2021/07/12 更新

写真a

ナカムラ ユキノリ
中村 幸紀
NAKAMURA Yukinori
所属
自然科学学域 講師
職名
講師
外部リンク

学位

  • 博士(工学) ( 奈良先端科学技術大学院大学 )

研究キーワード

  • 振動制御

  • 制御工学

  • 精密位置決め

  • 人間機械系

  • 機械学習

  • メカトロニクス

研究分野

  • ものづくり技術(機械・電気電子・化学工学) / 制御、システム工学

  • 情報通信 / 機械力学、メカトロニクス

学歴

  • 奈良先端科学技術大学院大学   情報科学研究科 博士後期課程  

    - 2009年

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  • 奈良先端科学技術大学院大学   情報科学研究科 博士前期課程  

    - 2006年

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    国名: 日本国

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  • 京都工芸繊維大学    

    - 2004年

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    国名: 日本国

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経歴

  • 岡山大学   講師

    2015年12月 - 現在

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  • 東京農工大学   助教

    2010年11月 - 2015年11月

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  • 日本学術振興会特別研究員(PD)

    2009年4月 - 2009年10月

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  • 日本学術振興会特別研究員(DC2)

    2008年4月 - 2009年3月

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所属学協会

▼全件表示

 

論文

  • Flow Disturbance Attenuation for Pneumatic Anti-Vibration Apparatuses with a Sinusoidal Compensator and Vibration Transmissibility Analysis 査読

    Yukinori Nakamura, Hirotaka Akagawa, Shinji Wakui

    Mechanical Engineering Journal   7 ( 3 )   1 - 15   2020年

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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(学術雑誌)  

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  • 圧力脈動と機械共振の帯域の差異を考慮した空圧式除振台に対するフィードフォワード項の一設定方法 査読

    中村幸紀, 野口裕喜, 涌井伸二

    精密工学会誌   86 ( 6 )   493 - 501   2020年

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

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  • Synthesis of Robust PID Control Systems Using Stability Feeler and Partial Model Matching 査読

    Tadasuke Matsuda, Yukinori Nakamura

    IEEJ Transactions on Electrical and Electronic Engineering   15 ( 3 )   426 - 432   2020年

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    記述言語:英語   掲載種別:研究論文(学術雑誌)  

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  • CPGを用いた2自由度空圧式除振装置の安定浮上と流量外乱抑制 査読

    柏崎翔, 涌井伸二, 中村幸紀

    電気学会論文誌C   139 ( 4 )   520 - 521   2019年

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

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  • 通信遅延時間を考慮した粒子フィルタによる一推定法 査読

    中村幸紀, 東山和司, 平田健太郎, 岡野訓尚

    電気学会論文誌C   139 ( 4 )   454 - 459   2019年

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

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  • 多重ループ型制御系における空圧式除振装置の流量外乱抑制と除振率改善に関する検討 査読

    中村幸紀, 野口裕喜, 涌井伸二

    電気学会論文誌C   139 ( 4 )   372 - 379   2019年

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

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  • Modeling of Flow Rate Variation of Tube Pumps 査読

    Jinhui Yang, Kentaro Hirata, Yukinori Nakamura, Kunihisa Okano, Kenichi Kato

    SICE International Symposium on Control Systems (ISCS) (Accept)   2021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)  

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  • Sensor placement minimizing the state estimation mean square error: Performance guarantees of greedy solutions 査読

    Akira Kohara, Kunihisa Okano, Kentaro Hirata, Yukinori Nakamura

    IEEE Conference on Decision and Control (IEEE CDC) (Accept)   2020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)  

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  • Swing-phase detection from the ankle joint angle using recurrent neural networks 査読

    Sho Tokuda, Kunihisa Okano, Yukinori Nakamura, Kentaro Hirata

    IFAC Workshop on Cyber-Physical & Human Systems (IFAC CPHS) (Accept)   2020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)  

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  • A setting method of output-end frequency-shaped sliding mode hyperplane for a pneumatic vibration isolator 査読

    Yukinori Nakamura, Yutaro Tetsuno, Kentaro Hirata, Kunihisa Okano

    International Conference on Mechanical, Electrical and Medical Intelligent System   2019年

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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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  • Energy-Efficient Bicycling with Passive Mechanical Network 査読

    Makoto Shinpou, Kentaro Hirata, Yukinori Nakamura, Kunihisa Okano, Kazuyoshi Hatada

    International Conference on Control, Decision and Information Technologies   2019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)  

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  • Repetitive control-based vibration attenuation for pneumatic vibration isolators using a phase-lag type compensator 査読

    Yukinori Nakamura, Yuki Noguchi, Shinji Wakui

    IEEE International Conference on Mechatronics   2019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)  

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  • Optimal design of cooperative standing-up motion for care worker and receiver 査読

    Kazuma Kobayashi, Kentaro Hirata, Yukinori Nakamura, Kunihisa Okano

    IEEE International Conference on Mechatronics   2019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)  

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  • A Method of Timing Decision for Dorsiflexion Assistance with Estimation of Gait 査読

    Yukinori Nakamura, Yutaro Tetsuno, Kentaro Hirata, Kunihisa Okano

    SICE Annual Conference   2019年

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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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  • Consideration on Transmissibility Reduction for Pneumatic Vibration Isolators Using a Pseudo Differentiator 査読

    Yukinori Nakamura, Yuki Noguchi, Shinji Wakui

    SICE Annual Conference   2019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)  

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  • 振動子の位相情報を用いた歩行支援動作のタイミング決定に関する検討 査読

    中村幸紀, 真鍋友希, 平田健太郎, 岡野訓尚

    電気学会論文誌C   138 ( 7 )   908 - 909   2018年

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

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  • An analysis of state estimation errors with respect to the dimension of observation 査読

    Akira Kohara, Kunihisa Okano, Kentaro Hirata, Yukinori Nakamura

    SICE Annual Conference   415 - 418   2018年

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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)  

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  • Automatic Generation of Optimal Standing-up Motion using Nonlinear Receding Horizon Control 査読

    Kazuma Kobayashi, Kentaro Hirata, Yukinori Nakamura, Kunihisa Okano

    2017 IEEE/SICE International Symposium on System Integration   481 - 486   2017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/SII.2017.8279259

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  • 配管長の差異を考慮した空圧ステージに対するモデル追従制御器の一調整方法 査読

    中村幸紀, 武井陸, 涌井伸二

    電気学会論文誌C   137 ( 2 )   273 - 278   2017年

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

    DOI: 10.1541/ieejeiss.137.273

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  • State Estimation over a Network Using Particle Filter 招待 査読

    Yukinori Nakamura, Kazushi Higashiyama, Kentaro Hirata, Kunihisa Okano

    International Conference on Mechanical, Electrical and Medical Intelligent System   2017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)  

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  • リニアステージの制御器調整に対するPSO の適用方法に関する一検討 査読

    渡邉まりの, 中村幸紀, 涌井伸二

    精密工学会誌   82 ( 7 )   665 - 671   2016年

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

    DOI: 10.2493/jjspe.82.665

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  • Flow Disturbance Suppression Using Cascade-Type PIS Control for a Pneumatic Vibration Isolator 査読

    Yukinori Nakamura, Hirotaka Akagawa, Shinji Wakui, Kentaro Hirata

    PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   559 - 564   2016年

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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)   出版者・発行元:IEEE  

    This paper considers the applicability of cascade-type proportional-integral-sinusoidal (PIS) control for suppression of flow disturbance to the pneumatic vibration isolator. In the PIS control, a sinusoidal compensator (S compensator) is employed for the suppression of periodic disturbance. However, due to the phase lag of this compensator, a PIS control system is destabilized. It is shown that even if gains of PI compensator are retuned, the control system cannot be stabilized. Moreover, it is also shown that, by using the cascade-type PIS and phase-lead control, the flow disturbance can be suppressed. Experimental results validate the effectiveness of proposed approach.

    DOI: 10.1109/IECON.2016.7793450

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  • Model Predictive Control of Hot-Rolled Strip Cooling Process using Variable-Resolution Model 査読

    Kentaro Hirata, Daijiro Udagawa, Yoichiro Masui, Yukinori Nakamura

    PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   215 - 222   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:IEEE  

    Model Predictive Control is an effective control method for nonlinear plants with constraints. However, application to large-scale systems and/or processes that require high sampling rate is quite challenging because of the heavy computation. Here we consider MPC approach for the cooling process of hot-rolled strip having 3D thermal distribution. To solve this large-scale problem, we propose a method to change the resolution of the model dynamically according to the uniformity of the thermal distributions in the directions of interest. Combined with a hierarchical control strategy to flatten the thermal distribution in a certain direction, one can balance the computational load across the cooling process.

    DOI: 10.1109/IECON.2016.7793811

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  • Pneumatic stage positioning with model following control and PDD2 control 査読

    Naoki Ito, Shinji Wakui, Yukinori Nakamura

    International Journal of Advanced Mechatronic Systems   6 ( 6 )   247 - 257   2015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:Inderscience Publishers  

    This paper addresses the performance improvement of positioning for a pneumatic stage. In the positioning with proportional-derivative-double derivative (PDD2) control, the stiffness and damping of a control system can be easily adjusted. However, due to unknown parameter of a pneumatic system, there is a difficulty in achieving high repeatability of positioning. To solve this problem, model following control (MFC) is combined with the PDD2 control. Since, by using the MFC, the pressure in a chamber can track the output of a desired model, the repeatability is improved under the condition that the parameter of pneumatic system is unknown. It is shown that the desired model of a first-order lag system is appropriate for the positioning of the pneumatic stage. Furthermore, the difference between MFC and disturbance observer is discussed. The effectiveness of the proposed approach is shown by experiments on positioning.

    DOI: 10.1504/IJAMECHS.2015.074785

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  • An Interpretation of Unbalance Vibration Compensator for Five-axes Active Magnetic Bearing Systems Based on Internal Model Principle 査読

    Taiki Nakamura, Shinji Wakui, Yukinori Nakamura

    2015 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS)   137 - 142   2015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  

    Five-axes active magnetic bearing (AMB) systems are widely utilized for the field of precision such as semiconductor exposure machines. This paper considers an interpretation of an unbalance vibration compensator PGC for five-axes AMB. As methods for the rejection of periodic disturbance, repetitive control and PIS control, which are based on internal model principle, have been known. The PIS control can be considered as a special case of the repetitive control. This paper investigates the relationship between the PGC and the PIS control from the similarity of the pole assignment and shows that the PGC suppresses the unbalance vibration from the perspective of the internal model principle.

    DOI: 10.1109/ICAMechS.2015.7287143

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  • Control of an Air Spring Type Anti-Vibration Apparatus with an Inverse Function for Shape of Pressure Frequency Characteristic 査読

    Ziyue Wang, Shinji Wakui, Yukinori Nakamura

    2015 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT)   155 - 160   2015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 air-type anti-vibration apparatus is widely used in the field of precision positioning and measurement. Due to the characteristics of the air spring, a pair of anti-resonance and resonance occurs in the pressure control system. In order to avoid the performance degradation of the vibration control, we eliminate the anti-resonance and resonance by designing the control scheme with an inverse function.

    DOI: 10.1109/ICIT.2015.7125092

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  • Repetitive Control for Pneumatic Anti-Vibration Apparatuses Under a Multi-Loop Control System 査読

    Yuki Noguchi, Yukinori Nakamura, Shinji Wakui

    2015 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT)   447 - 452   2015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  

    This paper considers the compensation of both flow disturbance and floor vibration for pneumatic anti-vibration apparatuses (AVAs). To compensate for effects of the flow disturbance, repetitive control is employed. When the tunable parameter of a repetitive controller is high gain, the flow disturbance is further suppressed. On the other hand, transmissibility increases. To overcome the trade-off between the flow disturbance suppression and the transmissibility reduction, the setting method of the tunable parameter is presented. In the case of single-loop control system, the transmissibility decreases by using a notch filter as the tunable parameter, whereas in the case of a multi-loop control system, the transmissibility increases at a certain frequency. To avoid this issue, an inverse notch filter is selected as the tunable parameter. It is shown that the transmissibility can be improved by using the inverse notch and notch filters as the tunable parameter.

    DOI: 10.1109/ICIT.2015.7125139

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  • A Setting Method of Initial Conditions in Particle Swarm Optimization for Positioning of a Linear Stage 査読

    Marino Watanabe, Yukinori Nakamura, Shinji Wakui

    2015 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT)   63 - 68   2015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  

    This paper considers the auto-tuning of a feedforward controller in order to improve the performance of stage positioning. Particle swarm optimization (PSO) technique is employed for the auto-tuning of the controller. In the proposed method, firstly, the dimensionality of the particle in PSO is reduced. Then, the initial placement of each particle is determined by considering the nominal value of the stage. By using these two approaches, the tuning time can be shortened. After the auto-tuning, the settling time of the positioning is improved. Effectiveness of proposed methods is shown by simulation.

    DOI: 10.1109/ICIT.2015.7125077

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  • Attitude Control of Pneumatic Active Anti-Vibration Apparatuses with Two Degrees-of-Freedom in Shutdown Process 査読

    Satoru Goto, Yukinori Nakamura, Shinji Wakui

    2015 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT)   119 - 124   2015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  

    For the ultra-precision machining, semiconductor exposure machines employ the pneumatic active anti-vibration apparatuses (AVAs), which have air springs. In industrial scenes, when the vibration due to earthquake is observed, the AVA is automatically stopped by exhausting air. However, the difference of time delays in the response of the air springs causes the undesirable rotational motion of an isolated table. This paper considers the attitude control of the AVA including different time delays during shutdown process. To avoid the rotation of the isolated table, reference trajectory is shaped. It is verified that the range of the rotational angle in the shutdown of the AVA can be reduced by using the proposed method.

    DOI: 10.1109/ICIT.2015.7125086

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  • Vibration Suppression of Galvano Mirror Considering Whirling of Shaft 査読

    Keisuke Nakade, Taiki Nakamura, Shinji Wakui, Yukinori Nakamura

    2015 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS)   143 - 148   2015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  

    Main movement of a galvano mirror is the rolling motion. However, since the structure of galvano mirror is cantilever, this mirror is vertically vibrated to mirror reflective surface. This paper considers the suppression of the above vibration, which is called pitching vibration. Although the galvano mirror is equipped with an encoder to detect the roll angle of mirror, the pitching vibration of mirror cannot be detected. To overcome this problem, the pitching vibration is verified by the frequency response and the time response using two dimensional position sensitive detector. Moreover, three rubbers with different hardness are inserted on the basis of a structure of the motor shaft in order to suppress the vibration.

    DOI: 10.1109/ICAMechS.2015.7287144

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  • A consideration of parameter identification of a linear stage using particle swarm optimization 査読

    Marino Watanabe, Yukinori Nakamura, Shinji Wakui

    International Conference on Advanced Mechatronic Systems, ICAMechS   2015-   149 - 153   2015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 Computer Society  

    This paper considers the model-based controller in order to achieve the high speed and high precision positioning of a linear stage. In the controller design, particle swarm optimization (PSO) is employed for the parameter identification of the linear stage. Particles of the PSO are updated so that the difference between simulation and experimental results becomes small. After the parameter identification, the feedforward controller whose parameters correspond to the identified model of the linear stage is designed. Effectiveness of the proposed method is shown by simulation and experiment.

    DOI: 10.1109/ICAMechS.2015.7287145

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  • Suppression Methods of Temperature Change in an Air Spring for Anti-Vibration Apparatuses 査読

    Shota Katayama, Shinji Wakui, Yukinori Nakamura

    2015 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT)   511 - 516   2015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  

    This paper discusses the suppression of temperature change in air springs used for an ant-vibration apparatus. The thermal equivalent circuit, which corresponds to the heat transfer of the air springs, are employed for the evaluation of the temperature change. Based on measurement results of the temperature change and the circuit, four methods are proposed so as to suppress the temperature change. Moreover, previously presented two suppression methods are reexamined from the perspective of the analogy between thermal and electric circuits.

    DOI: 10.1109/ICIT.2015.7125150

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  • Control of an air spring type anti-vibration apparatus using minimal order observer 査読

    Ziyue Wang, Shinji Wakui, Yukinori Nakamura

    International Journal of Advanced Mechatronic Systems   6 ( 2-3 )   84 - 97   2015年

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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:Inderscience Publishers  

    In the field of precision positioning and measurement, an air-type anti-vibration apparatus is widely used. In order to levitate an isolated table and increase the damping, a position sensor and an acceleration sensor are mounted on the anti-vibration apparatus. The pressure sensor is also utilised for the pressure feedback control, which improves the transmissibility. In the implementation of pressure feedback, the high-resolution pressure sensor is needed. It is, however, expensive. To solve this problem, one approach is to use the observer instead of the pressure sensor. By using the theory of observer, we can choose the pole to determine the convergence of observer. Therefore, in this paper, we investigate effects of parameters of the observer with different pole assignment. The parameters are tuned by considering the frequency characteristics of the anti-vibration apparatus.

    DOI: 10.1504/IJAMECHS.2015.070711

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  • Flow Disturbance Suppression for a Pneumatic Vibration Isolator Using a Central Pattern Generator 査読

    Yukinori Nakamura, Daishi Funaki, Mami Kimura, Shinji Wakui

    2015 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS)   435 - 440   2015年

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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)   出版者・発行元:IEEE  

    This paper presents the suppression method of flow disturbance, which is the variation of compressed air supplied to a pneumatic vibration isolator. A central pattern generator (CPG) is utilized to compensate effect of flow disturbance. In order to implement a CPG-based controller, feedback type control scheme, which does not require a pressure sensor, is adopted. Moreover, CPG-based and displacement controllers are connected in parallel so as to avoid the vibration of isolation table during the start-up of isolator. The proposed approach is verified by simulation and experiment.

    DOI: 10.1109/ICAMechS.2015.7287150

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  • Suppression of Anti-Resonance and Resonance in Pneumatic System of Vibration Isolator Considering Time Delay 査読

    Yukinori Nakamura, Hiroki Kawakami, Shinji Wakui

    IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   2509 - 2514   2015年

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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)   出版者・発行元:IEEE  

    This paper presents the suppression method of anti-resonance and resonance caused by use of air springs, which are the actuator of a pneumatic vibration isolator. Although the relative displacement derivative (RDD) positive feedback control is effective for the suppression of the anti-resonance and resonance, a control system is not causal under the condition that the time delay of response of air springs is present. To overcome this issue, the RDD positive feedback control combined with Smith prediction is used. The effectiveness of the proposed approach is shown by simulation and experiment.

    DOI: 10.1109/IECON.2015.7392479

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  • Study on Detection of Earthquake Using DI Value and Its Application to Switching Control for Air Type Anti-Vibration Apparatus 査読

    Masayuki Kubota, Hirokazu Mineo, Shinji Wakui, Yukinori Nakamura

    2015 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS)   158 - 163   2015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 semiconductor manufacturing, air type-vibration apparatuses (AVAs) are widely employed. When an earthquake occurs, the AVAs have to be stopped in order to avoid serious damage to semiconductor exposure machines. Spectrum intensity (SI) value is the metric effective for the detection of earthquake though it takes time to calculate this value. To avoid long computation time, this paper uses destructive intensity (DI) value instead of SI value. Simulation demonstrates that DI value, whose computation time is short, can be applied to switching control for AVAs.

    DOI: 10.1109/ICAMechS.2015.7287147

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  • Positioning control of a pneumatic stage under different pipe length: Performance improvement of PDD2 control and suppression of flow disturbance 査読

    Naoki Ito, Yukinori Nakamura, Shinji Wakui

    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING   9 ( 1 )   1 - 8   2015年

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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:JAPAN SOC MECHANICAL ENGINEERS  

    In this study, we consider the positioning of a pneumatic stage in order to compensate effects of different length of pipes, which connect servo valves and cylinders. Since, in industrial scenes, it is difficult to use pipes of the same length due to the structure of industries, the length of each pipe is often different. In this case, the characteristic of the pneumatic system, which consists of the pipes, servo valves, and chambers, changes in accordance with the pipe length. It leads to two issues: The first one is that the performance of proportional-derivative-double derivative (PDD2) control, which is effective for the control of pneumatic actuators, is degraded. To overcome this issue, the parameter of a pre-compensator for the PDD2 control is tuned. The suitable value of this tuned parameter increases with the length of the pipes. The second one is that the effects of flow disturbance increase due to the different pipe length. When the length of the pipes is not same, it is probable that the magnitude of flow disturbance transmitted to each pipe is different. For this reason, multiple flow disturbance observers (FDOBs) are implemented in a control system. Experimental results show that the repeatability of the positioning is improved by using the FDOBs.

    DOI: 10.1299/jamdsm.2015jamdsm0008

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  • Bandwidth expansion of a pressure control system for pneumatic anti-vibration apparatuses in presence of dead time 査読

    Yukinori Nakamura, Hiroki Kawakami, Shinji Wakui

    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING   9 ( 3 )   1 - 13   2015年

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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:JAPAN SOC MECHANICAL ENGINEERS  

    This paper considers the pressure control of air springs used for a pneumatic anti-vibration apparatus (AVA), which isolates vibration transmitted to semiconductor lithography equipment. In the control of the pneumatic AVA, pressure feedback is often employed so as to keep the inner pressure of air springs constant. By expanding the bandwidth of pressure control system, fast response can be obtained, though this bandwidth is restricted due to anti-resonance and resonance in a pneumatic system. To eliminate the anti-resonance and resonance, relative displacement derivative (RDD) positive feedback control has been presented. However, previous RDD positive feedback control cannot be implemented under the condition where the dead time of air springs exists. In order to compensate effects of the dead time, a Smith predictor is utilized. Through experiments, it is shown that in the presence of the dead time, the anti-resonance and resonance can be eliminated by means of the RDD positive feedback control combined with Smith prediction. The bandwidth of the pressure control system increases with the gain of pressure PI compensator. Furthermore, effects of proposed approach on vibration transmissibility are investigated. Although the vibration transmissibility is the performance metric for the development of the pneumatic AVA, the case where the dead time is present was not sufficiently considered. In this paper, it is shown that the vibration transmissibility changes in accordance with the dead time.

    DOI: 10.1299/jamdsm.2015jamdsm0031

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  • Implementation and Experimental Evaluation of PIS Control for Suppression of Flow Disturbance to Pneumatic Vibration Isolators 査読

    Yukinori Nakamura, Hirotaka Akagawa, Shinji Wakui

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   143 - 149   2014年

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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)   出版者・発行元:IEEE  

    This paper considers the implementation of a proportional-integral-sinusoidal (PIS) control scheme for pneumatic vibration isolators. In this scheme, a sinusoidal compensator (S compensator), which generates a sinusoidal signal, is used to suppress flow disturbance. However, when the S compensator starts up, the vibration of an isolation table occurs. To overcome the issue, a soft switching approach is employed. Moreover, residual high-frequency vibration is attenuated by means of a phase-lead type PIS compensator. The effectiveness of the proposed methods is verified by experiments.

    DOI: 10.1109/AIM.2014.6878069

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  • Minimal Order Observer Based Sensorless Control for Air Spring Type Anti-Vibration Apparatus 査読

    Ziyue Wang, Yukinori Nakamura, Shinji Wakui

    2014 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS)   347 - 352   2014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 air spring type anti-vibration apparatuses are widely utilized. However, the high resolution sensors are needed for the pressure feedback control. This paper considers pressure estimation of anti-vibration apparatuses. The number of the parameters in the proposed observer is reduced in order to tune parameters efficiently. Moreover, the tuning procedure changes according to the observer poles. The effectiveness of proposed method is shown by experiments.

    DOI: 10.1109/ICAMechS.2014.6911569

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  • Implementation of Model Following Control for a Pneumatic Stage: Improvement of Repeatability and Positioning Speed 査読

    Naoki Ito, Shinji Wakui, Yukinori Nakamura

    2014 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS)   353 - 358   2014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 the control of a pneumatic positioning stage, two issues have to be considered. The first issue is the low repeatability caused by variation of parameters in pneumatic system. The second one is the slowness of response due to air compressibility. To overcome these issues, this paper presents the control methods for the pneumatic positioning stage. To compensate for the parameter variation and improve the repeatability, model following control (MFC) is employed. Moreover, to achieve the high-speed positioning, the feedforward (FF) control is utilized. Effectiveness of the MFC and the FF control is shown by experiments.

    DOI: 10.1109/ICAMechS.2014.6911570

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  • Analysis and Control of One-Axis Active Magnetic Bearing Using Single Side Electromagnetic Drive 査読

    Haruna Kanematsu, Shinji Wakui, Yukinori Nakamura

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   781 - 787   2014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  

    Turbo molecular pumps (TMPs), which are equipment to create a vacuum in a closed space, have active magnetic bearings (AMBs). To reduce the size and cost of the TMP, this paper proposes the one-axis AMBs with single side electromagnetic drives. In conventional one-axis AMBs, the electromagnets (EMs) are set over and under the armature disc, whereas the proposed ones utilize the only upper EM. Moreover, permanent magnets (PMs) are attached at the top and bottom side of the rotor to generate magnetic attraction. In this paper, the proposed AMB using single side electromagnetic drive is analyzed and evaluated by simulation and experiments. Furthermore, characteristic variation due to TMP's attitude is considered.

    DOI: 10.1109/AIM.2014.6878174

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  • Development and Performance Evaluation of a Photography System for Measurement of Steam Turbine Blades 査読

    Masao Ogaki, Shinji Wakui, Yukinori Nakamura

    2014 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS)   186 - 191   2014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  

    This paper presents the effective photography system for the material development of steam turbine blades. By using the proposed system, the image of the turbine blade under high-speed rotation can be visualized. To measure the rotational angle of the blade, a rotary encoder is employed. Since the jitter of electronic circuits increases due to the use of the encoder, a digital pulse generator is included in the photography system. Moreover, a timing controller is used to synchronize the timing of all components in the photography system. Experimental results show that the strain due to the stress applied to the turbine blade is visualized under the condition of high temperature and high speed rotation.

    DOI: 10.1109/ICAMechS.2014.6911648

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  • Suppression and Qualitative Interpretation of Temperature Change in an Air Spring 査読

    Shota Katayama, Shinji Wakui, Yukinori Nakamura

    2014 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS)   359 - 364   2014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  

    This paper deals with the temperature change in the air spring attached to an anti-vibration apparatus. Because in industrial scenes, effects of the temperature of the air spring have not been considered sufficiently, its inner/outer temperature is measured. To suppress the temperature change, the metal absorbing/exhausting the inner heat is used, and the input voltage to servo valve is adjusted. By using both methods simultaneously, the reduction of the temperature change can be further improved. The performance of the methods is evaluated by experiments. Moreover, the thermal equivalent circuit corresponding to the air spring is provided in order to analyze the heat change.

    DOI: 10.1109/ICAMechS.2014.6911571

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  • 除振率を考慮した空圧式アクティブ除振装置に対する流量外乱の一抑制法 査読

    中村幸紀, 野口裕喜, 涌井伸二

    電気学会論文誌C   134 ( 9 )   1182 - 1190   2014年

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

    DOI: 10.1541/ieejeiss.134.1182

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  • Flow Disturbance Suppression and Transmissibility Reduction of Pneumatic Anti-Vibration Apparatuses Using Repetitive Control 査読

    Yuki Noguchi, Yukinori Nakamura, Shinji Wakui

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   131 - 136   2014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  

    The pressure of air supplied to pneumatic anti-vibration apparatuses (AVAs) varies periodically. It leads to the vibration of an isolated table. This paper focuses on the suppression of the vibration caused by the pressure variation, which is called flow disturbance. Since the flow disturbance is periodic, repetitive control is employed. The time delay in the repetitive controller is determined by considering the variation of the period of supplied air pressure. When the tunable parameter of the repetitive controller is a large constant gain, the performance of disturbance suppression is improved, whereas the transmissibility increases in high frequency region. To avoid the increase of the transmissibility, a dynamic compensator is selected as the tunable parameter instead of the constant gain. It is shown that a notch filter is the dynamic compensator suitable for the improvement of both the transmissibility and the flow disturbance suppression.

    DOI: 10.1109/AIM.2014.6878067

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  • A Phase Stabilization Method for Unbalance Vibration Control of Five-axes Active Magnetic Bearing Systems 査読

    Taiki Nakamura, Shinji Wakui, Yukinori Nakamura

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   150 - 155   2014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  

    As one of the problems of the rotary machine, unbalance vibration caused by the unbalance of the mass of the rotor, the electromagnetic force in the TMP, and the position of the AMB is well known. Peak-of-Gain Control (PGC) and Automatic Balancing System (ABS) have been reported as the compensation methods of the unbalance vibration, This paper considers the new compensation method for unbalance vibration of five-axes active magnetic bearing systems. The proposed Phase-Variable Control (PVC), which is a phase stabilization method, consists of the cascade connection of the PGC and ABS. By using this compensator, only the phase of a control system can be adjusted. It leads to the whirling suppression of a rotor. The performance of the proposed and conventional unbalance vibration compensators is compared by experiments on the rotational test of a turbo molecular pump.

    DOI: 10.1109/AIM.2014.6878070

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  • Smith Predictor-Based Time Delay Compensation for Attitude Control of Pneumatic Anti-Vibration Apparatuses with Two Degrees-of-Freedom 査読

    Satoru Goto, Yukinori Nakamura, Shinji Wakui

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   137 - 142   2014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  

    Pneumatic anti-vibration apparatuses (AVAs), which have air springs, are needed for the precision positioning of wafer stages in lithography equipment. However, the difference of time delays in the response of the air springs causes the undesirable rotational motion of an isolated table. This paper considers the attitude control of the AVA including difference time delays. To avoid the rotation of the isolated table, a Smith predictor is employed. It is verified that this approach can be used for the AVAs with mode control, which is often used in vibration isolation systems for semiconductor manufacturing. The overshoot of the rotational angle of the isolated table can be further reduced by shaping the reference trajectory.

    DOI: 10.1109/AIM.2014.6878068

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  • Distributed power adjustment based on control theory for cognitive radio networks 査読

    Genki Matsui, Takuji Tachibana, Yukinori Nakamura, Kenji Sugimoto

    COMPUTER NETWORKS   57 ( 17 )   3344 - 3356   2013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:ELSEVIER SCIENCE BV  

    In this paper, we propose two power adjustment methods for cognitive radio networks. In the first algorithm, the transmitter derives the transmission power with PID control in order to satisfy the QoS constraints in secondary networks. The derived transmission power is compared with a constraint condition in order to avoid the interference with primary networks, and then the actual transmission power is decided. Because the constraint condition affects the performance of our proposed method significantly, we propose an effective update algorithm. On the other hand, the second algorithm is based on model predictive control (MPC). In this method, the decision of transmission power is formulated as quadratic programming (QP) problem and the transmission power is derived directly with the constraint condition. We evaluate the performances of our proposed methods with simulation and compare the proposed methods with the distributed power control (DPC) method. In numerical examples, we show that our proposed methods are more effective than the existing method in some situations. We also prove analytically that the interference with primary networks can be avoided with probability one by using our proposed method if each transmitter has the information about every channel gain. (C) 2013 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.comnet.2013.07.022

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  • Implementation of a smith predictor for pneumatic vibration isolators with dead time 査読

    Yukinori Nakamura, Satoru Goto, Takuya Horie, Shinji Wakui

    IEEE IECON (Annual Conference of the IEEE Industrial Electronics Society)   3574 - 3579   2013年

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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)  

    This paper considers Smith predictor-based compensation for the dead-time of pneumatic vibration isolators. In the implementation of the predictor, the plant modeling and the dead-time measurement are needed. To improve the model accuracy, the approximation model of pipe resonance is developed. Moreover, to tune parameters of the plant model efficiently, the number of parameters is reduced. The time delay in the Smith predictor is determined by considering the frequency resonance of the control system for vibration isolators. Experimental results demonstrate the effectiveness of our implementation methods. © 2013 IEEE.

    DOI: 10.1109/IECON.2013.6699703

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  • Evaluation of Seismic Absolute Displacement Sensors Based on Sensitivity Calibration and Control Tests of an Anti-Vibration Apparatus 査読

    Takashi Kai, Yukinori Nakamura, Shinji Wakui

    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)   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)   出版者・発行元:IEEE  

    In the field of vibration control of aero space structures, Direct Velocity and Displacement FeedBack (DVDFB) is well-known as an effective control scheme in terms of robustness. However, according to the skyhook control theory, Direct Acceleration, Velocity, and Displacement FeedBack (DAVDFB) is preferable as to manipulate seismic parameters of controlled objects. To contribute for implementation of the DAVDFB, we have proposed a seismic displacement sensor, which can simultaneously detect absolute acceleration, velocity and displacement signals. Prototype sensors have been applied as feedback or feedforward sensors in vibration control of anti-vibration apparatuses. However, due to low detection sensitivity and narrow bandwidth, control performance is not enough for practical use in industrial scenes. Thus, the detection sensitivity is mechanically improved by increasing the number of coil turns, and this effect is evaluated by sensitivity calibration. Moreover, to confirm the effect on practical applications, we carry out control tests of an anti-vibration apparatus with one degree-of-freedom by using the improved displacement sensor.

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  • Pressure Estimation of Pneumatic Anti-Vibration Apparatuses Using an Identity Observer 査読

    Daigo Hotta, Yukinori Nakamura, Shinji Wakui

    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)   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)   出版者・発行元:IEEE  

    This paper considers the parameter tuning of the identity observer and the implementation method of the estimated pressure feedback for a pneumatic anti-vibration apparatus. To tune the observer's parameters efficiently, the number of parameters is reduced by equivalent transformation of the block diagram of the observer. The pole assignment of the observer is verified based on the time response of the position error. Moreover, by considering the saturation of output voltage of the driver circuit, estimation error is reduced. Experimental results show the effectiveness of the proposed method.

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  • Suppression of flow disturbance to pneumatic active anti-vibration apparatuses by smoothed and shaped signals 査読

    Yukinori Nakamura, Ryo Fukuda, Shinji Wakui

    International Journal of Advanced Mechatronic Systems   5 ( 4 )   288 - 296   2013年

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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:E-flow Inderscience  

    This paper proposes the control method for vibration caused by variation of air pressure supplied to pneumatic anti-vibration apparatuses. In this method, air pressure variation, i.e., flow disturbance is estimated offline. The time-series data of disturbance estimate is added to the control input signal. Smoothing is utilised to reduce the noise of estimated signal. Moreover, to compensate effects of time-lag of input, two kinds of a shaped signal are also utilised. Experimental results show the effectiveness of the proposed vibration suppression method. Copyright © 2013 Inderscience Enterprises Ltd.

    DOI: 10.1504/IJAMECHS.2013.057668

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  • Unbalance Vibration Control for Active Magnetic Bearing Using Automatic Balancing System and Peak-of-Gain Control 査読

    Shinya Okubo, Yukinori Nakamura, Shinji Wakui

    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)   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)   出版者・発行元:IEEE  

    This paper considers unbalance vibration for five-axes active magnetic bearing systems. To suppress the vibration, the automatic balancing system (ABS) and the peak-of-gain control (PGC) are utilized. By using the ABS (the PGC), the bearing stiffness at rotational frequency is increased (decreased). In previous works, implementation methods for these have not been presented fully. Thus, in this paper, we considered the implementation of the ABS and the PGC. Moreover, in the conventional PGC, the feedback gain must be tuned according to the rotational speed of the rotor. This results in the increase of tuning cost. In order to solve this problem, the structure of the PGC is improved. Practical advantages of the PGC/ABS are demonstrated by rotational tests of a turbo molecular pump.

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  • Switching Control of an Air Type Anti-Vibration Apparatus under Earthquake Ground Motion 査読

    Takashi Ronte, Yukinori Nakamura, Shinji Wakui

    IEEE IECON (Annual Conference of the IEEE Industrial Electronics Society)   3788 - 3793   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)  

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  • Flow Disturbance Compensation Based on Off-Line Estimated Signal for a Pneumatic Isolation Table 査読

    Habiburahman Shirani, Yukinori Nakamura, Shinji Wakui

    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING   7 ( 4 )   498 - 505   2013年

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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:JAPAN SOC MECHANICAL ENGINEERS  

    The flow disturbance to a pneumatic vibration isolation table causes periodic fluctuation of the table. In current study, one cycle of flow disturbance is estimated offline using a disturbance observer. The time series data of one cycle estimated disturbance is then stored in the memory of digital signal processor. The program codes are prepared which can detect every cycle of the flow disturbance based on the threshold of table position. The estimated signal is then repeatedly injected from the memory through a compensator to the servo valve to suppress table fluctuation due to periodic actual flow disturbance. The effectiveness of this method is demonstrated by experimental results.

    DOI: 10.1299/jamdsm.7.498

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  • A design method of a mode control and an unbalance vibration control for five-axes active magnetic bearing systems 査読

    Shinya Okubo, Yukinori Nakamura, Shinji Wakui

    International Journal of Advanced Mechatronic Systems   5 ( 4 )   257 - 269   2013年

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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:E-flow Inderscience  

    Mass unbalance of magnetically levitated rotors causes deteriorations of dynamic and static characteristics. To avoid this problem, it is necessary that mode matrices (i.e., a mode selection/distribution matrices) are adjusted appropriately. This is because these matrices are set based on the rotor's centre of gravity and magnetic force coefficients of electromagnets. It takes long time to adjust the parameters of the mode matrices by trial and error. To design these parameters efficiently, we propose an adjustment method based on experimental analysis. Experimental results of step response show effectiveness of the proposed method. On the other hand, the eccentricity of the rotor causes unbalanced vibration, which is a common problem in rotating machinery. To suppress the vibration, automatic balancing system (ABS) and peak-of-gain control (PGC) are utilised. By using the ABS (the PGC), the bearing stiffness at rotational frequency is decreased (increased). In previous works, implementation methods for these have not been presented fully. Thus, in this paper, we considered the implementation of the ABS and the PGC. Moreover, practical advantages of the PGC/ABS are demonstrated by rotational tests of a turbo molecular pump. Copyright © 2013 Inderscience Enterprises Ltd.

    DOI: 10.1504/IJAMECHS.2013.057665

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  • Tuning Methods of a Smith Predictor for Pneumatic Active Anti-Vibration Apparatuses 査読

    Yukinori Nakamura, Satoru Goto, Shinji Wakui

    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING   7 ( 4 )   666 - 676   2013年

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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:JAPAN SOC MECHANICAL ENGINEERS  

    Pneumatic active anti-vibration apparatuses (AVAs) are widely employed for the high-precision positioning of wafer stages in semiconductor lithography equipment. However, there exists delay of transmission of air supplied to air springs. In this paper, we consider the suppression of vibration caused by the time delay (i.e., dead-time) of AVAs. The dead-time is compensated by using a Smith predictor, which is well-known as a control method for time delay systems. In the implementation of the predictor, the plant model and the dead-time are needed. For this reason, this paper focuses on the tuning of Smith predictor effective for the control of AVAs. To improve the model accuracy of AVAs, the approximation model of pipe resonance is utilized. Moreover, to determine suitable time delay in the Smith predictor, our methods utilize the resonance frequency of the control system and the tracking error of the isolated table. Conventionally, the nominal value of the dead-time can be obtained by using step response of the control system. On the other hand, it is difficult to exactly estimate the dead-time of AVAs due to position sensor noise. Therefore, the time delay is precisely tuned by proposed methods instead of the step response approach in order to improve the performance of the Smith predictor. Experimental results show that when the error of the time delay in the predictor is zero, the resonance frequency and the time integral become minimized.

    DOI: 10.1299/jamdsm.7.666

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  • Experimental Modal Analysis and Shaking Test of an Absolute Displacement Sensor for Suppression of High Frequency Dynamics 査読

    Takaaki Uemoto, Takashi Kai, Yukinori Nakamura, Shinji Wakui

    IEEE International Conference on Mechatronics (IEEE ICM)   150 - 155   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)  

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  • Performance evaluation and analysis of a vertical type absolute displacement sensor 査読

    IEEE IECON (Annual Conference of the IEEE Industrial Electronics Society)   3958 - 3963   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)  

    DOI: 10.1109/IECON.2013.6699768

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  • Task transmission control with dynamic lightpath setup for constant processing delay in an optical grid 査読

    Yukinori Nakamura, Takuji Tachibana, Genki Matsui

    IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING   7 ( 5 )   495 - 501   2012年9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  

    This paper proposes a task transmission control with dynamic lightpath setup in an optical grid. In our proposed method, a job manager changes the number of tasks in a resource manager dynamically so as to maintain a constant processing delay. It leads to effective utilization of computing resource. I-PD control is applied to maintain efficient network management. Furthermore, in order to avoid frequent lightpath setup process, multiple lightpaths are established simultaneously by our proposed algorithm. Numerical results show the effectiveness of the proposed task transmission method. (c) 2012 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

    DOI: 10.1002/tee.21763

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  • Compensation for the effect of feedforward controller's switching on isolation table using flow meter 査読

    Habiburahman Shirani, Yukinori Nakamura, Shinji Wakui

    International Journal of Advanced Mechatronic Systems   4 ( 1 )   56 - 63   2012年2月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)  

    This paper considers a control scheme for the suppression of pneumatic isolation table's fluctuation induced by switching of the feedforward controller. The table acceleration and feedforward paths are added and the combined signal is sent to a damping integrator and gain. The damping integrator, besides generating a damping signal from acceleration signal, also avoids a large jump/drop of the feedforward signal during switching of the feedforward controller. Performance of this control scheme is evaluated by experiments while comparing with conventional control schemes. In addition, retuning of the feedforward compensator's gains is investigated. Based on the experimental results, it is shown that this control scheme can suppress both flow disturbances and switching of the feedforward controller.Copyright © 2012 Inderscience Enterprises Ltd.

    DOI: 10.1504/IJAMECHS.2012.045501

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  • Position Control of a Vacuum Gate Valve and Its Evaluation 査読

    Yusuke Imai, Yukinori Nakamura, Shinji Wakui

    International Conference on Advanced Mechatronic Systems   229 - 234   2012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)  

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  • Control of Five-axes Active Magnetic Bearing Systems Using Parameter Adjustment of Mode Matrices

    Shinya Okubo, Yukinori Nakamura, Shinji Wakui

    International Conference on Advanced Mechatronic Systems   585 - 590   2012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)  

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  • Development and Evaluation of a Simulator for Pneumatic Anti-Vibration Apparatuses with Six Degrees-of-Freedom Using Mode Control 査読

    Yuka Kaneko, Yukinori Nakamura, Shinji Wakui, Byung Sub Kim, Chang Kyu Song

    International Conference on Advanced Mechatronic Systems   591 - 596   2012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)  

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  • Flow Disturbance Rejection of Pneumatic Vibration Isolators Using Compensation Input 査読

    Yukinori Nakamura, Ryo Fukuda, Shinji Wakui

    International Conference on Advanced Mechatronic Systems   247 - 252   2012年

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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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  • Termination Test of Feedback Error Learning for Automation of Learning and Positioning 査読

    Kazuki Morimoto, Yukinori Nakamura, Shinji Wakui

    International Conference on Advanced Mechatronic Systems   253 - 258   2012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)  

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  • High-Speed Positioning of a Linear Stage Using Feedback Error Learning Control: Improvement of Learning Time and Accuracy 査読

    Yukinori Nakamura, Kazuki Morimoto, Shinji Wakui

    IEEE International Conference on Industrial Technology (IEEE ICIT)   1096 - 1102   2012年

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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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  • Root Locus Analysis of Absolute Displacement Sensors and Bandwidth Expansion with Hybrid Detector System 査読

    Takashi Kai, Yukinori Nakamura, Shinji Wakui

    International Conference on Advanced Mechatronic Systems   603 - 608   2012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)  

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  • Control of a Pneumatic Isolation Table by Flow Meter: Improvement of Repeatability in Various Switching Points of the Feedforward Compensator 査読

    Habiburahman Shirani, Yukinori Nakamura, Shinji Wakui

    International Conference on Advanced Mechatronic Systems   609 - 614   2012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)  

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  • Verification of the Damping Effect of Base Plate Jerk Feedback Scheme on the Self-oscillation of a Pneumatic Positioning Stage 査読

    Mohebullah Wali, Yukinori Nakamura, Shinji Wakui

    International Conference on Advanced Mechatronic Systems   229 - 240   2012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)  

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  • Implementation of a Dual Disturbance Observer for Pneumatic Stage 査読

    Yoshiki Santo, Yukinori Nakamura, Shinji Wakui

    International Conference on Advanced Mechatronic Systems   241 - 246   2012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)  

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  • Implementation of Floor Vibration Feedforward Using an Absolute Displacement Sensor Combined with Acceleration PI Feedback 査読

    IEEE International Conference on Industrial Technology (IEEE ICIT)   1121 - 1126   2012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)  

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  • A Role of Base Plate Jerk Feedback Scheme for Suppression of the Self Vibration in a Pneumatic Positioning Stage 査読

    Mohebullah Wali, Yukinori Nakamura, Shinji Wakui

    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING   6 ( 2 )   252 - 259   2012年

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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:JAPAN SOC MECHANICAL ENGINEERS  

    In this study, a positioning stage is considered, which is actuated by four pneumatic cylinders and vertically supported by four coil-type spring isolators. Previously, we realized the base plate jerk feedback (BPJFB) to be analogues to a Master-Slave system which can synchronize the motion of the stage as a Slave to the motion of the base plate as a Master. However, in the case of real positioning, the stage had slightly self oscillation with higher frequency due to the higher gains set to the outer feedback loop controller besides its oscillation due to the natural vibration of the base plate. The self oscillation of stage was misunderstood to be the natural vibration of base plate due to the reaction force. However, according to the experimental results, the BPJFB scheme was able to control both of the mentioned vibrations. Suppression of the self vibration of stage is an interesting phenomenon, which should be experimentally investigated. Therefore, the current study focuses on the suppression of the self vibration of stage by using the BPJFB scheme. The experimental results show that besides operating as a Master-Slave synchronizing system, the PBJFB scheme is able to increase the damping ratio and stiffness of stage against its self vibration. This newly recognized phenomenon contributes to further increase the proportional gain of the outer feedback loop controller. As a result, the positioning speed and stability can be improved.

    DOI: 10.1299/jamdsm.6.252

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  • フィードバック誤差学習を用いた位置決めステージに対するオートチューニングの改善 査読

    中村幸紀, 森本和樹, 涌井伸二

    日本機械学会論文集(C 編)   78 ( 795 )   3749 - 3758   2012年

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

    DOI: 10.1299/kikaic.78.3749

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  • Stage positioning based on improved feedback error learning and its experimental verification 査読

    Yukinori Nakamura, Kazuki Morimoto, Shinji Wakui

    International Journal of Advanced Mechatronic Systems   4 ( 2 )   67 - 75   2012年

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    記述言語:英語   掲載種別:研究論文(学術雑誌)  

    In this paper, the position control of a linear stage is considered. To improve the settling time of the positioning, the parameters of the feedforward controller are automatically tuned by using feedback error learning (FEL). In the proposed FEL, true value of the estimated parameters is small, and the number of the estimated parameters is reduced. It leads to the improvement of the learning time. Moreover, to compensate for effects of non-parallel guide rails, the disturbance observer is also utilised. By using the observer, the performance of the positioning can be maintained regardless of the initial position of the stage. Experimental results show the effectiveness of our control method. Copyright © 2012 Inderscience Enterprises Ltd.

    DOI: 10.1504/IJAMECHS.2012.048399

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  • Control of a Pneumatic Anti-Vibration Apparatus under Long-Period Earthquake Ground Motion Using SI Value 査読

    Takahito Ogasahara, Yukinori Nakamura, Shinji Wakui, Byung Sub Kim, Chang Kyu Song

    IEEE International Conference on Industrial Technology (IEEE ICIT)   1115 - 1120   2012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)  

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  • Distributed Power Adjustment in Cognitive Radio Networks Using PID Control 査読

    Genki Matsui, Yukinori Nakamura, Takuji Tachibana, Kenji Sugimoto, Shinji Wakui

    2012 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND INFORMATION SCIENCES (ICCAIS)   265 - 270   2012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 propose a distributed power control algorithm based on PID control and dynamic constraint condition for cognitive radio networks. In our proposed algorithm, at first, each transmitter in secondary networks receives the feedback information about signal-to-interference plus noise ratio (SINR) from its corresponding receiver. Based on the information, the transmitter derives the transmitted power with PID control in order to satisfy the quality of service (QoS) constraints in secondary networks. Then, the transmitter decides the actual transmitted power according to a constraint condition in addition to the derived power. This constraint condition is effective for avoiding the interference with primary networks. Since the constraint condition affects the performance of our proposed method significantly, we propose an effective update algorithm. In the update algorithm, the transmitter changes the constraint condition by comparing the derived transmitted power with both the maximum interference power tolerance and the target SINR. We evaluate the performance of our proposed algorithm with simulation. Numerical examples show that our proposed algorithm is effective for the power control in cognitive radio networks.

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  • Experimental Modal Analysis of a Seismo-Type Velocity Sensor Toward Bandwidth Expansion of an Absolute Displacement Sensor 査読

    Takashi Kai, Takaaki Uemoto, Yukinori Nakamura, Shinji Wakui

    2012 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND INFORMATION SCIENCES (ICCAIS)   152 - 157   2012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 the field of vibration control, accelerometers are widely used as feedback sensors. In addition, according to state feedback control theory, detections of velocity and displacement signals are required to improve anti-vibration performance. Then, an absolute displacement sensor is proposed by modifying a control loop of a seismo-type velocity sensor. Basically, the proposed displacement sensor has the same mechanical structures having a pendulum as a commercial seismo-type velocity sensor. In our previous works, the proposed sensor has been successfully applied as feedback and feedforward sensors. However, it is revealed that bandwidth expansion is necessary as a substitute of the accelerometer. The bandwidth is limited by high frequency resonances observed in high frequency dynamics. In this paper, causes of the resonances are investigated in terms of mechanical resonances of the velocity sensor. At first, operating principles of the velocity and the displacement sensors are explained to show the mechanical structures, and the high frequency dynamics are determined by measuring frequency response functions. Next, experiments on the modal analysis are conducted to specify vibration modes of the pendulum. Finally, the high frequency resonances are suppressed by loading viscoelastic materials.

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  • Experimental Validation of Control for a Positioning Stage by Feedback Error Learning 査読

    Yukinori Nakamura, Kazuki Morimoto, Shinji Wakui

    International Conference on Advanced Mechatronic Systems   11 - 16   2011年

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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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  • 外れ値を伴う環境下での切替え型オブザーバによる状態推定 査読

    中村幸紀, 長井健祐, 杉本謙二

    計測自動制御学会論文集   47 ( 2 )   81 - 89   2011年

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

    DOI: 10.9746/sicetr.47.81

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  • リニアスライダの位置決め制御系に対するフィードバック誤差学習の一実装法 査読

    中村幸紀, 森本和樹, 涌井伸二

    日本機械学会論文集(C 編)   77 ( 782 )   3684 - 3693   2011年

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

    DOI: 10.1299/kikaic.77.3684

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  • Realization and Application of the Base Plate Jerk Feedback in a Pneumatic Positioning Stage 査読

    Mohebullah Wali, Yukinori Nakamura, Shinji Wakui

    Journal of System Design and Dynamics   5 ( 4 )   523 - 534   2011年

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    記述言語:英語   掲載種別:研究論文(学術雑誌)  

    DOI: 10.1299/jsdd.5.523

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  • Effects of Back Electromotive Force in an Absolute Displacement Sensor and Improvement Using Current-Feedback-Type Driver 査読

    Takashi Kai, Masaya Akiyama, Yukinori Nakamura, Shinji Wakui

    International Conference on Advanced Mechatronic Systems   373 - 378   2011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)  

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  • Development of an Absolute Displacement Sensor and Its Improvement in High Frequency Region 査読

    Takashi Kai, Masaya Akiyama, Yukinori Nakamura, Shinji Wakui

    International Conference on Intelligent Computing and Control   2011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)  

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  • Suppression of Isolation Table's Fluctuation Due to Switching of Feedforward Controller 査読

    Habiburahman Shirani, Yukinori Nakamura, Shinji Wakui

    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING   5 ( 4 )   295 - 301   2011年

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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:JAPAN SOC MECHANICAL ENGINEERS  

    To avoid a longer settling time of an isolation table, switching of the feedforward controller which is used for the control of supplied air's disturbances, is needed after starting and prior to stopping the table. However, this switching also causes the fluctuation of the table. In order to suppress the fluctuation of the table caused by switching, this study uses a difference operator before the feedforward compensator and the combination of feedforward and feedback loops. The effectiveness of this method is experimentally demonstrated.

    DOI: 10.1299/jamdsm.5.295

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  • High-Speed Positioning Methods of an Ultrasonic Motor by Input Shaping Filter and Bang- Bang Control 査読

    Takashi Kai, Keisuke Sakuma, Yukinori Nakamura, Shinji Wakui

    SICE Annual Conference   1093 - 1098   2011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)  

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  • A Combined Control Scheme Using the Flow Disturbance Observer and Base Plate Jerk Feedback in a Pneumatic Positioning Stage 査読

    Mohebullah Wali, Yukinori Nakamura, Shinji Wakui

    SICE Annual Conference   2747 - 2753   2011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)  

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  • A Method Using the Base Plate Jerk Feedback to Control the Positioning of a Pneumatic Stage -Control of the Stage Vibration Caused by the Reaction Force- 査読

    Mohebullah Wali, Yukinori Nakamura, Shinji Wakui

    Asian Control Conference   629 - 634   2011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)  

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  • Position Control of Linear Slider via Feedback Error Learning 査読

    Yukinori Nakamura, Kazuki Morimoto, Shinji Wakui

    International Conference on Intelligent Computing and Control   2011年

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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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  • Gain Switching Observer for Compensating Outliers -Experimental Validation with Non-contact Sensor- 査読

    Yukinori Nakamura, Kenji Sugimoto, Kensuke Nagai, Shinji Wakui

    SICE Annual Conference   1749 - 1754   2010年

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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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  • Robust State Estimation for Systems with Irregular Sensing Failure 査読

    Kensuke Nagai, Yukinori Nakamura, Kenji Sugimoto

    IEEE International Conference on Networking, Sensing and Control (IEEE ICNSC)   43 - 48   2009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)  

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  • タイムスタンプを用いた切替え型オブザーバによるネットワーク上の複数機器の連動 査読

    中村幸紀, 平田健太郎, 杉本謙二

    システム制御情報学会論文誌   21 ( 7 )   211 - 218   2008年

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

    DOI: 10.5687/iscie.21.211

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  • Cooperative networked control with gain switching observer 査読

    Yukinori Nakamura, Kentaro Hirata, Kenji Sugimoto, Kiminao Kogiso

    22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control   184 - 189   2008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)  

    This paper considers a networked synchronization of multiple subsystems for cooperative control. When a system sends out local measurement signals to others, transmission delay can take place. We assume that the amount of the transmission delay can be calculated at the receiving instance by using the information of the time-stamp of each packet. Based on this information, the effect of the delay is compensated. Specifically, we design a gain switching observer via LMI (Linear Matrix Inequality) technique for multiple purpose optimization. An experimental result of synchronization of a mini plant with 3 DC-motors is shown to demonstrate its practical effect on the transmission delay. © 2007 IEEE.

    DOI: 10.1109/ISIC.2007.4450882

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  • Synchronization of Multiple Plants over Networks via Switching Observer with Time-stamp Information 査読

    SICE Annual Conference   2859 - 2864   2008年

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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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  • Design of a Gain Switching Observer for Networked Control Systems under Random Delay 査読

    Yukinori Nakamura, Kiminao Kogiso, Kenji Sugimoto

    International Symposium on Mathematical Theory of Networks and Systems (MTNS)   213 - 220   2006年

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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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  • 時変の伝送遅延を含む系に対するゲイン切替え型オブザーバ 査読

    中村幸紀, 小木曽公尚, 安達直世, 杉本謙二

    計測自動制御学会論文集   42 ( 11 )   1224 - 1233   2006年

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

    DOI: 10.9746/sicetr1965.42.1224

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▼全件表示

書籍等出版物

  • 現場で役立つ制御工学の基本(演習編)-解答と誤解答から学ぶ演習書-

    涌井伸二, 橋本誠司, 高梨宏之, 中村幸紀

    コロナ社  2017年 

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  • 現場で役立つ制御工学の基本

    涌井伸二, 橋本誠司, 高梨宏之, 中村幸紀

    コロナ社  2012年 

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MISC

  • (総説・解説)空圧式除振装置と磁気軸受に対する周期振動の補償 招待 査読

    中村幸紀, 涌井伸二

    システム/制御/情報   62 ( 3 )   86 - 91   2018年

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    記述言語:日本語   掲載種別:記事・総説・解説・論説等(学術雑誌)  

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  • (総説・解説)制御理論を用いた通信ネットワークの資源管理技術‐光グリッドとコグニティブ無線- 招待 査読

    橘拓至, 小木曽公尚, 中村幸紀

    電子情報通信学会基礎・境界ソサイエティFundamentals Review   9 ( 3 )   229 - 237   2016年

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    記述言語:日本語   掲載種別:記事・総説・解説・論説等(学術雑誌)  

    DOI: 10.1587/essfr.9.3_229

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講演・口頭発表等

  • (特別講演)非線形フィルタによる状態推定 招待

    中村幸紀

    電気学会制御研究会  2018年 

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    記述言語:日本語   会議種別:口頭発表(招待・特別)  

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  • (特別講演)観測データの外れ値を考慮した状態推定

    中村幸紀, 涌井伸二

    電気学会安全制御・故障診断系設計調査専門委員会研究講演会  2015年 

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    記述言語:日本語   会議種別:口頭発表(招待・特別)  

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受賞

  • 電子・情報・システム部門誌 優秀論文賞

    2020年   電気学会  

    中村幸紀, 野口裕喜, 涌井伸二

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  • Best Paper Award

    2019年   ICMEMIS 2019  

    Yukinori Nakamura

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  • Best Paper Award

    2017年   International Conference on Mechanical, Electrical and Medical Intelligent System 2017  

    Yukinori Nakamura

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  • 電気学会優秀論文発表賞

    2017年   電気学会電子・情報・システム部門  

    中村幸紀

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  • the 42nd Annual Conference of the IEEE Industrial Electronics Society (IEEE IECON) The Best Session Presentation

    2016年   IEEE Industrial Electronics Society  

    Yukinori Nakamura

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  • 電気学会優秀論文発表賞

    2016年   電気学会電子・情報・システム部門  

    中村幸紀

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  • マザック高度生産システム優秀論文賞

    2015年   公益財団法人マザック財団  

    中村幸紀

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  • マザック高度生産システム優秀論文賞

    2013年   公益財団法人マザック財団  

    中村幸紀

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  • ネットワークシステム研究賞

    2012年   電子情報通信学会ネットワークシステム研究会  

    松井元輝, 橘拓至, 中村幸紀, 杉本謙二

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  • Finalist of SICE Annual Conference International Award

    2010年   Society of Instrument and Control Engineers (SICE)  

    Yukinori Nakamura

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  • Finalist of SICE Annual Conference Young Author's Award

    2010年   Society of Instrument and Control Engineers (SICE)  

    Yukinori Nakamura

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  • The Society of Instrument and Control Engineers (SICE), Finalist of SICE Annual Conference Young Author's Award

    2008年  

    Yukinori Nakamura

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  • 計測自動制御学会(SICE) 産業応用部門, 産業応用部門賞奨励賞

    2008年  

    中村幸紀

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▼全件表示

共同研究・競争的資金等の研究

  • 不規則な圧力脈動と配管共振に頑健な空圧式除振システムの開発

    2018年04月 - 2021年03月

    科学研究費補助金(基盤研究(C)) 

    中村幸紀, 涌井伸二

      詳細を見る

    担当区分:研究代表者  資金種別:競争的資金

    researchmap

  • 流量外乱に着目した空圧式除振台と空圧ステージに対する振動制御技術の開発

    2016年04月 - 2018年03月

    科学研究費補助金(若手研究(B)) 

    中村幸紀

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    担当区分:研究代表者  資金種別:競争的資金

    researchmap

  • 地震に不感な空圧式除振装置の実現に関する研究

    2014年04月 - 2017年03月

    科学研究費補助金(基盤研究(C)) 

    涌井伸二, 中村幸紀

      詳細を見る

    担当区分:研究分担者  資金種別:競争的資金

    researchmap

  • 遅延を考慮した6 軸空圧式アクティブ除振システムの構築

    2013年04月 - 2016年03月

    科学研究費補助金(基盤研究(C)) 

    中村幸紀, 涌井伸二

      詳細を見る

    担当区分:研究代表者  資金種別:競争的資金

    researchmap

  • 通信路を介した協調作業システムの構築‐制御工学・通信技術からのアプローチ‐

    2008年04月 - 2010年03月

    科学研究費補助金(特別研究員奨励費) 

    中村幸紀

      詳細を見る

    担当区分:研究代表者  資金種別:競争的資金

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担当授業科目

  • システム制御・最適化特論 (2021年度) 前期  - 月5,月6

  • システム制御I (2021年度) 第3学期  - 木3,木4,金5,金6

  • 基礎制御理論 (2021年度) 第3学期  - 木3,木4,金5,金6

  • 機械システム工学演習1 (2021年度) 前期  - その他

  • 機械システム工学演習2 (2021年度) 後期  - その他

  • 知能機械制御学演習 (2021年度) 通年  - その他

  • 知能機械制御要素論 (2021年度) 前期  - その他

  • 線形代数 (2021年度) 1・2学期  - 金5,金6

  • 線形代数 (2021年度) 1・2学期  - 金5,金6

  • 線形代数1 (2021年度) 第1学期  - 金5,金6

  • 線形代数2 (2021年度) 第2学期  - 金5,金6

  • システム制御・最適化特論 (2020年度) 前期  - 月5,月6

  • システム制御I (2020年度) 第3学期  - 木3,木4,金5,金6

  • 基礎制御理論 (2020年度) 第3学期  - 木3,木4,金5,金6

  • 工学基礎実験実習 (2020年度) 1・2学期  - 火4,火5,火6,火7

  • 工学基礎実験実習 (2020年度) 1・2学期  - 水4,水5,水6,水7

  • 工学基礎実験実習 (2020年度) 1・2学期  - 火4,火5,火6,火7

  • 工学基礎実験実習 (2020年度) 1・2学期  - 水4,水5,水6,水7

  • 機械システム工学概論 (2020年度) 前期  - 金1,金2

  • 機械システム工学演習1 (2020年度) 前期  - その他

  • 機械システム工学演習2 (2020年度) 後期  - その他

  • 産業技術実践 (2020年度) 後期  - 水5,水6,水7,水8

  • 知能機械制御学演習 (2020年度) 通年  - その他

  • 知能機械制御要素論 (2020年度) 前期  - その他

  • 線形代数 (2020年度) 1・2学期  - 金5,金6

  • 線形代数1 (2020年度) 第1学期  - 金5,金6

  • 線形代数2 (2020年度) 第2学期  - 金5,金6

▼全件表示