc. Electron Comm Jpn, 96(10): 22-36, 2013; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/ecj.11484
Scientific journal, English - 閉ループ過渡応答データを用いた不安定系のためのPID調整
松井義弘; 赤松駿一; 木村知彦; 中野和司
電気学会論文誌, The Institute of Electrical Engineers of Japan, C-133, 10, 1936-1942, Oct. 2013, Peer-reviwed, In this paper, a method to tune PID controller for unstable plants is proposed. Since the tuning is done in frequency domain, the stability and the bandwidth of the closed-loop system with the tuned controller can be estimated. In order to tune PID controller, the method requires only one-shot transient response data of the closed-loop system stabilized by an arbitrary PID controller and the data is used in frequency domain for classical loop-shaping. The effectiveness and the simplicity of the proposed method are shown through a numerical example study and an experiment.
Scientific journal, Japanese - A Denoising Method for Detecting Reflected Waves from Buried Objects by Ground-Penetrating Radar
Makoto Kobayashi; Kazushi Nakano
ELECTRONICS AND COMMUNICATIONS IN JAPAN, WILEY-BLACKWELL, 96, 9, 1-13, Sep. 2013, Peer-reviwed, Ground-penetrating radar is a tool for imaging the subsurface with radar pulses. Since a variety of media including buried objects give different dielectric constants, the positions of the buried objects can be detected on the basis of variations in the reflected return signals. This paper presents a denoising method based on the 2D Gabor wavelet transform method to solve pending problems in extracting the signals reflected from buried objects. The validity of our method is demonstrated by comparing it with the f-k filtering method. (C) 2013 Wiley Periodicals, Inc.
Scientific journal, English - Fictitious reference tuning using information in frequency domain,
Y. Matsuo; K. Nakano
IFAC Conference on Advances in PID Control, 2, PART 1, (CD-ROM), Mar. 2013, Peer-reviwed, In this paper, an application method of Fictitious Reference Iterative Tuning (FRIT), which has been developed for controller gain tuning for single-input single-output systems, to state feedback gain tuning for single-input multivariable systems is proposed. Transient response data of a single-input multivariable plant obtained under closed-loop operation is used for model matching by the FRIT in time domain. The data is also used in frequency domain to estimate the stability and to improve the control performance of the closed-loop system with the state feedback gain tuned by the method. The method is applied to a state feedback control system for an inverted pendulum with an inertia rotor and its usefulness is illustrated through experiments.
International conference proceedings, English - ロボット群移動のための隊列維持を考慮したリーダ追従型隊列誘導
鈴木 学; 桜間一徳; 中野和司
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 49, 2, 302-309, Feb. 2013, Peer-reviwed, This paper deals with a leader-following formation navigation (LFFN), which is one of the most important issues in formation control. In this formation, one leader is controlled by a human operator, while multiple followers pass along the leader's trajectory in the same motion to the leader. The followers move along the leader's path behind the leader after some intervals. In this navigation method, the distances between the robots are not considered, thus some of the followers are possibly too late to maintain the formation. This paper proposes a new LFFN method with the maintenance of the formation-distances. The proposed method minimizes the sum of the evaluation functions concerning the velocity and distance errors. The effectiveness of the presented method is demonstrated by an experiment with three mobile robots.
Scientific journal, Japanese - PID tuning for unstable systems using closed-loop transient response data
Yoshihiro Matsui; Shunichi Akamatsu; Tomohiko Kimura; Kazushi Nakano
IEEJ Transactions on Electronics, Information and Systems, 133, 10, 2013, In this paper, a method to tune PID controller for unstable plants is proposed. Since the tuning is done in frequency domain, the stability and the bandwidth of the closed-loop system with the tuned controller can be estimated. In order to tune PID controller, the method requires only one-shot transient response data of the closed-loop system stabilized by an arbitrary PID controller and the data is used in frequency domain for classical loop-shaping. The effectiveness and the simplicity of the proposed method are shown through a numerical example study and an experiment. © 2013 The Institute of Electrical Engineers of Japan.
Scientific journal - Two Problems of Wavelet Packet Transform
Makoto Kobayashi; Kazushi Nakano
PROCEEDINGS OF THE 2013 10TH INTERNATIONAL CONFERENCE ON INFORMATION TECHNOLOGY: NEW GENERATIONS, IEEE COMPUTER SOC, 153-159, 2013, Peer-reviwed, Wavelet packet transform (WPT) is a useful tool for time-frequency analysis. The WPT based on discrete wavelet transform (DWT) has a well-known problem. It is called shift-variance behavior. It varies the energy of DWT result and fails to detect a changing-point even when an original signal shifts only by one sample. Although the solution of multi-resolution analysis (MRA) by using the complex DWT has been released, many reports about the WPT do not accomplish shift-invariance. In this paper, we describe the reason not to complete the shift-invariance for the WPT. In the complex MRA, it constructs a theoretical structure of a parallel DWT with one sample delayed. However the WPT partly achieves it. In addition, the WPT evenly divides a frequency band into 2(n) parts where n is the decomposition level. Each band is placed in the wrong frequency order. Whenever high-pass filtered signals are downsampled, the origin of the frequency axis is translated to. We show how to make the correct order. The two problems of the shift-invariance and the wrong frequency order are solved.
International conference proceedings, English - Leader-following Formation Navigation with Maintenance of Formation-distance for Safe Movement of Robot Group
Manabu SUZUKI; Kazunori SAKURAMA; Kazushi NAKANO
Transactions of the Society of Instrument and Control Engineers, The Society of Instrument and Control Engineers, 49, 2, 302, 2013, Peer-reviwed
Scientific journal - Direct Multivariable PI Controller Tuning from Closed-Loop Response Data
Y. Matsui; K. Nakano
International Symposium on Artificial Life and Robotics, ALIFE ROBOTICS CO, LTD, (CD-ROM), Jan. 2013, Peer-reviwed, This paper proposes a PI controller tuning method for multivariable plants. The method requires only one set of the input-output transient data of the plant under closed-loop operation to tune the controller. The data is used to obtain an appropriate controller parameter by solving a model matching problem of FRIT (Fictitious Reference Iterative Tuning) in time domain, and the data is also used in frequency domain to confirm if the parameter tuned by FRIT is stable and if the model matching is achieved. The method is applied to a non-interacting control of a gas turbine engine and its effectiveness is shown through simulations.
International conference proceedings, English - Multi-Robot Coordination Using Switching of Methods for Deriving Equilibrium in Game Theory
Wataru Inujima; Kazushi Nakano; Shu Hosokawa
2013 10TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING/ELECTRONICS, COMPUTER, TELECOMMUNICATIONS AND INFORMATION TECHNOLOGY (ECTI-CON), IEEE, 1825, 2013, Peer-reviwed, The study of a Multi-Agent System using multiple autonomous robots has recently attracted much attention. With the problem of target tracking as a typical case study, multiple autonomous robots decide their own actions to achieve the whole task which is tracking target. Each autonomous robot's action influences each other, so, an action decision in coordination with other robots and the environment is needed to achieve the whole task effectively.
The game theory is a major method realizing a coordinated action decision. The game theory mathematically deals with a multi-agent environment influencing each other as a game situation. The conventional methods model one of the target tracking as a n-person general-sum game, and use the noncooperative Nash equilibrium theory of non-cooperative games and the semi-cooperative Stackelberg equilibrium. The semi-cooperative Stackelberg equilibrium may obtain better control performance than the non-cooperative Nash equilibrium, but requires the communication among robots.
In this study, we propose switching of methods in the equilibrium derivation both the non-cooperative Nash equilibrium and the semi-cooperative Stackelberg equilibrium in a coordination algorithm for the target tracking. In the simulation, our proposed method achieves coordination in less connection than the method using the semi-cooperative Stackelberg equilibrium at all times. Furthermore, the proposed method shows better control performance than the non-cooperative Nash equilibrium.
International conference proceedings, English - On inhibition of premature convergence in Genetic Algorithms for mobile robot control
Satoshi Shintaku; Kazushi Nakano
PROCEEDINGS OF THE EIGHTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 18TH '13), ALIFE ROBOTICS CO, LTD, 146-151, 2013, Peer-reviwed, Methods of Evolutionary Robotics using the evolutionary computation has been applied to design of mobile robot controllers. Genetic algorithms (GAs), ones of the typical methods in the evolutionary computation, have advantages that hardly fall into local minima compared to the other optimization algorithms. However the GAs have a big problem of premature convergence that the variety of the population is reduced, so the searching ability is degraded. In this study, through analysis of a new individual generation in GAs, we propose two methods of Probabilistic Crossover and Fluctuant Mutation to inhibit the premature convergence. We apply our proposal methods to benchmark problems in optimization and to controller design of the peg pushing robot, and demonstrate the effectiveness of our proposed methods.
International conference proceedings, English - Leader-following formation navigation with virtual trajectories for dynamic multi-agents
Ryo Kobayashi; Manabu Suzuki; Kazushi Nakano
IFAC Proceedings Volumes (IFAC-PapersOnline), 7, 1, 773-779, 2013, Peer-reviwed, In recent years, cooperative control of multi-agents, especially formation control, has attracted considerable interest among control engineers. Comparing to a single agent performing alone, multiple cooperative agents are expected to improve the efficiency of operation, flexibility and fault-tolerance of the system. As one of the formation control methods, we deal with the leader-following formation navigation (LFFN). The LFFN is defined such that a human operator or an autonomous leader agent forms a queue of agents to guide multiple followers. The followers pass along the leader's trajectory with the same motion as the leader. When the leader passes along a safe route to avoid obstacles, the followers also pass along similar safe trajectory. However, when using the LFFN, the followers can shape only a single column formation. In this study, we first extent the above LFFN's usage to parallel single colums using adjoining virtual leaders. Next, we consider virtual leaders adjoining the leader to design virtual trajectories along which virtual leaders pass and virtual leader's velocities on the ones' path. We design the followers' target points which track the virtual leader's path with designed virtual velocity. Using our proposed method, the followers can avoid obstacles within the leader's path and shape a formation which is not a single column type. Finally, we demonstrate the effectiveness of our newly proposed method through simulation and experimentation.
International conference proceedings, English - Online Leader-Following Formation Navigation with Initial Movements of Followers and Its Experimental Verification
M. Suzuki; K. Sakurama; K. Nakano
SICE Journal of Control, Measurement, and System Integration （SICE JCMSI）, 5, 5, 304-310, Sep. 2012, Peer-reviwed
Scientific journal, English - 地中レーダ受信信号のノイズ解析とその除去手法
小林 允; 中野和司
電気学会論文誌, D-132, 6, 631-641, Jun. 2012, Peer-reviwed
Scientific journal, Japanese - FRIT法の状態フィードバック制御への応用
松井義弘; 赤松駿一; 木村和彦; 中野和司; 桜間一徳
電気学会論文誌, C-132, 6, 851-859, Jun. 2012, Peer-reviwed
Scientific journal, Japanese - 地中レーダ受信信号における反射波の強調手法
小林 允; 中野和司
電気学会論文誌, D-132, 4, 487-500, Apr. 2012, Peer-reviwed
Scientific journal, Japanese - マルチエージェントシステムのよる逃避ターゲットの包囲と誘導
桜間一徳; 宮﨑裕史; 中野和司; 細川 嵩
計測自動制御学会論文集, 48, 4, 224-231, Apr. 2012, Peer-reviwed
Scientific journal, Japanese - Fictitious reference tuning using information in frequency domain
Y. Matsui; T. Kimura; K. Nakano
IFAC Conference on Advances in PID Control, 2, PART 1, (CD-ROM), Mar. 2012, Peer-reviwed, In this paper, an application method of Fictitious Reference Iterative Tuning (FRIT), which has been developed for controller gain tuning for single-input single-output systems, to state feedback gain tuning for single-input multivariable systems is proposed. Transient response data of a single-input multivariable plant obtained under closed-loop operation is used for model matching by the FRIT in time domain. The data is also used in frequency domain to estimate the stability and to improve the control performance of the closed-loop system with the state feedback gain tuned by the method. The method is applied to a state feedback control system for an inverted pendulum with an inertia rotor and its usefulness is illustrated through experiments.
International conference proceedings, English - Path Tracking Control of Lagrange Systems with Obstacle Avoidance
Kazunori Sakurama; Kazushi Nakano
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS, 10, 1, 50-60, Feb. 2012, Peer-reviwed, This paper addresses a path tracking problem with obstacle avoidance for Lagrange systems. The proposed method is based on field potential methods in combination with navigation functions for obstacle avoidance. First, it is shown that a simple combination of the navigation function with the conventional path tracking controller does not work. Therefore, in order to cope with this problem, a new feedback law is proposed for a path parameter which characterizes the reference path. It is proved that the proposed controller achieves both path following and collision avoidance. Moreover, since the method adopts bounded navigation functions, the proposed controllers generate bounded input signals even when target systems approach obstacles. Finally, an experimental evaluation is performed with a two-link manipulator to illustrate the effectiveness of the proposed method.
Scientific journal, English - A wavelet transform-based detection algorithm for electrocardiogram
Oya Hidetoshi; Tanaka Kosuke; Hirose Katsuhiro; Nakano Kazushi; Yamaguchi Yoshihiro; Miyauchi Hiroshi
2012 IEEE International Conference on Signal Processing, Communications and Computing, ICSPCC 2012, 768-773, 2012, Sudden cardiac arrest is a major public health problem and Ventricular Fibrillation (VF) and Ventricular Tachycardia (VT) are serious arrhythmic events in most of patients suffering from sudden cardiac arrest. For these serious arrhythmic events, the timely employment of an electrical defibrillator may lead to successful results. VF is the most serious variety of arrhythmia which requires accurate and quick detection to save lives, and a pivotal component in automated external defibrillators (AEDs) is the detection of VF signal by means of appropriate algorithm. In this paper, on the basis of Continuous Wavelet Transform (CWT) we propose a wavelet transform-based detection algorithm for electrocardiogram (ECG) such as sinus rhythm (SR), VF and so on. © 2012 IEEE.
International conference proceedings, English - A new differentiation algorithm for electrocardiogram based on wavelet transform
Hidetoshi Oya; Kosuke Tanaka; Katsuhiro Hirose; Kazushi Nakano; Yoshihiro Yamaguchi; Hiroshi Miyauchi
Proceedings of the 9th IASTED International Conference on Biomedical Engineering, BioMed 2012, 92-97, 2012, Ventricular fibrillation (VF) is the most serious variety of arrhythmia which requires accurate and quick detection to save lives, and a pivotal component in automated external defibrillators (AEDs) is the detection of VF signal by means of appropriate detection algorithm. In this paper, on the basis of Continuous Wavelet Transform (CWT) we analyze electrocardiograms (ECG) such as sinus rhythm (SR), VF and so on and propose a new differentiation algorithm for waves which should be applied electrical defibrillation.
International conference proceedings, English - A denoising method for detecting reflected waves from buried objects by ground-penetrating radar
Makoto Kobayashi; Kazushi Nakano
IEEJ Transactions on Industry Applications, 132, 6, 631-641, 2012, Peer-reviwed, Ground-penetrating radar is a tool for imaging the subsurfaces with radar pulses. Since a variety of media including buried objects give different dielectric constants, the positions of the buried objects can be detected on the basis of variations in the reflected return signals. This paper presents a denoising method based on the 2D-Gabor wavelet transform method to solve the pending problems in extracting the signals reflected from buried objects. The validity of our method is demonstrated by comparing it with the f-k filtering method. © 2012 The Institute of Electrical Engineers of Japan.
Scientific journal, Japanese - A method for emphasizing reflection waves from buried objects by using ground-penetrating radar
Makoto Kobayashi; Kazushi Nakano
IEEJ Transactions on Industry Applications, 132, 4, 5-500, 2012, Peer-reviwed, Ground-penetrating radar (GPR) is a useful tool for performing subsurface imaging by using radar pulses. In previous paper, we proposed a method for denoising GPR signals by using 2D Gabor wavelet transforms. In this paper, we present a new method for emphasizing GPR reflected waves from buried objects. We can evaluate the results of the time-frequency analysis of the reflection waves on the basis of the Markov Chain Monte Carlo (MCMC) and the Infinite Gaussian Mixture Model (IGMM) methods. Our proposed methods are effective as pre-processing method for detecting the positions of buried metal pipes. © 2012 The Institute of Electrical Engineers of Japan.
Scientific journal, Japanese - Escaping-target Encirclement and Navigation by Multi-agent Systems
Kazunori SAKURAMA; Hiroshi Miyazaki; Kazushi NAKANO; Shu HOSOKAWA
Transactions of the Society of Instrument and Control Engineers, The Society of Instrument and Control Engineers, 48, 4, 224, 2012, Peer-reviwed
Scientific journal - An Application of Fictitious Reference Iterative Tuning to State Feedback Control
Yoshihiro Matsui; Shunichi Akamatsu; Tomohiko Kimura; Kazushi Nakano; Kazunori Sakurama
IEEJ Transactions on Electronics, Information and Systems, Institute of Electrical Engineers of Japan ({IEE} Japan), 132, 6, 851, 2012, Peer-reviwed
Scientific journal - Acquisition of Stationary Behavior Based on Multiagent Enforced SubPopulations
Joji Kato; Shu Hosokawa; Kazushi Nakano
PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12), ALIFE ROBOTICS CO, LTD, OS27-3, 586-591, 2012, Peer-reviwed, This paper presents a solution for the problems of state representation as well as a variety of optimal solutions in multiagent systems. These problems cannot be solved by traditional reinforcement learning methods such as Sarsa(lambda). We apply a method of Multiagent Enforced SubPopulations to the task of stationary behavior acquisition. The stationary behavior acquisition task means that the agents continue to select behavior in order to keep the stationary state. The behaviors of acquired agents are not uniquely determined in those tasks. In addition, there is a state representation problem in multiagent systems due to the complexity of the system. Furthermore, there is no example of the Multiagent Enforced SubPopulations applied to these types of tasks, in which the design policy of the fitness function is unclear. We demonstrate the validity of our proposed method through comparison with a Keepaway task in RoboCup Soccer as a stationary behavior acquisition task.
International conference proceedings, English - A Reward Allocation Method for Reinforcement Learning in Stabilizing Control Tasks
Shu Hosokawa; Joji Kato; Kazushi Nakano
PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12), ALIFE ROBOTICS CO, LTD, OS27-2, 582-585, 2012, Peer-reviwed, Reinforcement learning is a machine learning method that does not require a detailed teaching signal by a human, which is expected to be applied to real robots. In its application to real robots, the learning processes are required to be finished in a short learning period of time. A reinforcement learning method of non-bootstrap type has fast convergence speeds in the tasks such as Sutton's maze problem that aim to reach the target state in a minimum time. However, these methods are difficult to learn either task to keep astable state as long as possible. In this study, we improve the reward allocation method for stabilizing control tasks. The validity of our method is demonstrated through simulation for stabilizing control of an inverted pendulum. Our proposed method can acquire a policy in order to keep a stable state within a short learning period of time.
International conference proceedings, English - A Reward Allocation Method for Reinforcement Learning in Stabilizing Control Tasks
Shu Hosokawa; Joji Kato; Kazushi Nakano
PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12), ALIFE ROBOTICS CO, LTD, 582-585, 2012, Peer-reviwed, Reinforcement learning is a machine learning method that does not require a detailed teaching signal by a human, which is expected to be applied to real robots. In its application to real robots, the learning processes are required to be finished in a short learning period of time. A reinforcement learning method of non-bootstrap type has fast convergence speeds in the tasks such as Sutton's maze problem that aim to reach the target state in a minimum time. However, these methods are difficult to learn either task to keep astable state as long as possible. In this study, we improve the reward allocation method for stabilizing control tasks. The validity of our method is demonstrated through simulation for stabilizing control of an inverted pendulum. Our proposed method can acquire a policy in order to keep a stable state within a short learning period of time.
International conference proceedings, English - On the relative power contribution between process variables of SCR control systems for ST-GT combined cycle power plants
Mai Duc Thong; Kazushi Nakano; Yukihido Toyoda
2012 9th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2012, (CD-ROM), 2012, Peer-reviwed, This paper is concerned with a method of computing the relative power contribution ratio (PCR) between process variables of a Selective Catalytic Reduction (SCR) system in a steam turbine (ST)-gas turbine (GT) combined cycle power plant. The PCR is used to select process variables in the statistical model of the system to be considered. Firstly, we show a method for computing the PCR using a RBF-ARX-based modeling of the SCR. Next, we demonstrate the effectiveness of the PCR in evaluating the identified system. Finally, we consider about a method for computing PCR for general stationary control systems based on Otomo-Nakagawa-Akaike's method, which is applicable to the above-mentioned SCR systems. © 2012 IEEE.
International conference proceedings, English - State feedback gain tuning for inverted pendulum in frequency domain using one-shot closed-loop transient response data
Yoshihiro Matsui; Tomohiko Kimura; Kazushi Nakano
2012 9th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2012, (CD-ROM), 2012, Peer-reviwed, In this paper, a method to tune state feedback gain for single-input multivariable systems is proposed. The method uses only a single set of closed-loop transient plant I/O data. The I/O data in the closed-loop system are filtered by a simple high pass filter, and the frequency response of the plant is obtained with the Discrete Fourier Transforms of the filtered data. The state feedback gain is determined to stabilize the closed-loop system and to improve the control performance based on the point of view of loop shaping using the estimated frequency response of the plant. The validity of the proposed method is illustrated through an experiment on a state feedback control of an inverted pendulum with an inertia rotor. © 2012 IEEE.
International conference proceedings, English - Wavelet-based position detection of buried pipes from GPR signals by use of angle information
Makoto Kobayashi; Tomohiro Uchikado; Kazushi Nakano
International Conference on Wavelet Analysis and Pattern Recognition, 390-396, 2012, Peer-reviwed, There are many metal pipes under paved roads in modern cities. For example, before installing a traffic signal post, underground mapping must take place to avoid hitting buried pipes. We use a ground-penetrating radar (GPR) to resolve this issue. The goal of this research is to detect the positions of buried pipes with GPR signals automatically. In this paper, we propose a new detection method for locating buried pipes. The proposed method consists of two-dimensional Gabor wavelet transform (2D GWT), Delaunay triangulation (DT), particle filter (PF) and polynomial regression (PR). 2D GWT results represent angle information of GPR signals called B-scan. The GWT results are used as a likelihood function for the PF, and the particles ride on and follow the target signal in B-scan. The DT is used for initial particle generation of the PF, and the positions of pipes are detected by using the PR model for expectations of the PF. We show that most positions of pipes are found by using our method. However, the problem of inaccuracy of some detections needs to be enhanced for automatic detection. © 2012 IEEE.
International conference proceedings, English - Emphasis of GPR signals reflected from buried pipes using statistical clustering techniques
Tomohiro Uchikado; Makoto Kobayashi; Kazushi Nakano; Seiichi Shin
International Conference on Wavelet Analysis and Pattern Recognition, 410-416, 2012, Peer-reviwed, When digging paved ground, it is necessary to check in advance the location of buried pipes without damaging them. Ground-penetrating radar (GPR), which can be used for imaging without destroying underground structures, has been commonly used. However it becomes a burden for the user of GPR to visually check the location of the buried pipes from the signal received from a GPR. We have already proposed a wavelet-based method to solve this problem. We introduced a "clustering technique" for emphasizing reflected waves from pipes. Since it is based on a statistical procedure, we have the problem of showing different results for each trial. In this paper, we propose a new method for reducing the dispersion of clustering results by implementing the original method several times. This method is not for detecting the location of buried pipes, but it aims at an improvement of the precision in comparison to the original method. © 2012 IEEE.
International conference proceedings, English - Multirate Sampling - Based Leader-Following Formation Navigation with Relative Information
Manabu Suzuki; Kazushi Nakano; Kazunori Sakurama
2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE), SOC INSTRUMENT CONTROL ENGINEERS JAPAN, 2244-2249, 2012, Peer-reviwed, The paper discusses about the leader-following formation navigation (LFFN). In this formation, one leader is controlled by a human operator while multiple followers pass along the leader's trajectory in the same motion as the leader behind the leader after some interval. We have proposed the LFFN method using relative information from laser range finders (LRFs). However, it is difficult to realize the above situation due to the difference between sampling period in LRF and control period. We overcome this difficulty by using the multirate sampling control theory. Furthermore, we deal with the fusion of collision avoidance and the maintenance of formation-distance (MFD) in the LFFN. We lastly demonstrate the effectiveness of our proposed method through simulation with three mobile robots.
International conference proceedings, English - Tuning of PID Controller Added to State Feedback Control for Unstable Single-Input Multivariable Plants
Yoshihiro Matsui; Shunichi Akamatsu; Tomohiko Kimura; Kazushi Nakano
2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE), SOC INSTRUMENT CONTROL ENGINEERS JAPAN, 2222-2225, 2012, Peer-reviwed, In this paper, a method to tune PID controller attached in series to state feedback gain for unstable single-input multivariable plants is proposed. To tune PID controller, the method requires only one-shot transient response data of the state feedback control system stabilized by an arbitrary stable feedback gain. The data is used in frequency domain for classical loop-shaping. The effectiveness and the simplicity of the proposed method are shown through simulations and experiments.
International conference proceedings, English - A reward allocation method for reinforcement learning in stabilizing control of T-inverted pendulum
Shu Hosokawa; Kazushi Nakano
2012 9th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2012, Springer, 19, 02, 109-114, 2012, Peer-reviwed, Invited, Reinforcement learning is a type of machine learning methods that does not require a detailed teaching signal by a human, which is expected to be applied to real robots. In its application to real robots, the learning processes are required to be finished in a short learning period of time. A reinforcement learning method of non-bootstrap type has fast convergence speeds in the tasks such as Sutton's maze problem that aims to reach a target state in a minimum time. However, this method is difficult to learn a task of keeping a stable state as long as possible. This paper improves a reward allocation method for stabilizing control tasks. The validity of our method is demonstrated through simulation for stabilizing control of T-inverted pendulum. Our proposed method can acquire a policy of keeping a stable state within a short learning period of time. © 2012 IEEE.
International conference proceedings, English - Fictitious Reference Iterative Tuning for State Feedback Control of Inverted Pendulum with Inertia Rotor
Y. Matsui; S. Akamatsu; T. Kimura; K. Nakano
SICE Annual Conference 2011, (CD-ROM), Sep. 2011, Peer-reviwed, In this paper, an application of Fictitious Reference Iterative Tuning (FRIT) to single-input multivariable systems is studied. Although the FRIT was proposed to tune PID controllers for single-input single-output systems, the FRIT is able to tune the state feedback gain for single-input multivariable systems. It is shown that the state feedback gain of an inverted pendulum with an inertia rotor can be tuned by the FRIT appropriately through experiments. In addition, the stability criterion for the state feedback gain tuned by the FRIT is discussed. © 2011 SICE.
International conference proceedings, English - 閉ループステップ応答データを用いた機械系の周波数応答推定
松井義弘; 木村知彦; 中野和司
電気学会論文誌, The Institute of Electrical Engineers of Japan, C-131, 04, 751-757, Apr. 2011, Peer-reviwed, In this paper, a simple scheme to estimate frequency transfer functions of linear time-invariant single-input single-output systems based on closed-loop step response data is investigated. The method uses only a single set of step response data of plants under closed-loop operating conditions. The input and output of a plant are filtered by a simple bandpass filter, and the frequency transfer function of the plant is obtained with the Discrete Fourier Transforms of the filtered input and output signals. The method is applied to a resonant mechanical system and its validity is illustrated through simulations and experiments.
Scientific journal, Japanese - 非一様・非対称な時間遅れをもつマルチエージェントシステムの平均合意問題
桜間一徳; 中野和司
計測自動制御学会論文集, 47, 2, 100-109, Feb. 2011, Peer-reviwed
Scientific journal, Japanese - Velocity and acceleration estimation of an electric throttle system by adaptive differential filter
Tsuyoshi Nimiya; Haruo Suemitsu; Takami Matsuo; Sawut Umerujan; Kazushi Nakano
2011 IEEE/SICE International Symposium on System Integration, SII 2011, 409-414, 2011, Peer-reviwed, The design of an ideal differentiator is a difficult and a challenging task. In this paper, we propose two types of differentiators to estimate the time-derivative of an output signal. To begin with, a velocity estimator is proposed based on the adaptive identification method and compared with the VSS observer. Then, an acceleration estimator is proposed with the non-passifiable adaptive schemes. Finally, the proposed differentiators are applied to the estimation of the speed and acceleration of the electric throttle system modeled by Umerujan et al. The simulation results show that the proposed differentiators are robust to additive noises. © 2011 IEEE.
International conference proceedings, English - Frequency response estimation for mechanical systems using closed-loop step response data
Yoshihiro Matsui; Tomohiko Kimura; Kazushi Nakano
IEEJ Transactions on Electronics, Information and Systems, Institute of Electrical Engineers of Japan, 131, 4, 751-757, 2011, Peer-reviwed, In this paper, a simple scheme to estimate frequency transfer functions of linear time-invariant single-input single-output systems based on closed-loop step response data is investigated. The method uses only a single set of step response data of plants under closed-loop operating conditions. The input and output of a plant are filtered by a simple bandpass filter, and the frequency transfer function of the plant is obtained with the Discrete Fourier Transforms of the filtered input and output signals. The method is applied to a resonant mechanical system and its validity is illustrated through simulations and experiments. © 2011 The Institute of Electrical Engineers of Japan.
Scientific journal, English - Angle-based neuro-fuzzy navigation for autonomous mobile robots
Shu Hosokawa; Joji Kato; Kazushi Nakano; Kazunori Sakurama
PROCEEDINGS OF THE SIXTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 16TH '11), ALIFE ROBOTICS CORP LTD, OS1-5, 66-69, 2011, Peer-reviwed, This paper presents a neuro-fuzzy navigation method for mobile robots based on local sensors mounted on the robot. This method is not sensitive to sensor noise, and is able to automatically adjust the internal parameters given by the teacher signal. However, most of previous studies dealt with two-wheel driven robots have focused on the acceleration control of their wheels. For this reason, it is difficult to generate teacher signals for robots with many actuators such as omnidirectional mobile robots. In this paper, we propose a method of neuro-fuzzy navigation based on control of rotation speed of the robots. We demonstrate the validity of our proposed method through simulations and experiments.
International conference proceedings, English - A Consideration on Immunity-based Reinforcement Learning in a Continuous State Space Environment
S. Hosokawa; K. Nakano
Int. Symp. on Artificial Life and Robotics 2010, OS1-2, (CD-ROM), Jan. 2011, Peer-reviwed
International conference proceedings, English - Average-consensus problem for networked multi-agent systems with heterogeneous time-delays
Kazunori Sakurama; Kazushi Nakano
IFAC Proceedings Volumes (IFAC-PapersOnline), 18, 1, 2368-2375, 2011, Peer-reviwed, This paper deals with an average-consensus problem for networked multi-agent systems with non-uniform and asymmetric (heterogeneous) time-delays. The goal of this paper is to derive a necessary and sufficient condition for average-consensus in the form of an algebraic condition. We deal with two cases according to initial conditions: the state variables before the initial time are constant or not constant. In each case, the necessary and sufficient condition is represented by the eigenvectors of the delay-transition and/or the delay-weighted Laplacians, which are newly introduced in this paper to express the structures of the delayed networks. This is the first paper which shows the strict condition for average-consensus of networked multi-agent systems with heterogeneous time-delays. The validity of the analysis results is demonstrated by simulations with six-agent systems. © 2011 IFAC.
International conference proceedings, English - Formation Control with Velocity Assignment for Second-order Multi-agent Systems with Heterogeneous Time-delays
Kazunori Sakurama; Kazushi Nakano
2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC), IEEE, 765-770, 2011, Peer-reviwed, This paper deals with a formation control problem for second-order multi-agent systems with heterogeneous time-delays. We aim to control multiple agents so as to form a desired formation pattern and to move with an assigned velocity in an assigned direction. The assigned velocity and direction are transmitted through long-distance communication from human operators as external signals. Some of the agents, called leaders, can receive the external signals. As shown in this paper, in multi-agent systems with heterogeneous time-delays, there remain formation and velocity errors because of the asymmetry of the time-delays. We investigate how large errors arise in these systems, and propose the best selection of leaders so as to minimize the velocity error. Finally, some numerical results demonstrate the validity of the proposed analyses.
International conference proceedings, English - Regulated Plus and Minus Power Supply Using Approximate 2DOF Robust Digital Control
Atsushi Saitoh; Yusuke Tsuruhori; Yoshihiro Ohta; Kohji Higuchi; Kazushi Nakano
PROCEEDINGS OF THE SIXTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 16TH '11), ALIFE ROBOTICS CORP LTD, 16, 62-65, 2011, Peer-reviwed, A plus and minus switching power supplies are needed for many applications, for example audio power supply. Since the output voltage changes of such power amplifiers which are loads are large, the power supply voltagse are changed largely. Usually, in order to suppress the change, a capacitor with large capacity is used at the output end. If the capacities are made small, the power supplies can be compacted. In this paper, it is shown that the capacities can be made small using a robust digital control using an approximate 2DOF. The derived controller is actually implemented on a DSP. It is demonstrated from experiments that the power supplies can be compacted by the robust controller.
International conference proceedings, English - Online Leader-Following Formation Navigation with Initial Movements of Followers and Its Experimental Verification
M. Suzuki; K. Sakurama; K. Nakano
Proc. of SICE Annual Conference, 1146-1152, Aug. 2010, Peer-reviwed
International conference proceedings, English - INPUT-OUTPUT RELATION OF LINEAR SYSTEMS BY USING COMPLEX WAVELET PACKET TRANSFORM
Masaaki Osake; Kazushi Nakano; Tetsuya Tabaru; Seiichi Shin
INTERNATIONAL JOURNAL OF WAVELETS MULTIRESOLUTION AND INFORMATION PROCESSING, WORLD SCIENTIFIC PUBL CO PTE LTD, 8, 4, 521-535, Jul. 2010, Peer-reviwed, This paper is concerned with an input-output relation of linear systems when using the complex wavelet packet transform. In general, the linear relation between input-output is guaranteed by the following two conditions: (1) the mother wavelet has a better frequency resolution, and (2) the real and imaginary parts in the mother wavelet consist of a Hilbert transform pair. The complex wavelet satisfying the above conditions has been used for demonstrating the linear relation. In this paper, a complex wavelet packet transform is applied for improving the frequency resolution. The validity of our approach is shown through a numerical experiment.
Scientific journal, English - Analysis and Modeling of Practical Experiment on IP Traffic Control
Tadamichi Suzuki; Jungo Ito; Kazushi Nakano; Tetsuya Miki
ELECTRONICS AND COMMUNICATIONS IN JAPAN, SCRIPTA TECHNICA-JOHN WILEY & SONS, 93, 1, 9-18, Jan. 2010, Peer-reviwed, In this paper, we focus on a practical experiment concerning IP traffic engineering over Multi-Protocol Label Switching (MPLS), especially which features feedback control capabilities. We present control-theoretic analysis of the experimental results based on acquired knowledge of actual network behavior. Because stable automated control capabilities are key issues in IP traffic engineering, we model an IP traffic control system based on the resulting analysis. In addition, comparison between simulated network behavior and actual behavior shows this model to have a high degree of stability, with a high potential for application to real networks. (C) 2009 Wiley Periodicals, Inc. Electron Comm Jpn, 93(1): 9-18, 2010; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/ecj.10189
Scientific journal, English - PWM電力増幅器のバンプレス切換機能付ディジタルロバスト制御器の設計法
樋口幸治; 岡崎亮佑; 中野和司; 松下宏治; 茅野文穂
電子情報通信学会論文誌, The Institute of Electronics, Information and Communication Engineers, J93-C, 1, 9-22, Jan. 2010, Peer-reviwed, 広範囲な負荷変動及び直流電源の電圧変動に対して過渡応答特性が劣化しないロバストなPWM電力増幅器が必要とされる.本論文では,PWM電力増幅器のバンプレス切換機能付ディジタルロバスト制御器の設計法を提案する.バンプレス切換機能は分割された容量負荷範囲に対応するロバスト制御器をバンプレスに切り換える機能であるが,各ロバスト制御器のパラメータ決定法を明確にする必要がある.この制御器の設計に際して,過渡応答を決める3個ないし4個の制御システムの極の指定,ロバスト性を決める1個のパラメータの決定が重要となる.これらのパラメータを決定するために無負荷時と最大負荷時で所望の応答特性が得られるような極を指定して2個の恒等式を求め,それらを解くことによって設計に必要なパラメータを得る方法を提案する.この決定法が誘導負荷のときも適用できることを示す.更に,4個のロバスト制御器を設計し誘導負荷時にもバンプレスモード切換が可能であることを示す.また,LCフィルタのコイルに流れる電流と誘導負荷時の負荷電流のディジタル推定法を示し,ディジタル制御器を含めてすべてをDSPに実装し,実験によって提案するディジタルロバスト制御器が有効であることを示す.
Scientific journal, Japanese - Broadband robust PWM power amplifier using approximate 2DOF digital control
Takahiro Nomura; Hiroshi Iwata; Kohji Higuchi; Kazushi Nakano
Artificial Life and Robotics, 15, 1, 83-88, 2010, Peer-reviwed, Recently, it has been found that the bandwidth of pulse-width modulation (PWM) power amplifiers needs to be extended, for example, in an application for testing the power supply of a low-frequency immunity examination or a class-D amplifier. In this article, we show that the bandwidth of a PWM power amplifier can be extended by using an approximate 2DOF digital controller. This controller is implemented in digital signal processing (DSP). It is demonstrated by experiments that the bandwidth can be made wider with this controller. © 2010 International Symposium on Artificial Life and Robotics (ISAROB).
Scientific journal, English - New approach for IIR adaptive lattice filter structure using simultaneous perturbation algorithm
Jorge Ivan Medina Martinez; Kazushi Nakano; Kohji Higuchi
IEEJ Transactions on Industry Applications, Institute of Electrical Engineers of Japan, 130, 4, 422-429, 2010, Peer-reviwed, Adaptive infinite impulse response (IIR), or recursive, filters are less attractive mainly because of the stability and the difficulties associated with their adaptive algorithms. Therefore, in this paper the adaptive hR lattice filters are studied in order to devise algorithms that preserve the stability of the corresponding direct-form schemes. We analyze the local properties of stationary points, a transformation achieving this goal is suggested, which gives algorithms that can be efficiently implemented. Application to the Steiglitz-McBride (SM) and Simple Hyperstable Adaptive Recursive Filter (SHARF) algorithms is presented. Also a modified version of Simultaneous Perturbation Stochastic Approximation (SPSA) is presented in order to get the coefficients in a lattice form more efficiently and with a lower computational cost and complexity. The results are compared with previous lattice versions of these algorithms. These previous lattice versions may fail to preserve the stability of stationary points. © 2010 The Institute of Electrical Engineers of Japan.
Scientific journal, English - Robust Digital Control of DC-DC Power Supply with Remote Sensing
T. Kajikawa; E. Takegami; K. Higuchi; K. Nakano; S. Tomioka
International Journal of Automation Technology, 4, 6, 502-509, 2010, Peer-reviwed
Scientific journal, English - Broadband robust PWM power amplifier using approximate 2DOF digital control
Takahiro Nomura; Hiroshi Iwata; Kohji Higuchi; Kazushi Nakano
Artificial Life and Robotics, 15, 1, 83-88, 2010, Peer-reviwed, Recently, it has been found that the bandwidth of pulse-width modulation (PWM) power amplifiers needs to be extended, for example, in an application for testing the power supply of a low-frequency immunity examination or a class-D amplifier. In this article, we show that the bandwidth of a PWM power amplifier can be extended by using an approximate 2DOF digital controller. This controller is implemented in digital signal processing (DSP). It is demonstrated by experiments that the bandwidth can be made wider with this controller. © 2010 International Symposium on Artificial Life and Robotics (ISAROB).
Scientific journal, English - A consideration of human immunity-based reinforcement learning with continuous states
Shu Hosokawa; Kazushi Nakano; Kazunori Sakurama
Artificial Life and Robotics, 15, 4, 560-564, 2010, Peer-reviwed, Many reinforcement learning methods have been studied on the assumption that a state is discretized and the environment size is predetermined. However, an operating environment may have a continuous state and its size may not be known in advance, e. g., in robot navigation and control. When applying these methods to the environment described above, we may need a large amount of time for learning or failing to learn. In this study, we improve our previous human immunity-based reinforcement learning method so that it will work in continuous state space environments. Since our method selects an action based on the distance between the present state and the memorized action, information about the environment (e. g., environment size) is not required in advance. The validity of our method is demonstrated through simulations for the swingup control of an inverted pendulum. © 2010 International Symposium on Artificial Life and Robotics (ISAROB).
Scientific journal, English - A Deadlock-free Path Following Control for Collision Avoidance of Multiple Robots
K. Sakurama; K. Nakano
The 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, 5673-5678, Dec. 2009, Peer-reviwed
International conference proceedings, English - Current control of a PWM power amplifier by an approximate 2-degree-of-freedom digital controller
Keisuke Fujita; Kohji Higuchi; Kazushi Nakano; Koji Matsushita; Tatsuyoshi Kajikawa; Fumiho Chino
Artificial Life and Robotics, 14, 3, 433-439, Dec. 2009, Peer-reviwed, There is a need for robust current control of a pulse width modulation (PWM) power amplifier whose transient response characteristics do not deteriorate with extensive load changes and/or direct-current power supply voltage changes. In this article, we propose a digital robust controller with bumpless mode switching to control the current of a PWM power amplifier to satisfy the demands and extend the range of an inductive load width. It is necessary to measure the value of the load in order to implement this bumpless mode switching automatically depending on the load range. Therefore, a method of estimating the inductive load is shown. The bumpless mode switching is automatically performed by estimating an inductive value without specifying the value of the inductive load beforehand. That is, the value of the inductive load is estimated during the DDC execution, and the control mode is automatically switched bumplessly according to this estimated value. A digital controller equipped with inductance estimation and bumpless mode switching is realized by a DSP. Some experiments show that the digital controller with the proposed bumpless mode switching can satisfy larger specifications. © 2009 International Symposium on Artificial Life and Robotics (ISAROB).
Scientific journal, English - 二次微分外乱特性付加近似的2DOFディジタル制御器によるDC-DCコンバータのロバスト制御
竹上栄治; 樋口幸治; 中野和司
電気学会論文誌, D-129, 12, 1137-1146, Nov. 2009, Peer-reviwed
Scientific journal, Japanese - Robust Digital Control of DC-DC Power Supply at Remote Sensing
T. Kajikawa; E. Takegami; K. Higuchi; K. Nakano
13th International Conference on Mechatronics Technology, 64, Oct. 2009, Peer-reviwed
International conference proceedings, English - 衝突回避を考慮した複数ロボットのデッドロックフリー軌道追跡制御
桜間一徳; 中野和司
計測自動制御学会論文集, 45, 8, 422-429, Aug. 2009, Peer-reviwed
Scientific journal, Japanese - Collision-Free Leader-Following Formation Navigation with Consideration of Initial Movements of Followers
K. Sakurama; K. Nakano
ICROS-SICE International Joint Conference 2009, 4108-4113, Aug. 2009, Peer-reviwed
International conference proceedings, English - Parameter Determining Method of Robust Digital Controller for PWM Power Amplier
Tokubai Ki; Kohji HIGUCHI; Kazushi NAKANO; Tatsuyoshi KAJIKAWA; Satoshi YOSHIZAWA; Koji MATSUSHITA; Fumiho CHINO
ICROS-SICE International Joint Conference 2009, 4553-4558, Aug. 2009, Peer-reviwed
International conference proceedings, English - Digital Robust Controller of DC-DC Converter Using at Remote Sensing
E. Takegami; K. Higuchi; K. Nakano; S. Tomioka; K. Watanabe
ICROS-SICE International Joint Conference 2009, 4559-4562, Aug. 2009, Peer-reviwed
International conference proceedings, English - Parameter Estimation in Neural Networks by Improved Version of Simultaneous Perturbation Stochastic Approximation Algorithm
Jorge Ivan; Medina Martinez; Umerujan Sawut; Kazushi Nakano
ICROS-SICE International Joint Conference 2009, 4567-4572, Aug. 2009, Peer-reviwed
International conference proceedings, English - Parameter Determining Method of Robust Digital Controller for PWM Power Amplifier
Ki Tokubai; Kohji Higuchi; Kazushi Nakano; Tatsuyoshi Kajikawa; Kei Yoshizawa; Koji Matsushita; Fimiho Chino
6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications, and Information Technology, 72-73, May 2009, Peer-reviwed
International conference proceedings, English - Vibration Supression Control of a Flexible Arm using Non-linear Observer with Simultaneous Perturbation Stochastic Approximation
Jorge Ivan; Medina Martinez; Umerujan Sawut; Kazushi Nakano
Int. Symp. on Artificial Life and Robotics, OS3-7, Feb. 2009, Peer-reviwed
International conference proceedings, English - Automatic Multi-Operation Bumpless Mode Switching Type Digital Controller for PWM Power Amplifier Using Load Estimation
Kohji Higuchi; Ryousuke Okazaki; Koji Matsushita; Kazushi Nakano; Fumiho Chino; Kosin Chamnonghai
ECTI TRANSACTIONS ON ELECTRICAL ENG., ELECTRONICS, AND COMMUNICATIONS, 7, 8, 170-179, Feb. 2009, Peer-reviwed
Scientific journal, English - Robust control of DC-DC converter by approximate two-degree-of-freedom digital controller with second-order differential disturbance characteristics
Eiji Takegami; Kohji Higuchi; Kazushi Nakano
IEEJ Transactions on Industry Applications, 129, 12, 1-1146, 2009, Peer-reviwed, Robust DC-DC converter that can function with a single controller over a wide range of load and input voltages is required. In such a case, changes in the output voltage must be suppressed. We propose an aproximate two-degree-offreedom (2DOF) digital controller that realizes the start-up response and dynamic load response independently. The controller makes the control bandwidth wider and suppresses the variations that occur in the output voltage due to sudden changes in loads and input voltages. In this paper, a new approximate 2DOF digital controller that involves the additinal zeros is proposed. The controller greatly suppresses the variations that occur in the output voltage due to sudden changes in loads and input voltages, This controller is actually implemented on a digital-signal-controller (DSP) and is connected to a DC-DC converter. Experimental studies demonstrate that this digital controller can satisfy the given specifications. © 2009 The Institute of Electrical Engineers of Japan.
Scientific journal, Japanese - Nonlinear system modeling and predictive control using the RBF nets-based quasi-linear ARX model
Hui Peng; Jun Wu; Garba Inoussa; Qiulian Deng; Kazushi Nakano
CONTROL ENGINEERING PRACTICE, PERGAMON-ELSEVIER SCIENCE LTD, 17, 1, 59-66, Jan. 2009, Peer-reviwed, On the basis of the single-input single-output (SISO) RBF-ARX model proposed in previous works [Peng, H., et al. (2003b). Stability analysis of the RBF-ARX model based nonlinear predictive control. In Proceedings of the ECC2003: Peng, H., et al. (2003c). Modeling and control of nonlinear nitrogen oxide decomposition process. In Proceedings of the CDC'03: Peng, H., et al. (2004). RBF-ARX model based nonlinear system modeling and predictive control with application to a NO, decomposition process. Control Engineering Practice, 12, 191-203: Peng, H., et al. (2007). Nonlinear predictive control using neural nets-based local linearization APX model-Stability and industrial application. IEEE Transactions on Control Systems Technology, 15, 130-143] the multi-input multi-output (MIMO) RBF-ARX model and its state-space representation are derived to describe the dynamics of a class of multivariable nonlinear systems whose working-point varies with time and which may be linearized around the working-point. The proposed MIMO RBF-ARX model has a basic regression-model Structure that is analogous to the linear ARX model structure, and the elements of its regression matrices are composed of Gaussian radial basis function (RBF) neural networks that are dependent on the working-point state of the current system. An off-line estimation approach to parameters and orders of the MIMO RBF-ARX model is presented, and, on the basis of the estimated MIMO RBF-ARX model, a predictive control strategy is designed to control the underlying nonlinear system. A case Study oil a simulator of a thermal power plant is also given to illustrate the effectiveness of the nonlinear modeling and control method proposed in this paper. (C) 2008 Elsevier Ltd. All rights reserved.
Scientific journal, English - Parameter estimation using a modified version of SPSA algorithm applied to state space models
Jorge Ivan Medina Martinez; Kazushi Nakano; Kohji Higuchi
IEEJ Transactions on Industry Applications, 129, 12, 7-1194, 2009, Peer-reviwed, The objective of this paper is the estimation of unknown static parameters in non-linear non-Gaussian state-space model. The Simultaneous Perturbation Stochastic Approximation (SPSA) algorithm is considered due to its highly efficient gradient approximation. We consider a particle filtering method and employ the SPSA algorithm to maximize recursively the likelihood function. Nevertheless, the SPSA algorithm can become inadequate in models as non-Gaussian state-space model. So that, we have proposed to modify the SPSA algorithm in order to estimate parameters very efficiently in complex models as proposed here reducing its computational cost. An efficient parameter estimator as the Finite Difference Stochastic Approximation (FDSA) algorithm is considered here, in order to compare it with the efficiency of the proposed SPSA algorithm. The proposed algorithm can generate maximum likelihood estimates very efficiently. The performance of proposed SPSA algorithm is shown through simulation using a model with highly multimodal likelihood.© 2009 the Institute of Electrical Engineers of Japan.
Scientific journal, English - Vibration Suppression Control of a Flexible Arm using Non-linear Observer with Simultaneous Perturbation Stochastic Approximation
Jorge Ivan; Medina Martinez; Kazushi Nakano; Sawut Umerujan
Artificial Life and Robotics, 14, 4, 539-544, 2009, Peer-reviwed
Scientific journal, English - Digital Robust Control for DC-DC Converter with Second-Order Differential Characteristics
Kohji Higuchi; Eiji Takegami; Kazushi Nakano; Tatsuyoshi Kajikawa; Satoshi Tomioka; Kosin Chamnongthai
ECTI TRANSACTIONS ON ELECTRICAL ENG., ELECTRONICS, AND COMMUNICATIONS, 7, 2, 161-169, 2009, Peer-reviwed
Scientific journal, English - 獲得免疫系の免疫反応を基にした強化学習機構の構築
伊藤順吾; 中野和司; 桜間一徳
電子情報通信学会論文誌, The Institute of Electronics, Information and Communication Engineers, J91-D, 10, 2487-2496, Oct. 2008, Peer-reviwed, 最近,システムに強化学習に代表されるような学習・記憶機構をもたせることにより,動的環境や未知環境へのシステムの適応などを可能とする,知能システムに関する研究が盛んに行われている.しかし,対象となるシステムや環境が複雑になるにつれ学習時間が増大し,実システムへの搭載が困難になるという課題がある.高速な強化学習手法としては,Profit Sharing(以下PS)がある.PSにおいては,合理性定理に基づく等比減少関数を用いた学習手法が一般的である.しかし,報酬獲得までの行動系列が長い環境においては学習が困難になるという問題がある.そこで本論文では,獲得免疫系の働きに注目した新しい強化学習手法を提案する.提案手法では,学習規範に獲得免疫系の概念を用いることにより,環境の複雑さによらず比較的少ない学習回数で現実的な近似最適解を得ることができる.最後に,Suttonの迷路を題材に提案手法とPSとを比較し,提案手法の有効性を示す.
Scientific journal, Japanese - 自動車エンジンのアイドリング回転数のスライディングモード制御
ウメルジャン サウット; 中野和司
電気学会論文誌, D-128, 9, 1090-1097, Sep. 2008, Peer-reviwed
Scientific journal, Japanese - Vibration Control of a Flexible using Non-linear Observer with Simultaneous Perturbation Stochastic Approximation Method,
Jorge Ivan; Medina Martinez; Kazushi Nakano
Proc. 3rd KMUTT-UEC Workshop, 27-32, Aug. 2008
International conference proceedings, English - A Fast Converging and Self-Adjusting SHARF Algorithm using Simultaneous Perturbation Method
Jorge Ivan; Medina Martinez; Kazushi Nakano
Proc. of 3rd KMUTT-UEC Workshop, 17-22, Aug. 2008
International conference proceedings, English - Leader-Following Formation Navigation for Multiple Robots with Collision Avoidance
K. Sakurama; K. Nakano
IFAC Proc. of the 17th IFAC World Congress, CD-ROM, Jul. 2008, Peer-reviwed
International conference proceedings, English - IPトラフィック制御の解析とモデリング
鈴木忠道; 伊藤順吾; 中野和司; 三木哲也
電気学会論文誌, D-128, 4, Apr. 2008, Peer-reviwed
Scientific journal, Japanese - 局所解脱出のための免疫型システムを用いた自律移動ロボットナビゲーション手法
伊藤順吾; 中野和司; 桜間一徳
電子情報通信学会論文誌, The Institute of Electronics, Information and Communication Engineers, J91-D, 2, 504-508, Feb. 2008, Peer-reviwed, 未知環境下で自律移動ロボットが局所情報のみを用いて目標到達を目指す場合,局所解問題によってしばしば到達が困難となる.本論文では,免疫型システムを用いた局所解検出手法を提案し,移動ロボットの障害物回避問題に適用して有効性を検証した.
Scientific journal, Japanese - Analysis and modeling of practical experiment on IP traffic control
Tadamichi Suzuki; Jungo Ito; Kazushi Nakano; Tetsuya Miki
IEEJ Transactions on Industry Applications, 128, 4, 22-536, 2008, Peer-reviwed, In this paper, we focus on a practical experiment concerning IP traffic engineering over Multi-Protocol Label Switching (MPLS), especially which features feedback control capabilities. We present control-theoretic analysis of the experimental results based on acquired knowledge of actual network behavior. Because stable automated control capabilities are key issues in IP traffic engineering, we model an IP traffic control system based on the resulting analysis. In addition, comparison between simulated network behavior and actual one shows this model to have a high degree of stability, with a high potential for application to real networks. © 2008 The Institute of Electrical Engineers of Japan.
Scientific journal, Japanese - Sliding-mode based idel speed control of an automotive engine
Umerujan Sawut; Kazushi Nakano
IEEJ Transactions on Industry Applications, 128, 9, 4-1097, 2008, Peer-reviwed, This paper presents an application of model-based control techniques to automotive engine speed control systems. Althougt the modeling of nonlinear systems has been carried out for automotive engines including electronic-controlled throttle servo systems, there still remains the difficulty of the strong non-linearity due to the engine friction and manifold pressure functions. This paper proposes a design method of some engine speed control by analyzing the nonlinear systems using sliding-mode control paradigm. In comparison with the map-based control method, the effectiveness of the proposed control method is verified using simulation and experimental results on an experimental system. © 2008 The Institute of Electrical Engineers of Japan.
Scientific journal, Japanese - Design Method of a 1-Bit Digital Filter Using a New 2-Degree-of-Freedom Control
Y. Higaki; K. Higuchi; K. Nakano; T. Kajikawa; Kosin Chanmongthai
2008 INTERNATIONAL SYMPOSIUM ON INTELLIGENT SIGNAL PROCESSING AND COMMUNICATIONS SYSTEMS (ISPACS 2008), IEEE, 30-+, 2008, Peer-reviwed, To decrease the quantization noise, various I-bit digital filters are shown. In this paper, we propose a design method of 1-bit digital filter using a new 2-Degree-of-Freedom control. This design method is applied to a high-pass filter, a low-pass filter and a equalizer. These filters are implemented on DSP, and the performance is verified by the experiment.
International conference proceedings, English - Design of Digital Robust Controller for PWM Power Amplifier and Bumpless Mode Switching
Ryosuke Okazaki; Koji Matsushita; Kohji Higuchi; Kazushi Nakano; Tatsuyoshi Kajikawa; Fumiho Chino
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 2062-+, 2008, Peer-reviwed, In this paper a multi-stage switching type digital controller Is proposed for spreading capacitance load range more and Improving transient characteristics for inductance load. In the previous proposed controller, the configuration of the controller Is the same to all loads. At Inductive load, there Is a possibility that the transient characteristics may become bad and the specification may not he satisfied. Therefore, a load current Is estimated at Inductive load, and the controller which also uses load current for feedback is configured. A inductance Is estimated and a controller is switched to this controller bumplessly. In order to extend the range of capacitance load, a controller Is Increased from two stage to three stage, and these are switched to each other bumplessly. A DSP is Implemented to this digital controller. It is demonstrated from experiments that the multi-stage switching type digital controller Is realizable and the given specifications are satisfied.
International conference proceedings, English - Adaptive immunity based reinforcement learning
Jungo Ito; Kazushi Nakano; Kazunori Sakurama; Shu Hosokawa
Artificial Life and Robotics, 13, 1, 188-193, 2008, Peer-reviwed, Recently much attention has been paid to intelligent systems which can adapt themselves to dynamic and/or unknown environments by the use of learning methods. However, traditional learning methods have a disadvantage that learning requires enormously long amounts of time with the degree of complexity of systems and environments to be considered. We thus propose a novel reinforcement learning method based on adaptive immunity. Our proposed method can provide a near-optimal solution with less learning time by self-learning using the concept of adaptive immunity. The validity of our method is demonstrated through some simulations with Sutton's maze problem. © International Symposium on Artificial Life and Robotics (ISAROB). 2008.
Scientific journal, English - Cascade Lattice IIR Adaptive Filter Structure Using Simultaneous Perturbation Method for Self-Adjusting SHARF Algorithm
Jorge Ivan Medina Martinez; Kazushi Nakano
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 2A21-4, 2072-2077, 2008, Peer-reviwed, The infinite impulse response (IIR) is a property of signal processing systems. The systems with this property are known as the IIR system. A new IIR adaptive filter algorithm has been proposed which is constructed as a cascade of transversal structure as well as all pole lattice structure. The filter structure is adapted using the simple hyperstable adaptive recursive filter (SHARF) algorithm in which the transversal and lattice sections are updated using the simultaneous perturbation method. In this paper, the SHARF algorithm is investigated using strictly positive real (SPR) transfer functions designed without any prior knowledge of the filter parameters by the pole-zero placement on the unit circle. The proposed algorithm preserves the stability of the IIR adaptive filter during the adaptation with lower computational complexity and cost than conventional algorithms. The simulation results show the desirable features of the proposed scheme.
International conference proceedings, English - Application of Non-linear Observer with Simultaneous Perturbation Stochastic Approximation Method to Single Flexible Link SMC
Jorge Ivan Medina Martinez; Umerujan Sawut; Kazushi Nakano
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 2A21-3, 2066-+, 2008, Peer-reviwed, The main object in this study concerns to vibration control of a one-link flexible arm system. The robot link manipulators are widely used in various industrial applications. A variable structure system (VSS) non-linear observer has been proposed in order to reduce the oscillation in controlling the angular. The non-linear observer parameters are optimized using a novel version of simultaneous perturbation stochastic approximation (SPSA) algorithm. The SPSA algorithm is especially useful when the number of parameters to be adjusted is large, and makes it possible to estimate them very efficiently. As for the vibration and position control, a model reference sliding mode control (MR-SMC) has been proposed. The simulations show that the vibration and position controls of a one-link flexible arm system can be achieved more easy and efficiently with a non-linear observer designed using our proposed modified SPSA algorithm.
International conference proceedings, English - ON INPUT-OUTPUT RELATION OF LINEAR SYSTEMS BY USE OF PTI COMPLEX WAVELET PACKET
Masaaki Osake; Kazushi Nakano
PROCEEDINGS OF 2008 INTERNATIONAL CONFERENCE ON WAVELET ANALYSIS AND PATTERN RECOGNITION, VOLS 1 AND 2, IEEE, 611-616, 2008, Peer-reviwed, This paper is concerned with an input-output relation of linear systems when using the PTI (perfect translation invariance) complex wavelet packet transform. In general, the linear relation between input-output is guaranteed by the following two conditions: (1)the mother wavelet has a better frequency resolution, and (2)the real and imaginary parts in the mother wavelet consist of a Hilbert transform pair. The PTI complex wavelet satisfying the above conditions has been used for demonstrating the linear relation. In this paper, a PTI complex wavelet packet transform Is applied for Improving the frequency resolution. The validity of our approach is shown through a numerical experiment.
International conference proceedings, English - Digital Robust Controller for DC-DC Converter at Remote Sensing
Eiji Takegami; Kohji Higuchi; Kazushi Nakano; Tatsuyoshi. Kajikawa
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 2B21-1, 2519-+, 2008, Peer-reviwed, If the lines which connect the output terminal of DC-DC converter and the load are long, the voltage actually across load will be changed largely to produce the voltage drops by the impedances of the lines. Then, the terminal which senses the voltage across load is prepared apart from the output terminal of DC-DC converter, and it leads to the load, and the voltage across load is adjusted so that it is not changed largely. This method is called remote sensing. When the lines becomes long, the usual method of adjusting the voltage across load cannot suppress enough the change of it. In this paper, the robust digital controller for suppressing the change of the voltage across load is proposed. Experimental studies using DSP demonstrate that this type of digital controller is effective to suppress it.
International conference proceedings, English - Adaptive immunity based reinforcement learning
Jungo Ito; Kazushi Nakano; Kazunori Sakurama; Shu Hosokawa
Artificial Life and Robotics, 13, 1, 188-193, 2008, Peer-reviwed, Recently much attention has been paid to intelligent systems which can adapt themselves to dynamic and/or unknown environments by the use of learning methods. However, traditional learning methods have a disadvantage that learning requires enormously long amounts of time with the degree of complexity of systems and environments to be considered. We thus propose a novel reinforcement learning method based on adaptive immunity. Our proposed method can provide a near-optimal solution with less learning time by self-learning using the concept of adaptive immunity. The validity of our method is demonstrated through some simulations with Sutton's maze problem. © International Symposium on Artificial Life and Robotics (ISAROB). 2008.
Scientific journal, English - New Insight for Robust IP Traffic Control Based on Network Behavior Knowledge
T. Suzuki; J. Ito; K. Nakano; K. Higuchi; T. Miki
ISAST Trans. on Communications and Networking, 2, 1, 92-101, 2008, Peer-reviwed
Scientific journal, English - Robust Digital Control of DC-DC Converter at Remote Sensing
K. Satoh; E. Takegami; K. Higuchi; K. Nakano; T. Kajikawa
ECTI-CON 2008: PROCEEDINGS OF THE 2008 5TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING/ELECTRONICS, COMPUTER, TELECOMMUNICATIONS AND INFORMATION TECHNOLOGY, VOLS 1 AND 2, IEEE, Volume 2, 977-+, 2008, Peer-reviwed, If the lines which connect the output terminal of DC-DC converter and the load are long, the voltage actually across load will be changed largely to produce the voltage drops by the impedances of the lines. Then, the terminal which senses the voltage across load is prepared apart from the output terminal of DC-DC converter, and it leads to the load, and the voltage across load is adjusted so that it is not changed largely. This method is called remote sensing. When the lines becomes long, the usual method of adjusting the voltage across load cannot suppress enough the change of it. In this paper, the robust digital controller for suppressing the change of the voltage across load is proposed. Experimental studies using DSP demonstrate that this type of digital controller is effective to suppress it.
International conference proceedings, English - 衝突回避を考慮した複数ロボットのオンライン目標軌道修正 －ロボット間の相対角度を用いた手法－
桜間一徳; 中野和司
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 43, 11, 1037-1046, Nov. 2007, Peer-reviwed, This paper addresses online modification of reference trajectories for multiple robots with collision avoidance. A smooth mapping dependent on distances between the robots has been proposed to coordinate collision-free motion from given reference trajectories. The trajectories generated by the mapping allow the robots to avoid collisions with each other, and are smooth enough to be tracked by the robots. Moreover, when the reference trajectories are separated from each other, the mapping is identical and the modified trajectories remain unchanged from the original ones. Although the existing method works well for collision avoidance, the modified trajectories often include unnecessary avoidance motion. A new method based on the existing one is proposed to improve the mapping to generate more natural trajectories by eliminating the unnecessary avoidance motion. The new mapping depends not only on the relative distances but also the relative angles between the robots. Finally, the effectiveness of the proposed method is demonstrated by a simulation for three mobile robots.
Scientific journal, Japanese - Swing-up and stabilization control of a cart-pendulum system via energy control and controlled lagrangian methods
Kazunori Sakurama; Satoshi Hara; Kazushi Nakano
ELECTRICAL ENGINEERING IN JAPAN, SCRIPTA TECHNICA-JOHN WILEY & SONS, 160, 4, 24-31, Sep. 2007, Peer-reviwed, This paper addresses a swing-up and stabilizing problem for a cart-pendulum system, which consists of a pendulum and a motor-driven cart. Existing methods are based on the strategy of swing-up of the pendulum by energy control methods, then switching the controllers to balance the pendulum when it approaches the upright position. The switching angle influences significantly control performance, so the pendulum might fall down if the angle is inadequately chosen. This paper proposes a swing-up and stabilizing control method which makes it possible to determine an appropriate switching angle more arbitrarily. In addition to the energy control method for swing-up, a stabilizing method based on controlled Lagrangians is adopted instead of a linear controller. The attractive domain of the closed-loop system with this method can be known in advance and is wider than with linear controllers. In this way, our proposed control strategy overcomes the difficulty in choosing the switching angle of the controllers. An experimental result illustrates the effectiveness of the proposed method. (C) 2007 Wiley Periodicals, Inc.
Scientific journal, English - Trajectory Tracking Control of Mechanical Systems with Obstacle Avoidance
K. Sakurama; K. Nakano
Proc. of European Control Conf. (ECC'07), CD-ROM, Jul. 2007, Peer-reviwed
International conference proceedings, English - パルス合成技術を用いたディジタルPWM分解能の改善方法
竹上栄治; 樋口幸治; 中野和司; 富岡聡; 渡辺一史
電子情報通信学会論文誌, The Institute of Electronics, Information and Communication Engineers, J91-C, 7, 536-546, Jul. 2007, Peer-reviwed, 近年,スイッチング電源の制御部のインテリジェンス化・ハードウェア共通化等の要求のために,PWMジェネレータも含めて制御部のすべてをディジタル化する動きが進んでいる.このとき,制御性能の改善においてディジタルPWMジェネレータの分解能が問題となっている.ディジタルPWMジェネレータはカウンタを用いて構成されているので,キャリヤ波は階段波となり,刻み幅がクロック周期で決まる.よってディジタルPWMの分解能はクロック周期に依存し,クロック周期が一定のときスイッチング周波数がより高くなるほど分解能が悪くなる.その結果,出力電圧の精度が悪くなる.本論文では,パルスを合成する技術を用いて,ディジタルPWMジェネレータの分解能を大幅に改善できる方法を提案する.本改善法は,従来のディジタルPWMジェネレータ2個に数個の部品とわずかな演算処理を追加すれば実現できる.本改善法をDSPに内蔵されているディジタルPWMジェネレータに適用して,実験によって有用性と実用性を検証をしている.
Scientific journal, Japanese - Appoximate 2DOF Digital Control for DC-DC Converter with Additional Zeros
E. Takegami; H. Higuchi; K. Nakano; S. Tomioka
Proceedings of ECTI-CON 2007, 321-324, May 2007, Peer-reviwed
International conference proceedings, English - New Automatic Multi-Stage Bumpless Mode Switching Digital Control for PWM Power Amplifier using Load Estimation
R. Okazaki; K. Matsushita; H. Higuchi; K. Nakano; T. Kajikawa; F. Chino
Proceedings of ECTI-CON 2007, 325-328, May 2007, Peer-reviwed
International conference proceedings, English - Development of an IIR Adaptive Filter with Low Computational Complexity Using Simultaneous Perturbation Method
Jorge Ivan; Medina Martinez; Mariko Nakano; Miyatake; kazushi Nakano; Hector Perez Meana; Perez Meana
Proc. of 2nd KMUTT-UEC Workshop, 30-35, May 2007
International conference proceedings, English - Nonlinear system modeling and robust predictive control based on RBF-ARX model
Hui Peng; Zi-Jiang Yang; Weihua Gui; Min Wu; Hideo Shioya; Kazushi Nakano
ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE, PERGAMON-ELSEVIER SCIENCE LTD, 20, 1, 1-9, Feb. 2007, Peer-reviwed, An integrated modeling and robust model predictive control (MPC) approach is proposed for a class of nonlinear systems with unknown steady state. First, the nonlinear system is identified off-line by RBF-ARX model possessing linear ARX model structure and state-dependent Gaussian RBF neural network type coefficients. On the basis of the RBF-ARX model, a combination of a local linearization model and a polytopic uncertain linear parameter-varying (LPV) model are built to approximate the present and the future system's nonlinear behavior, respectively. Subsequently, based on the approximate models, a min-max robust MPC algorithm with input constraint is designed for the output-tracking control of the nonlinear system with unknown steady state. The closed-loop stability of the MPC strategy is guaranteed by the use of parameter-dependent Lyapunov function and the feasibility of the linear matrix inequalities (LMIs). Simulation study to a NO(x) decomposition process illustrates the effectiveness of the modeling and robust MPC approaches proposed in this paper. (C) 2006 Elsevier Ltd. All rights reserved.
Scientific journal, English - Online modification of reference trajectories of multiple robots for collision avoidance - A method using relative angles between robots
Kazunori Sakurama; Kazushi Nakano
Proceedings of the IEEE Conference on Decision and Control, 1416-1422, 2007, Peer-reviwed, This paper addresses online modification of reference trajectories for multiple robots with collision avoidance. A smooth mapping dependent on the distances between robots has been proposed to coordinate collision-free motion from given reference trajectories. The trajectories generated by the mapping allow the robots to avoid collisions with each other and are smooth enough to be tracked by the robots. Moreover when the reference trajectories are separated from each other, the mapping is identical and the modified trajectories remain unchanged from the original ones. Although the existing method works well for collision avoidance, the modified trajectories often include unnecessary avoidance motion. A new method based on the existing one is proposed to improve the mapping to generate more natural trajectories by eliminating the unnecessary avoidance motion. The new mapping depends not only on the relative distances between robots, but also on their relative angles. Finally, the effectiveness of the proposed method is demonstrated by a simulation with three mobile robots. © 2007 IEEE.
International conference proceedings, English - New approximate 2DOF digital controller for DC-DC converter with second-order differential characteristics
Eiji Takegami; Kohji Higuchi; Kazushi Nakano; Satoshi Tomioka; Kazushi Watanabe
2007 INTERNATIONAL CONFERENCE ON POWER ELECTRONICS AND DRIVE SYSTEMS, VOLS 1-4, IEEE, 280-+, 2007, Peer-reviwed, Robust DC-DC converter which can cover extensive load changes and also Input voltage changes with one controller Is needed. Then the demand to suppressing output voltage change becomes still severer. We proposed an aproximate 2DOF digital controller which which realizes the start-up response and dynamic load response independently. The controller makes the control bandwidth wider, and at the same time makes a variation of the output voltage small at sudden changes of loads and the Input voltages. Ea this paper, a new approximate 2DOF digital controller using additinal zeros Is proposed. The new controller makes a variation of the output voltage more small at sudden changes of loads and the Input voltages. This controller Is actually implemented on a DSP and is connected to a DC-DC converter. Experimental studies demonstrate that this type of digital controller can satisfy given severe specifications.
International conference proceedings, English - Practical knowledge acquisition on robust IP traffic control
Tadamichi Suzuki; Jungo Ito; Kazushi Nakano; Kohji Higuchi; Tetsuya Miki
IC-BNMT 2007: Proceedings of 2007 International Conference on Broadband Network & Multimedia Technology, BEIJING UNIV POSTS TELECOMMUNICAT PRESS, 9-14, 2007, Peer-reviwed, In this paper, we focus on a practical knowledge acquisition centric approach, especially concerning IP traffic engineering (TE) over MPLS (Multi-Protocol Label Switching). Although MPLS has been standardized to solve the network-wide congestion problem, the realization of automated control capabilities is an important problem from the viewpoint of practical use. As for services, the overlay network in application layer is often used. Due to the respective optimal strategy of packet transmission, securing the stability of network behavior becomes a problem more and more. As a main requisite for the solution, the robustness that keeps operating normally in appropriate time for unpredictable behavior on the network is needed in spite of disturbances by the effects of multiple service overlay networks. We analyze the results of practical experiments from the control-theoretic viewpoint based on acquired knowledge regarding oscillating behaviors and the parameter tuning for stabilization., In addition, a simulation with a plant model, an improvement of stabilization using the proportional-integral control, and a feedback compensation with the Smith predictor are described.
International conference proceedings, English - Nonlinear predictive control using neural nets-based local linearization ARX model-stability and industrial application
Hui Peng; Kazushi Nakano; Hideo Shioya
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 15, 1, 130-143, Jan. 2007, Peer-reviwed, A Gaussian radial basis function (RBF) neural networks-based local linearization autoregressive with exogenous (ARX) model is utilized for describing the dynamics of a class of smooth nonlinear and nonstationary industrial processes. The dynamics of the underlying processes may be treated as the system operating-point-dependent time-varying locally-linear behavior. The RBF-ARX model is a pseudo-linear ARX model identified offline, and its functional coefficients are composed of the operating-point-dependent RBF neural networks. The RBF-ARX model-based predictive control (MPC) design to the nonlinear process is presented, and stability analysis of the nonlinear MPC under some conditions is discussed. Especially, the feasibility and effectiveness as well as the significant performance improvements of the nonlinear MPC design proposed is demonstrated with a real industrial application to the nitrogen oxide (NO(x)) decomposition (de-NO.) process in thermal power plants.
Scientific journal, English - New approximate 2DOF digital controller for DC-DC converter with additional zeros
Eiji Takegami; Kohji Higuchi; Kazushi Nakano; Satoshi Tomioka; Kazushi Watanabe
PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3, IEEE, 453-+, 2007, Robust DC-DC converter which can cover extensive load changes and also input voltage changes with one controller is needed. Then the demand to suppressing output voltage change becomes still severer. We proposed an aproximate 2DOF digital controller which realizes the start-up response and dynamic load response independently. The controller makes the control bandwidth wider, and at the same time makes a variation of the output voltage small at sudden changes of loads and the input voltages. In this paper, a new approximate 2DOF digital controller using additinal zeros is proposed. The new controller makes a variation of the output voltage more small at sudden changes of loads and the input voltages. This controller is actually implemented on a DSP and is connected to a DC-DC converter. Experimental studies demonstrate that this type of digital controller can satisfy given severe specifications.
International conference proceedings, English - Wavelet-based underdetermined blind source separation of speech mixtures
Takehiro Hamadal; Kazushi Nakano; Akihiro Ichijo
2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6, IEEE, 1629-1633, 2007, Peer-reviwed, Blind Source Separation (BSS) is an approach to estimate original source signals only by observed signals through multiple sensors without any prior knowledge about their mixture process. The BSS is currently expected to be applied to such a broad field as preprocessing of speech recognition, analysis of bio-signals, etc. In this paper, we focus on underdetermined BSS (i.e., BSS with more sources than sensors). In underdetermined BSS, there are many estimation algorithms based on sparse representation of source signals. The accuracy of decomposition of source signals depends strongly on sparsity hypothesis. For this purpose, it is effective to preprocess observed signals by using a linear transformation with respect to the base so as to make it more sparse representation of signals. We now propose an application of time-frequency analysis to preprocessing of sound source signals using the RI-Spline wavelet transform. The effectiveness of the proposed approach is demonstrated through a computer simulation using real data.
International conference proceedings, English - Digital robust control for DC-DC converter with second-order differential characteristics
Eiji Takegami; Kohji Higuchi; Kazushi Nakano; Tatsuoshi Kajikawa; Satoshi Tomioka; Kazushi Watanabe
IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS, IEEE, 1999-+, 2007, Peer-reviwed, Robust DC-DC converter which can cover extensive load changes and also input voltage changes with one controller is needed. Then the demand to suppressing output voltage change becomes still severer. We proposed an aproximate 2DOF digital controller which realizes the start-up response and dynamic load response independently. The controller makes the control bandwidth wider, and at the same time makes a variation of the output voltage small at sudden changes of loads and the input voltages. In this paper, a new approximate 2DOF digital control sustem with additinal zeros is proposed. Using additinal zeros a second-order differential transfer characteristics between equivalent disturbances and an output voltage is realized. So the new controller makes a variation of the output voltage more small at sudden changes of loads and the input voltages. This controller is actually implemented on a DSP and is connected to a DC-DC converter. Experimental studies demonstrate that this type of digital controller can satisfy given severe specifications.
International conference proceedings, English - Digital robust control for DC-DC converter with second-order differential characteristics
Eiji Takegami; Kohji Higuchi; Kazushi Nakano; Tatsuoshi Kajikawa; Satoshi Tomioka; Kazushi Watanabe
IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS, IEEE, 1999-+, 2007, Peer-reviwed, Robust DC-DC converter which can cover extensive load changes and also input voltage changes with one controller is needed. Then the demand to suppressing output voltage change becomes still severer. We proposed an aproximate 2DOF digital controller which realizes the start-up response and dynamic load response independently. The controller makes the control bandwidth wider, and at the same time makes a variation of the output voltage small at sudden changes of loads and the input voltages. In this paper, a new approximate 2DOF digital control sustem with additinal zeros is proposed. Using additinal zeros a second-order differential transfer characteristics between equivalent disturbances and an output voltage is realized. So the new controller makes a variation of the output voltage more small at sudden changes of loads and the input voltages. This controller is actually implemented on a DSP and is connected to a DC-DC converter. Experimental studies demonstrate that this type of digital controller can satisfy given severe specifications.
International conference proceedings, English - Online modification of reference trajectories of multiple robots for collision avoidance - A method using relative angles between robots
Kazunori Sakurama; Kazushi Nakano
PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, IEEE, CD-ROM, 3720-3726, 2007, Peer-reviwed, This paper addresses online modification of reference trajectories for multiple robots with collision avoidance. A smooth mapping dependent on the distances between robots has been proposed to coordinate collision-free motion from given reference trajectories. The trajectories generated by the mapping allow the robots to avoid collisions with each other and are smooth enough to be tracked by the robots. Moreover when the reference trajectories are separated from each other, the mapping is identical and the modified trajectories remain unchanged from the original ones. Although the existing method works well for collision avoidance, the modified trajectories often include unnecessary avoidance motion. A new method based on the existing one is proposed to improve the mapping to generate more natural trajectories by eliminating the unnecessary avoidance motion. The new mapping depends not only on the relative distances between robots, but also on their relative angles. Finally, the effectiveness of the proposed method is demonstrated by a simulation with three mobile robots.
International conference proceedings, English - 障害物回避を含む機械システムの軌道追従制御
桜間一徳; 中野和司
システム制御情報学会論文誌, 19, 12, 477-487, Dec. 2006, Peer-reviwed
Scientific journal, Japanese - 障害物回避を考慮した複数ロボットのオンライン目標軌道修正
桜間一徳; 中野和司
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 42, 12, 1305-1312, Dec. 2006, Peer-reviwed, This paper addresses online modification of reference trajectories for multiple robots with collision avoidance. First, a smooth mapping dependent on the relative distances between the robots is proposed to coordinate collision-free motion from given reference trajectories. The trajectories modified by the mapping make the robots avoid collisions with each other, and are smooth enough to be tracked by the robots. Moreover, when the reference trajectories are separated from each other, the mapping is identical and the modified trajectories remain unchanged from the original ones. Next, a value function is considered consisting of the distances between the original and modified reference trajectories. From the viewpoint of minimizing the value function, a way to choose design parameters for the mapping is specified. Finally, a simulation for three mobile robots demonstrates the effectiveness of the proposed method.
Scientific journal, Japanese - Real-time Reference Trajectory Modifying Method for Multiple Mobile Robots with Collision Avoidance
K. Sakurama; K. Nakano
International Symposium on Advanced ICT, 335-343, Aug. 2006
International conference proceedings, English - A Method to Improve the Resolution of Digital Pulse Generator by Using Pulse Composite Technique
E. Takegami; H. Higuchi; K. Nakano; S. Tomioka
Proc. of ECTI-CON 2006, 607-610, May 2006, Peer-reviwed
International conference proceedings, English - An Immunity Based Method for Escaping from Local Minima in Mobile Robot Navigation
J. Ito; K. Sakurama; K. Nakano
Proc. ECTI-CON 2006, 611-614, May 2006, Peer-reviwed
International conference proceedings, English - Swing-up and Stabilizing Control of a Cart-Pendulum System Using Energy Control and Controlled Langrangians
K. Sakurama; Y. Okajima; K. Nakano
Proc. of ECTI-CON 2006, 615-618, May 2006, Peer-reviwed
International conference proceedings, English - エネルギー制御法と制御ラグランジアン法による倒立振子の振り上げ・安定化制御
桜間一徳; 原 聡司; 中野和司
電気学会論文誌, C-126, 5, 617-623, May 2006, Peer-reviwed
Scientific journal, Japanese - 火力発電プラント脱硝NOx制御改善のための非線形モデル予測制御の適用
塩谷秀雄; 亀井末治; 豊田幸裕; 尾崎統; Hui Peng; 中野和司
火力原子力発電誌, 57(594), 3, 36-41, Mar. 2006, Peer-reviwed
Scientific journal, Japanese - Modelling and Observer-based Sliding Mode Control of Electronic Throttle Systems
K. Nakano; U. Sawut; K. Higuchi; Y. Okajima
Trans. on Electrical Eng., Elecronics, and Communications, 4, 1, 22-28, Feb. 2006, Peer-reviwed
Scientific journal, English - The Method for Determining Parameters of Approximate 2DOF Digital Controller for Robust Control of DC-DC Converter
E. Takegami; K. Higuchi; K. Nakano; S. Tomioka; K. Watanabe
Trans. on Electrical Eng., Electronics, and Communications, 4, 1, 13-21, Feb. 2006, Peer-reviwed
Scientific journal, English - Swing-up and stabilization control of a cart-pendulum system via energy control and controlled lagrangian methods
Kazunori Sakurama; Satoshi Hara; Kazushi Nakano
IEEJ Transactions on Electronics, Information and Systems, Institute of Electrical Engineers of Japan, 126, 5, 617-623, 2006, Peer-reviwed, This paper addresses a swing-up and stabilization problem of a cart-pendulum system using energy control and controlled Lagrangian methods. A common strategy for this problem is to switch two controllers for swing-up and stabilization according to the angle of the pendulum. In most cases, control performance greatly depends on the switching angle, and choice of a bad angle cannot even stand the pendulum upward. Thus, a lot of trial and error is necessary to find effective switching angles. To release us from the difficulty in choosing the switching angle, this paper proposes a robust control method to assist our choice based on controlled Lagrangian and energy control methods. Experimental results demonstrate that the proposed combination methods can effectively swing up and stabilize the pendulum, whereas existing methods cannot.
Scientific journal, English - A resolution improving method of digital PWM using pulse composite technique
Eiji Takegami; Kohji Higuchi; Kazushi Nakano; Satoshi Tomioka; Kazushi Watanabe
2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, IEEE, 4402-+, 2006, Peer-reviwed, In recent years, digitization of all control parts in switching power supplies including PWM generators is progressing for demands such as intelligent performances and common use of hardware, etc. Then, a problem is in the resolution of digital PWM generators for improving control performances. Since the digital PWM generator is constituted using a counter, a carrier wave turns into a stairs wave, and step amplitudes is decided with a clock cycle. When the clock cycle is fixed, the resolution becomes low as the switching frequency becomes high. Consequently, the accuracy of output voltage becomes bad. In this paper, a method for remarkably improving the resolution of the digital PWM generator using the pulse composite technique is proposed. The method is realizable by some parts and easy computation, and is applied to the digital PWM generator built-in DSP. The usefulness and practicality are verified by experiments.
International conference proceedings, English - Automatic multi-stage bumpless mode switching type digital controller for PWM power amplifier using load estimation
Koji Matsushita; Ryosuke Okazaki; Kohji Higuchi; Kazushi Nakano; Tatsuyoshi Kajikawa; Fumiho Chino
2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, IEEE, 4396-+, 2006, Peer-reviwed, In this paper a multi-stage switching type digital controller is proposed for spreading capacitance load range more and improving transient characteristics for inductance load. In the previous proposed controller, the configuration of the controller is the same to all loads. At inductive load, there is a possibility that the transient characteristics may become bad and the specification may not be satisfied. Therefore, a load current is estimated at inductive load, and the controller which also uses load current for feedback is configured. A inductance is estimated and a controller is switched to this controller bumplessly. In order to extend the range of capacitance load, a controller is increased from two stage to three stage, and these are switched to each other bumplessly. A DSP is implemented to this digital controller. It is demonstrated from experiments that the multi-stage switching type digital controller is realizable and the given specifications are satisfied.
International conference proceedings, English - A method to improve a resolution of digital PWM generator for DC-DC converter control
Eiji Takegami; Kohji Higuchi; Kazushi Nakano; Satoshi Tomioka; Kazushi Watanabe
PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-4, IEEE, 1962-+, 2006, In recent years, digitization of all control parts in switching power supplies including PWM generators is progressing for demands such as intelligent performances and common use of hardware, etc. Then, a problem is in the resolution of digital PWM generators for improving control performances. Since the digital PWM generator is constituted using a counter, a carrier wave turns into a stairs wave, and step amplitudes is decided with a clock cycle. When the clock cycle is fixed, the resolution becomes low as the switching frequency becomes high. Consequently, the accuracy of output voltage becomes bad. In this paper a method for remarkably improving the resolution of the digital PWM generator using the pulse composite technique is proposed. The method is realizable by some parts and easy computation, and is applied to the digital PWM generator built-in DSP. The usefulness and practicality are verified by experiments.
International conference proceedings, English - A resolution improving method of digital PWM using pulse composite technique
Eiji Takegami; Kohji Higuchi; Kazushi Nakano; Satoshi Tornioka; Kazushi Watanabe
2006 SICE-ICASE International Joint Conference, 708-713, 2006, In recent years, digitization of all control parts in switching power supplies including PWM generators is progressing for demands such as intelligent performances and common use of hardware, etc. Then, a problem is in the resolution of digital PWM generators for improving control performances. Since the digital PWM generator is constituted using a counter, a carrier wave turns into a stairs wave, and step amplitudes is decided with a clock cycle. When the clock cycle is fixed, the resolution becomes low as the switching frequency becomes high. Consequently, the accuracy of output voltage becomes bad. In this paper, a method for remarkably improving the resolution of the digital PWM generator using the pulse composite technique is proposed. The method is realizable by some parts and easy computation, and is applied to the digital PWM generator built-in DSP. The usefulness and practicality are verified by experiments. © 2006 ICASE.
International conference proceedings, English - A combined approach using subspace and beamforming methods for time-frequency domain blind source separation
Akihiro Ichijo; Takehiro Hamada; Tetsuya Tabaru; Kazushi Nakano
2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, IEEE, 1437-+, 2006, Peer-reviwed, Blind source separation (BSS) is an approach to estimate original source signals only by measurements through multiple sensors without any prior knowledge about their mixture process. BSS is currently applied to a broad range of fields, such as pre-processing of speech recognition, analysis of bio-signals, etc. In BSS of convolutive mixtures, the signals must be expanded into time-frequency domains. In this case, permutation between frequencies becomes indefinite. This paper proposes a method for solving the indefiniteness problem by using directional peaks in addition to directional nulls in directivity patterns. This method makes it possible to combine the beamforming and subspace methods and to improve the accuracy in separatability of BSS. The effectiveness of the proposed method is demonstrated by computer simulation.
International conference proceedings, English - High resolution DPWM generator for DC-DC converter using pulse composite technique
Eiji Takegami; Kohji Higuchi; Kazushi Nakano; Satoshi Tomioka; Kazushi Watanabe
IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11, IEEE, CD-ROM, 402-+, 2006, Peer-reviwed, In recent years, digitization of all control parts in switching power supplies including PWM generators is progressing for demands such as intelligent performances and common use of hardware, etc. Then, a problem is in the resolution of digital PWM generators for improving control performances. Since the digital PWM generator is constituted using a counter, a carrier wave turns into a stairs wave, and step amplitudes is decided with a clock cycle. When the clock cycle is fixed, the resolution becomes low as the switching frequency becomes high. Consequently, the accuracy of output voltage becomes bad. In this paper, a method for remarkably improving the resolution of the digital PWM generator using the pulse composite technique is proposed. The method is realizable by some parts and easy computation, and is applied to the digital PWM generator built-in DSP. The usefulness and practicality are verified by experiments.
International conference proceedings, English - Online modification of reference trajectories for multiple robots with collision avoidance
Kazunori Sakurama; Kazushi Nakano
PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, IEEE, CD-ROM, 2412-2417, 2006, Peer-reviwed, This paper addresses online modification of reference trajectories for multiple robots with collision avoidance. First, a smooth mapping dependent on the relative distances between the robots is proposed to coordinate collision-free motion from given reference trajectories. The trajectories modified by the mapping make the robots avoid collisions with each other, and are smooth enough to be tracked by the robots. Moreover, when the reference trajectories are separated from each other, the mapping is identical and the modified trajectories remain unchanged from the original ones. Next, a value function is considered consisting of the distances between the original and modified reference trajectories. From the viewpoint of minimizing the value function, a way to choose design parameters for the mapping is specified. Finally, a simulation for three mobile robots demonstrates the effectiveness of the proposed method.
International conference proceedings, English - Moment combined partial least squares (MC-PLS) as an improved quantitative calibration method: application to the analyses of petroleum and petrochemical products
H Chung; SW Cho; Y Toyoda; K Nakano; M Maeda
ANALYST, ROYAL SOC CHEMISTRY, 131, 5, 684-691, 2006, Peer-reviwed, A new quantitative calibration algorithm, called "Moment Combined Partial Least Squares ( MC-PLS)'', which combines the moment of spectrum and conventional PLS was proposed. Its calibration performance was evaluated for the analyses of three import petroleum and petrochemical products: gasoline, naphtha and polyol samples. The selected properties for these products included the research octane number ( RON) and Reid vapor pressure ( RVP) for gasoline, the distillation temperature at 10% ( D 10%) for naphtha and the hydroxyl ( OH) number for polyol. The major concept presented here used the moment to find the closest spectrum of a sample in a given dataset, and generate the difference spectrum and the corresponding difference in the property. These difference spectra and property differences were then used for PLS calibration. The moment has been employed in spectroscopic fields as a simple and effective "spectral feature characteristic'' using just a few scalar values ( moments). MC-PLS showed improved prediction performance over PLS for each case. In MC-PLS, the difference spectra generated using the moments were used as explained; therefore, additional detail in spectral variations can be utilized for calibrations. Additionally, the difference in the property was employed as reference data, so that its variation range was smaller when compared with that of the original property. Consequently, the MC-PLS performance could be better since the feature-enhanced spectra were used to model a narrower range of property variations. In the case of the D 10% prediction for naphtha, a non-linear prediction pattern that occurred in conventional PLS was effectively corrected using the MC-PLS method.
Scientific journal, English - Low Complexity Cascade Lattice IIR Adaptive Filter Algorithms Using Simultaneous Perturbation Stochastic Approach
I. Medina-Martinez; M. Nakano-Miyatake; K. Nakano; H. Perez-Meana
WSEAS Trans. on Communications, Issue 10, Vol. 4, 1058-1068, Oct. 2005, Peer-reviwed
Scientific journal, English - 二次モデル実現近似的2自由度ディジタル積分形制御器によるDC-DCコンバータのロバスト制御
竹上栄治; 樋口幸治; 中野和司; 富岡 聡; 渡辺一史
電子情報通信学会論文誌, The Institute of Electronics, Information and Communication Engineers, J88-C, 9, 724-736, Sep. 2005, Peer-reviwed, 情報通信ネットワーク機器や高速サーバにおいては, 広範囲な負荷変動及び入力電圧変動に対して過渡応答特性が劣化しないロバストなDC-DCコンバータが必要とされる. 筆者等は, DC-ACコンバータの近似的2自由度ディジタル積分形制御器の設計法を提案した. このディジタル制御器はスタートアップ特性として一次モデルを近似的に実現し, ロバストなものとなっている. DC-DCコンバータにこの近似的2自由度ディジタル制御器を適用するには, ロバスト性をより高める必要がある. そのためには十分な近似度を得る手法を確立しなければならない. 本論文では, 制御帯域幅をより広くし, 同時に出力電圧の変動を抵抗負荷や入力電圧の突然の変化に対して十分小さく抑える近似的2自由度ディジタル積分形制御器の新しい設計法を提案する. 本設計法では, スタートアップ特性の目標モデルに二次モデルを用いる. この二次モデルへの十分な近似と外乱から出力電圧への伝達特性の十分な近似を得るための制御器の設計法とそのパラメータの決定法を示す. 提案された方法によって得られたディジタル制御器は, DSPに実装され, 与えられた仕様を満たすことを実験によって検証する.
Scientific journal, Japanese - A Wavelet Approach to Convolutive Blind Separation of Non-stationary Sound Sources
K. Takada; K. Nakano; H. Watai
16th IFAC World Congress, Mo-M02-TP-1, Jul. 2005, Peer-reviwed
International conference proceedings, English - 免疫型システムを用いたサッカーロボットコントロールシステムの設計
伊藤順吾; 桜間一徳; 中野和司
日本ロボット学会誌, 23, 5, 637-640, Jun. 2005, Peer-reviwed
Scientific journal, Japanese - New design and manufacture of robust DC-DC converter using approximate 2DOF digital controller
Kohji Higuchi; Eiji Takegami; Kazushi Nakano; Satoshi Tomioka; Kazushi Watanabe
2005 IEEE International Conference on Industrial Technology - (ICIT), Vols 1 and 2, IEEE, 904-909, 2005, Peer-reviwed, Robust DC-DC converter which can cover extensive load changes and also input voltage changes with one controller is needed. In this paper, we propose a method for determining the parameters of 2DOF digital controller which makes the control bandwidth wider, and at the same time makes a variation of the output voltage very small at sudden changes of resistive load and the input voltage. The 2DOF digital controller whose parameters are determined by the proposed method is actually implemented on a DSP and is connected to a DC-DC converter. Experimental studies demonstrate that this type of digital controller can satisfy given specifications.
International conference proceedings, English - Trajectory tracking control of bimodal piecewise affine systems
K Sakurama; T Sugie; K Nakano
ACC: Proceedings of the 2005 American Control Conference, Vols 1-7, IEEE, 2799-2804, 2005, Peer-reviwed, This paper deals with a trajectory tracking problem of a class of bimodal piecewise affine systems, which have rarely been discussed so far. This would be very challenging because of the discontinuous changes of their vector fields. First, we introduce an error variable and an error system as a generalization of the tracking error and its system. As an error variable, a function switched by the mode of a piecewise affine system is adopted to overcome an inherent difficulty in trajectory tracking of piecewise affine systems. Next, we design a tracking controller which stabilizes the error system using a Lyapunov-like function, which can be applied to systems including state jumps. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.
International conference proceedings, English - Robust MPC based on multivariable RBF-ARX model for nonlinear systems
Hui Peng; Weihua Gui; Kazushi Nakano; Hideo Shioya
2005 44th IEEE Conference on Decision and Control & European Control Conference, Vols 1-8, IEEE, 3777-3782, 2005, Peer-reviwed, For a class of smooth nonlinear multivariable systems whose working-points vary with time and which may be represented by a linear MIMO ARX model at each working-point, a combination of a local linearization and a polytopic uncertain linear parameter-varying (LPV) state-space model are built to approximate the present and the future system's nonlinear behavior respectively. The combination models are constructed on the basis of a matrix polynomial MIMO RBF-ARX model identified offline for characterizing the underlying nonlinear system. A min-max robust MPC strategy is investigated for the systems based on the approximate models proposed. The closed loop stability of the MPC algorithm is guaranteed by the use of time-varying parameter-dependent Lyapunov function and the feasibility of the linear matrix inequalities (LMIs). The effectiveness of the modeling and control methods proposed in this paper is illustrated by a case study of a thermal power plant simulator.
International conference proceedings, English - New design and manufacture of robust DC-DC converter using approximate 2DOF digital controller
Kohji Higuchi; Eiji Takegami; Kazushi Nakano; Satoshi Tomioka; Kazushi Watanabe
Proceedings of the IEEE International Conference on Industrial Technology, 2005, 840-845, 2005, Robust DC-DC converter which can cover extensive load changes and also input voltage changes with one controller is needed. In this paper, we propose a method for determining the parameters of 2DOF digital controller which makes the control bandwidth wider, and at the same time makes a variation of the output voltage very small at sudden changes of resistive load and the input voltage. The 2DOF digital controller whose parameters are determined by the proposed method is actually implemented on a DSP and is connected to a DC-DC converter. Experimental studies demonstrate that this type of digital controller can satisfy given specifications. © 2005 IEEE.
International conference proceedings, English - Zeros and relative degree assignments of adaptive chaotic communication systems
T Matsuo; H Suemitsu; K Nakano
INTERNATIONAL JOURNAL OF BIFURCATION AND CHAOS, WORLD SCIENTIFIC PUBL CO PTE LTD, 14, 12, 4233-4247, Dec. 2004, Peer-reviwed, A general methodology for designing chaotic and hyperchaotic cryptosystems has been developed using the control systems theory. Grassi et al. proposed a nonlinear-observer-based decrypter for the state of an encrypter. If we can design the decrypter without the knowledge of the parameters of the encrypter, the chaos-based secure communication systems are not secure. In this paper, we have designed an observer-based chaotic communication system, which allows us to assign the relative degree and the zeros of its encrypter system. Moreover, under some conditions, we have designed an adaptive decrypter using the adaptive parameter adjustment law based on a Riccati equation when the transfer function of the encrypter is of minimal-phase type. The simulations via MATLAB/Simulink suggest that the encrypter dynamics should be designed such that its relative degree is more than 2 and its zeros are unstable so as to fail to synchronize the cryptosystem for the intruders.
Scientific journal, English - Trajectory Tracking of Nonlinear Systems via Lie Derivative of a Scalar Function
T. Matsuo; S. Yasunaga; H. Suematsu; K. Nakano
IFAC Workshop on Adaptation and Learning in Control and Signal Processing, and IFAC Workshop on Periodic Control Systems, -, Aug. 2004, Peer-reviwed
International conference proceedings, English - スライディングモード制御による電子制御スロットルシステムの位置制御
ウメルジャン サウット; 樋口幸治; 中野和司; 松尾孝美
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 40, 7, 770-776, Jul. 2004, Peer-reviwed, With increasing demand for high fuel efficiency, better exhaust control measures, comfort and high performance on current vehicles, electronic control of the throttle chamber which decides the engine output, is getting advanced day by day. It is expected that this trend will be maintained towards electronic control of the throttle chamber in conjunction with injection air-amount control, drive control, traction control, etc. A control method for electronic throttle servo system is proposed, which consists of a DC motor, a throttle valve and a return spring. The control method fulfills the demand for high robustness in nonlinear opening of the throttle. In this paper, a sliding-mode controller with prescribed transient response is designed for electronic throttle chamber systems. By using a function augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in a finite time. Simulation and experimental results are shown for the confirmation of effectiveness of the sliding-mode controller with prescribed transient response.
Scientific journal, Japanese - RBF-ARX model-based nonlinear system modeling and predictive control with application to a NOx decomposition process
H Peng; T Ozaki; Y Toyoda; H Shioya; K Nakano; Haggan-Ozaki, V; M Mori
CONTROL ENGINEERING PRACTICE, PERGAMON-ELSEVIER SCIENCE LTD, 12, 2, 191-203, Feb. 2004, Peer-reviwed, This paper considers the modeling and control problem for nonstationary nonlinear systems whose dynamic characteristics depend on time-varying working-points and may be locally linearized. it is proposed to describe the system behavior by the RBF-ARX model, which is an ARX model with Gaussian radial basis function (RBF) network-style coefficients depending on the working-points of a system. The RBF-ARX model is constructed as a global model, and is estimated off-line so as to avoid the possible failure of on-line parameter estimation during real-time control. A receding horizon predictive control (RBF-ARX-MPC) strategy based on the RBF-ARX model that does not require on-line parameter estimation for the nonlinear system is presented. The local linearization of the system at each working-point may be easily obtained from the global RBF-ARX model and so the use of nonlinear programming techniques to solve the on-line optimization problem with constraints in RBF-ARX-MPC is also avoided. A fast-converging estimation method is applied to optimize the RBF-ARX model parameters. A case study and example of an industrial experiment on the nitrogen oxide (NO,) decomposition process in thermal power plants are given to demonstrate the modeling precision and control performance. (C) 2003 Elsevier Science Ltd. All rights reserved.
Scientific journal, English - Design of good approximate 2-degree-of-freedom digital controller for robust DC-DC converter
K Higuchi; K Nakano; T Kajikawa; E Takegami; S Tomioka; K Watanabe
TENCON 2004 - 2004 IEEE REGION 10 CONFERENCE, VOLS A-D, PROCEEDINGS, IEEE, D33-D36, 2004, Peer-reviwed, Robust DC-DC converter which can cover extensive load changes and also input voltage changes is needed. In this paper, we propose a method of designing good approximate 2-degree-of freedom (2DOF) digital controller which makes the control bandwidth wider and at the same time makes a variation of the output voltage very small at a sudden change of resistive load. The proposed approximate 2DOF digital controller is actually implemented on a DSP and is connected to a DC-DC converter. Experimental studies demonstrate that this type digital controller can satisfy given specifications.
International conference proceedings, English - Robust control of DC-DC converter by good approximate 2-degree-of-freedom system
E Takegami; S Tomioka; K Watanabe; K Higuchi; K Nakano; T Kajikawa
SICE 2004 ANNUAL CONFERENCE, VOLS 1-3, SOC INSTRUMENT CONTROL ENGINEERS JAPAN, 614-619, 2004, Peer-reviwed, In many applications of DC-DC converters, loads cannot be specified in advance, i.e., their amplitudes are suddenly changed from the zero to the maximum rating. Generally, design conditions are changed for each load and then each controller is re-designed. Then, a so-called robust DC-DC converter which can cover such extensive load changes and also input voltage changes with one controller is needed. Analog control IC is used usually for the controller of DC-DC converter. Simple integral control etc. are performed with the analog control IC. However it is difficult to retain sufficient robustness of DC-DC converter by these techniques. The authors proposed the method of designing an approximate 2-degree-of-freedom (2DOF) controller of DC-AC converter. This controller has an ability to attain sufficient robustness against extensive load and DC power supply changes. For applying this approximate 2DOF controller to DC-DC converter, it is necessary to improve the degree of approximation for better robustness. In this paper, we propose a method of designing good approximate 2DOF digital controller which makes the control bandwidth wider, and at the same time makes a variation of the output voltage very small at a sudden change of resistive load. The proposed good approximate 2DOF digital controller is actually implemented on a DSP and is connected to a DC-DC converter. Experimental studies demonstrate that this type digital controller can satisfy given specifications.
International conference proceedings, English - Trajectory tracking of inverted pendulums via lie derivative of a scalar function
T Matsuo; S Yasunaga; H Suemitsu; K Nakano
SICE 2004 ANNUAL CONFERENCE, VOLS 1-3, SOC INSTRUMENT CONTROL ENGINEERS JAPAN, 1245-1250, 2004, Peer-reviwed, In this paper, we propose a nonlinear state feedback control law to satisfy a constraint on state variables. The constraint is expressed as an algebraic equation containing a scalar nonlinear function such as an energy function or a limit cycle. Computing the time-derivative of the scalar function that defines the constraint of the state variables, we derive a nonlinear controller to regulate the state variable satisfying the constraint. An inverted pendulum system is given to demonstrate the closed-loop performance of the proposed controller.
International conference proceedings, English - バンプレスモード切換形近似的２自由度ディジタル積分制御器に よるＰＷＭ電力増幅器のロバスト制御
樋口幸治; 中野和司; 荒木邦彌; 茅野文穂
電子情報通信学会論文誌, The Institute of Electronics, Information and Communication Engineers, J87-C, 1, 148-159, Jan. 2004, Peer-reviwed, 広範囲な負荷変動及び直流電源の電圧変動に対して過渡応答特性が劣化しないロバストなPWM電力増幅器が必要とされる. 本論文では, 容量負荷の範囲を拡張するために, 容量負荷範囲に応とてPWM電力増幅器のディジタル制御器のパラメータをバンプレスに切り換える方法を提案する. 制御器のパラメータ切換をモード切換, と呼ぶ. バンプレスモード切換を容量負荷範囲に応じて自動的に行うには容量負荷の値を知る必要がある. そこでこの容量負荷の推定法を示す. 容量負荷の推定のためには電流を用いる必要があるが, 電流測定のために電流センサを用いると高価になる. よって, より安価に実行できる簡単な電流推定法を示す. これによって推定された電流は容量推定のためと電流フィードバックのために用いられる. バンプレスモード切換は容量負荷の値を前もって指定せずに, 推定することによって自動的に実行される. すなわち, DDC実行中に容量負荷)の値は推定され, この推定値に応じて制御器モードは自動的にバンプレスに切り換えられる. 容量推定とバンプレスモード切換を備えたディジタル制御器は. DSPに実装され, 提案されたバンプレスモード切換形ディジタル制御器がより広い仕様を満たすことを実験によって示す.
Japanese - Nominal performance recovery by PID+Q controller and its application to antisway, control of crane lifter with visual feedback
T Matsuo; R Yoshino; H Suemitsu; K Nakano
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 12, 1, 156-166, Jan. 2004, Peer-reviwed, We have recently suggested the PID+Q controller that consists of a PID controller, a stable free-parameter, and an internal model of plants. In this brief paper, we point out that the free parameter can be designed to improve the robust stability and the robust performance of the control system, and present a nominal-performance recovery problem to design the free parameter with better robust performance. Moreover, we apply the PID+Q controller to the robust antisway control of crane lifter in order to compensate the time delay caused by the vision-based measurement. After modeling the lifter system with the visual sensor as a pendulum control system with a time delay, we design a robust PD + Q controller and a PID + Q controller using the MATLAB LMI Toolbox. Finally, we implement the designed controller on a table-size lifter kit with the visual sensor to demonstrate the proposed PD P D + Q controller.
Scientific journal, English - On wavelet-based convolutive blind separation of non-stationary sound sources
K Takada; M Maeda; H Watai; K Nakano
SICE 2004 ANNUAL CONFERENCE, VOLS 1-3, SOC INSTRUMENT CONTROL ENGINEERS JAPAN, 1362-1367, 2004, This paper considers the blind separation of the signals (BSS) including reflections such as sound. The BSS for the simultaneous mixture case is achieved by maximizing the mutual information between input and output signals or by zeroing the cross-correlations of the separated signals. For making these methods applicable to the convolutive mixture case, it is important to transform signals in the time domain into those in the time-frequency domain by the wavelet transform.
International conference proceedings, English - Robust Control of DC-DC Converter by High-Order Approximate 2-Degree-of-Freedom Digital Controller
Kohji Higuchi; Kazushi Nakano; Tatsuyoshi Kajikawa; Eiji Takegami; Satoshi Tomioka; Kazushi Watanabe
IECON 2004: 30TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOL 2, IEEE, 1839-1844, 2004, Peer-reviwed, In many applications of DC-DC converters, loads cannot be specified in advance, i.e., their amplitudes are suddenly changed from the zero to the maximum rating. Generally, design conditions are changed for each load and then each controller is redesigned. Then, a so-called robust DC-DC converter which can cover such extensive load changes and also input voltage changes with one controller is needed. Analog control IC is used usually for the controller of DC-DC converter. Simple integral control etc. are performed with the analog control IC. However it is difficult to retain sufficient robustness of DC-DC converter by these techniques. The authors proposed the method of designing an approximate 2-degree-of-freedom (2DOF) controller of DC-AC converter. This controller has an ability to attain sufficient robustness against extensive load and DC power supply changes. For applying this approximate 2DOF controller to DC-DC converter, it is necessary to improve the degree of approximation for better robustness. In this paper, we propose a method of designing high-order a p proximate 2DOF digital controller which makes the control bandwidth wider, and at the same time makes a variation of the output voltage very small at a sudden change of re sistive load. The proposed high-order approximate 2DOF digital controller is actually implemented on a DSP and is connected to a DC-DC converter. Experimental studies demonstrate that this type digital controller can satisfy given specifications.
International conference proceedings, English - 電子制御スロットルシステムの同定とロバスト制御
ウメルジャン サウット; ハイレット トフティ; 中野和司
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 39, 12, 1150-1155, Dec. 2003, Peer-reviwed, With increasing demand for high fuel efficiency, better exhaust control measures, comfort and high performance on current vehicles, electronic control of the throttle chamber, which decides the engine output, is getting advanced day by day. This trend is expected to continue for future as well. Highly accurate and high performance systems can be constructed by the use of electronic control of the throttle chamber, in idle air quantity control, torque control, traction control, etc.
In this paper, precise modeling, identification, and position control of an electronically controlled throttle system, that has heavy nonlinear characteristics of gear, negative pressure, and spring, was shown. System identification was carried out using GA, and using disturbance VSS observers. Sliding mode nonlinear control was proposed for stable and better control of the identified system considering the practical application. The effectiveness of the control method was verified using simulation and experimental results on an experimental system.
Research society, Japanese - Stability Analysis of the RBF-ARX Model Based Nonlinear Predictive Control
H. Peng; T. Ozaki; K. Nakano; V. H-Ozaki; Y. Toyoda
Proc. of the European Control Conference (ECC2003), -, Sep. 2003, Peer-reviwed
International conference proceedings, English - カオス暗号通信における非線形復合器の設計
松尾孝美; 末光治雄; 中野和司
電気学会論文誌, The Institute of Electrical Engineers of Japan, C-123, 9, 1587-1596, Sep. 2003, Peer-reviwed, Recently, a general methodology for designing chaotic and hyperchaotic cryptosystems was developed using the control systems theory. Grassi proposed a nonlinear-observer-based decrypter for the state of the encrypter. If we can design the decrypter without the knowledge of the parameters of the encrypter, the chaos-based secure communication systems are not secure. In this paper, we design an observer-based chaotic communication system, which allows us to assign the relative degree and the zeros of its encrypter system. Moreover, under some conditions, we design an adaptive decrypter using the adaptive parameter adjustment law based on a Riccati equation in the case where the transfer function of the encrypter is of minimal-phase type.
Scientific journal, Japanese - Nonlinear System Modeling Using the RBF Nueral Network-Based Regressive Model
H. Peng; T. Ozaki; Y. Toyoda; K. Nakano
13th IFAC Symp. on System Identification (SYSID2003), -, Aug. 2003, Peer-reviwed
International conference proceedings, English - Application of RBF-type ARX Modeling and Control to Gas Turbine Combined Cycle SCR Systems
Y. Toyoda; H. Peng; T. Ozaki; K. Nakano; H. Shioya
13th IFAC Symp. on System Identification (SYSID2003), -, Aug. 2003, Peer-reviwed
International conference proceedings, English - Design of a robust PWM power amplifier using approximate two-degree-of-freedom integral-type control
K Higuchi; K Nakano; K Araki; F Chino
ELECTRICAL ENGINEERING IN JAPAN, SCRIPTA TECHNICA-JOHN WILEY & SONS, 144, 1, 68-77, Jul. 2003, Peer-reviwed, A method is proposed for designing a robust controller for PWM power amplifiers, which are widely used as amplifiers and power supplies. The main technical requirements imposed on PWM power amplifiers are linearity in a wide frequency range and a well-damped fast dynamic response in the presence of extensive load and DC power supply variations. Therefore, in order to satisfy the design specifications, namely, linearity in a wide frequency range and no overshoots during transients, an approximate two-degree-of-freedom integral control structure is proposed and a design procedure for the robust controller is discussed. It is shown by some simulations and experiments that the designed controller shows especially good dynamic performance and effective disturbance rejection in the presence of external disturbances, that is, load and power-supply variations. (C) 2003 Wiley Periodicals, Inc.
Scientific journal, English - Design of a robust PWM power amplifier using approximate two-degree-of-freedom digital integral-type control only with voltage feedback
K Higuchi; K Nakano; K Araki; F Chino
ELECTRONICS AND COMMUNICATIONS IN JAPAN PART II-ELECTRONICS, SCRIPTA TECHNICA-JOHN WILEY & SONS, 86, 6, 1-12, 2003, Peer-reviwed, There is a need for robust PWM power amplifiers whose transient response characteristics do not deteriorate in the presence of extensive load variation and/or direct-current power-supply voltage variation. In this paper, a methodology is proposed for designing a digital robust controller using only voltage feedback for PWM power amplifiers which can satisfy such demands. The controlled object (PWM power amplifier) is represented by a discrete-time system with consideration of input dead-time and the conversion of current feedback to voltage feedback. First, a model matching system using only voltage (output) feedback is created for this controlled object. Next, it is shown that an approximate two-degree-of-freedom digital robust control system can be created by connecting the robust compensator obtained by approximating this model matching system. Furthermore, it is shown that a digital integral-type controller using only voltage feedback is obtained by equivalent transformation. Methods for determining the parameters of the LC filter and the controller, and a sampling time which satisfies design specifications are shown. Finally, it is verified by simulation and experiment that all the given specifications are satisfied by the proposed digital controller and that the design method with consideration of input dead-time is useful. (C) 2003 Wiley Periodicals, Inc. Electron Comm Jpn Pt 2, 86(6): 1-12, 2003; Published online in Wiley InterScience (www.interscience. wiley.com). DOI 10.1002/ecjb.10110.
Scientific journal, English - Robust control of PWM power amplifier by approximate 2-degree-of-freedom digital controller with bumpless mode switching
K Higuchi; K Nakano; T Kajikawa; K Araki; F Chino
IECON'03: THE 29TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1 - 3, PROCEEDINGS, IEEE, 1852-1857, 2003, Robust PWM power amplifiers whose transient response characteristics do not deteriorate against an extensive load changess and/or direct-current power-supply voltage changes are needed. In this paper, a digital robust controller with bumpless mode switching for PWM power amplifiers which can satisfy such demands and can extend the range of capacitive load wider is proposed. It is necessary to measure the value of load to implement this bumpless mode switching automatically according to the load range. Thus, the method of estimating capacitive load is shown. Although it is necessary to use current for estimating capacitive load, it will become expensive if a current sensor is used. Therefore, an easy current estimating method which can be performed more cheaply is shown. The current estimated by this method is used for capacity estimation and current feedback. The bumpless mode switching is automatically performed by estimating a capacitive value, without specifying the value of capacitive load beforehand. That is, the value of capacitive load is estimated during DDC execution, and the control mode is automatically switched bumplessly according to this estimated value. The digital controller equipped with capacity estimation and the bumpless mode switching is realized by a DSP. An experiment shows that the digital controller with the proposed bumpless mode can satisfy larger specifications.
International conference proceedings, English - Robust control of PWM power amplifier by approximate 2-degree-of-freedom digital controller with bumpless mode switching
K Higuchi; K Nakano; T Kajikawa; K Araki; F Chino
IECON'03: THE 29TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1 - 3, PROCEEDINGS, IEEE, 1852-1857, 2003, Peer-reviwed, Robust PWM power amplifiers whose transient response characteristics do not deteriorate against an extensive load changess and/or direct-current power-supply voltage changes are needed. In this paper, a digital robust controller with bumpless mode switching for PWM power amplifiers which can satisfy such demands and can extend the range of capacitive load wider is proposed. It is necessary to measure the value of load to implement this bumpless mode switching automatically according to the load range. Thus, the method of estimating capacitive load is shown. Although it is necessary to use current for estimating capacitive load, it will become expensive if a current sensor is used. Therefore, an easy current estimating method which can be performed more cheaply is shown. The current estimated by this method is used for capacity estimation and current feedback. The bumpless mode switching is automatically performed by estimating a capacitive value, without specifying the value of capacitive load beforehand. That is, the value of capacitive load is estimated during DDC execution, and the control mode is automatically switched bumplessly according to this estimated value. The digital controller equipped with capacity estimation and the bumpless mode switching is realized by a DSP. An experiment shows that the digital controller with the proposed bumpless mode can satisfy larger specifications.
International conference proceedings, English - Robust digital control of PWM power amplifier by approximate 2-degree-of-freedom system with bumpless mode switching
K Higuchi; K Nakano; T Kajikawa; K Araki; F Chino
42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, IEEE, 6248-6253, 2003, Peer-reviwed, Robust PWM power amplifiers whose transient response characteristics do not deteriorate against an extensive load change and/or direct-current power-supply voltage change are needed. In this paper, a digital robust controller with bumpless mode switching for PWM power amplifiers which can satisfy such demands is proposed. First, a nominal model E of PWM power amplifiers which consist of a PWM signal generating part, an electric power conversion part and an LC filter is derived from the linear approximation. The controlled object is described by the discrete-time system with consideration of the input dead time. It is shown that a digital controller can be designed in the same way as the previously proposed digital controller and then the load range spreads more by bumpless; mode switching. A DSP is implemented to the digital controller with bumpless; mode switching. It is demonstrated from an experiment that a mode-switched digital controller is realizable.
International conference proceedings, English - 電圧フィードバックのみを用いた近似的２自由度積分形制御によるロバストＰＷＭ電力増幅器の設計
樋口幸治; 中野和司; 荒木邦彌; 茅野文穂
電子情報通信学会論文誌, The Institute of Electronics, Information and Communication Engineers, J85-C, 10, 906-916, Oct. 2002, 広範囲な負荷変動及び直流電源の電圧変動に対して過渡応答特性が劣化しないロバストなPWM電力増幅器が必要とされる.本論文では,そのような要求を満たすことができる電圧フィードバックのみを用いたPWM電力増幅器のロバストなディジタル制御器の設計法を提案する.制御対象(PWM電力増幅器)は,入力無駄時間と電流フィードバックの電圧フィードバックへの変換を考慮した離散時間系で表される.まず,これに対して電圧(出力)フィードバックのみを用いたモデルマッチング系を構成する.次に,このモデルマッチング系を近似して得られるロバスト補償器を結合すると近似的2自由度ディジタルロバスト制御系が構成できることを示す.更に等価変換することによって電圧フィードバックのみを用いたディジタル積分型制御器が得られることを示す.また設計仕様を満たすようなLCフィルタ及び制御器のパラメータとサンプル周期の決定法を示す.最後に,提案されたディジタル制御器が与えられた仕様をすべて満たすこと,及び入力無駄時間を考慮した設計法が有用であることをシミュレーションと実験によって検証する.
Scientific journal, Japanese - Adaptive Decrypter of Chaotic Communication Systems Based on Riccati Equation
T. Matsuo; M. Nishikawa; H. Suemitsu; K. Nakano
Proc. of the 4th Asian Control Conference, Singapore, 99-104, Sep. 2002
International conference proceedings, English - Fuzzy Adaptive Position Control of Brushless DC motors with Spiral Vector
K. Oshio; T. Matsuo; H. Suemitsu; K. Nakano
Proc. of the 4th Asian Control Conference, 323-328, Sep. 2002, Peer-reviwed
International conference proceedings, English - New Robust Control of PWM Power Amplifier
K. Higuchi; K. Nakano; K. Araki; F. Chino
IFAC 15th Triennial World Congress, -, Jul. 2002, Peer-reviwed
International conference proceedings, English - Robust Adaptive Control of Induction Motors with Spiral Vector
H. Suemitsu; T. Matsuo; W. Matsuzaki; K. Nakano
IFAC 15th Triennial World Congress, Barcelona, -, Jul. 2002, Peer-reviwed
International conference proceedings, English - Adaptive Control of Ball and Plate System Based on Riccati Equation
K. Kamihata; Y. Goto; T. Matsuo; H. Suemitsu; K. Nakano
Proc. of International Symposium on Advanced Control of Industrial Processes, Kumamoto, 369-374, Jun. 2002
International conference proceedings, English - Velocity Estimation of Moving Object by Optical Flow Information
T. Matsuo; Soon-Hyun Park; H. Suemitsu; K. Nakano
Proc. of International Symposium on Advanced Control of Industrial Processes, Kumamoto, 203-208, Jun. 2002, Peer-reviwed
International conference proceedings, English - 近似的２自由度積分形制御によるロバストPWM電力増幅器の設計
樋口幸治; 中野和司; 荒木邦彌; 茅野文穂
電気学会論文誌, D-122, 2, 96-103, Feb. 2002
Scientific journal, Japanese - ウェーブレット解析を用いたドラムボイラ制御系設計のための同定
中野和司; 田原鉄也; 新 誠一; 豊田幸裕; 辻野太郎; 實松 透
電気学会論文誌, D-122, 2, 111-119, Feb. 2002, Peer-reviwed
Scientific journal, Japanese - Design of a Robust PWM Power Amplifier Using Approximate 2-Degree-of-Freedom Integral Type Control
Kohji Higuchi; Kazushi Nakano; Kuniya Araki; Fumiho Chino
IEEJ Transactions on Industry Applications, 122, 2, 96-103, 2002, Peer-reviwed, A method is proposed for designing a robust controller for PWM power amplifiers, which are widely used as amplifiers themselves and power supplies. The main technical requirements imposed on PWM power amplifiers are linerarity in wide frequency range and well-damped fast dynamic response against extensive load and d. c. power supply variations. Therefore, in order to satisfy the design specifications-linearity in wide frequency range and no overshoots during the transients, an approximate 2-degree-of-freedom integral type control structure is proposed as well as a design procedure for the robust controller is discussed. It is clarified from some simulations and experiments that the designed controller shows highlighted good dynamic performances and effective disturbance rejection properties against external disturbances, i. e. load and power-supply variations. © 2002, The Institute of Electrical Engineers of Japan. All rights reserved.
Scientific journal, English - A two-level sliding-mode approach to position control of flexible arms
H Tanaka; K Nakano; U Sawut
SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5, IEEE, 3051-3055, 2002, Peer-reviwed, This paper presents a control strategy with Two-Level Sliding-Modo for positioning flexible arms. "Two-Level" is advautageous to digitization of the motor driver. The Genetic Algorithm is used for estimating system parameters and designing the controller. The validity of the propose approach is shown by simulations and experiments.
International conference proceedings, English - Robust control of PWM power amplifier by approximate 2-degree-of-freedom digital controller with mode switching
K Higuchi; K Nakano; K Araki; F Chino
PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL, IEEE, 367-372, 2002, Peer-reviwed, Robust PWM power amplifiers whose transient response characteristics do not deteriorate against an extensive load change and/or direct-current power-supply voltage change are needed. In this paper, a digital robust controller with mode switching for PWM power amplifiers which can satisfy such demands is. proposed. First, a nominal model of PWM power amplifiers which consists of a PWM signal generating part, an electric power conversion part and a LC filter is derived from the linear approximation. The controlled objective is described by the discrete-time systems with consideration of the Input dead time. It is shown that a digital controller can be designed by the same way as the previously proposed digital controller and then the load range spreads more by mode switching. A DSP Is Implemented to the digital controller with mode switching. It is shown from an experiment that mode-switched digital controller are realizable.
International conference proceedings, English - Wavelet-Based Identification for Control of Watertube Drum Boilers
Kazushi Nakano; Tetsuya Tabaru; Seiichi Shin; Yukihiro Toyoda; Taro Tsujino; Toru Sanematsu
IEEJ Transactions on Industry Applications, 122, 2, 111-119, 2002, Peer-reviwed, The procedure for identifying linear time-varying systems with dead times using the wavelet analysis has already been proposed by the authors. This paper reports an application of the identification procedure to actual control systems of watertube drum-boiler in a thermal power plant. The control systems are required to supply steadily high-quality steam subject to disturbances due to unexpected changes in load. Therefore, it is necessary to make a precise model which takes the disturbances into consideration for control system design. The identification procedure is applied by the following steps: (1) extension of the method for single-input/output systems to that for two-input/output systems, (2) estimation of the time span where the system is considered to be in steady states, and (3) estimation of the process transfer functions in each time span. The identified model is evaluated in terms of mean square errors of the process outputs (steam-pressure and water-level) in comparison with an ARX model. © 2002, The Institute of Electrical Engineers of Japan. All rights reserved.
Scientific journal, English - Robust design of PWM power amplifier by approximate 2-degree-of-freedom digital control with suitable sampling
K Higuchi; K Nakano; K Araki; F Chino
ISIE 2002: PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, VOLS 1-4, IEEE, 908-912, 2002, Peer-reviwed, A robust PWM power amplifier whose transient response characteristics do not deteriorate against an extensive load change and/or direct-current power-supply voltage change is needed. In this paper, a method for designing a digital robust controller for PWM power amplifier which can satisfy such demands is proposed. First, a nominal model of PWM power amplifier is derived from the linear approximation. The controlled object is described by the discrete-time systems with consideration of the input dead time. It is shown that a digital controller can be designed in almost the same way as the previously proposed analog controller and then 2-degree-of-freedom digital robust systems are constituted. The integral-type control system is built by carrying out an equivalent conversion. The LC filter and the digital controller which satisfy the design specifications are determined by the proposed design procedure, Especially, the sampling period of the digital controller is determined suitably. A DSP is used to realize the digital controller obtained here. An experiment demonstrates that the proposed digital controller can satisfy all the specifications.
International conference proceedings, English - A two-level sliding-mode approach to position control of flexible arms
H Tanaka; K Nakano; U Sawut
SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5, IEEE, 3046-3050, 2002, This paper presents a control strategy with Two-Level Sliding-Mode for positioning flexible arms. "Two-level" is advallulgeot to digitization if 111C. jlloler drivttr. The Gk IWUC Algorithm is used for estimating systems parameters and designing the controller. The validity of the proposed approach is shown by simulations and experiments.
International conference proceedings, English - The robust control of PWM power amplifier by the approximate 2-degree-of-freedom digital integral-type control system
K Higuchi; K Nakano; K Araki; F Chino
IECON'01: 27TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, IEEE, 1190-1194, 2001, Peer-reviwed, A robust PWM power amplifier whose transient response characteristics do not deteriorate against an extensive load change and/or direct-current power-supply voltage change is needed. In this paper, a method for designing a digital robust controller for PWM power amplifier which can satisfy such demands is proposed. First, a nominal model of PWM power amplifiers which consists of a PWM signal generating part, an electric power conversion part and a L C filter is derived from the linear approximation. The controlled objective is described by the discrete-time systems with consideration of the input dead time. It is shown that a digital controller can be designed by almost the same way as the previously proposed analog controller and then 2-degree-of-freedom digital robust systems are constituted. The LC filter and the digital controller which satisfy the design specifications are determined by the proposed design method. A DSP is implemented to the digital controller obtained here. It is shown from an experiment that sufficiently robust digital control systems are realizable.
International conference proceedings, English - Three-Step Procedure for Parameter Estimation in the Presence of Colored Input Noise
M. Mashino; F. Ohkawa; K. Nakano
Proc. of 32nd ISCIE Int. Symp. on Stochastic Systems Theory and Its Applications（SSS2000）, 213-218, Nov. 2000, Peer-reviwed
International conference proceedings, English - Algorithm for Three-Step Estimation of Transfer Function with Unknown Delay Steps and Order
M. Mashino; F. Ohkawa; K. Nakano; M. Tomizuka
12th IFAC Symp. on System Identification（SYSID2000）, 373-378, Jun. 2000
International conference proceedings, English - Neuro-Based Modularized Modeling and Its Application to Dearator with Level Control Systems
Y. Toyoda; K. Nakano; T. Matsuo; K. Higuchi
12th IFAC Symp. on System Identification（SYSID2000）, 587-592, Jun. 2000, Peer-reviwed
International conference proceedings, English - オーバーパラメータモデルを用いた同定におけるパラメータ変換とバイアス補償最小２乗推定
中野和司; 増野 貢; 富塚誠義
システム制御情報学会論文誌, THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 13, 2, 72-79, Feb. 2000, Peer-reviwed, For the problem of estimating unknown parameters of the transfer function model from input and output (I/O) data contaminated by colored measurement noise, a three-step estimation procedure has been previously proposed to exploit the I/O correlation information with respect to the correlation time. This paper analyzes this procedure from the compatibility between the parameter transformation and the bias-compensated least-squares (BCLS) estimation used in the third step. The transformation is made from the over-parameterized model in the first and second steps to the final model with the true order in the final step, and is based on the minimization of the mean square error (MSE) between the outputs of the two models. The BCLS estimation is based on the minimization of MSE between the final model output and the process output. It is verified that the condition for compatibility, i.e. the equivalence of two minimizations, is a consequence of the two over-parameterized estimation equations in the first two steps, and that the over-parameterization assures an inclusive expansion of the I/O correlation information. Simulation results are presented to demonstrate the equivalence.
Scientific journal, Japanese - The robust design of PWM power amplifier by the approximate 2-degree-of-freedom integral type servo system
K Higuchi; K Nakano; K Araki; F Chino
IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4, IEEE, 2297-2302, 2000, Peer-reviwed, A PWM power amplifier which constitutes the feedback-control system so that the output voltage supplied to load might be proportional to a reference input is used as amplifier itself or as power supply. Then, a robust PWM power amplifier whose transient response characteristics do not deteriorate. to art extensive load change or direet-current power-supply voltage change is needed. Moreoven, the amplifier output must be made to follow its reference input correctly in the application of an amplifier as a power supply which generates various functions. Therefore the band width of amplifier must be specified, and, at the same time, an over-shoot in a step response is not allowed. In this paper, a method for designing a robust controller of PWM power amplifier is proposed which can satisfy such demands. The controller consititutes an approximate 2-degree-of-freedom integral type servo system. This servo system becomes fully robust against a large load change. Moreover. the controller obtained by this designing method is actually manufactured, and it is shown from an experiment that a sufficiently robust control system is realizable.
International conference proceedings, English - Robust adaptive control based on Riccati equation and its application to DC servomotor
T Matsuo; W Matsuzaki; H Suemitsu; K Nakano
IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4, IEEE, 446-451, 2000, Peer-reviwed, Recently, we proposed a new parameter adjustment law that guarantees the stability of the error system that has a positive definite solution for a Riccati equation instead of the strictly positive realness condition, even if the plant has exogenous disturbances. However, the parameter adjustment law has the disadvantage that the transient response of the closed loop system has the large overshoot.. In this paper, we try to improve the transient performance by introducing the imaginary axis shifting. Moreover, we apply the adaptive scheme to the position control of DC servomotors.
International conference proceedings, English - Riccati方程式に基づくパラメータ調整則とその性質
松尾孝美; 中野和司
計測自動制御学会論文集, 計測自動制御学会, 30, 12, 1631-1633, Dec. 1999, Peer-reviwed
Scientific journal, Japanese - Identification of Continuous-Time Systems with Time Delay Based on Wavelet Analysis and Its Application to Boiler Process
中野和司; 田原鉄也; 新 誠一; 豊田幸裕
The Trans. of the Institute of Electrical Engineersf of Japan, 電気学会, C-119, 6, 724-733, Jun. 1999, Peer-reviwed
Scientific journal, Japanese - Stability Study of Fuzzy Logic Control System for an Inverted Pendulum
K. Nakano; M. Tomizuka
Proc. 4th Int. Symp. on Artificial Life and Robotics (AROB'99), 723-728, Jan. 1999, Peer-reviwed
International conference proceedings, English - Dynamic Nonlinearity Compensation (DNC) Control
M. Uchida; K. Nakano
Proc. 5th Int. Conf. on Control, Automation, Robotics and Vision (ICARCV'98), 1432-1435, Dec. 1998, Peer-reviwed
International conference proceedings, English - A Three-Step Estimation Procedure for the Transfer Function Based on the Mean Square Error Between Model Outputs
M. Mashino; K. Nakano; M. Tomizuka
Proc. 3rd Asia-Pacific Conf. on Control and Measurement (APCCM'98), 48-52, Aug. 1998, Peer-reviwed
International conference proceedings, English - Robust Stabilization of Closed-Loop Systems by PID+Q Controller
T. Matsuo; K. Nakano
International Journal of Control, 70, 4, 631-650, Apr. 1998
Scientific journal, English - Optimum design of tractor-rotary tillage system by parameter identification
R Noguchi; K Nakano
(SYSID'97): SYSTEM IDENTIFICATION, VOLS 1-3, PERGAMON PRESS LTD, 1475-1480, 1998, Peer-reviwed, From the viewpoint of evaluation of torque curve generated by tillage resistance of rotary blade, reliable techniques of simulation and identification through torque curve separation by using the Gauss-Newton method (GNM) are discussed. A simple method for identifing the parameters is established, which are characterized by soil condition and are of importance for the design of the tractor-rotary tillage system in agricultural machinery. It is clarified that the order of the values of mean and standard deviation of measured torque curve can be estimated by the simulation using the torque curve quadrilateral model.
International conference proceedings, English - A three-step estimation procedure for the pulse transfer function from the viewpoint of a reductive parameter transformation
M Mashino; K Nakano
(SYSID'97): SYSTEM IDENTIFICATION, VOLS 1-3, PERGAMON PRESS LTD, 1387-1392, 1998, Peer-reviwed, The problem is considered of estimating unknown parameters in the pulse transfer function by using estimates of the noise auto-correlation function, from input and output data corrupted by colored noise. The three-step estimation procedure has already been proposed to obtain improved parameter estimates in the final step, by making good use of the extended input/output correlation functions. For quantitatively evaluating this procedure, the reductive parameter transformation from the first step to the final step is introduced. Then, the final parameter estimates hold the good properties of satisfying the minimum error criteria not only for the parameter transformation but also for the bias-compensated least-squares estimation.
International conference proceedings, English - 農用ゴム履帯走行部の動的パラメータの同定
野口良造; 中野和司
農業機械学会誌, 60, 1, 7-17, Jan. 1998
Scientific journal, Japanese - Wavelet-based identification for transfer function with dead time and its application
K Nakano; T Tabaru; S Shin; H Mitsuo; Y Toyoda; Y Akiyama
(SYSID'97): SYSTEM IDENTIFICATION, VOLS 1-3, PERGAMON PRESS LTD, 71-76, 1998, Peer-reviwed, Wavelet analysis is used in identifying a continuous-time system with dead time. First, we present a dead-time identification technique by using the wavelet transform of the cross-specta of input/output (I/O) data. Secondly, we present a method for obtaining the frequency response of the system to be considered by directly using the wavelet transform of the auto-/cross-correlation functions of the I/O data. Thirdly, we determine the parameters in the transfer function by using the curve-fitting in the least squares sense. The adventage of our identification procedure is that the estimates of parameters can be obtained separately from the delay-time estimate. Finally: we demonstrate the feasibility and validity of our procedure through experiments with an actual boiler process.
International conference proceedings, English - Swing Up Control of an Inverted Pendulum
M. Uchida; K. Nakano
Proc. 4th IEEE Int. Conf. on Electronics, Circuits and Systems (ICECS'97), 992-995, Dec. 1997, Peer-reviwed
International conference proceedings, English - Robust Control of Multi-Variable Systems by PID+Q Controller
T. Matsuo; K. Nakano
Proc. American Control Conference'97 (ACC'97), 3674-3678, Jul. 1997, Peer-reviwed
International conference proceedings, Japanese - Robust Control of Mechanical Systems by PID+Q Controller
T. Matsuo; K. Nakano
Proc. 2nd Asian Control Conf. (ASCC'97), I 149-152, Jul. 1997, Peer-reviwed
International conference proceedings, English - Optimal Design of Rotary Tillage System by Parameter Idenfication
R. Noguchi; K. Nakano
Proc. 11th IFAC Symp. on System Identification (SYSID'97), 1549-1554, Jul. 1997, Peer-reviwed
International conference proceedings, English - Generalized-Inverse Approach to Model Following Control for Nonlinear Mechanical Systems and Its Extension to Digital Control
Seong-man Jeong; K. Nakano
Proc. 7th AU-FIT-NUST Joint Seminar, 168-175, Jul. 1997
International conference proceedings, English - Robust control of multivariable systems by PID+Q controller
T Matsuo; K Nakano
PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6, I E E E, 3674-3678, 1997, Peer-reviwed, The Youla parametrization of all stabilizing compensators consists of a full-order observer-based controller and free parameters in RHinfinity. In this paper, we derive a parametrization of all stabilizing compensators, which has a static output feedback term in the central part, by state-space methods instead of coprime factorization methods. Using the parametrization obtained here, we give a parametrization of stabilizing compensators based on a PID controller and point out that our parametrization based on PID controller can be interpreted as a PID controller with an internal model and a free parameter. Moreover, we design a robustly stabilizer for a closed-loop system implemented a PID controller by selecting an appropriate free parameter.
International conference proceedings, English - Wavelet analysis approach to identification of systems with dead time - Application to boiler process
K Nakano; T Tabaru; S Shin; M Satou
PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, IEEE, 3375-3380, 1997, Peer-reviwed, The wavelet analysis is superior to the Fourier analysis in the detectability of temporal (or spatial) information of signals. Therefore, the use of this time-frequency analysis approach makes it possible to estimate such singular points as dead time, and the use of the analyzing wavelet which exists locally in the frequency domain makes it possible to estimate the frequency response of the transfer function. First, we present a dead-time identification technique by using the wavelet transform of the cross-specta of input/output (I/O) data. Secondly, we present a method for obtaining the frequency response of the system to he considered hy directly using the wavelet transform of the auto-/cross-correlation functions of the I/O data. Thirdly, we determine the parameters in the transfer function by using the curve-fitting in the least squares sense, Finally, we demonstrate the feasibility and validity of our identification procedure through experiments for an actual boilerprocess.
International conference proceedings, English - Parameter Identification for Torque Curve of Rotary Tillage
R. Noguchi; K. Nakano
Journal of JSAM, 58, 6, 79-88, Dec. 1996, Peer-reviwed
Scientific journal, English - Robust Stabilization of Closed-Loop System with PID Controller by Use of Youla Free Parameter
T. Matsuo; K. Nakano
Proc. 7th Int. Symp. on Dynamic Games and Applications, 636-648, Dec. 1996, Peer-reviwed
International conference proceedings, English - 強正実条件を緩和した適応制御系の１設計法
松尾孝美; 常次克樹; 中野和司
計測自動制御学会論文集, 32, 9, 1335-1344, Sep. 1996, Peer-reviwed
Scientific journal, Japanese - Control System Design for an Ideal Transient Control Performance －Proposal of Simulator-Based Foresight Control
M. Uchida; K. Nakano
Electrical Engineering in Japan, SCRIPTA TECHNICHA, INK., 116, 5, 107-117, Sep. 1996
Scientific journal, English - Robust Stabilization of an Inverted Pendulum System via Rule-Based Sliding-Mode Generation
K. Nakano; T. Kondou; Y. Yamaguchi; T. Matsuo; H. Choushi
13th World Congress of IFAC, 223-228, Jul. 1996, Peer-reviwed
International conference proceedings, English - A Parameterization of All Stabilization Compensators with a Static Output Feedback in the Central Part and Its Application to PID Controller
T. Matsuo; K. Nakano
13th World Congress of IFAC, 229-234, Jul. 1996, Peer-reviwed
International conference proceedings, English - Simulator-based foresight control of level of three tanks in series
M Uchida; K Nakano
PROCEEDINGS OF THE 1996 IEEE IECON - 22ND INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1-3, IEEE, 321-325, 1996, Peer-reviwed, We have to synthesize control signal to achieve an ideal control performance taking advantage of ZIR (Zero Input Response) and ZSK. (Zero State Response).
First, we define an ideal transient dynamics. Then we construct a simulator based on physical model of a nonlinear plant, and identify not only parameters but also initial states of state variables. Since we can foresee the dynamics of the nonlinear plant output with information of the. internal states of the nonlinear simulator,an ideal control performance will be achieved by simulator-based controller taking advantage of ZIR and ZSR.
International conference proceedings, English - An approach of inverse system to model following control, for nonlinear mechanical systems without matching conditions
K Nakano; Y Yamaguchi; K Wada; Y Toyota
PROCEEDINGS OF THE 1996 IEEE IECON - 22ND INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1-3, IEEE, 1939-1944, 1996, Peer-reviwed, Extensions of the results of the model reference adaptive control (MRAC) to nonlinear systems have been attempted. In particular, design methods of MRAC for nonlinear mechanical systems have been studied with much interest. For this purpose, we propose a design method for model following control(MFC) as a first step toward MRAC for nonlinear mechanical systems affine in the control. First, we consider Hirschorn's algorithm concerning the invertibility of nonlinear control systems. However, it is difficult to apply the algorithm directly to the control objective due to the small number of input channels and no matching conditions. Secondly, we propose an alternative design method for MFC, based on a kind of nonlinear model matching techniques which make it possible to assign any damping characteristics. Thirdly, we consider an example of application to the inverted pendulum to demonstrate the feasibility and efficiency of the proposed control design strategy. Finally, we investigate two extention of-the present method to both the case of modeling error and of non-affine type control.
International conference proceedings, English - Generalized-inverse approach to model following control for nonlinear mechanical systems and its extensions
K Nakano; Y Yamaguchi; T Matsuo; K Wada
PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, I E E E, 2456-2461, 1996, Peer-reviwed, Extensions of the results of the model reference adaptive control (MRAC) to nonlinear systems have been attempted. In particular, designs of MRAC for nonlinear mechanical systems, such as a manipulator and or an inverted pendulum, have been studied with much interest. For this purpose, we propose a design method for model following control systems(MFCS) as a first step towards MRACS for nonlinear mechanical systems affine in the control. First, we consider Hirschorn's algorithm concerning the invertibility of nonlinear control systems. However, it is difficult to apply the algorithm directly to the control objective with the small number of inputs. Secondly, we propose an alternative MFCS design, based on a kind of generalized-inverse technique which makes it possible to assign any following characteristics. Thirdly, we consider an example of the application to the inverted pendulum to demonstrate the feasibility and efficiency of the proposed control design strategy. Finally, Re discuss two extensions of the present method to both cases of modeling error and of non-affine type control.
International conference proceedings, English - 過渡制御性能を指定した制御系設計－シミュレーター予見制御（SFC)の提案
内田主幹; 中野和司
電気学会論文誌, D-115, 12, 1529-1536, Dec. 1995, Peer-reviwed
Scientific journal, Japanese - Small Controller for an Ideal Transient Control Performance for a Large-Scale Plant
M. Uchida; K. Nakano
Proc. 5th FIT-AJOU Joint Seminar, 139-142, Dec. 1995, Peer-reviwed
International conference proceedings, English - Exact Model Matching Control and Its Application to Inverted Pendulum System
中野和司; 内田主幹; 江口三代一; 中原一夫
Trans. of the Society of Instrument and Control Engineers, The Society of Instrument and Control Engineers, 31, 8, 1239-1241, Aug. 1995, Peer-reviwed, Extensions of the results of the model reference adaptive control to nonlinear systems have rarely been achieved. For this purpose, an alternative method of exact model matching (EMM), based on a kind of simulator called "dynamic network" which assigns any damping characteristics, is presented for a class of nonlinear mechanical systems. This approach is extended to the case of inverted pendulum system with no matching conditions.
Scientific journal, Japanese - Fuzzy Reasoning Control of Inverted Pendulum with Considering of Interaction with Cart
中野和司; 江口三代一; 山口芳弘
The Trans. of the Institute of Electrical Engineers of Japan, C-115, 1, 104-110, Jan. 1995, Peer-reviwed
Scientific journal, Japanese - Small controller for an ideal transient control performance
M Uchida; K Nakano
PROCEEDINGS OF THE 1995 IEEE IECON - 21ST INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1 AND 2, IEEE, 898-901, 1995, Peer-reviwed
International conference proceedings, English - A design of robust adaptive control system with a relaxed strictly-positive-realness condition
T Matsuo; K Tsunetsugu; K Nakano
PROCEEDINGS OF THE 34TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, I E E E, 2322-2327, 1995, Peer-reviwed
International conference proceedings, English - Image Identification and Restoration Problems from the Bayesian Information Theoretic Point of View
K. Nakano; M. Eguchi; Y. Toyota; S. Sagara
Proc. 10th IFAC Symp. on System Identification (SYSID'94), 283-288, Jul. 1994, Peer-reviwed
International conference proceedings, English - Parameter Identificationthe of Tractor Dynamics Model by Use of a Forced Vibration Experiment
R. Noguchi; O. Kinoshita; E. Inoue; K. Nakano
Proc. Int. Conf. for Agricultural Mechinary and Process Engineering (ICAMPE'93), 1117-1126, Oct. 1993, Peer-reviwed
International conference proceedings, English - ON REGULARIZATION FOR IMAGE-RESTORATION PROBLEMS FROM THE VIEWPOINT OF A BAYESIAN INFORMATION CRITERION
K NAKANO; M EGUCHI; Y TOYOTA; S SAGARA
PROCEEDINGS OF THE IECON 93 - INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1-3, I E E E, 2257-2261, 1993
International conference proceedings, English - Identification of Pulse Transfer Function in the Presence of Input and Output Noise
M. Eguchi; K. Wada; K. Nakano
Proc. IFAC Workshop on Automatic Control for Quality and Productivity (ACQP'92), 2, 463-470, Oct. 1992, Peer-reviwed
International conference proceedings, English - Estimation Procedure for Parameters of Transfer Function by Using Estimates of Auto-correlation Function of Measurement Noise
増野 貢; 中野和司
Trans. of the Institute of Systems, Control and Information Engineers, THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 5, 6, 221-228, Jun. 1992, This paper considers the problem of estimating the parameters, of the process transfer function G (z-1) by using the estimates of the noise autocorrelation function φv (l), from input data and output data containing colored measurement noise in the single-input/single-output linear discrete system. Based on the correlation analysis (instrumental variable (IV) method), a three-step estimation procedure is proposed, i. e.1st-step : an initial estimation of a transfer function model using N given by input, 2nd-step : an estimation of φv (l), and 3rd-step : a final estimation of parameters from the standpoint of the optimal IV estimation method. In the 2nd-step, the estimation for φv (l) is derived from solving simultaneous equations with relation between input/output correlation functions, G (z-1) and φv (l). Extending the input/output correlation information by selecting a model with higher order than the true order in the 1st-step, better estimates of the parameters of G (z-1) are obtained in the final step. The validity of our estimation procedure is demonstrated by computer simulations.
Scientific journal, Japanese - COMPUTING-PREDICTOR-NETWORK-BASED EXACT MODEL-MATCHING AND IDENTIFICATION FOR A CLASS OF NONLINEAR MECHANICAL SYSTEMS
Y TOYOTA; Y AKIYAMA; R NOGUCHI; K NAKANO; M EGUCHI; M UCHIDA
PROCEEDINGS OF THE 1992 INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, INSTRUMENTATION, AND AUTOMATION, VOLS 1-3, I E E E, 1246-1251, 1992, Peer-reviwed
International conference proceedings, English - RESEARCH-AND-DEVELOPMENT OF THE MODEL-BASED BATTERY STATE OF CHARGE INDICATOR
T TORIKAI; T TAKESUE; Y TOYOTA; K NAKANO
PROCEEDINGS OF THE 1992 INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, INSTRUMENTATION, AND AUTOMATION, VOLS 1-3, I E E E, 996-1001, 1992, Peer-reviwed
International conference proceedings, English - Personal CAD System for Digital Control Education and Its Application to Stabilization of an Inverted Peudulum System
K. Nakano; I. Tsurumi; M. Uchida; H. Nakamura
The Trans. of the Institute of Electrical Engineers of Japan, 110-A, 5, 482-489, May 1991
Scientific journal, English - 予測値演算回路網による倒立振子の適応制御
内田主幹; 豊田幸裕; 秋山嘉邦; 中野和司; 中村秀雄
電気学会論文誌, D-100, 12, 221-228, Mar. 1991
Scientific journal, Japanese - Predictor-Network-Based MRACS for Inverted Pendulum System
Motomiki Uchida; Yukihiro Toyoda; Yoshikuni Akiyama; Kazushi Nakano; Hideo Nakamura
IEEJ Transactions on Industry Applications, 111, 3, 221-229, 1991, Peer-reviwed, There have been many approaches in the field of stabilizing control of inverted pendulum system. In many cases, however, linealization technique for small deviation from equilibrium point has been adopted to apply LQ theory or MRACS to the inverted pendulum system. These algorithms are not necessarily satisfactory for a class of non-linear and time-varying systems such as the inverted pendulum system. In this paper, we propose a new MRACS technique with predictor network which is applicable for the non-linear and time-varying system, inverted pendulum system. This predictor-network-based MRACS can also achieve any convergence characteristics. © 1991, The Institute of Electrical Engineers of Japan. All rights reserved.
Scientific journal, English - FINITE-DIMENSIONAL APPROACH TO ESTIMATION OF FUNCTIONAL PARAMETERS IN A PARABOLIC-SYSTEM
K NAKANO; TSURUMI, I; S SAGARA
MATHEMATICS AND COMPUTERS IN SIMULATION, ELSEVIER SCIENCE BV, 32, 4, 351-357, Oct. 1990
Scientific journal, English - EDUCATIONAL CAD FOR DIGITAL-CONTROL SYSTEMS AND ITS APPLICATION TO A ROLLER-HOLDING INVERTED PENDULUM
K NAKANO; TURUMI, I; F UEDA; H MANNOUJI
APPLICATION OF MULTIVARIABLE SYSTEM TECHNIQUES ( AMST 90 ), ELSEVIER APPL SCI PUBL LTD, 280-287, 1990, Peer-reviwed
International conference proceedings, English - Finite-Dimensional Function Estimation of a Parabolic Distributed-Parameter System and Related Spillover Problem
K. Nakano; S. Sagara
DISTRIBUTED PARAMETER SYSTEMS: MODELLING AND SIMULATION (Ed:T.Futagami, S.G.Tzafestas and Y.Sunahara), 55-62, 1989
International conference proceedings, English - OPTIMAL SCANNING MEASUREMENT PROBLEM FOR A STOCHASTIC DISTRIBUTED-PARAMETER SYSTEM
K NAKANO; S SAGARA
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, TAYLOR & FRANCIS LTD, 19, 7, 1069-1083, Jul. 1988, Peer-reviwed
Scientific journal, English - スペクトル分解法による未知入力オブザーバの設計
相良節夫; 松尾孝美; 中野和司
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 21, 3, 213-219, Mar. 1985, The aim of this paper is to construct an observer for linear multivariable systems with unknown inputs by using the following result: a full order observer converges to a reduced order observer as some poles approach infinity in the left half complex plane. We show that this observer is equivalent to the perfect observer, and investigate a condition to construct it without the divergence of the initial estimation errors. This construction method allows us to clarify the degree of freedom in assigning the eigenvalues and eigenvectors of the unknown input observer.
Research society, Japanese - スペクトル分解法による検出誤差除去オブザーバの設計
相良節夫; 松尾孝美; 中野和司
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 20, 7, 573-578, Jul. 1984, In a deterministic system of which the inputs or outputs are detected with errors, the observer designed without considering the errors does not often give the efficient estimates of the states. Therefore it is necessary to construct the observer which guarantees the efficient estimates notwithstanding the errors.
Komiya and Furuta defined a bias free observer as the observer effective for the output biases which are governed by the known linear dynamical system with the unknown initial conditions, and designed it by geometric approach. But their method cannot be used in the case of such a more general class of detection errors than the biases as given by outputs of the unknown dynamical system.
In this paper we propose a design method of the detection error free observer (DEFO) by spectral decompostion approach when the detection errors belonging to C1-class act at the outputs. The necessary and sufficient conditions are given to construct the DEFO for estimating the complete states. Furthermore, the sufficient conditions are presented to construct the DEFO for estimating the partial states. Finally, we show numerical examples of the proposed DEFO.
Scientific journal, Japanese - スペクトル分解法による同一次元オブザーバの漸近解析
相良節夫; 松尾孝美; 中野和司
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 19, 7, 519-525, Jul. 1983, It is well known that the maximum amplitude of the estimation error of a full order observer becomes extremely large as all the poles approach infinity in the left half complex plane (LHP).
In this paper we clarify the asymptotic behavior of a full order observer for the case where a part of the poles approach infinity in LHP.
First, we show that the dimension m of the outputs is equivalent to the number of poles which can approach infinity in LHP without diverging of the initial estimation error. Next, we prove that the full order observer converges to a minimal order observer except the initial state as the m poles tend to infinity in LHP. Finally, we investigate a full order observer estimating a linear function of the state variable under the condition that a part of the poles approach infinity in LHP. The obtained result is considered as an extention of Mita's result under the condition on all the poles.
Research society, Japanese - Optimal Sensor Allocation Strategies Considering Observability in Linear Distributed-Parameter Systems
S. Sagara; K. Nakano; K.Soji
Electrical Engineering in Japan, 100C, 4, 135-142, 1982
Scientific journal, English - OPTIMAL MEASUREMENT PROBLEM FOR A STOCHASTIC DISTRIBUTED PARAMETER SYSTEM WITH MOVABLE SENSORS
K NAKANO; S SAGARA
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, TAYLOR & FRANCIS LTD, 12, 12, 1429-1445, 1981
Scientific journal, English - 線形分布定数系における可観測性を考慮した最適観測器配置
相良節夫; 中野和司; 相地一男
電気学会論文誌, C-100, 8, 275-282, Aug. 1980, Peer-reviwed
Scientific journal, Japanese - 線形分布定数系における固定観測器の最適配置について
相良節夫; 中野和司; 田中正吾
電気学会論文誌, C-100, 4, 103-110, Apr. 1980
Scientific journal, Japanese
MISC
- A Method for Improving Frequency Resolution of Transient Response Data with Steady-State Values and Its Application to Closed-Loop Modeling
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2023, 電気学会電子・情報・システム部門大会(Web), 2023, 202402287973429412 - Data-Driven Parametric Modeling of Linear Systems in Frequency Domain
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2023, システム制御情報学会論文誌, 36, 12, 1342-5668, 202302277712919988 - A Frequency Characteristic Estimation Method for Transient Response Signals with Non-Zero Steady-State Values Using z-Transform
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2023, 自動制御連合講演会(CD-ROM), 66th, 202302274523181297 - Controller Modeling Obtained with Monte Carlo Model Predictive Control Method
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2023, 計測自動制御学会制御部門マルチシンポジウム(CD-ROM), 10th, 202302214222623309 - A Design of Yaw-Rate Control System Using Closed-Loop Data
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2023, 電気学会研究会資料(Web), CT-23-050-055, 202302241687810734 - 周波数領域予測誤差法による閉ループパラメトリックモデリング—Closed-loop Parametric Modeling by Frequency Domain Prediction Error Method—制御研究会 データの計測・評価・活用と制御応用
松井 義弘; 綾野 秀樹; 増田 士朗; 中野 和司
電気学会, 25 Jun. 2022, 電気学会研究会資料. CT / 制御研究会 [編], 2022, 78-82, 1-4, Japanese - 前処理フィルタを必要としないステップ応答データの周波数特性推定法—A Frequency Characteristic Estimation Method without Preprocessing Filter for Step Response Data
松井 義弘; 綾野 秀樹; 増田 士朗; 中野 和司
May 2022, システム制御情報学会研究発表講演会講演論文集, 66, 930-933, Japanese, AN10257408 - A Method for Transforming Step Response Data into Frequency Domain
松井 義弘; 綾野 秀樹; 増田 士朗; 中野 和司
電気学会, 08 Jan. 2022, 電気学会研究会資料. CT, 2022, 1, 63-66, Japanese, 40022827936 - A Method for Transforming Step Response Data into Frequency Domain
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2022, 電気学会研究会資料(Web), CT-22-001-020, 202202228229732407 - Impulse Response Estimation Based on Kernel Regularization and Controller Update Using Closed-Loop Data
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2021, 計測自動制御学会制御部門マルチシンポジウム(CD-ROM), 8th, 202202258995212694 - Hyperparameter Determination in Impulse Response Estimation with Kernel Regularization
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2021, 自動制御連合講演会(CD-ROM), 64th, 202102252108931360 - A Response Predictionable Data-Driven PID Gain Update Method
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2021, 電気学会論文誌 C, 141, 9, 0385-4221, 202102294985275741 - PID Gain Update for a Mass-Spring-Damper System Using Closed-Loop Data
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2021, 電気学会研究会資料(Web), CT-21-049-059.061-062, 202102217328604694 - Impulse Response Estimation Based on Kernel Regularization Using Closed-Loop Response Data
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2021, 電気学会研究会資料, CT-21-013-032, 202102236668547833 - A Noise Suppression Method for Closed-Loop Data Using Discrete Cosine Transform
松井 義弘; 綾野 秀樹; 増田 士朗; 中野 和司
電気学会, 18 Sep. 2020, 電気学会研究会資料. CT, 2020, 90, 17-22, Japanese, 40022378334, AA1250551X - Data-Driven Update of State Feedback Gains with an Approximate Model Matching Error
松井 義弘; 綾野 秀樹; 増田 士朗; 中野 和司
電気学会, 04 Jan. 2020, 電気学会研究会資料. CT, 2020, 1, 61-65, Japanese, 40022156603, AA1250551X - Data-Driven Update of State Feedback Gains with an Approximate Model Matching Error
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2020, 電気学会研究会資料, CT-20-001-040, 202002219397164450 - An Online PID Tuning Method Using an Approximate Model Matching Error
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2020, 計測自動制御学会制御部門マルチシンポジウム(CD-ROM), 7th, 202002278623248519 - A Response Predictionable Data-Driven PID Gain Update Method
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2020, 電気学会研究会資料, CT-20-080-089, 202002278517870645 - PID Gain Update with Closed-Loop Data Considering Noise
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2020, 自動制御連合講演会(CD-ROM), 63rd (Web), 202002237875719257 - On Approximation Methods of Model Matching Error for Data-Driven Controller Tuning
Y. Matsui; H. Ayano; S. Masuda; K. Nakano
Sep. 2019, Proceedings of SICE Annual Conference 2019 (SICE 2019), WeC09.3, Hiroshima，Japan, Peer-reviwed - Approximation Model Matching Errors in Data Driven Control
松井 義弘; 綾野 秀樹; 増田 士朗; 中野 和司
電気学会, 29 Jun. 2019, 電気学会研究会資料. CT, 2019, 94, 1-5, Japanese, 40022004914, AA1250551X - A State Feedback Gain Tuning for Unstable Systems with Finite Impulse Response Estimation Method Requiring no Reference Models
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2019, 計測自動制御学会制御部門マルチシンポジウム(CD-ROM), 6th, 201902232982002674 - Approximation Model Matching Errors in Data Driven Control
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2019, 電気学会研究会資料, CT-19-094-100, 201902273939938835 - 不安定系のFIRモデリングとそのフィードバックゲイン調整への応用
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2019, 電気学会電子・情報・システム部門大会講演論文集(CD-ROM), 2019, 201902215249250848 - Detection of R-Peaks on Electrocardiogram based on Wavelet Transform
岡井貴之; 大屋英稔; 星義克; 平田祥悟; 中野和司; 山口芳裕; 五十嵐昂
2018, 電気学会研究会資料, IIC-18-005-011, 201802219732977236 - Closed-Loop System Identification of a Position Control System Considering Noise and Disturbance
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2018, 計測自動制御学会制御部門マルチシンポジウム(CD-ROM), 5th, 201802242628344902 - 閉ループデータを用いるモデルマッチング制御器調整法におけるノイズの影響
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2018, 自動制御連合講演会(CD-ROM), 61st, 201802248965115338 - Application of Data-Driven Pole Placement Method to Tuning off Dynamic Controller with an Integrator
松井義弘; 岡田裕司; 綾野秀樹; 増田士朗; 中野和司
2017, 電気学会制御研究会資料, CT-17, 55-61, 201702287478699199 - Design of 2DOF Control System for Nonminimum Phase Systems Using Closed-Loop Response Data
岡田 裕司; 松井 義弘; 綾野 秀樹; 中野 和司
システム制御情報学会, 25 May 2016, システム制御情報学会研究発表講演会講演論文集, 60, 4p, Japanese, 40020836536 - Control Gain Update of Positioning Servo System Using Closed-Loop Data
宮崎 公大; 松井 義弘; 綾野 秀樹; 中野 和司
システム制御情報学会, 25 May 2016, システム制御情報学会研究発表講演会講演論文集, 60, 4p, Japanese, 40020836506 - 閉ループデータを用いた非最小位相系のための2自由度制御系設計
岡田裕司; 松井義弘; 綾野秀樹; 中野和司
2016, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 60th, 201602211920640977 - 位置決めサーボ系の閉ループデータを用いた制御ゲイン更新
宮崎公大; 松井義弘; 綾野秀樹; 中野和司
2016, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 60th, 201602266725818598 - 閉ループ過渡応答データを用いた2入力2出力系の同定
松井義弘; 綾野秀樹; 中野和司
2016, 計測自動制御学会制御部門マルチシンポジウム(CD-ROM), 3rd, 201602219087785384 - Estimation of Plant Models with Closed-Loop Step Reference Response Data
松井義弘; 綾野秀樹; 田中雅人; 中野和司
2016, 電気学会制御研究会資料, CT-16, 1-4, 201602203002039147 - A controller design for nonlinear systems with time-delay using closed-loop step response data
Yoshihiro Matsui; Hideki Ayano; Shiro Masuda; Kazushi Nakano
© 2015 IEEE.This paper proposes a controller design method for the Hammerstein models which are linear models with static input nonlinearities and are a kind of nonlinear systems. The method requires only closed-loop step response data for controller design. The information in time domain of the data is used to estimate the plant model, and that in frequency domain is used to confirm the validity of the linear part of the plant model. Since the method estimates the plant model and compensates the nonlinearity of the plant, the controller for the linearized plant can be designed in consideration of the trade-off between the closed-loop bandwidth and the stability margin by a model-based approach., 08 Sep. 2015, 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015, 84957655057 - Closed-loop system identification and controller tuning for constant-value control systems
Yoshihiro Matsui; Shiro Masuda; Hideki Ayano; Koji Higuchi; Kazushi Nakano
© 2015 IEEE.A controller design method for constant value control systems has been proposed. The method requires only one-shot experimental data which is obtained from the stabilized closed-loop system when a known zero-mean noise is applied to the output of the plant. The data is used to estimate the plant model by the least square method. The controller is tuned by specifying the stable margin in consideration of the trade-off between the closed-loop bandwidth and the stability margin by a model-based approach in frequency domain. The effectiveness of the method is shown through a numerical example., 17 Aug. 2015, ECTI-CON 2015 - 2015 12th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, 84956969433 - 閉ループ実験による定値制御系のモデルベースPID調整
松井義弘; 増田士朗; 綾野秀樹; 中野和司
2015, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 59th, 201502251169289559 - ウィナーモデルのための閉ループデータを用いたモデルベース制御器設計
松井義弘; 綾野秀樹; 増田士朗; 中野和司
2015, 電気学会電子・情報・システム部門大会講演論文集(CD-ROM), 2015, 201502203432815690 - 閉ループステップ応答データを用いたADRCのモデルベース調整
松井義弘; 綾野秀樹; 中野和司
2015, 計測自動制御学会産業応用部門大会講演論文集(CD-ROM), 2015, 201502217527099586 - System Identification of Mechanical Systems Using One-Shot Closed-Loop Step Response Data
Yoshihiro Matsui; Hideki Ayano; Kazushi Nakano
Sep. 2014, SICE Annual Conference 2014, Peer-reviwed - PID Tuning Based on Partial Model Matching Using Closed-Loop Plant Response Data
Yoshihiro Matsui; Hideki Ayano; Kazushi Nakano
May 2014, 5th International Symposium on Advanced Control of Industrial Processes (AdCONIP 2014), 207-212, English, Peer-reviwed - 閉ループステップ応答データを用いたPID調整のためのシステム同定
松井義弘; 綾野秀樹; 中野和司
2014, 計測自動制御学会制御部門マルチシンポジウム(CD-ROM), 1st, 201402207639284757 - 速度制御ステップ応答データを用いたDCモータの同定
松井義弘; 綾野秀樹; 中野和司
2014, 電気学会電子・情報・システム部門大会講演論文集(CD-ROM), 2014, 201402239021826906 - System Identification and Controller Design of Nonlinear Systems Using Closed-Loop Step Response Data
松井義弘; 増田士朗; 綾野秀樹; 中野和司
2014, 電気学会制御研究会資料, CT-14, 82-95, 201502214427212342 - 閉ループステップ応答データを用いたDCモータの伝達関数推定
松井義弘; 綾野秀樹; 中野和司
2014, 自動制御連合講演会(CD-ROM), 57th, 201602221409024621 - Parametric plant modeling using one-shot closed-loop transient response data
Yoshihiro Matsui; Hideki Ayano; Kazushi Nakano
This paper proposes a method to estimate plant models with one-shot closed-loop transient data. The validity of the method is shown by a numerical example in which plant models are estimated, the estimated plant models are used to design controllers by a model-based controller design method and the controllers are evaluated. © 2014 IEEE., 01 Jan. 2014, 2014 11th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2014, 84905408824 - A controller design for three-mass systems using one-shot experimental data
Yoshihiro Matsui; Hideki Ayano; Kazushi Nakano
This paper proposes a velocity controller tuning method for three-mass system that is one of mechanical resonant systems. The method requires only one-shot transient input/output (I/O) data of the three-mass system under closed-loop operation to tune the controller. The data is used to estimate the frequency response of the system and to model it. The closed-loop system that consists of the model of the three-mass system and the model-based controller is introduced as the reference model for the Fictitious Reference Tuning (FRIT) to compensate the modeling error. The usefulness of the method is shown through a numerical example., 04 Dec. 2013, Proceedings of the SICE Annual Conference, 1449-1450, 84888622603 - Reference Model for Data-Driven Controller Tuning
松井 義弘; 綾野 秀樹; 中野 和司
電気学会, 03 Dec. 2013, 電気学会研究会資料. CT, 2013, 57, 31-36, Japanese, 40019934302, AA1250551X - A Controller Tuning for 2-Mass System Using Closed-Loop Transient Data.
Yoshihiro Matsui; Hideki Ayano; Kazushi Nakano
This paper proposes a velocity controller tuning method for 2-mass system that is the first approximation of mechanical resonant systems. The method requires only one-shot transient input/output (I/O) data of the 2-mass system under closed-loop operation to tune the controller. The data is used to estimate the frequency response of the system and to model the system in frequency domain. The closed-loop system that consists of the model of the 2-mass system and the model-based controller designed by the model is introduced as the reference model for the Fictitious Reference Tuning (FRIT) to compensate the modeling error. The usefulness of the method is shown by numerical examples of the controller tuning for the velocity control system of a 2-mass system. © IFAC., International Federation of Automatic Control, 22 Oct. 2013, 11th IFAC International Workshop on Adaptation and Learning in Control and Signal Processing, ALCOSP 2013, Caen, France, July 3-5, 2013., 11, 564-569, Peer-reviwed, 1474-6670, conf/alcosp/MatsuiAN13, 84885785266 - 周波数領域の情報を併用した閉ループ過渡応答データからの制御器調整
松井義弘; 中野和司
計測自動制御学会, Oct. 2013, 計測と制御, 52, 10, 892-897, Japanese, Peer-reviwed, Introduction other, 0453-4662, 40019836123, AN00072406 - Model based controller design and its fine tuning for mechanical resonant system using one-shot experimental data
Matsui, Y; Ayano, H; Nakano, K
This paper proposes a velocity controller tuning method for 3-mass system that is one of such mechanical resonant systems. The method requires only one-shot transient input/output (I/O) data of the 3-mass system under closed-loop operation to tune the controller. The data is used to estimate the frequency response of the system and to model the system in frequency domain. The closed-loop system that consists of the model of the 3-mass system and the model-based controller designed by the model is introduced as the reference model for the Fictitious Reference Tuning (FRIT) to compensate the modeling error. The usefulness of the method is shown by numerical examples of the controller tuning for the velocity control system of a 3-mass system. © 2013 IEEE., 02 Sep. 2013, Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON), 2013 10th International Conference on, 16, 84883057870 - Effect of Observation Noise on Fictitious Reference Tuning
松井 義弘; 綾野 秀樹; 中野 和司
電気学会, 24 Jul. 2013, 電気学会研究会資料. CT, 2013, 35, 59-64, Japanese, 40019776831, AA1250551X - A Design of Two-Degrees of Freedom Controller for Two-Mass Systems Using Closed-Loop Transient Data
松井 義弘; 綾野 秀樹; 中野 和司
電気学会, 10 May 2013, 電気学会研究会資料. CT, 2013, 24, 39-43, Japanese, 40019740883, AA1250551X - Controller Tuning for Resonant Mechanical System Using Closed-Loop Transient Data
松井 義弘; 綾野 秀樹; 中野 和司
電気学会, 18 Dec. 2012, 電気学会研究会資料. CT, 2012, 30, 41-46, Japanese, 40019555641, AA1250551X - On Stability Analysis of Rotation Movement of Acrobox on an Inclined Plane
NAKAJIMA Kei; NAKANO Kazushi; SAKURAMA Kazunori
電気学会, 06 Mar. 2012, 電気学会研究会資料. IIC, 産業計測制御研究会, 2012, 86, 17-22, Japanese, 10030325531, AN10074226 - A-1-9 A Discrimination Algorithm Based on NSI and TCSC for Electrocardiogram
TANAKA Kosuke; OYA Hidetoshi; HIROSE Katsuhiro; NAKANO Kazushi; YAMAGUCHI Yoshihiro; MIYAUCHI Hiroshi; OKAI Takayuki
The Institute of Electronics, Information and Communication Engineers, 06 Mar. 2012, Proceedings of the IEICE General Conference, 2012, 9-9, Japanese, 110009460530, AN10471452 - FRIT法の多変数PI制御器調整への応用
松井義弘; 綾野秀樹; 中野和司
2012, 自動制御連合講演会(CD-ROM), 55th, 201202292375107900 - 1組の閉ループ過渡応答データを用いた周波数領域における状態フィードバックゲイン調整
松井義弘; 木村知彦; 中野和司
2012, 計測自動制御学会制御部門大会(CD-ROM), 12th, 201302217620048570 - A-1-16 A Discrimination Algorithm Based on NSI and TCSC for Electrocardiogram
TANAKA Kosuke; OYA Hidetoshi; HIROSE Katsuhiro; NAKANO Kazushi; YAMAGUCHI Yoshihiro; MIYAUCHI Hiroshi; OKAI Takayuki
The Institute of Electronics, Information and Communication Engineers, 30 Aug. 2011, Proceedings of the Society Conference of IEICE, 2011, 16-16, Japanese, 110008734629, AN10489017 - Analysis and Discrimination Algorithm for Electrocardiogram Based on Wavelet Transform
TANAKA Kosuke; OYA Hidetoshi; HIROSE Katsuhiro; NAKANO Kazushi; YAMAGUCHI Yoshihiro; MIYAUCHI Hiroshi; OKAI Takayuki
Sudden cardiac arrest is a major public health problem and Ventricular Fibrillation (VF) is the serious arrhythmic event in most of patients suffering from sudden cardiac arrest. For this serious arrhytmic event, it is well known that the timely employment of an electrical defibrillator may lead to successful results. In this paper, on the basis of Wavelet Transform we analyze electrocardiograms such as sinus rhythm, ventricular fibrillation and so on and discuss an discrimination algorithm for waves which should apply electrical defibrillation., The Institute of Electronics, Information and Communication Engineers, 01 Jul. 2011, IEICE technical report, 111, 121, 81-86, Japanese, 0913-5685, 110008800833, AN1001320X - FRITによる状態フィードバックゲインチューニング
松井義弘; 赤松駿一; 木村知彦; 中野和司; 桜間一徳
2011, 電気学会電子・情報・システム部門大会講演論文集(CD-ROM), 2011, 201102234740519981 - 閉ループ応答データを用いたFRIT法とループ整形の併用による状態フィードバックゲイン調整
松井義弘; 赤松駿一; 木村知彦; 中野和司
2011, 電気学会制御研究会資料, CT-11, 17-30, 201202281334831007 - Plant Model Analysis based on Closed-loop Step Response Data.
Yoshihiro Matsui; Tomohiko Kimura; Kazushi Nakano
IEEE, 09 Sep. 2010, Proceedings of the IEEE International Conference on Control Applications, CCA 2010, Yokohama, Japan, September 8-10, 2010, 677-682, English, Peer-reviwed, Summary national conference, conf/IEEEcca/MatsuiKN10 - Frequency domain analysis of plant model using closed-loop step response
Yoshihiro Matsui; Tomohiko Kimura; Kazushi Nakano
18 Aug. 2010, Proceedings of SICE Annual Conference 2010, 2466-2471, English, Peer-reviwed, Summary national conference - 産業プロセスの解析と同定の現状－時系列解析アプローチ
中野和司; 豊田幸裕
Jul. 2010, 計測と制御, 49, 7, 426-432, Japanese, Peer-reviwed, Introduction other - ウェーブレット解析の産業応用のあゆみと展望
新 誠一; 中野和司
Oct. 2009, 電気学会誌, 129, 10, 665-667, Japanese, Peer-reviwed, Introduction other - VSSオブザーバを用いた電子制御スロットルシステムの位置制御
Umerujan Sawut; 中野和司
May 2009, 日本フルードパワーシステム学会, 40, 03, 162-166, Japanese, Peer-reviwed, Introduction other - D-8-6 An Immune-Based Reinforcement Learning for Escaping from the Local Minima
Hosokawa Shu; Nakano Kazushi; Sakurama Kazunori; Ito Jungo
The Institute of Electronics, Information and Communication Engineers, 04 Mar. 2009, Proceedings of the IEICE General Conference, 2009, 1, 99-99, Japanese, 110007094721, AN10471452 - ウェーブレットによるむだ時間系の同定とプロセス制御応用
中野和司; 田原鉄也; 新 誠一
Dec. 2006, 計測と制御, 45, 12, Japanese, Peer-reviwed, Introduction other - カオス暗号通信系への制御理論的接近
松尾孝美; 中野和司
Dec. 2003, 計測と制御, 42, 12, 1044-1051, Japanese, Peer-reviwed, Introduction other - 集中と分布［Ⅴ］－有限次元近似のための数値計算
相良節夫; 中野和司
計測自動制御学会, Dec. 1987, 計測と制御, 26, 12, 1065-1073, Japanese, Introduction other, 0453-4662, 40000956386, AN00072406 - 分布定数システムの同定へのアプローチ
相良節夫; 中野和司
Nov. 1980, 計測と制御, 19, 11, 1035-1043, Japanese, Introduction other
Books and other publications
- 電気学会125周年史（D部門 4編システム制御 1章総論）
中野和司
Japanese, Single work, D部門 4編システム制御 1章総論, 電気学会, Oct. 2013 - 計測自動制御学会50年史
中野和司
Japanese, Single work, Vol.50,No.8/9 計測と制御 Vol.50,No.8/9, 計測自動制御学会, 2011 - ウェーブレット解析の産業応用
新 誠一; 中野和司; 田原鉄也
Japanese, Supervisor, 朝倉書店, Sep. 2005 - 図説ウェーブレット変換ハンドブック
新 誠一; 中野和司
Japanese, Supervisor, 朝倉書店, May 2005 - Stability Analysis of Fuzzy Logic Control System for an Inverted Pendulum
K. Nakano; M. Tomizuka
English, Joint work, SOFT COMPUTING IN MECHATRONICS, Physica-Verlag, 1999 - フィードバック制御の理論―ロバスト制御の理論―，第7章“ループ整形”（J.C.Doyle et al.:Feedback Control Theoryの訳書）ー
藤井隆雄; 中野和司
Japanese, Joint work, コロナ社, Jan. 1996 - Introduction to Microcomputer-based Measurement and Control
山崎秀樹; 中野和司; 江口三代一; 白川弘明; 谷口泰敏
Japanese, Joint work, Corona Publishing Co. , Ltd., Jul. 1994 - 制御工学
高橋徹; 李よしかつ; 中野和司; 田村良平
Japanese, Joint work, 愛智出版, Apr. 1994 - Fundamentals of Digital Control
相良節夫; 和田清; 中野和司
Japanese, Joint work, Corona Publishing Co., Ltd., Jul. 1992 - 電気工学ハンドブック
中野和司
Japanese, Joint work, 電気学会, 1987 - 電気電子工学百科事典（第一巻）
中野和司
Japanese, Joint work, 電気書院, 1984 - 自動制御ハンドブック（基礎編）
相良節夫; 中野和司
Japanese, Joint work, オーム社, Oct. 1983
Lectures, oral presentations, etc.
- 信号解析技術の設備診断応用
中野和司
Invited oral presentation, Japanese, 産業応用フォーラム, 電気学会
Mar. 2008 - 状態・入力伊制約のある慣性ロータを用いた倒立振子システムの受動性に基づいた安定化制御
岡島康介; 桜間一徳; 中野和司
Oral presentation, Japanese, 電気学会全国大会,電気学会全国大会
Mar. 2006 - NMPCによる滑りを考慮した低摩擦路面における車両姿勢制御
林 真人; 桜間一徳; 中野和司
Oral presentation, Japanese, 電気学会全国大会,電気学会全国大会
Mar. 2006 - ウェーブレット（基礎から応用まで）
中野和司
Invited oral presentation, Japanese, 大気電気学会研究会, 大気電気学会
Jan. 2006 - ディジタルＰＷＭジェネレータの分解能改善について
竹上栄治; 樋口幸治; 中野和司; 富岡 聡
Oral presentation, Japanese, SICE北海道支部学術講演会,SICE北海道支部学術講演会
Jan. 2006 - ディジタルＰＷＭの分解能改善方法
竹上栄治; 樋口幸治; 中野和司; 富岡 聡
Oral presentation, Japanese, 信学技報（電子情報通信学会）
2006 - 衝突回避を考慮した複数ロボットの軌道追従制御
桜間一徳; 中野和司
Oral presentation, Japanese, 第37回制御理論シンポジウム
Nov. 2005 - 障害物回避を含む機械システムの軌道追従制御
桜間一徳; 中野和司
Oral presentation, Japanese, 計測自動制御学会第5回制御部門大会
May 2005 - 加速度のすべりを考慮した全方向移動ロボットの画像情報を用いた動特性推定
橋本知明; 桜間一徳; 中野和司
Oral presentation, Japanese, 電気学会全国大会
Mar. 2005 - エネルギー法と制御ラグラジアン法による倒立振子の振上げ制御
原 聡司; 桜間一徳; 中野和司
Oral presentation, Japanese, 電気学会全国大会
Mar. 2005 - バイモーダル区分的アファインシステム軌道追従制御
桜間一徳; 中野和司
Oral presentation, Japanese, 第47回自動制御連合講演会
Nov. 2004 - ビジュアルフィードバックによる2輪移動ロボットの軌道追従制御
森田知洋; 桜間一徳; 中野和司
Oral presentation, Japanese, 計測自動制御学会産業応用部門大会
Oct. 2004 - DC-DCコンバータの近似的２自由度ディジタルコントローラによるロバスト制御
竹上栄治; 渡辺一史; 樋口幸治; 中野和司; 梶川竜義
Oral presentation, Japanese, 第36回計測自動制御学会北海道支部学術講演会
Jan. 2004 - ウェーブレット変換による時空間音声分離
渡井宏和; 中野和司
Others, Japanese, 電気学会産業計測制御研究会
2004 - 電子制御スロットルのモデリングと係数同定
劉 月香; 中野和司
Others, Japanese, 電気学会産業計測制御研究会
2004 - ウェーブレットによるボイラプラントのモデリング
高田清貴; 中野和司
Oral presentation, Japanese, 電気学会産業応用部門大会,電気学会産業応用部門大会
2004 - RoboCupにおけるデータマイニング手法に基づいた協調行動の解析
馬場大徳; 伊藤順吾; 中野和司
Oral presentation, Japanese, 計測自動制御学会SI部門大会
Dec. 2003 - 免疫型システムを用いたロボットサッカーの戦略に関する基礎研究
新井香奈子; 伊藤順吾; 中野和司
Oral presentation, Japanese, 計測自動制御学会SI部門大会
Dec. 2003 - ウェーブレット・ピリオドグラムを用いた時変伝達関数のオンライン同定
高田清貴; 中野和司
Oral presentation, Japanese, 計測自動制御学会産業応用部門大会
Nov. 2003 - PWM電力増幅器の近似的2自由度ディジタルコントローラによる高ロバスト制御
日野智明; 樋口幸裕; 中野和司; 梶川竜義; 荒木邦彌; 茅野文穂
Oral presentation, Japanese, 計測自動制御学会産業応用部門大会
Nov. 2003 - ＰＷＭ電力増幅器のバンプレスモード切換によるディジタルロバスト制御器の設計と製作
樋口幸治; 中野和司; 梶川竜義; 日野智明; 渡邉浩司; 荒木邦彌; 茅野文穂
Oral presentation, Japanese, 第8回電気通信大学共同研究成果発表会,第8回電気通信大学共同研究成果発表会論文集
Jun. 2003 - 非線形プラントの同定：ガスコンバインドサイクル発電所排煙脱硝プロセスへの適用事例
豊田幸裕; 彭 輝; 尾崎 統; 中野和司; 塩谷秀雄
Oral presentation, Japanese, 計測自動制御学会第3回制御部門大会
May 2003 - 画像データによる透明樹脂部品欠損の自動判別法について
豊田幸裕; 宮田 剛; 中野和司; 高田清貴; 前田浩行
Others, Japanese, 電気学会産業計測制御研究会資料
Mar. 2003 - ウェーブレットによる周波数領域における整形と伝達関数推定
高田清貴; 中野和司
Others, Japanese, 電気学会産業計測制御研究会(IIC-03-79)
2003 - ウェーブレットによる周波数領域における整形と伝達関数推定
高田清貴; 中野和司
Others, Japanese, 電気学会産業計測制御研究会(IIC-03-79)
2003 - モード切換形近似的２自由度ディジタル制御器によるPWM電力増幅器のロバスト制御
桑野大吾; 樋口幸治; 中野和司; 梶川竜義; 荒木邦彌; 茅野文穂
Oral presentation, Japanese, 計測自動制御学会 2002年度産業応用部門大会
Nov. 2002 - ウェーブレット・ピリオドグラムによる時変伝達関数の同定について
高田清貴; 中野和司
Oral presentation, Japanese, 計測自動制御学会 2002年度産業応用部門大会
Nov. 2002 - 電子制御スロットルシステムの同定とスライディングモード制御について
李 穎; ウメルジャンサウット; 山村博久; 安川平八; 中野和司
Oral presentation, Japanese, 計測自動制御学会 2002年度産業応用部門大会
Nov. 2002 - Application of Nonlinear Modeling and Control to Gas Combined Cycle HRSG SCR System
Y. Toyoda; H. Peng; T. Ozaki; K. Nakano
Oral presentation, English, Proc. of 34th ISCIE Int. Symp. on Stochastic Systems Theory and Its Applications(SSS2002)
Oct. 2002 - An Introduction to Nonlinear Modeling Approach using RBF-type ARX Model for Watertube Drum Boiler
Y. Toyoda; H. Peng; T. Ozaki; K. Nakano
Oral presentation, English, ISM Symposium
Aug. 2002 - 電流センサレス近似的２自由度ディジタル積分形制御系によるＰＷＭ電力増幅器のロバスト設計
樋口幸治; 中野和司; 梶川竜義; 日野智明; 荒木邦彌; 茅野文穂
Oral presentation, Japanese, 第7回電気通信大学共同研究成果発表会,第7回電気通信大学共同研究成果発表会論文集
May 2002 - 火力発電プラント内ボイラの同定－線形アプローチ
桐迫麗衣; 高田清貴; 中野和司; 豊田幸裕
Others, Japanese, 電気学会産業計測制御研究会資料(IIC-02-45)
Mar. 2002 - 火力発電プラント内ボイラの同定－非線形アプローチ
桐迫麗衣; 高田清貴; 中野和司; 豊田幸裕
Others, Japanese, 電気学会産業計測制御研究会資料(IIC-02-46)
Mar. 2002 - ウェーブレット解析による時変伝達関数の推定法について
高田清貴; 中野和司
Others, Japanese, 電気学会産業計測制御研究会資料(IIC-02-47)
Mar. 2002 - ウェーブレット変換を用いた音響信号のブラインドセパレーションについて
前田 学; 中野和司
Others, Japanese, 電気学会産業計測制御研究会資料(IIC-02-50)
Mar. 2002 - 伝達関数モデルの一致推定のための３段階アルゴリズムの応用について
増野 貢; 大川不ニ夫; 中野和司
Oral presentation, Japanese, 第20回計測自動制御学会九州支部学術講演会
Dec. 2001 - 免疫型システムを用いたサッカーロボットコントロールシステム構築
伊藤順吾; 森田知洋; 中野和司
Oral presentation, Japanese, 第44回自動制御連合講演会前刷
Nov. 2001 - ウェーブレット・スペクトルによる伝達関数推定について
高田清貴; 中野和司
Oral presentation, Japanese, 計測自動制御学会第1回制御部門大会予稿集
May 2001 - 近似的２自由度ディジタル積分形制御系によるPWM電力増幅器のロバスト制御－出力電力のみ測定，演算時間遅れ考慮
樋口幸治; 中野和司; 梶川竜義; 桑野大吾; 荒木邦彌; 茅野文穂
Oral presentation, Japanese, 第6回電気通信大学共同研究成果発表会,第6回電気通信大学共同研究成果発表会論文集
May 2001 - ロボカップのための小型ロボットシステムについての提案
中野和司; 伊藤順吾; Tin Sann; 森田知洋
Others, Japanese, 電気学会システム・制御研究会資料（SC-01-13）
Mar. 2001 - ウェーブレット解析を用いた多入力多出力時変系同定とその応用
實松 透; 辻野太郎; 中野和司
Oral presentation, Japanese, 第19回計測自動制御学会九州支部学術講演会予稿集
Nov. 2000 - 有色入力観測雑音の下での３段階パラメータ推定法
増野 貢; 大川不二夫; 中野和司
Oral presentation, Japanese, 第39回計測自動制御学会学術講演会予稿集，306C-3
Jul. 2000 - ウェーブレット解析を用いた時変系同定-ボイラ制御系への応用
中野和司; 新誠一; 田原鉄也; 辻野太郎; 實松透; 豊田幸裕
Oral presentation, Japanese, 第9回制御技術シンポジウム資料
May 2000 - 広範な負荷変動に対するPWM電力アンプのロバスト制御
樋口幸治; 梶川竜義; 中野和司; 荒木邦彌; 茅野文穂
Oral presentation, Japanese, 第5回電気通信大学共同研究成果発表会,第5回電気通信大学共同研究成果発表会論文集
May 2000 - 広範な負荷変動に対するPWM電力アンプのロバスト制御
樋口幸治; 中野和司; 荒木邦弥; 茅野文穂
Oral presentation, Japanese, 第32回計測自動制御学会北海道支部学術講演会予稿集
Feb. 2000 - 近似的２自由度１形サーボ系によるＰＷＭ電力増幅器のロバスト設計
樋口幸治; 中野和司; 荒木邦彌; 茅野文穂
Oral presentation, Japanese, 第32回計測自動制御学会北海道支部学術講演会論文集
Jan. 2000 - Wavelet変換による時変系同定とその応用
中野和司
Others, Japanese, 第4回N-TIMSAC研究会（文部省統計数理研究所）
2000 - ウェーブレット解析によるむだ時間推定とその適用事例
中野和司
Invited oral presentation, Japanese, 通産省中国工業研究所・知能化センシング技術講演会
Dec. 1999 - 伝達関数モデルの３段階推定法に関する研究
増野 貢; 中野和司; 大川不二夫
Oral presentation, Japanese, 第18回計測自動制御学会九州支部学術講演会予稿集
Nov. 1999 - モデル構造を考慮した３段伝達関数推定法
増野 貢; 中野和司
Oral presentation, Japanese, 第28回制御理論シンポジウム資料
May 1999 - 非線形メカニカル系の離散近似モデルとスライディングモード追従制御
森 斉; 中野和司; 大川不二夫; 松尾孝美
Oral presentation, Japanese, 第17回計測自動制御学会九州支部学術講演会予稿集
Dec. 1998 - オーバーパラメータモデルにおけるパラメータ変換とバイアス補償最小２乗推定
増野 貢; 中野和司
Oral presentation, Japanese, 第17回計測自動制御学会九州支部学術講演会予稿集
Dec. 1998 - 線形非定常確率系のベイズ情報量基準ABICとその応用
長尾豊徳; 中野和司
Oral presentation, Japanese, 第17回計測自動制御学会九州支部学術講演会予稿集
Dec. 1998 - ウェーブレット解析に基づく多入出力系の同定とその応用
八尋淳; 中野和司; 豊田幸裕; 秋山嘉邦
Oral presentation, Japanese, 第17回計測自動制御学会九州支部学術講演会予稿集
Dec. 1998 - 非線形メカニカルシステムの連続離散時間モデル追従制御
中野和司; 鄭 聖満; 森 斉; 大川不二夫
Oral presentation, Japanese, 第16回計測自動制御学会九州支部学術講演会
Nov. 1997 - ウェーブレット解析に基づく連続無駄時間系の同定－ボイラへの応用
中野和司; 田原鉄也; 新 誠一; 満尾広宣; 秋山嘉邦; 豊田幸裕
Oral presentation, Japanese, 第5回制御技術シンポジウム
Apr. 1997 - 非アフィンタイプ非線形プラントの制御系設計
内田主幹; 中野和司
Oral presentation, Japanese, 第15回適応制御シンポジウム
Jan. 1997 - 一般化逆アプローチによる非線形メカニカルシステムのモデル追従制御ーモデル化誤差への対応
中野和司; 山口芳弘; 鄭 聖満
Oral presentation, Japanese, 第21回Dynamical System Theoryシンポジウム
Nov. 1996 - 一般化逆系アプローチによる非線形モデル追従制御
中野和司; 山口芳弘; 鄭 聖満; 内田主幹; 和田 清
Oral presentation, Japanese, 第15回計測自動制御学会九州支部学術講演会
Nov. 1996 - エッジ情報を考慮した劣化画像修復ー統計的アプローチ
中野和司; 佐藤賢弘
Oral presentation, Japanese, 第15回計測自動制御学会九州支部学術講演会
Nov. 1996 - 相関法によるむだ時間を含む制御系の同定ーウエーブレット解析
中野和司; 満尾広宣; 秋山嘉邦; 豊田幸裕
Oral presentation, Japanese, 第15回計測自動制御学会九州支部学術講演会
Nov. 1996 - ある種の非線形性の同定と線形制御
豊田幸裕; 織田敬司; 中野和司
Oral presentation, Japanese, 第15回計測自動制御学会九州支部学術講演会、産業応用セッション（招待）
Nov. 1996 - ある種の非線形性の同定と線形制御
豊田幸裕; 織田敬司; 中野和司
Oral presentation, Japanese, 第15回計測自動制御学会九州支部学術講演会、産業応用セッション（招待）, 第15回計測自動制御学会九州支部学術講演会、産業応用セッション
Nov. 1996 - 一般化逆アプローチによる非線形メカニカル系のモデル追従制御について
中野和司; 山口芳弘; 和田 清
Oral presentation, Japanese, 第25回制御理論シンポジウム
May 1996 - 一般化逆アプローチによる非線形メカニカルシステムのモデル追従制御－モデル化誤差への対応
中野和司; 山口芳弘; 鄭 聖満; 和田 清
Oral presentation, Japanese, 計測自動制御学会第21回Dynamical System Theoryシンポジウム
May 1996 - 逆系アプローチによる非線形メカニカル系のモデル追従制御について
中野和司; 山口芳弘; 和田清
Oral presentation, Japanese, 第16回適応制御シンポジウム
Jan. 1996 - 非線形メカニカル系の物理パラメータの同定とその制御への応用
中野和司
Invited oral presentation, Japanese, 第38回適応制御部会講義会
1996
Affiliated academic society
Research Themes
Others
- (1)荻野義大，（中野和司，舩戸徹郎，大屋英稔，大西慶秀，西田祐気） 「電気学会優秀論文発表賞（創立100周年記念基金学術振興助成規程による本部表彰）」）」(2016.3) ”スペクトルの特徴量を用いた電気的除細動の効果の予測”
2015 - 2015 - (1)廣瀬勝弘，（中野和司，大屋英稔 ら）「電気学会 優秀論文発表賞（創立100周年記念基金学術振興助成規程による本部表彰）」(2014.3)；(2)廣瀬勝弘，中野和司，大屋英稔 ら）「電気学会 産業計測制御技術委員会 優秀論文発表賞」(2014.1) ”ウェーブレット変換を用いた状態遷移を含む心電図波形の識別”
2014 - 2014 - (1)中島 慧，（中野 和司，桜間 一徳）「電気学会 産業計測制御技術委員会 優秀論文賞」(2013.1)；(2)中島 慧，（中野 和司，桜間 一徳）「電気学会 産業応用部門 優秀論文発表賞」(2013.3)，”勾配を有する路面におけるアクロボックスの転がり移動の安定解析について”
2013 - 2013 - (1)小林 允，（中野 和司） 「電気学会 産業応用部門部門 優秀論文発表賞」（2010.3), ”ガボールウェーブレット変換による地中レーダ受信信号の強調について”
2010 - 2010 - (1)小林 允，（中野和司） 「電気学会 産業応用部門部門 優秀論文発表賞」(2010.3)；(2)中田宗文 第2回 日経テクノルネサンス・ジャパン アイデア・コンテスト「旭化成賞/優秀賞」 (2009.12)；(3)小林 允「電気学会 産業計測制御研究会 優秀論文発表賞」(2009.12)
2009 - 2009 - (1)大酒正明，（中野和司）「電気学会 産業応用部門 優秀論文発表賞」(2009.3)；(2)大酒正明（M2）「電気学会 産業計測制御研究会 優秀論文発表賞」(2008.12)
2008 - 2008 - (1)立野元気，（中野和司）「電気学会 産業計測制御研究会 優秀論文発表賞」(2007.12)
2007 - 2007 - (1)一條章裕，（中野和司）「電気学会 産業計測制御技術研究会 優秀論文発表賞」(2006.12)；(2)竹上栄治（樋口研），（樋口幸治，中野和司） 「電子情報通信学会EE研究会 2005年EE研究会若手エンジニア論文発表賞」(2006.1) ”ディジタルPWMの分解能改善方法”
2006 - 2006 - (1)Jungo Ito, Kazushi Nakano，et al., Int. Symp. on Artificial Life and Robotics (AROB'05) Best Paper Award (2005.2)
2005 - 2005 - (1)高田清貴，（中野和司）「電気学会 産業計測制御技術研究会 優秀論文発表賞」(2003.12)
2003 - 2003