論文 - 今井　純

回転型柔軟アームの先端加速度の位相補償による振動制御 査読

出射 治, 今井 純, 高橋明子, 竹本真紹

計測自動制御学会論文集   57 ( 5 )   260 - 266   2021年5月

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担当区分：責任著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.9746/sicetr.57.260

J-GLOBAL

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Impact of SMC Property on Axial Flux Machine Employing Ferrite PM in Traction Applications 査読

Ren Tsunata, Masatsugu Takemoto, Jun Imai, Tatsuya Saito, Tomoyuki Ueno

2024 International Conference on Electrical Machines (ICEM)   1 - 7   2024年9月

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掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/icem60801.2024.10700121

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Superior Efficiency Under PWM Harmonic Current in an Axial-Flux PM Machine for HEV/EV Traction: Comparison With a Radial-Flux PM Machine 査読

Ren Tsunata, Masatsugu Takemoto, Jun Imai, Tatsuya Saito, Tomoyuki Ueno

IEEE Transactions on Industry Applications   60 ( 5 )   6736 - 6751   2024年9月

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掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/tia.2024.3410241

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Designing and Prototyping an Axial-Flux Machine Using Ferrite PM and Round Wire for Traction Applications: Comparison With a Radial-Flux Machine Using Nd-Fe-B PM and Rectangular Wire 査読

Ren Tsunata, Kosuke Izumiya, Masatsugu Takemoto, Jun Imai, Tatsuya Saito, Tomoyuki Ueno

IEEE Transactions on Industry Applications   60 ( 3 )   3934 - 3949   2024年5月

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掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/tia.2024.3371959

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Proposal of a Novel Air-Gap Structure for Magnet-Less 3-Axis Active Control-Type Magnetic Bearing with Cylindrical Rotor: Reducing Axial Length of Turbomachinery System

Yuto Sho, Masatsugu Takemoto, Ren Tsunata, Jun Imai

2023 IEEE International Future Energy Electronics Conference (IFEEC)   114 - 119   2023年11月

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掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/ifeec58486.2023.10458518

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Design and Analysis of Hybrid-Excitation Variable Flux Memory Motor for Traction Applications: Improving Output Power in High-Speed Area During Six-Step Operation Mode 査読

Ren Tsunata, Keito Yokomichi, Masatsugu Takemoto, Jun Imai

IEEE Access   11   82024 - 82036   2023年

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掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/access.2023.3301809

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A Proposal of an Axial-Flux Permanent-Magnet Machine Employing SMC Core With Tooth-Tips Constructed by One-Pressing Process: Improving Torque and Manufacturability 査読

Ren Tsunata, Masatsugu Takemoto, Jun Imai, Tatsuya Saito, Tomoyuki Ueno

IEEE Access   11   109435 - 109447   2023年

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掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/access.2023.3321829

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On loop-shaping controller synthesis for a flexible slewing arm with tip accelerometer 査読

J. Imai, K. Inoue, M. Takemoto

Proceeding of the 13th Asian Control Conference (ASCC 2022)   1262 - 1263   2022年5月

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担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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回転型柔軟アームの先端加速度による時間遅延を補償した振動抑制

西岡由恭, 大内凌華, 今井 純, 高橋明子, 舩曳繁之

計測自動制御学会論文集   56 ( 2 )   70 - 72   2020年2月

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担当区分：責任著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.9746/sicetr.56.70

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Vibration control of a flexible slewing arm with a tip accelerometer 査読

J.Imai, Y. Nishioka, O. Idei, A.Takahashi, S.Funabiki

Proceeding of the 19th International Conference on Control, Automation and Systems (ICCAS 2019)   911 - 915   2019年10月

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担当区分：筆頭著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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Evaluation of Simple Adaptive Control for Parameter Variation of Magnetic Levitation System 査読

K. Kimura, J. Imai, A. Takahashi, S. Funabiki

Proceeding of the 19th International Conference on Control, Automation and Systems (ICCAS 2019)   605 - 606   2019年10月

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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2-DOF IMC with the Tip Acceleration Feedback for a Flexible Arm 査読

O. Idei, J. Imai, A. Takahashi, S. Funabiki

Proceeding of the 19th International Conference on Control, Automation and Systems (ICCAS 2019)   607 - 608   2019年10月

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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Transparency Evaluation of Passivity Based Bilateral Control Systems without Force Sensor," 査読

K. Uehara, J. Imai, A. Takahashi, S. Funabiki

Proceeding of the 19th International Conference on Control, Automation and Systems (ICCAS 2019)   1195 - 1196   2019年10月

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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Modeling for Non-collocated Control of a Flexible Slewing Arm 査読

J. Imai, Y. Nishioka, O. Idei, A. Takahashi, S. Funabiki

Proceedings of the SICE Annual Conference 2019 (SICE 2019)   469 - 472   2019年9月

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担当区分：筆頭著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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Measuring Method for Solar Irradiance at Multi-points with Different Color Based on Image Analysis

Kento Kawakami, Akiko Takahashi, Jun Imai, Shigeyuki Funabiki

2018 IEEE Energy Conversion Congress and Exposition, ECCE 2018   2543 - 2548   2018年12月

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Institute of Electrical and Electronics Engineers Inc.  

In recent years, the introduction of PV (photovoltaic generation) systems has been rapidly expanding to realize a sustainable society. In order to deal with the deterioration of power quality that could occur when a large amount of PV systems is installed, it is necessary to predict the PV power based on the solar irradiance and to select and install system stabilizing devices. Therefore, measuring methods for the solar irradiance by image analysis have been proposed. This paper proposes a measuring method for the solar irradiance at multi-points with different color based image analysis. The proposed method creates estimation models at only an arbitrary point. Then, color values at other points to be measured are extracted and correction values are calculated. By applying correction values to existing estimation models, the solar irradiance at multi-points are measured. The proposed method measured the solar irradiance at the light blue roof, the orange roof and the PV panel points in the image from Nov. 1, 2014 to Nov. 30, 2014. As a result, mean absolute errors between measured values of solar irradiance using a pyranometer and the proposed method at these points were 0.093 kW/m2, 0.093 kW/m2, 0.086 kW/m2, respectively. These were decreased by 58%, 51%, and 45% compared those with using the estimation models without applying correction values, respectively.

DOI： 10.1109/ECCE.2018.8557773

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既約分解にもとづく構造的平衡実現によるコントローラ低次元化 査読

能宗克行, 今井 純, 高橋明子, 舩曳繁之

電気学会論文誌Ｃ（電子・情報・システム部門誌）   138 ( 3 )   263 - 268   2018年3月

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担当区分：責任著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1541/ieejeiss.138.263

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A voltage control method using EVs in the power distribution system including a mass of PVs

Akiko Takahashi, Naoki Matsumoto, Jun Imai, Shigeyuki Funabiki

Proceedings of the International Conference on Power Electronics and Drive Systems   2017-   507 - 510   2018年2月

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Institute of Electrical and Electronics Engineers Inc.  

This paper proposes a method to control the distribution line voltage utilizing EVs which are connected to the power distribution system. The proposed method adjusts the amount of charge or discharge power of EVs cooperative with PCSs. As a result, the distribution line voltage was maintained within the specified voltage range and the PV opportunity loss was reduced 30.3 points compared with the P control of PCSs. This paper clarifies that EVs are useful as the equipment for maintaining the voltage in the power distribution system.

DOI： 10.1109/PEDS.2017.8289153

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On Mixed Galerkin Modeling for Controller Design of Boundary Control Systems

Jun Imai, Katsuyuki Noso, Akiko Takahashi, Shigeyuki Funabiki

IFAC-PapersOnLine   50 ( 1 )   7133 - 7138   2017年7月

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Elsevier B.V.  

A mixed Galerkin formulation for reduced-order modeling is presented for controller design of distributed parameter systems with boundary inputs. A null space approach is established to yield appropriate trial and test functions by using candidate trial functions which are free from boundary conditions. The approach is applicable, with considerably mild conditions on the candidate trial functions, on the interior domain as well as its boundaries. It is shown that this modeling technique yields a finite dimensional descriptor system of index 1, that is equivalent to a state-space representation suitable for controller design model. Effectiveness of the proposed method is demonstrated by an example of a heat conduction rod using polynomial functions which are not preprocessed to meet the boundary conditions.

DOI： 10.1016/j.ifacol.2017.08.549

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A State-Space Modeling via the Galerkin Approximation for a Boundary Control System

Jun Imai, Katsuyuki Noso, Akiko Takahashi, Shigeyuki Funabiki

IFAC-PapersOnLine   49 ( 8 )   7 - 12   2016年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Elsevier B.V.  

For linear distributed parameter systems with a finite number of boundary inputs, we propose a framework to implement the method of weighted residuals using candidate trial functions without boundary homogenization. Proposed scheme utilizes inner product matrix, or Grammian, of the trial functions to separate appropriate homogenized basis functions and the other trial functions matching inhomogeneous boundary conditions. The finite-dimensional approximate model by using the proposed scheme is represented in descriptor form and it is proved to be straightforwardly transformed into state space form. Feasibility of the method is illustrated by a brief controller design example using the approximate model of a heat conduction rod with Dirichlet boundary input.

DOI： 10.1016/j.ifacol.2016.07.410

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A Comparison of Electric Power Smoothing Control Methods for Distributed Generation Systems

Tomoyuki Kanehira, Akiko Takahashi, Jun Imai, Shigeyuki Funabiki

Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)   193 ( 4 )   49 - 57   2015年12月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：John Wiley and Sons Inc  

Renewable forms of energy such as solar energy have attracted attention as alternative sources of fossil fuel. The output power of photovoltaic generation systems changes steeply. Changes in output power have an effect on the electric power quality of the power system. For that reason, a system which can smooth fluctuations of output power is required. In this paper, the moving average, modified moving average, single exponential smoothing, and double exponential smoothing methods are applied to electric power smoothing control schemes for distributed generation systems with photovoltaic generation. The reduction rate of power fluctuations and the maximum stored energy of electric double layer capacitors are adopted as system evaluation measures. To confirm the effectiveness of the power smoothing control methods, a distributed generation power system with photovoltaic generation systems is simulated with the power electronics circuit simulation software PSIM. The methods are then compared by evaluating the reduction in the capacity of electric double layer capacitors without loss in the power smoothing effect.

DOI： 10.1002/eej.22767

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A Hydrogen Management Method in Residential Distributed Generation Systems with Photovoltaic Cells and Hydrogen-Storage Type Fuel Cells

Ryosuke Takubo, Akiko Takahashi, Jun Imai, Shigeyuki Funabiki

Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)   193 ( 3 )   8 - 16   2015年11月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：John Wiley and Sons Inc  

Recently, renewable energy has been attracting attention as a result of global warming and the depletion of fossil fuels. Photovoltaic (PV) systems have spread rapidly around the world because they generate electric power quietly and can be installed in many places. The output power generated in a PV system fluctuates with changes in solar irradiance and panel temperature. The reverse flow of surplus power in output spikes may have a negative effect on electric power quality, such as on the frequency and voltage in a power system. A residential distributed generation (DG) system composed of a fuel cell (FC) unit, an electrolyzer (EL) unit, and a PV system has been proposed in order to resolve these problems. In order to operate this system without interruption, the hydrogen storage volume must be managed. This paper proposes a novel hydrogen management method for a residential DG system with PV cells and hydrogen-storage type FCs. The hydrogen storage volume is maintained at the preset frequency by operating the FC unit and the EL unit. Models of the PV, FC, and EL were constructed for a simulation. In the simulation, we showed that the proposed management method is viable for a residential DG system with PV cells and hydrogen-storage FCs.

DOI： 10.1002/eej.22757

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Capacities of photovoltaic generation system and electrolyzer for residential distributed generation system with fuel cell vehicle

Shunsuke Sakae, Akiko Takahashi, Jun Imai, Shigeyuki Funabiki

IEEJ Transactions on Power and Energy   135 ( 10 )   591 - 597   2015年10月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical Engineers of Japan  

This paper investigates capacities of a photovoltaic generation system and an electrolyzer in a proposed residential distributed generation system with a fuel cell vehicle. The evaluation is carried out in terms of the reduction rate of the power fluctuation and the operation cost in the five electricity price cases. By designing the rated capacity of the electrolyzer to be less than and near that of the photovoltaic generation system, an excessive capacity of the electrolyzer can be avoided. The operation cost of the proposed system is lower than that of the conventional system when the rated capacity of photovoltaic generation system is less than 5kW and the electricity price of sold power goes down. However, the operation cost increases as the electricity price of purchased power rises during the night. The reduction rate of 63.3% is achieved in the proposed system with a photovoltaic generation system of 5 kW and an electrolyzer of 4 kW.

DOI： 10.1541/ieejpes.135.591

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Cooperative control of power conditioners in high-voltage distribution systems comprising a large number of PV systems

Kazuya Fukunaga, Akiko Takahashi, Jun Imai, Shigeyuki Funabiki

2014 IEEE Industry Application Society Annual Meeting, IAS 2014   2014年12月

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Institute of Electrical and Electronics Engineers Inc.  

Recently, a large number of photovoltaic systems have been installed in the distribution system. Reverse power flow through the distribution line caused by photovoltaic generation results in the voltage deviation from the specified range. Usually, the photovoltaic system is controlled autonomously using an individual power conditioner. Autonomous control causes inequality of the photovoltaic generation power on the same distribution line. This paper proposes three new cooperative control methods by communicating the information between power conditioners to overcome this problem. This paper discusses five control methods: conventional active power control, conventional active and reactive power control, the proposed cooperative active power control, and two proposed active and reactive cooperative controls. The study evaluates these control methods by the amount of PV generation power and the power loss in one day.

DOI： 10.1109/IAS.2014.6978486

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A comparative study of performance in particle swarm optimization methods with reflection

Takamasa Ohba, Akiko Takahashi, Jun Imai, Shigeyuki Funabiki

IEEE Power and Energy Society General Meeting   2013年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

In this paper, two kinds of Reflectance-Adjusting PSO (RAPSO) methods that improve the adjustment of the reflectance in the vector reflection PSO are proposed. One is RAPSO using the standard deviation of optimal evaluation values for the latest steps, called RAPSO-OE. The other is RAPSO using the standard deviation of particles' evaluation values in the present step, called RAPSO-PE. The proposed methods are compared with Simple PSO and Taper-off-Reflectance PSO (TRPSO). The validity is shown by benchmark tests, and the proposed method is applied to the optimization problem of electric power leveling systems in rolling mills. The simulation result shows that adjusting reflectance is effective for reducing search time, especially when the optimal solution exists in the edge of problem domain. © 2013 IEEE.

DOI： 10.1109/PESMG.2013.6672363

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Finite-dimensional approximate modeling with error bounds of flexible vibrating systems based on partial eigenstructures 査読

J Imai, K Wada

ELECTRICAL ENGINEERING IN JAPAN   155 ( 2 )   36 - 44   2006年4月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：WILEY-BLACKWELL  

An approach to control-oriented uncertainty modeling is presented for a class of elastic vibrating systems such as flexible structures, beams and strings, described by partial differential equations. Uncertainty bounding techniques are developed using the upper and lower bounds of the unknown eigenparameters. The result forms a basis for a finite-dimensional controller design in which closed loop stability and performance are guaranteed. A feasible set of systems is defined of all systems governed by a class of differential equations with certain norm bounds of the unknown input and output operators and with partially known bounds of the eigenparameters. Then the perturbation magnitude covering the feasible set is evaluated in the frequency domain where a standard truncated modal model is chosen as the nominal one. An upper bound to the truncated error magnitude which is calculated by linear programming is proposed. It is demonstrated that all the parameters formulating a feasible set are derived by finite element analysis for a flexible beam example, and feasibility of the proposed scheme is also illustrated by numerical bounding results. (c) 2006 Wiley Periodicals, Inc.

DOI： 10.1002/eej.20272

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On regulator design for spatial temperature distribution using finite-dimensional modeling of heat equations 査読

J. Imai, Y. Ando, M. Konishi, T. Nishi

IFAC World Congress   2005年

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担当区分：筆頭著者   記述言語：英語  

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部分的な固有構造にもとづく柔軟振動系の有限次元近似と周波数応答の誤差上界

電気学会論文誌C部門誌   125 ( 1 )   77 - 83   2005年

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1541/ieejeiss.125.77

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A Distributed Routing Method for Multiple AGVs for Motion Delay Disturbances 査読

Tatsushi Nishi, Shoichiro Morinaka, Masami Konishi

Proc. of the IEEE 2005 International Conference on Intelligent Robots and Systems   2001 - 2006   2005年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/IROS.2005.1545271

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Cooperative motion control of 2-DOF robot arms by recurrent neural network

Yingda Dai, Masami Konishi, Jun Imai, Tatsushi Nishi

Proceedings of the SICE Annual Conference   745 - 750   2005年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

Recently Robotics has been applied in many fields. Robot designers have focused the applications that from the standardization factory, in which all kinds of industrial robots run repeatedly, to the social welfare field, where there is no standard but need higher safety. However, according to today's technology, the ability that robot can quickly enough to adapt a new environment is still worse by far than human. The intent of this paper is to show the control plan for two degrees of freedom (2-DOF) dexterous robot arms both of these two robot arms operate in operation under the realistic environment. This control system can be synthesized quickly by neural network algorithms. © 2005 SICE.

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A distributed collision-free routing system for multiple AGVs under disturbances

Shouichiro Morinaka, Tatsushi Nishi, Masami Konishi, Jun Imai

Proceedings of the SICE Annual Conference   2812 - 2817   2005年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

In this study, we tackle the problem of routing multiple Automated Guided Vehicles (AGVs) with disturbances. In real life transportation environments, unexpected delays and demands may cause re-routings. A centralized controller may not work under these circumstances due to computational complexity and high number of combinations of routes. Thus, we propose a distributed routing method that can solve re-routing problem under several disturbances. Numerical results indicate that the effects of disturbances are reduced by increasing the total time of transportation and the proposed algorithm shows an advantage over a conventional method in most performance indices. © 2005 SICE.

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Regulation of production loads for plural furnaces in case of demand change

Kazuhito Ishimaru, Masami Konishi, Jun Imai, Tatsushi Nishi

Proceedings of the SICE Annual Conference   3209 - 3214   2005年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

Various studies have been undertaken to examine the inner furnace phenomena of a blast furnace. These studies are limited, however, to the evaluation of furnace performance while a design method of furnace control is left be developed. In this paper, based on the study, the production loads in plural furnaces are controlled. Using the method based on SQP method, Production costs in plural furnaces are minimized. Moreover, the desired production of each furnace is determined by the calculation as the total production is fulfilled. © 2005 SICE.

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A dynamic optimization model for storage yard logistic systems

Masatoshi Agou, Tatsushi Nishi, Masami Konishi, Jun Imai

Proceedings of the SICE Annual Conference   3254 - 3259   2005年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

For storage yard logistic systems, it is necessary to generate transportation plan for raw material to appropriate storage areas. In this paper, we propose a dynamic optimization model for storage yard logistic systems. Firstly, we decompose the storage yard logistic problem into allocation planning problem and transportation route planning problem. The storage allocation planning problem is formulated as an LP problem, and then transportation routing problem is solved by a distributed routing method accordingly. A near optimal allocation and transportation plan is derived by repeating each optimization and information exchange. The effectiveness of allocation and route planning model for the proposed method is confirmed by numerical experiments. © 2005 SICE.

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熱延におけるルーパ制御ゲイン調整の人間モデルとその学習 査読

今城周也, 小西正躬, 今井純, 西竜志

鉄と鋼   90 ( 11 )   933 - 940   2004年11月

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：ISIJ  

DOI： 10.2355/tetsutohagane1955.90.11_933

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A study on inventory control for a single stage production system under uncertain demand

T. Nishi, N. Takami, M. Konishi, J. Imai

Proceedings of the SICE Annual Conference   2161 - 2164   2004年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

In this paper, we propose an inventory control scheme for planning and scheduling of a single stage production system under demand uncertainty. In the proposed method, the amount of material requirements is determined by a stochastic approach taking into account the demand variation in feedforward. The amount of inventory for, final products is determined by the feedback information from the results of detailed scheduling results. The effectiveness of the proposed control scheme is investigated from numerical simulations.

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Modeling of gain tuning operation for hot strip looper controller by recurrent neural network

Masami Konishi, Syuya Imajo, Jun Imai, Tatsushi Nishi

Proceedings of the IEEE International Conference on Control Applications   2   890 - 895   2004年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

In this paper, neural network model representing gain modulating action by human was developed for looper height controller in hot strip mills. The developed neural network model is that of the recurrent type neural network (RNN) which calculates the appropriate PII) gains of looper height controller based on the modification data of human operation as the training data. Further, learning algorithm for RNN model was developed to accelerate convergence of the gain modification process and to stabilize the looper movement. The neural gain tuning model was applied to the inter-stands looper height controller in hot strip mills. The usefulness of the developed model was checked through numerical experiments. From the experimental results, it was verified that the tuning action by human can be realized by the model. The model could also cope with disturbance such as change in roll gap because of its learning mechanism that may lead to the stabilization of threading operation of hot strip mills. © 2004 IEEE.

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An optimal finite-diemensional modeling in heat conduction and diffusion equations with partially known eigenstructure

J Imai, Y Ando, M Konishi

42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS   330 - 335   2003年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

An optimal finite-dimensional modeling technique is presented for a standard class of distributed parameter systems for heat and diffusion equations. A finite-dimensional nominal model with minimum error bounds in frequency domain is established for spectral systems with partially known eigenvalues and eigenfunctions. The result is derived from a completely characterized geometric figure upon complex plane, of all the frequency responses of the systems that have (i) a finite number of given time constants T-i's and modal coefficients k(i)'s, (ii) an upper bound p to the infinite sum of the absolute values of all the modal coefficients k(i)'s, (iii) an upper bound T to the unknown T-i's, and (iv) a given dc gain G(0). Discussions are made on how each parameter mentioned above makes contribution to bounding error or uncertainty, and we stress that steady state analysis for dc input is used effectively in reduced order modeling and bounding errors. The feasibility of the presented scheme is demonstrated by a simple example of heat conduction in ideal copper rod.

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複数台移動ロボットの搬送経路計画問題に対する自律分散型最適化法

安藤 昌和, 西 竜志, 小西 正躬, 今井 純

計測自動制御学会論文集   39 ( 8 )   759 - 766   2003年

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出版者・発行元：The Society of Instrument and Control Engineers  

Route planning of multiple AGVs (Automated Guided Vehicles) is expected to minimize the transportation time without collision and deadlock among the AGVs in many transportation systems. In this paper, we propose an autonomous distributed route planning method for multiple mobile robots. The proposed method has a characteristic that each mobile robot individually creates a near optimal route through the repetitive data exchange among the robots and the local search of route using Dijkstra's algorithm. The proposed method is applied to several transportation route planning problems. The optimality of the solution generated by the proposed method is evaluated using the duality gap derived by Lagrangian relaxation method. A near optimal route plan within 5% of duality gap for a large scale transportation system consisting of 143 nodes and 15 AGVs can be obtained with five seconds of computation time by using Pentium III (1GHz) processor. Moreover, it is shown that the proposed method is effective for various types of problems despite the fact that each route for AGV is created without optimizing the entire objective function even when the velocity of each AGV is different.

DOI： 10.9746/sicetr1965.39.759

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Agent based periodic control of an AGV system in dynamic transportation

T. Nishi, K. Sotobayashi, M. Konishi, J. Imai

Proceedings of the SICE Annual Conference   1   713 - 718   2003年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Society of Instrument and Control Engineers (SICE)  

In this paper, we propose a periodic control strategy for the assignment of the tasks to several AGVs (Automated Guided Vehicles) in dynamic transportation. In the proposed method, all of the transportation tasks that arrive at a time are collected during a given time period and an efficient scheme of the assignment is generated by the optimization procedure, that has to be completely executed during the next period. An meta-heuristic algorithm called pheromone communication method is adopted as an optimization method for minimizing the traveling time of AGVs while maintaining a short computation time. In our study, the optimal number of collecting new tasks is investigated by changing the various timing of sending the requests to AGVs in the numerical experiments. The effectiveness of the proposed method is demonstrated by comparing the total throughput of an AGV system with that of the conventional method for a large scale transportation bay.

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Modeling flexible structures with unknown high-order modal parameters: A feasible set approach in frequency domain

J Imai

PROCEEDINGS OF THE 41ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4   pp. 4092-4094   4092 - 4094   2002年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

A control-oriented uncertainty modeling on frequency domain is presented for a class of spectral systems with unknown high-order modal parameters. At any user-specified frequency, the set of all the feasible frequency responses is characterized on the complex plane where it is said to be feasible if partial modal parameters of a system are given and the other unknown modal parameters meet certain conditions. We emphasize that such a characterization enables us to quantify the least upper bounds of errors for any nominal models, and also to develop further efficient results using additional information. It is shown in the paper that, the dc gain information of the system reduces the size of the feasible set to the half or smaller, for any frequencies. The efficiency of the presented scheme is demonstrated by a simple example of ideal flexible beam.

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A new interpretation of subspace methods by using Schur complement 査読

Y Takei, J Imai, K Wada

PROCEEDINGS OF THE 40TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5   3924 - 3929   2001年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

In this paper, we present a new interpretation of the subspace-based state space system identification (4SID) method by using a subspace extraction via Schur complement (SES). Several efficient implementations of subspace-based identification methods (e.g., N4SID, etc) have been thus far developed and proposed. We consider the MIMO output error state space model identification, the so-called MOESP, Making a comparison between the matrix obtained by the QR factorization in the MOESP and the Schur complement matrix of data product moments shows that the estimate of the extended observability matrix can be obtained by using the SES procedure. Viewing that fact that the Schur complement yielded by the subspace extraction coincides with the error covariance in the least squares (LS), our interpretation will pave the way for the derivation of the recursive algorithm of the 4SID method.

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Modeling uncertainty of large flexible structures with unknown modal parameters

J Imai, K Wada

PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5   3780 - 3784   2000年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

A procedure for control-oriented modeling of uncertainty is proposed for large flexible structures. Techniques on quantification of errors in modal truncated nominal models are developed for the case where a finite number of upper and lower bounds of the unknown modal parameters are given. A feasible set of systems matching the conditions is introduced, and then error bounds covering the feasible set are established in the frequency domain. The bounds are easily checked using linear programming for any user-specified frequency. The feasibility of the proposed scheme is illustrated by numerical study on an ideal flexible beam example.

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Modeling uncertainty of elastic vibrating systems with unkmown high order eigenstrnctures

IFAC 14th world congress,preprints   I   139 - 144   1999年

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物理的情報にもとづく不確かさのモデリング-柔軟振動系に対する制御器の一設計法-

今井 純, 和田 清

計測自動制御学会論文集   35 ( 3 )   349 - 356   1999年

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出版者・発行元：The Society of Instrument and Control Engineers  

An approach is presented for modeling uncertainty from a priori information of a plant. A feasible model set is defined of all systems governed by a class of differential equations with certain norm bounds of unknown input and output operators and partially known eigenparameters. Then an unstructured uncertainty class of models including the feasible model set is characterized with least magnitude of additive perturbation in frequency domain. An example of finite dimensional compensator design is demonstrated to illustrate the usefulness of the approach.

DOI： 10.9746/sicetr1965.35.349

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Modeling uncertainty of flexible structures for controller design

J Imai, K Wada

PROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4   4754 - 4756   1998年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

An approach is presented for modeling with least additive uncertainty from a priori information of a plant. A feasible set of systems is defined as the set of all systems governed by a dass of differential equation with certain norm bounds of unknown input and output operators as well as partially known eigenparameters. Then an unstructured uncertainty class including the feasible set is characterized with least magnitude of additive perturbation in frequency domain. An example of finite dimensional compensator design is demonstrated to illustrate the usefulness of the presented approach.

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雑音を考慮したロバスト同定法について

内山 剛志, 今井 純, 和田 清

計測自動制御学会論文集   34 ( 10 )   1374 - 1379   1998年

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出版者・発行元：The Society of Instrument and Control Engineers  

In this paper, robust identification of discrete time systems in time domain is studied. An approach is proposed to estimate the nominal model, minimizing the errors, with iterative computation on numerator and donominator. Methods are proposed to reduce the influence of noise on the proposed scheme. Numerical study shows effectiveness of these methods for idenifying characteristics in low frequency range of systems in the presence of noise.

DOI： 10.9746/sicetr1965.34.1374

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On parameter estimates in a subspace method for SISO systems 査読

T Nakamitsu, K Wada, J Imai

(SYSID'97): SYSTEM IDENTIFICATION, VOLS 1-3   1087 - 1091   1998年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：PERGAMON PRESS LTD  

A study is presented on relationships between subspace approaches and conventional parameter estimation schemes. We focus on identification of single-input-single-output(SISO) systems via the Subspace State Space Identification (4SID) method. We show that an intermediate vector which appears in the 4SID procedure is equal to the parameter of the system pulse transfer function if the model set includes the system with noise free measurements. We also show explicitly, in a elementary way, that the intermediate vector is also equivalent to the estimate via the eigenvector method in the case that the column size of the extended observability matrix is equal to "(the order of the model) + 1". Furthermore, we demonstrate that using a modified cost functional in the Eigenvector method corresponds to the IV-4SID method and hence gives a consistent estimate even for colored noise.

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A finite dimensional modeling with explicit error bounds for spectral systems

J Imai, K Wada

PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4   400 - 403   1996年

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：I E E E  

In this paper, we present a reduced order modeling technique for a stable self-adjoint spectral system with unbounded input/output operators. An uncertainty model which covers the original distributed parameter system is formulated in view of finite dimensional controller design using linear robust control theory. The model is made of a finite dimensional nominal plant and frequency domain additive error bounds. The nominal model is a modal truncation containing a feed-through term with no de errors between the nominal plant and the system. The bound is computable using elements of the system and partial knowledge of spectral structure. The formula obtained can be readily applicable to a wide class of systems including heat conduction and diffusion, and easily extended for systems with vibration.

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分布定数系のガラーキン近似法における静特性の補償についての一考察(共著)

電気学会論文誌C   115-C ( 7 )   882 - 886   1995年

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DOI： 10.1541/ieejeiss1987.115.7_882

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放物型分布定数系のガラーキン近似法における静特性の補償について(共著)

今井純

システム制御情報学会論文誌   5 ( 9 )   365 - 371   1992年

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DOI： 10.5687/iscie.5.365

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境界入力をもつ放物型分布定数系のガラーキン法による近似モデルについて(共著)

相良 節夫, 今井 純

計測自動制御学会論文集   27 ( 12 )   1366 - 1373   1991年

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出版者・発行元：The Society of Instrument and Control Engineers  

For a parabolic distributed parameter system with boundary inputs, we consider a finite dimensional approximation scheme of Galerkin type and propose a method yielding approximation models with no static errors.<br>We illustrate a modal interpretation of the approximation model in the caseeigenfunction is employed for the coordinate function and show that the magnitude of the approximation errors of the higher order modes are proportional to the first-order differential of the system input.<br>We verify above results numerically both by simulation study in time domain and error evaluation in frequency domain, for an example of a constant parameter system.

DOI： 10.9746/sicetr1965.27.1366

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その他リンク： https://jlc.jst.go.jp/DN/JALC/00012918980?from=CiNii