論文 - 高橋 伸弥
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SGLDOMP–Stochastic Gradient Langevin Dynamics Optimization-based Motion Planning
Masahiro Yokomichi and Nobuya Takahashi
The Thirtieth International Symposium on Artificial Life and Robotics 2025 (AROB 30th 2025) 1455 - 1459 2025年1月
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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Reinforcement learning and LiDAR-SLAM based obstacle avoidance of drone with depth camera
Ren Shigenaga and Masahiro Yokomichi and Nobuya Takahashi
The Thirtieth International Symposium on Artificial Life and Robotics 2025 (AROB 30th 2025) 1464 - 1467 2025年1月
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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Gradient-based Multiplicative Update Rules for Non-negative Matrix Factorization
Nobuya Takahashi and Masahiro Yokomichi
The Thirtieth International Symposium on Artificial Life and Robotics 2025 (AROB 30th 2025) 1460 - 1464 2025年1月
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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A Genetic Algorithm-based Approach for Design-level Class Decomposition 査読あり
Priyambadha B., Takahashi N., Katayama T.
International Journal of Advanced Computer Science and Applications 15 ( 4 ) 461 - 468 2024年4月
掲載種別：研究論文（学術雑誌） 出版者・発行元：International Journal of Advanced Computer Science and Applications
Software is always changed to accommodate environmental changes to preserve its existence. While changes happen to the software, the internal structure tends to decline in quality. The refactoring process is worth running to preserve the internal structure of the software. The decomposition process is a suitable refactoring process for Blob smell in class. It tried to split up the class based on the context in order to arrange it based on each responsibility. The previous approach has been implemented but still leaves problems. The optimum arrangement of class cannot be achieved using the previous approach. The genetic algorithm provides the search mechanism to find the optimum state based on the criterion stated at the beginning of the process. This paper presents the use of genetic algorithms to solve the design-level class decomposition problem. The paper explained several points, including the conversion from class to the chromosome construct, the fitness function calculation, selection, crossover, and mutation. The results show that the use of a genetic algorithm was able to solve the previous problems. The genetic algorithm can solve the local optimum problem from the previous approach. The increment of the fitness function of the study case proves it.
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HMC-PSO : Hamiltonian Monte Carlo-embedded Particle Swarm Optimization
Masahiro Yokomichi, Nobuya Takahashi
The Twenty-Ninth International Symposium on Artificial Life and Robotics 2024 1147 - 1151 2024年1月
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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Fundamental study focusing on structural similarity of street based on geographic information using graph neural network
Hiroya Hoshihara, Nobuya Takahashi, Masahiro Yokomichi
The Twenty-Ninth International Symposium on Artificial Life and Robotics 2024 1156 - 1159 2024年1月
担当区分：責任著者 記述言語：英語 掲載種別：研究論文（学術雑誌）
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UAV flight path planning based on deep reinforcement learning
Masami Hisayama, Nobuya Takahashi, Masahiro Yokomichi
The Twenty-Ninth International Symposium on Artificial Life and Robotics 2024 1152 - 1155 2024年1月
担当区分：責任著者 記述言語：英語 掲載種別：研究論文（学術雑誌）
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The method for reproducing the haptic feedback of fluid in a virtual space using multiple stimuli
Masahiro Yokomichi, Nobuya Takahashi and Yuki Komatsu
Proceedings of the 28th International Symposium on Artificial Life and Robotics 2023 1173 - 1176 2023年1月
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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Research on Path Planning for UAV based on Geometrical Method
Nobuya Takahashi and Masahiro Yokomichi
Proceedings of the 28th International Symposium on Artificial Life and Robotics 2023 1165 - 1168 2023年1月
担当区分：筆頭著者 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 Control System Design based on Automatic Differentiation
Nobuya Takahashi, Fubuki Takahashi and Masahiro Yokomichi
Proceedings of the 28th International Symposium on Artificial Life and Robotics 2023 1169 - 1172 2023年1月
担当区分：筆頭著者 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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Video-based Japanese Finger-spelling Recognition using CNN
Masahiro Yokomichi and Nobuya Takahashi
Proceedings of the 27th International Symposium on Artificial Life and Robotics 2022 1478 - 1482 2022年1月
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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Gradient-based Redesign for the Optimal Regulator with Considering Nonlinearity
Nobuya Takahashi, Masahiro Ikeda and Masahiro Yokomichi
Proceedings of the 27th International Symposium on Artificial Life and Robotics 2022 1466 - 1469 2022年1月
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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Reproducing the haptic feedback of soft objects and fluids by particle-based simulation methods
Yuki Komatsu, Nobuya Takahashi, Masahiro Yokomichi
Proceedings of the 27th International Symposium on Artificial Life and Robotics 2022 1474 - 1477 2022年1月
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 control of discrete-time system with prescribed degree of stability
Nobuya TAKAHASHI, Shosei YAYAMA, Masahiro YOKOMICHI and Osamu SATO
Proceedings of the 25th International Symposium on Artificial Life and Robotics 785 - 788 2020年1月
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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Asymptotic model maching controller design for rigid body dynamics based on conformal geometoric algebra
Masahiro YOKOMICHI, Nobuya TAKAHASHI and Osamu SATO
Proceedings of the 25th International Symposium on Artificial Life and Robotics 789 - 794 2020年1月
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 study of manipulator on a moving base
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Proceedings of the 25th International Symposium on Artificial Life and Robotics 777 - 780 2020年1月
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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Gunaratne P., Tamura H., Yoshida C., Sakurai K., Tanno K., Takahashi N., Nagata J.
MERCon 2019 - Proceedings, 5th International Multidisciplinary Moratuwa Engineering Research Conference 382 - 387 2019年7月
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：MERCon 2019 - Proceedings, 5th International Multidisciplinary Moratuwa Engineering Research Conference
© 2019 IEEE. Incorporating real time health monitoring systems in a non-restrictive way, can significantly improve an individual's quality of life in the treatment of sleep disorders. This paper suggests a novel system fornon-wearable, cost effective measurement of breathing and heart-beat during sleep state. The measurement system is composed of flexible multi-piezoelectric elements to acquire the pressure fluctuations persuade by respiratory movement and heart-beat when the subject is lying on it. By employing filters with predefined frequency bands, the breathing andheart-beat waveforms were extracted. The capturing of breathing heart-beat counts was performed by normalizing the extracted waveforms using Wavelet Transform (WT) followed by Fuzzy Logic principles. Further, in the evaluation of nonbreathing time intervals, the amplitude changes in the extracted breathing waveforms were considered over its sleep event. Several experiments were conducted in order to evaluate the performance of the system on above criteria, along with a commercially available system. The experimental results suggest that the proposed method can measure and extract the related waveforms of breathing and heart-beat successfully.
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Discrete-time robust controller and observer for a ball and beam system
Takahashi N., Sato O., Yokomichi M.
Artificial Life and Robotics 24 ( 2 ) 239 - 244 2019年6月
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：Artificial Life and Robotics
© 2018, ISAROB. This paper deals with a digital controller and observer design problem for the ball and beam system which is extended version of the previous investigated result. The controller is an extension of robust integral tracking controller. In the discrete-time system, it cannot perform integration and differentiation operation, so we introduce a difference system to design controller for the distance subsystem between reference and output. The observer is designed using dual system LQ design method. The observer gain is able to obtain as the result of robust control design problem of dual system. Each design problem is solved by the guaranteed cost control method. Through the numerical result, we validity and effectiveness of our proposed method.
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UAV operation support system using GIS and virtual environment
Yoshihiko Harada, Nobuya Takahashi, Masahiro Yokomichi, Osamu Sato
Proceedings of the 24th International Symposium on Artificial Life and Robotics 866 - 869 2019年1月
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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Speed control of object at release by casting manipulator
Asaji SATO, Osamu SATO, Masanori MATSUNO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Proceedings of the 24th International Symposium on Artificial Life and Robotics 882 - 885 2019年1月
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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Emotion Classification from Smile Images Using Machine Learning
Wataru Murozono, Masahiro Yokomichi, Osamu Sato, Nobuya Takahashi
Proceedings of the 24th International Symposium on Artificial Life and Robotics 878 - 881 2019年1月
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 study of biological signal analysis using CNMF
Nobuya Takahashi, Kazufumi Kai, Hiroki Tamura
Proceedings of the 24th International Symposium on Artificial Life and Robotics 870 - 873 2019年1月
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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Discrete-time Robust Controller and Observer for a Ball and Beam System 査読あり
Nobuya Takahashi, Osamu Sato, Masahiro Yokomichi
Artificial Life and Robotics 24 239 - 244 2018年11月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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Modeling and Control Law Design for Rigid Body Dynamics by Conformal Geometric Algebra
Yokomichi M., Takahashi N., Sato O.
2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 697 - 702 2018年10月
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：2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
© 2018 The Society of Instrument and Control Enginners - SICE. Conformal geometric algebra (CGA) can simplify the dynamic model of the motion of rigid bodies by introducing the motor, the extended angular velocity bivector, and the extended torque bivector. Recently, CGA-based controller design methods have been proposed for a kinematic stabilization problem for the rigid body motion with 1-D rotation by means of the Lyapunov function for the motor. In this paper, more generalized result is shown and a controller for the stabilization of the dynamics is proposed.
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A study of robust controller and observer design method for a rolling object and beam system 査読あり
Takahashi Nobuya, Sato Osamu, Sato Asaji, Yokomichi Masahiro
Artificial Life and Robotics 23 ( 1 ) 67 - 72 2018年3月
記述言語：英語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2017, ISAROB. This paper deals with a robust control problem for a ball and beam system with an uncertainty. At first, we clarify the effect of a measurement error in the beam rotational angle and its differential value. It is expressed as additional terms in the state and input matrix of the state equation, which is called as a structured uncertainty. For this system, a robust tracking controller and a robust state observer are applied. Both components are designed based on a robust control, which is called guaranteed cost control. This is a kind of cost minimization method for designing problem of a linear feedback system. The controller is obtained as the solution of the matrix algebraic Riccati like equation, which is referred to as stochastic algebraic Riccati equation. The nominal system performance is degraded due to the influence of the uncertainty, but it is able to design a system with robustness for disturbance. Next, we consider the design problem of a state observer to estimate all state variables form the output signal easy to measure, like rotation angle of the beam. For the design problem of the state observer, we consider dual problem of the original system. Consequently, our proposed system estimates the whole state vector, and using estimated state values, it controls the ball to the desired position. Both components have robustness for the uncertainty. Numerical result shows the validity of our proposed method.
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圧電素子から取得した生体信号データの解析
長谷川 凜、高橋 伸弥
平成29年度環境ロボティクス学科卒業論文 2018年2月
記述言語：日本語 掲載種別：学位論文（その他）
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Discrete-time Robust Controller and Observer for a Ball and Beam System
Nobuya Takahashi, Shosei Yayama, Osamu Sato, Masahiro Yokomichi
Proceedings of the 23rd International Symposium on Artificial Life and Robotics 682 - 685 2018年1月
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 study on obstacle avoidance trajectory of manipulator with flexible element
Asaji Sato, Osamu Sato, Toshiki Yagi, Nobuya Takahashi, Masahiro Yokomichi
Proceedings of the 23rd International Symposium on Artificial Life and Robotics 677 - 681 2018年1月
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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Controller design for quadrotor based on I/O linearization
Masahiro Yokomichi, Yuta Yamashita, Nobuya Takahash, Osamu Sato
Proceedings of the 23rd International Symposium on Artificial Life and Robotics 694 - 697 2018年1月
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 Pseudo Haptic Feedback in VR Environment
Isamu Miyahara, Masahiro Yokomichi, Osamu Sato, Nobuya Takahashi
Proceedings of the Twenty-Third International Symposium on Artificial Life and Robotics 2018 686 - 689 2018年1月
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 study on the vibration suppression of the manipulator with flexible element 査読あり
Sato Osamu, Sato Asaji, Yagi Toshiki, Takahashi Nobuya, Yokomichi Masahiro
Artificial Life and Robotics 22 ( 4 ) 471 - 476 2017年12月
記述言語：英語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2017, ISAROB. For the rapid motion and the saving energy of transport by the manipulator, it requires a study for lighter mechanisms such as flexible link. In this report, a flexible link is modeled with rigid body connected by three springs. And, the equations of motion of manipulator driven by two motors are derived in consideration of the deflection of flexible element and the characteristics of driving source. For the case to transport the object from the initial position to the desired position by the manipulator, the energy-saving trajectory influenced by vibration is calculated by the iterative dynamic programming method, and the effectiveness of the control method is evaluated by the numerical simulation. Furthermore, the effectiveness of the numerical simulation is confirmed by the experiment of a flexible link which is driven by a single motor with energy-saving trajectory.
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Analysis of manipulator in consideration of impact absorption between link and projected object 査読あり
Asaji Sato, Osamu Sato, Nobuya Takahashi and Masahiro Yokomichi
Artificial Life and Robotics 22 ( 1 ) 113 - 117 2017年3月
記述言語：英語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2016, ISAROB.In this article, equations of motion of a manipulator are derived in consideration of the characteristics of DC servomotors, and a performance criterion for saving energy is defined in consideration of energy consumption of the driving source. When the manipulator is operated in a vertical plane, the system is highly non-linear due to gravity, and an analytical solution cannot be found. By considering for catching the object that moves parabolic, trajectories for saving energy are calculated by iterative dynamic programming method. And, the dynamic characteristics of two-link system controlled based on the trajectory for saving energy are analyzed theoretically. When the object moves parabolic, measurement method for the force of collision between link and object is examined by experiment.
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A study of robust control for a rolling object and beam system
Nobuya Takahashi, Osamu Sato, Asaji Sato, Masahiro Yokomichi, Hidehiro Endo
Proceedings of the 22nd International Symposium on Artificial Life and Robotics 761 - 764 2017年1月
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 study on the vibration suppression of the manipulator with flexible element
Toshiki YAGI, Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Proceedings of the 22nd International Symposium on Artificial Life and Robotics 765 - 768 2017年1月
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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The development of experiment support system for junior high school science using AR technology
Tatsuya OISHI, Masahiro YOKOMICHI, Osamu SATO, Nobuya TAKAHASHI
Proceedings of the 22nd International Symposium on Artificial Life and Robotics, pp.773-776, 2017, Beppu 773 - 776 2017年1月
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 study about control for rolling objects and beam system
Takahashi N., Sato O., Sato A., Yamashita Y.
Artificial Life and Robotics 21 ( 4 ) 540 - 544 2016年12月
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：Artificial Life and Robotics
© 2016, ISAROB.The ball and beam system consists of a long beam which can be tilted by a servo motor together with a ball rolling back and forth on top of the beam. In this article, an equation of motion of the rolling objects and the beam are derived in consideration of characteristics of driving source. By considering the changes in the number of rolling object, trajectories for positioning control are calculated by iterative dynamic programming method. And the dynamic characteristics of the system controlled based on the trajectory for saving energy are analyzed theoretically and investigated experimentally.
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Guaranteed cost control of robot manipulator with prescribed degree of stability
Takahashi N., Sato O.
Artificial Life and Robotics 21 ( 4 ) 520 - 524 2016年12月
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：Artificial Life and Robotics
© 2016, ISAROB.In this paper, we propose a robust controller design method for a linear time invariant system which combines two methods. The first one is referred as guaranteed cost control, that is one kind of a robust design method for the system with structured uncertainty. It gives a robust stable feedback law, which guarantees an existence of the upper bound for the effect of a perturbation. The second one is called prescribed degree of stability. For a nominal system, by a transformation of a state and input vector, it can relocate all the poles of the closed-loop system to leftward in the complex plane, after a design procedure based on the cost minimization like the linear quadratic regulator. Thus, our proposed method is able to design a robust stable controller, and it can also adjust the system characteristics on the complex plane. At last, we show the validity of our proposed method through the numerical example.
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Analysis of manipulator in consideration of impact absorption between link and projected object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Artif Life Robotics 22 113 - 117 2016年9月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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Analysis of the two-link manipulator in consideration of the horizontal motion about object
Sato O., Sato A., Takahashi N., Yokomichi M.
Artificial Life and Robotics 21 ( 1 ) 43 - 48 2016年3月
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：Artificial Life and Robotics
© 2015, ISAROB.In this article, equations of motion of two-link-manipulator are derived in consideration of characteristics of driving source. By considering for horizontal motion about object, trajectories for saving energy are calculated by iterative dynamic programming method. And, the dynamic characteristics of two-link system controlled based on the trajectory for saving energy are analyzed theoretically. When the object moves parabolic, measurement method for the force of collision between link and object is examined by fundamental experiment.
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Guaranteed cost control of robot manipulator with prescribed degree of stability 査読あり
Hiroaki Shigehara, Nobuya Takahashi, Osamu Sato
The Twenty-First International Symposium on Artificial Life and Robotics 2016 631 - 634 2016年1月
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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Analysis of manipulator in consideration of impact absorption between link and projected object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
The Twenty-First International Symposium on Artificial Life and Robotics 2016 644 - 647 2016年1月
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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入力行列に不確かさを有するネットワーク化システムのギャランティードコスト制御
高橋 伸弥, 横道 政裕, 佐藤 治
年次大会 : Mechanical Engineering Congress, Japan 2015 "G1000104 - 1"-"G1000104-3" 2015年9月
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：一般社団法人日本機械学会
Guaranteed cost control is a method for the robust control problem of the LTI-systems with structured uncertainty. In such systems, the performance index is perturbed by the effect of uncertainty. So this method design the robust stable system to guarantee the existence of upper bound of performance index. On the other hand, the networked control system is investigated. The LTI system plant and controller are connected with communication bus. The input and output signals are transmitted by previously defined periodic pattern. The whole system characteristics is constructed as periodic system. This issue consider that the application of guaranteed cost control to the networked control system with the plant includes the uncertainty in an input matrix.
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Experimental analysis of the two-link manipulator in consideration of the relative motion between link and object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Artificial Life and Robotics 2015年5月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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Analysis of the two-link manipulator in consideration of the horizontal motion about object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI,
Proceedings of the 20th International Symposium on Artificial Life and Robotics 862 - 865 2015年1月
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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Fundamental study of a trajectory tracking control problem of the LEGO tribot robot 査読あり
Tetsuya YAMANAKA, Nobuya TAKAHASHI, Osamu SATO
Proceedings of the 20th International Symposium on Artificial Life and Robotics 866 - 869 2015年1月
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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Guaranteed cost control of the networked control system
Takahashi N., Yokomichi M., Sato O.
Proceedings of the SICE Annual Conference 626 - 631 2014年10月
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：Proceedings of the SICE Annual Conference
© 2014 SICE.In this paper, we show the design method of the networked control system with structured uncertainty. In this system, the plant and the controller are connected with a communication bus. The plant and controller are denoted as LTI-system, but the communication bus has a periodic characteristic. So that the whole of the system characteristics is denoted as a periodic system. In this paper, we consider the guaranteed cost control in the case with the linear time-varying system. As this result, we derive the stochastic discrete algebraic Riccati equation of the time-varying case and apply this equation to the design problem of networked control system. In the numerical example, the plant is car-pendulum system with uncertainty. Through the numerical result, we show the effectiveness of our proposed method.
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Experimental Analysis of the Two-link-manipulator in Consideration of the Relative Motion between Link and Object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Proceedings of the 19th International Symposium on Artificial Life and Robotics 748 - 751 2014年1月
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 observer design with the guaranteed cost control approach 査読あり
Yutaka NITANDA, Nobuya TAKAHASHI, Osamu SATO, Masahiro YOKOMICHI
Proceedings of the 19th International Symposium on Artificial Life and Robotics 752 - 755 2014年1月
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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Stabilization of LTI systems with periodic communication constraints by using LQR method 査読あり
Takahashi N., Suzuki T., Yokomichi M., Sato O.
Proceedings of the SICE Annual Conference 1217 - 1222 2013年12月
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：Proceedings of the SICE Annual Conference
This paper deals with the stabilization of a networked control system (NCS) whose sensors and actuators exchange information with a controller through a shared communication medium. To control a linear time-invariant (LTI) discrete-time plant via a bus with limited capacity, we introduce a holder and a communication sequence which follows a given w-periodic pattern. In the previous paper, we have shown that controllability and stabilizability of the plant are preserved in NCS. Moreover, we have shown that reconstructibility and detectability of the plant are preserved in NCS. In this paper, on the basis of reconstructibility and detectability, we design a middle order periodic observer and periodic state feedback by the periodic LQR method and show the validity of our proposed method by simulation.
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Analysis of manipulator in consideration of impact absorption between link and object
Sato O., Sato A., Takahashi N., Yokomichi M.
Artificial Life and Robotics 17 ( 2 ) 211 - 215 2012年12月
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：Artificial Life and Robotics
In this article, equations of motion of a manipulator are derived in consideration of characteristics of driving source. By considering impact force absorption between a link and an object, trajectories for saving energy are calculated by the iterative dynamic programming method. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally. © 2012 ISAROB.
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Analysis of manipulator in consideration of impact absorption between link and object
Asaji Sato, Osamu Sato, Nobuya Takahashi, Masahiro Yokomichi
Proceedings of the 17th International Symposium on Artificial Life and Robotics 267 - 270 2012年1月
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 control of a three-link RRR manipulator with structured uncertainty
Nobuya Takahashi, Yoshiaki Nakamura, Osamu Sato
Proceedings of the 17th International Symposium on Artificial Life and Robotics 275 - 278 2012年1月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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Analysis of manipulator in consideration of collision between link and object
Sato A., Sato O., Takahashi N., Yokomichi M.
Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 95 - 98 2011年12月
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：Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
In this paper, equations of motion of a manipulator are derived in consideration of characteristics of driving source. Considering the collision between the link and object, and considering the active motion to absorb kinetic energy of the object, trajectories for saving energy are calculated by iterative dynamic programming. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are analyzed theoretically and investigated experimentally. © 2011 ISAROB.
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Suzuki T., Kono M., Takahashi N., Sato O.
Systems and Control Letters 60 ( 12 ) 977 - 984 2011年12月
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：Systems and Control Letters
This paper proposes a new model for a networked control system and considers its controllability and stabilizability. To control a linear time-invariant discrete-time plant via a bus with limited capacity, we introduce a hold device and a communication sequence which follows a given ω-periodic pattern. Incorporating the communication sequences and hold device into the original plant amounts to extending the original time-invariant state equation to a ω-periodic one which has the higher order. We assume that the communication sequence is admissible. It is shown that controllability and stabilizability of the plant are preserved in the periodic extended system under the assumption that the zeros of the communication sequence characteristic polynomial do not coincide with the eigenvalues of the plant. © 2011 Elsevier B.V. All rights reserved.
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Observer based control of a manipulator system with structured uncertainty
Aikawa C., Takahashi N., Sato O., Kono M.
Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 91 - 94 2011年12月
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：Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
In this paper, we show an uncertain model of a two link RR manipulator with uncertainties in the two rotation angles of each joint, and show the extended system with uncertainty also in an output matrix. For this system, we apply a guaranteed cost control method based on a linear upper bound. Parameter tuning of γ i in the linear upper bound is effective to design a feedback gain which have appropriate characteristics. In the numerical simulation, we show an advantage that the state observer is effective to reduce the influence of signal noise in state vector. © 2011 ISAROB.
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OS4 対象物とリンクの衝突における衝撃力緩和に関する研究(ロボットとセンシング)
佐藤 浅次, 藤治 治, 高橋 伸弥
日本機械学会九州支部講演論文集 2011 133 - 134 2011年9月
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：一般社団法人日本機械学会
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Observer-based control of a manipulator system with structured uncertainty 査読あり
Nobuya TAKAHASHI, Masahiro YOKOMICHI, Osamu SATO and Michio KONO
Artificial Life and Robotics 16 ( 2 ) 234 - 238 2011年9月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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Analysis of a manipulator in relation to collision between a link and an object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI and Masahiro YOKOMICHI
Artificial Life and Robotics 16 ( 2 ) 169 - 173 2011年9月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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Analysis of a manipulator in relation to collision between a link and an object
Sato A., Sato O., Takahashi N., Yokomichi M.
Artificial Life and Robotics 16 ( 2 ) 169 - 173 2011年9月
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：Artificial Life and Robotics
In this article, equations of motion of a manipulator are derived after consideration of the characteristics of the driving source. By considering a collision between a link and an object, and considering the active motion to absorb the kinetic energy of the object, the trajectories for saving energy are calculated by the iterative dynamic programming (IDP) method. The dynamic characteristics of manipulator control based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally. © 2011 International Symposium on Artificial Life and Robotics (ISAROB).
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Observer-based control of a manipulator system with structured uncertainty
Takahashi N., Yokomichi M., Sato O., Kono M.
Artificial Life and Robotics 16 ( 2 ) 234 - 238 2011年9月
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：Artificial Life and Robotics
In this article, we show a derivation of an uncertain system of a two-link RR manipulator with uncertainties in the two rotation angles of each joint. For this system, we apply a guaranteed cost control based on a linear upper bound. In our method, uncertainties are included in the state, input, and also output matrices. Parameter tuning of γi in the linear upper bound is effective in designing a feedback gain which has appropriate characteristics. In the numerical simulation, we show that the state observer is effective at reducing the influence of signal noise in a state vector. © 2011 International Symposium on Artificial Life and Robotics (ISAROB).
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周期的通信制約をもつネットワーク化制御システムの可到達性 : 出力ホールド回路がない場合
鈴木 達雄, 高橋 伸弥, 横道 政裕, 河野 通夫
システム制御情報学会論文誌 24 ( 3 ) 73 - 75 2011年3月
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：一般社団法人 システム制御情報学会
DOI： 10.5687/iscie.24.73
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Observer based control of a manipulator system with structured uncertainty 査読あり
Chikara AIKAWA, Nobuya TAKAHASHI, Osamu SATO and Michio KONO
Proceedings of the 16th International Symposium on Artificial Life and Robotics 91 - 94 2011年1月
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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Analysis of manipulator in consideration of collision between link and object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI and Michio KONO
Proceedings of the 16th International Symposium on Artificial Life and Robotics 95 - 98 2011年1月
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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Analysis of manipulator in consideration of relative motion between tray and object
Sato A., Sato O., Takahashi N., Uekubo A., Kono M.
Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10 914 - 917 2010年12月
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：Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
In this paper, equations of motion of a manipulator, whose mechanism has a tray installed by passive revolute joint, are derived in consideration of characteristics of driving source. Considering the relative motion between the tray and object, trajectories of velocity for saving energy are calculated by iterative dynamic programming. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are analyzed theoretically. © 2010 ISAROB.
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A study of guaranteed cost control of the manipulator with passive revolute joint
Hara J., Takahashi N., Kato J., Sato O., Kono M.
Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10 910 - 913 2010年12月
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：Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
In this paper, we consider a robust control problem of a two link RR manipulator with uncertainty in the joint angle which is caused by several factors. The first purpose is to derive an uncertain LTI system of a two link RR manipulator which includes uncertainty in a rotational angle of each joint. The uncertainty is expressed in a system structure matrix in an explicit form. For this uncertain system, we apply guaranteed cost control. At last, we show the effectiveness of our method by a numerical example. © 2010 ISAROB.
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A study of guaranteed cost control of a manipulator with a passive revolute joint
Takahashi N., Sato O., Kono M.
Artificial Life and Robotics 15 ( 4 ) 482 - 485 2010年12月
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：Artificial Life and Robotics
In this article, we consider the robust control problem of a two-link RR manipulator with uncertainty in the joint angle which is caused by several factors. The first purpose is to derive an uncertain linear time-invariant (LTI) system for a two-link RR manipulator which includes uncertainty in the rotational angle of each joint. The uncertainty is expressed in a system structure matrix in an explicit form. For this uncertain system, we apply guaranteed cost control. Finally, we show the effectiveness of our method by a numerical example. © 2010 International Symposium on Artificial Life and Robotics (ISAROB).
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Analysis of a manipulator in consideration of the relative motion between a tray and an object
Sato O., Sato A., Takahashi N., Uekubo A., Kono M.
Artificial Life and Robotics 15 ( 2 ) 151 - 155 2010年9月
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：Artificial Life and Robotics
In this article, equations of motion of a manipulator, whose mechanism has a tray installed with a passive revolute joint, are derived after consideration of the characteristics of the driving source. Considering the relative motion between the tray and the object, the trajectories of the velocity for saving energy are calculated by iterative dynamic programming. Also, the dynamic characteristics of manipulator control based on the trajectory for saving energy are analyzed theoretically and investigated experimentally. © 2010 International Symposium on Artificial Life and Robotics (ISAROB).
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Analysis of a manipulator in consideration of the relative motion between a tray and an object 査読あり
Osamu SATO, Asaji SATO, Nobuya TAKAHASHI, Akira Uekubo and Michio KONO
Artificial Life and Robotics 15 ( 2 ) 151 - 155 2010年9月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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周期的通信制約をもつネットワーク化制御系のモデル化と構造的性質
河野 通夫, 鈴木 達雄, 高橋 伸弥, 佐藤 治
計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers 46 ( 2 ) 97 - 105 2010年2月
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：計測自動制御学会
This paper proposes a new model for a networked control system and considers its structural properties such as controllability, stabilizability, reconstructibilty and detectability. To control a linear time-invariant discrete-time plant via a bus with limited capacity, we introduce a hold device and a communication sequence which follows a given ω-periodic pattern. Incorporating the communication sequences and hold devices into the original plant amounts to extending the original time-invariant state equation to the ω-periodic one which has the higher order. We assume that the communication sequence is admissible. It is shown that controllability and stabilizability of the plant are preserved in the periodic extended system under the assumption that the zeros of the communication characteristic polynomial does not coincide with λ1/ω where λ is the eigenvalue of the plant. On the other hand, reconstructibility(detectability) of the original plant implies that the periodic observability pair of the extended one is reconstructible(detectable) at any time.
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A study of Guaranteed Cost Control of the Manipulator with Passive Revolute Joint 査読あり
Jyunichi HARA, Nobuya TAKAHASHI, Jyunya KATO, Osamu SATO, Michio KONO
Proceedings of the 15th International Symposium on Artificial Life and Robotics 910 - 913 2010年2月
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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Analysis of Manipulator in Consideration of Relative Motion between Tray and Object
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Akira UEKUBO, Michio KONO
Proceedings of the 15th International Symposium on Artificial Life and Robotics 914 - 917 2010年2月
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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周期的通信制約をもつネットワーク化制御系のモデル化と構造的性質
河野 通夫, 鈴木 達雄, 高橋 伸弥, 佐藤 治
計測自動制御学会論文集 46 ( 2 ) 97 - 105 2010年
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：The Society of Instrument and Control Engineers
This paper proposes a new model for a networked control system and considers its structural properties such as controllability, stabilizability, reconstructibilty and detectability. To control a linear time-invariant discrete-time plant via a bus with limited capacity, we introduce a hold device and a communication sequence which follows a given <i>ω</i>-periodic pattern. Incorporating the communication sequences and hold devices into the original plant amounts to extending the original time-invariant state equation to the <i>ω</i>-periodic one which has the higher order. We assume that the communication sequence is admissible. It is shown that controllability and stabilizability of the plant are preserved in the periodic extended system under the assumption that the zeros of the communication characteristic polynomial does not coincide with <i>λ</i><sup>1/<i>ω</i></sup> where <i>λ</i> is the eigenvalue of the plant. On the other hand, reconstructibility(detectability) of the original plant implies that the periodic observability pair of the extended one is reconstructible(detectable) at any time.
DOI： 10.9746/sicetr.46.97
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Robust Control Method for the Inverted Pendulum System with Structured Uncertainty Caused by Measurement Error 査読あり
obuya TAKAHASHI, Osamu SATO, Michio KONO
Artificial Life and Robotics 14 ( 4 ) 574 - 577 2009年12月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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Takahashi N., Moribuko T., Sato O., Kono M.
Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09 754 - 757 2009年12月
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：Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09
In this paper, we propose a design method of the inverted pendulum system with structured uncertainty. We consider such uncertainty is caused by a measurement error in the rotation angle of the pendulum and causes to the system structure that can not be included in the nominal parameter. For the obtained uncertain system, we apply the integral tracking control and guaranteed cost control to design a robust stable tracking control system. At the last, we show the effectiveness of our method through numerical example. ©ISAROB 2009.
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Guaranteed cost control of the Uncertain System with Parameter Variations in an Output Matrix
Nobuya TAKAHASHI, Michio KONO, Osamu SATO
Proceedings of the 1st Japan-Korea Joint Symposium on Dynamics & Control 09 ( 208 ) 139 - 142 2009年8月
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 numerical solution of the stochastic discrete algebraic Riccati equation
Takahashi N., Kono M., Suzuki T., Sato O.
Artificial Life and Robotics 13 ( 2 ) 451 - 454 2009年3月
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：Artificial Life and Robotics
This article proposes two algorithms for solving a stochastic discrete algebraic Riccati equation which arises in a stochastic optimal control problem for a discrete-time system. Our algorithms are generalized versions of Hewer's algorithm. Algorithm I has quadratic convergence, but needs to solve a sequence of extended Lyapunov equations. On the other hand, Algorithm II only needs solutions of standard Lyapunov equations which can be solved easily, but it has a linear convergence. By a numerical example, we shall show that Algorithm I is superior to Algorithm II in cases of large dimensions. © International Symposium on Artificial Life and Robotics (ISAROB). 2009.
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Robust Control Method for the Inverted Pendulum System with Structured Uncertainty caused by Measurement Error 査読あり
Nobuya TAKAHASHI, Tetsuro MORIKUBO, Osamu SATO, Michio KONO
Proceedings of the 14th International Symposium on Artificial Life and Robotics 754 - 757 2009年2月
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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ω-周期サンプルフィードバックによるω-周期離散時間システムの制御
大森 貴斗, 河野 通夫, 高橋 伸弥, 鈴木 達夫
システム制御情報学会 研究発表講演会講演論文集 9 ( 0 ) 153 - 153 2009年
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：一般社団法人 システム制御情報学会
発表者の一人は、ω-周期離散時間システムにω-周期ゲインの状態フィードバックを適用したとき、閉ループ系のモノドロミー行列の固有値を任意に設定できるための必要十分条件は、制御対象が可到達であることを示した。発表者らは先の発表（第２７回SICE九州支部学術講演会予稿集101A4）において、固定ゲインを用いたω-周期毎の状態のフィードバックによって同様な意味での固有値設定やデッドビート制御ができるための必要十分条件を与え、低次元オブザーバを利用した構成にも言及した。しかしながら、そこでは固定ゲインを用いているとはいえ、ω-周期毎にしか入力を加えておらず、それ以外の時刻では入力を0にしているので、ロバスト性の観点から好ましくない。本発表では、ω-周期の状態サンプルホールドの手法を適用することによりこの点を改善し、固有値設定やデッドビート制御ができるための必要十分条件を与えるとともに、低次元オブザーバを利用した構成にも言及する。
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A Numerical Solution of the Stochastic Discrete Algebraic Riccati Equation
Nobuya TAKAHASHI, Michio KONO, Tatsuo SUZUKI, Osamu SATO
Artificial Life and Robotics 13 451 - 454 2008年12月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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A numerical solution of the stochastic discrete algebraic Riccati equation
Takahashi N., Kono M.
Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08 759 - 762 2008年12月
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：Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
This paper proposes two algorithms for solving a stochastic discrete algebraic Riccati equation which arises in a stochastic optimal control problem for the discrete-time system. Our algorithms are generalized version of Hower's algorithm. Algorithm I has the quadratic convergence but requires to solve a sequence of extended Lyapunov equation. On the other hand, Algorithm II only needs solutions of standard Lyapunov equations which can be solved easily but it has a linear convergence. By a numerical example, we shall show that Algorithm I is superior to Algorithm II in the case of large dimension. ©ISAROB 2008.
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An LMI approach to observer-based guaranteed cost control
Miyachi M., Ishitobi M., Takahashi N., Kono M.
Artificial Life and Robotics 12 ( 1-2 ) 276 - 279 2008年12月
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：Artificial Life and Robotics
This article presents a design method for an observer-based guaranteed cost controller for a class of uncertain linear systems, in which full state variables cannot be measured. The perturbations are assumed to be described by structural uncertainties. The linear matrix inequality (LMI) approach is applied to design the observer-based controller. The controller and observer gains are obtained by solving the LMI optimization and feasibility problems, respectively. A numerical example shows the potential of the proposed method. © 2008 International Symposium on Artificial Life and Robotics (ISAROB).
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A study of manipulator with passive revolute joint
Sato A., Sato O., Takahashi N., Kono M.
Artificial Life and Robotics 13 ( 1 ) 31 - 35 2008年12月
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：Artificial Life and Robotics
In this article, equations of motion of a manipulator, whose mechanism has a passive revolute joint, are derived in consideration of the characteristics of driving source. Considering the fi nal condition of displacement and velocity of the passive joint, trajectories of velocity for energy saving are calculated by iterative dynamic programming. And the dynamic characteristics of manipulator control based on the trajectory for energy saving are analyzed theoretically and investigated experimentally. © International Symposium on Artificial Life and Robotics (ISAROB). 2008.
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A study of manipulator with passive revolute joint
Sato A., Sato O., Takahashi N., Kono M.
Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08 730 - 733 2008年12月
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：Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
In this paper, equations of motion of a manipulator, whose mechanism has a passive revolute joint, are derived in consideration of characteristics of driving source. Considering the final condition about displacement and velocity of the passive joint, trajectories of velocity for saving energy are calculated by iterative dynamic programming. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are analyzed theoretically. ©ISAROB 2008.
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非駆動ジョイントをもつマニピュレータの投げる動作における省エネルギー軌道
佐藤 治, 佐藤 浅次, 高橋 伸弥, 河野 通夫
精密工学会誌 74 ( 8 ) 859 - 864 2008年8月
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：公益社団法人精密工学会
For the purpose of enlarging the work space of manipulator, this study proposes the trajectories for saving energy about throwing motion. In this paper, equations of motion of a manipulator, whose mechanism has two actuated joints and a passive revolute joint for a tray, are derived in consideration of characteristics of driving source. In order to prevent the object falling from the tray, the passive joint for the tray is rotated by inertia force about actuated joints. Considering the condition about motion of the tray, trajectories for saving energy of two actuated joints are calculated by iterative dynamic programming. Initial searching region of dynamic programming is a shape which is surrounded by two cosine-wave translated in parallel. This proposed searching region is used as an initial range of the iteration method, and the region is shifted to minimize the energy consumption of the motor. The dynamic characteristics of manipulator controlled based on above mentioned trajectory are analyzed theoretically and investigated experimentally.
DOI： 10.2493/jjspe.74.859
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An LMI approach to observer-based guaranteed cost control 査読あり
Masaaki Miyachi, Mitsuaki Ishitobi, Nobuya Takahashi and Michio Kono
Artificial Life and Robotics 12 ( 1-2 ) 276 - 279 2008年3月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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A numerical solution of the stochastic discrete algebraic Riccati equation 査読あり
Nobuya Takahashi, Michio Kono
roceedings of the 13th international symposium on Artificial Life and Robotics 759 - 762 2008年1月
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 Study of Manipulator with Passive Revolute Joint
Asaji Sato, Osamu Sato Nobuya Takahashi, Michio Kono
Proceedings of the 13th international symposium on Artificial Life and Robotics 730 - 733 2008年1月
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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An LMI approach to observer-based guaranteed cost control
Miyachi M., Ishitobi M., Takahashi N., Kono M.
Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07 152 - 155 2007年12月
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：Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07
In this paper, we present the design of observer-based guaranteed cost controller for a class of uncertain linear systems, in which full state cannot be measured. The perturbations are assumed to be described by structural uncertainties. Linear matrix inequality (LMI) approach is used to design the observer-based controller. The controller and observer gains are given from LMI optimization and feasibility problems, respectively. A numerical example shows the potential of the proposed method. ©ISAROB 2007.
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Throwing motion of manipulator with passive revolute joint
Sato A., Sato O., Takahashi N., Kono M.
Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07 226 - 229 2007年12月
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：Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07
In this paper, equations of motion of a manipulator, whose mechanism has a passive revolute joint, are derived in consideration of characteristics of driving source. Considering the final condition about displacement and velocity, trajectories of velocity for saving energy are calculated by iterative dynamic programming. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are analyzed theoretically. ©ISAROB 2007.
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Guaranteed cost control of discrete time system with performance index including cross term
Takahashi N., Hiranuma K., Kono M., Sato O.
Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07 148 - 151 2007年12月
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：Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07
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Guaranteed cost control of discrete time system with performance index including cross term 査読あり
Nobuya Takahashi, Kenji Hiranuma, Michio Kono, Osamu Sato
Proceedings of the 12th international symposium on Artificial Life and Robotics 148 - 151 2007年1月
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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Throwing motion of manipulator with passive revolute joint (jointly worked) 査読あり
Asaji Sato, Osamu Sato, Nobuya Takahashi, Michio Kono
Proceedings of the 12th international symposium on Artificial Life and Robotics 226 - 229 2007年1月
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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Trajectory for saving energy of a direct-drive manipulator in throwing motion
Asahi Sato, Osamu Sato, Nobuya Takahashi, Michio Kono
Artificial Life and Robotics 11 ( 1 ) 61 - 66 2007年1月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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Trajectory for saving energy of a direct-drive manipulator in throwing motion
Sato A., Sato O., Takahashi N., Kono M.
Artificial Life and Robotics 11 ( 1 ) 61 - 66 2007年1月
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：Artificial Life and Robotics
In this article, equations of motion of a closed-type manipulator, whose mechanism can easily be made lighter, are derived in consideration of the characteristics of the driving source. Considering the final condition of angular displacement and angular velocity in throwing motion, trajectories of velocity for saving energy are calculated by iterative dynamic programming, and the dynamic characteristics of manipulator control based on the trajectory for saving energy are analyzed theoretically and investigated experimentally. © ISAROB 2007.
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ギャランティードコスト制御法に基づく静的出力フィードバック ロバスト安定化
木村 琢郎, 河野 通夫, 高橋 伸弥, 佐藤 治, 臼井 昇太
システム制御情報学会 研究発表講演会講演論文集 7 ( 0 ) 249 - 249 2007年
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：一般社団法人 システム制御情報学会
Trofin-NetoらやCaoらは静的出力フィードバック安定化問題が相互項をもつRiccati方程式の可能性に帰着できることを示した．本稿ではこの結果を拡張し，線形上界に基づくギャランティードコスト制御法に基づいて，不確かなパラメータを持つプラントが静的出力フィードバックによって安定化できるための十分条件を与えている．さらに簡単な数値例に対し数値シミュレーションを行い，この方法が良好な性能を与えることを検証する．
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An LMI approach to guaranteed cost control of time delay systems without the matching condition (jointly worked) 査読あり
Mitsuaki Ishitobi, Masaaki Miyachi, Nobuya Takahashi, Michio Kono
Proceedings of the International Conference on Sensing, Computing and Automation 866 - 870 2006年5月
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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Existence and comparison for solutions in stochastic algebraic Riccati equation (jointly worked) 査読あり
Nobuya Takahashi, Masaki Nakai, Mitsuaki Ishitobi and Michio Kono
Proceedings of the 11th international symposium on Artificial Life and Robotics 807 - 810 2006年1月
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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宮地 正明, 石飛 光章, 高橋 伸弥, 河野 通夫
自動制御連合講演会講演論文集 49 ( 0 ) 207 - 207 2006年
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：The Japan Joint Automatic Control Conference
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木村 琢郎, 河野 通夫, 高橋 伸弥, 石飛 光章
システム制御情報学会 研究発表講演会講演論文集 6 ( 0 ) 282 - 282 2006年
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：システム制御情報学会
前の論文において著者らは水平飛行しているヘリコプターにおいて水平速度がステップ状の目標値の変化に追従するような制御器の設計法を与えた。本稿では、同じ制御系において垂直速度の目標値に変化を与えた場合の特性を調べる。
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ギャランティードコスト制御のヘリコプターのトラキッング問題への応用
木村 琢郎, 河野 通夫, 高橋 伸弥, 石飛 光章
自動制御連合講演会講演論文集 48 ( 0 ) 127 - 127 2005年
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：The Japan Joint Automatic Control Conference
本稿はヘリコプターのトラキッング問題を扱っている。システム応答がステップ状目標値に追従するような制御器の設計に線形上界に基づくギャランティードコスト制御方式を適用している。ヘリコプターの縦運動の数値シミュレーションによって、この方法が良い性能を与えることを示している。
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Stabilization of linear time-invariant systems with periodic communication constrains by output sampled hold control (jointly worked) 査読あり
Nobuya Takahashi, Michio Kono
Journal of the Artificial Life and Robotics 8 ( 2 ) 111 - 117 2004年11月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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1軸駆動の2リンクアームの投げる動作における省エネルギー軌道(G.S. メカトロ・システム解析,OS5:宇宙環境の高度利用を目指して)
黒田 晋, 佐藤 治, 佐藤 浅次, 高橋 伸弥
講演論文集 2004 ( 0 ) 161 - 162 2004年10月
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：一般社団法人日本機械学会
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Eigenvalue assignment for periodic continuous-time systems by sampled output periodic hold control (jointly worked) 査読あり
Nobuya Takahashi, Michio Kono, Atsunori Kose, Mitsuaki Ishitobi
Proceedings of the IFAC Workshop on Periodic Control Systems 151 - 154 2004年8月
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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ネットワークを介した遠隔制御のための基礎実験
高橋 伸弥, 河野 通夫, 佐藤 浅次
宮崎大学地域共同研究センター設立１０周年記念誌・記念技術・研究発表交流会『新生宮崎大学１００のシーズ』要旨集 113 - 113 2004年7月
記述言語：日本語 掲載種別：研究論文（その他学術会議資料等）
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Guaranteed cost control of a discrete-time system on the basis of a linear bound (jointly worked) 査読あり
Nobuya Takahashi, Michio Kono, Asaji Sato, Mitsuaki Ishitobi
World Scientific and Engineering Academy and Society Transactions on Circuits and Systems, Issue 3 3 627 - 632 2004年5月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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亀井 陽一郎, 平沼 賢次, 田伏 正佳, 高橋 伸弥, 河野通夫
情報処理学会論文誌 45 ( 3 ) 838 - 841 2004年3月
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：一般社団法人情報処理学会
本研究では,インターネットを利用した遠隔制御を行うための基礎実験として,2日間にわたり宮崎大学と東京海洋大学(当時は東京商船大学)のネットワーク間において,アプリケーション層における通信遅延特性を調べた.従来の研究では,たかだか2程度のルータを経由した場合についての報告がなされているが,ここではより長大な場合として,12ルータを経由した場合について調査を行っている.その結果,従来とは異なる知見が得られた.
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Stabilization of LTI Systems with Periodic Kalman Filter (jointly worked) 査読あり
Michio Kono, Atsunori Kose, Nobuya Takahashi
Proceedings of the 9th international symposium on Artificial Life and Robotics 1 194 - 197 2004年1月
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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石飛 光章, 木下 博, 高橋 伸弥, 河野 通夫
自動制御連合講演会講演論文集 47 ( 0 ) 22 - 22 2004年
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：The Japan Joint Automatic Control Conference
本稿は，よく知られた標準型Riccati代数方程式の一般形で，パラメータの不確かさに対して線形上界をもつギャランティードコスト制御に現れる確率Riccati代数方程式をLMIによって解く方法を示している．
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Eigenvalue assignment for periodic continuous-time systems by sampled output periodic hold control
Takahashi N., Kono M., Kose A., Ishitobi M.
IFAC Proceedings Volumes (IFAC-PapersOnline) 37 ( 12 ) 151 - 154 2004年
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：IFAC Proceedings Volumes (IFAC-PapersOnline)
Copyright © 2004 IFAC This paper proposes a method of eigenvalue assignment of linear periodic continuous-time systems by "sampled output periodic hold (SOPH)" control. It is shown that all eigenvalues can be assigned arbitrarily by using SOPH control if and only if the open-loop system is controllable and sample-observable, and an explicit formula for a periodic feedback gain is given. This method is illustrated by a numerical example.
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河野 通夫, 唐 一兵, 高橋 伸弥, 佐藤 治
システム制御情報学会論文誌 16 ( 10 ) 507 - 512 2003年10月
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：システム制御情報学会
This paper proposes two algorithms (Algorithm I and Algorithm II) for solving a stochastic discrete algebraic Riccati equation, which arises in stochastic optimal control for the discrete-time system. Our algorithms are generalized versions of Hewer's algorithm. Algorithm I has the quadratic convergence but requires to solve a sequence of non-standard Lyapunov equations. On the other hand, Algorithm II needs the solutions of standard discrete Lyapunov equations, which can be solved easily, but it has a linear convergent term. By a numerical example, it is shown that Algorithm I is superior to Algorithm II in the case of large dimension.
DOI： 10.5687/iscie.16.507
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Stabilization of networked control systems with communication bus under limited bandwidth (jointly worked) 査読あり
Nobuya Takahashi, Michio Kono, Atsunori Kose
Proceedings of the 7th world multiconference on Systemics, Cybernetics and Informatics VII 247 - 252 2003年7月
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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Solvability of norm-type discrete algebraic Riccati equation
Kono M., Takahashi N., Sakamoto M.
European Control Conference, ECC 2003 1327 - 1332 2003年4月
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：European Control Conference, ECC 2003
© 2003 EUCA.This paper proposes a norm-type discrete algebraic Riccati Equation, which is a generalized version of the well-known standard discrete algebraic Riccati Equation, and has additional norm terms. Under stabilizability and assumption that the additional terms are not too large, the existence of a positive semidefinite solution is guaranteed. Application to guaranteed cost control is given.
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Stabilization of LTI systems with periodic communication constrains by output sampled hold control (jointly worked) 査読あり
Nobuya Takahashi, Michio Kono
Proceedings of the 8th international symposium on Artificial Life and Robotics 1 110 - 113 2003年1月
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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周期係数カルマンフィルタを用いた周期的通信制約があるシステムの安定化
河野 通夫, 古瀬 敦典, 高橋 伸弥
自動制御連合講演会講演論文集 46 ( 0 ) 683 - 684 2003年
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：自動制御連合講演会
This paper considers feedback control systems wherein the control loops are closed through a real time network, and expresses the LTI system with the constraint in an input/output as a periodic discrete time system. We shall stabilize this system by using periodic Kalman filter. A numerical example shows that our method is effective.
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Generalization of guaranteed cost control - Extension to the case with cross terms (jointly worked) 査読あり
Michio Kono, Nobuya Takahashi, Osamu Sato, Asaji Sato
Proceedings of the SICE Annual Conference 2002 in Osaka 542 - 545 2002年8月
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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ノルム型上界に基づくギャランティードコスト制御 : 入力行列にも変動がある場合への拡張
佐藤 治, 河野 通夫, 高橋 伸弥, 佐藤 浅次
システム制御情報学会論文誌 15 ( 2 ) 106 - 108 2002年2月
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：システム制御情報学会
DOI： 10.5687/iscie.15.106
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Guaranteed cost control on the basis of norm-type upper bound (jointly worked) 査読あり
Nobuya Takahashi, Michio Kono, Osamu Sato, Asaji Sato
Proceedings of the 7th international symposium on Artificial Life and Robotics 2 594 - 597 2002年1月
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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河野 通夫, 高橋 伸弥
宮崎大學工學部紀要 30 327 - 328 2001年9月
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：宮崎大学
In the previous paper, the author has proposed guaranteed cost contol, which is a design procedure of state-feedback systems that guarantees a certain level of linear-quadratic performance for all admissible plant perturbations in a discrete-time system. This method guarantees robust stability, but does not require the matching condition in contrast to other quadratic stability methods. In Section 3, it is shown that if a Riccati-like discrete algebraic equation with the upper bound matrix term has a semi-positive definite solution and a detectability condition is satisfied, the close-loop system is robust stable.
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河野 通夫, 高橋 伸弥, 平沼 賢次, 佐藤 治
システム制御情報学会論文誌 13 ( 11 ) 504 - 510 2000年11月
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：システム制御情報学会
This paper considers a continuous algebraic Riccati equation with an additional norm-type term. This equation is called a norm-type algebraic Riccati equation and arises in guaranteed cost control on the basis of a norm-type upper bound. It is shown that there exists a solution under the stabilizability condition and the assumption that the additional term is not too large. Also, the well-known Kleinman's algorithm is extended to this case.
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高橋 伸弥, 樫原 博史, 河野 通夫
宮崎大學工學部紀要 29 331 - 334 2000年9月
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：宮崎大学
In a magnetic levitation system, undesirable offset and vibration appear. The purpose of this paper is to remove them. They are due to eddy current, linearization error and secular change. By applying a guaranteed cost control law, it suceeded in reducing the offset, but on the vibration, expected effect was not obtained.
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河野 通夫, 鈴木 達雄, 高橋 伸弥
宮崎大學工學部紀要 29 321 - 325 2000年9月
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：宮崎大学
Chang and Peng have proposed guaranteed cost control, which is a design procedure of state-feedback systems that guarantees a certain level of linear-quadratic performance for all admissible plant perturbations in a continuous-time system. This method guarantees robust stability, but does not require the matching condition in contrast to other quadratic stability methods. However, the exisitence of a controller is guaranteed only for a restricted class of perturbations. In this paper, we propose guaranteed cost control for a discrete-time system. In Section 3, under the assumption that there exists an upper bound matrix for the perturbations, an algebraic equation which includes the upper bound matrix term is derived. In Section 4, it is shown that if the above equation has a semi-positive definite solution and an obsevability condition is satisfied, the closed-loop system is robust stable.
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離散時間システムのギャランティードコスト制御に関する一考察 （共著）
河野 通夫, 鈴木 達雄, 高橋 伸弥
宮崎大学工学部紀要 ( 29 ) 321 - 325 2000年9月
記述言語：日本語 掲載種別：研究論文（大学，研究機関等紀要）
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磁気浮上系に関する実験的考察
高橋 伸弥, 樫原 博史, 河野 通夫
宮崎大学工学部紀要 ( 29 ) 331 - 334 2000年9月
記述言語：日本語 掲載種別：研究論文（大学，研究機関等紀要）
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ギャランティードコスト制御の一般化 （共著） 査読あり
高橋 伸弥, 河野 通夫, 平沼 賢次, 佐藤 治
日本機械学会論文集(Ｃ編) 66 ( 645 ) 1531 - 1536 2000年5月
記述言語：日本語 掲載種別：研究論文（学術雑誌）
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Generalization of Guaranteed Cost Control
Takahashi N., Kono M., Hiranuma K., Sato O.
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 66 ( 645 ) 1531 - 1536 2000年
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：Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Chang and Peng proposed a disign procedure of state-feedback systems that guarantees a certain level of linear-quadratic cost for all admissible perturbations. This is called guaranteed cost control. But they considered the case when an input matrix has special perturbations and guaranteed the existence of a controller only for a restricted class of systems. This paper deals with the case when an input matrix has more genenral perturbations. Firstly, a suffcient condition for robust stabilization is given. Secondly, in contrast to Chang and Peng method, on the basis of a linear upper bound, it is shown that there exists a controller under some reasonable assumptions. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.
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出力サンプルホールド制御による周期係数離散時間システムの安定化 (共著） 査読あり
河野 通夫, 鈴木 達雄, 高橋 伸弥, 佐藤 治
システム制御情報学会論文誌 12 ( 4 ) 220 - 224 1999年12月
記述言語：日本語 掲載種別：研究論文（学術雑誌）
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出力サンプルホールド制御による周期係数離散時間システムの安定化
河野 通夫, 鈴木 達雄, 高橋 伸弥, 佐藤 治
システム制御情報学会論文誌 12 ( 4 ) 220 - 224 1999年4月
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：システム制御情報学会
In linear ω-periodic discrete-time systems, eigenvalues of the state transition matrix over the time interval nω dominate stability, where <I>n</I> is the dimension of the state vector. The periodic discrete-time system is called to be sample observable when the state can be determined from observation of output at only one time within one period. Under the assumption that eigenvalues of the monodromy matrix in an open-loop system are distinct, it is shown that the closed-loop system can be stabilized by applying the sampled output nω-periodic hold control if and only if the open-loop system is stabilizable and sample detectable at some time t<SUB>0</SUB>.
DOI： 10.5687/iscie.12.220
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河野 通夫, 高橋 伸弥
宮崎大學工學部紀要 27 309 - 310 1998年9月
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：宮崎大学
A Sylvester equation appears in a design problem of control system. In this paper discrete-time Sylvester equation considered. Several authors have proposed methods to solve it and they are classified into transform methods and iteration methods. The transform method reduces the Sylvester equation to a simple form equation and gets a unique solution. This paper gives a new numerical method for solving a discrete-time Sylvester equation that belongs to transform methods. Our method is based on reducing only one coefficient matrix to a Schur form. This is called one-side-Schur method. Our method is compared with the Hessenberg-Schur method. This shows that the one-side-Schur method is available.
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Sylvester方程式の数値解法 （共著） 査読あり
河野 通夫, 高橋 伸弥, 平沼 賢次
計測自動制御学会論文集 32 ( 5 ) 779 - 781 1996年5月
記述言語：日本語 掲載種別：研究論文（学術雑誌）
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河野 通夫, 高橋 伸弥, 平沼 賢次
計測自動制御学会論文集 32 ( 5 ) 779 - 781 1996年
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：The Society of Instrument and Control Engineers
This paper gives a new numerical method for solving a Sylvester equation. Our method is based on reducing only one coefficent matrix to a triangular form. On depending on the dimension of the matrices, our method is more effective than the Bartels-Stewart algorithm.