Details of a Researcher - Namerikawa, Toru

Papers - Namerikawa, Toru

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Multiple Cooperative Bilateral Teleoperation with Time-Varying Delay

Nam Duc Do, Yusuke Yamashina, and Toru Namerikawa

SICE Journal of Control, Measurement, and System Integration (The Society of Instrument and Control Engineers) 4 ( 2 ) 89-96 - 96 2011.05

Research paper (scientific journal), Single Work, Accepted, ISSN 1882-4889

10911940390420110430155646PDF1.pdf

CiNii Research

Robotic Mapping and Localization Considering Unknown Noise Statistics

Hamzah Ahmad and Toru Namerikawa

Journal of System Design and Dynamics (The Japan Society of Mechanical Engineers) 5 ( 1 ) 70-82 - 82 2011.01

Research paper (scientific journal), Single Work, Accepted, ISSN 1881-3046

This paper presents an analysis of H∞ Filter(HF) for Robotics Mapping and Localization with unknown noise statistics. HF which is also known as the minimax filter is proposed in this paper to estimate the robot and landmarks location while robot moves through an unknown environment. Some of the conditions are proposed to ensure that the state covariance in HF is converging to a steady state value. Furthermore, the analysis of HF convergence for a robot observing landmarks are presented to examine its behavior through the observations. From the experimental results, HF gives a sufficient estimation about the environment. Subsequently, such a result can provide other available estimation methods with the capability to ensure and improved estimation in robotic mapping and localization problem.

Bilateral Teleoperation of Multiple Cooperative Robots with Time-Varying Delay

Nam Duc Do, Yusuke Yamashina, Toru Namerikawa

2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (IEEE) 2053 - 2058 2010.09

Research paper (international conference proceedings), Accepted, ISSN 1085-1992

This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots under time varying delay in the communication line. At first, we decompose the dynamics of multiple slave robots into two decoupled dynamics: the Shape-System describing dynamics of the cooperative works, and the Locked-System representing overall behavior of the multiple slave robots. Second, we propose a PD control method for bilateral teleoperation to guarantee the asymptotical stability of the system for time varying delay. Finally, experimental results show the effectiveness of our proposed teleoperation.

Sensor Network Scheduling Algorithm Considering Estimation Error Variance and Communication Energy

Takashi Takeda, Toru Namerikawa

2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (IEEE) 434 - 439 2010.09

Research paper (international conference proceedings), Accepted, ISSN 1085-1992

This paper deals with a sensor scheduling algrithm considering estimation error variance and communication energy in sensor networked feedback systems. We propose a novel decentralized estimation algorithm with unknown inputs in each sensor node. Most existing works deal with the sensor network systems as sensing systems and it is difficult to apply them to the real physical feedback control systems Then some local estimates are merged and the merged estimates can be optimized in the proposed method and the estimation error covariance has a unique positive definite solution under some assumptions. Next, we propose a novel sensor scheduling algorithm in which each sensor node transmits information. A sensor node uses energy by communication between other sensor node or the plant. The proposed algorithm achieves a sub-optimal network topology with minimum energy and a desired variance. Experimental results show an effectiveness of the proposed method.

Robot Localization and Mapping Problem with Unknown Noise Characteristics

Hamzah Ahmad, Toru Namerikawa

2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (IEEE) 1275 - 1280 2010.09

Research paper (international conference proceedings), Accepted, ISSN 1085-1992

In this paper, we examine the H-infinity Filter-based SLAM especially about its convergence properties. In contrast to Kalman Filter approach that considers zero mean gaussian noise, H-infinity Filter is more robust and may provide sufficient solutions for SLAM in an environment with unknown statistical behavior. Due to this advantage, H-infinity Filter is proposed in this paper, to efficiently estimate the robot and landmarks location under worst case situations. H-infinity Filter requires the designer to appropriately choose the noise's covariance with respect to gamma to obtain a desired outcome. We show some of the conditions to be satisfy in order to achieve better estimation results than Kalman Filter. From the experimental results, H-infinity Filter performs better than Kalman Filter for a case of bigger robot initial uncertainties. Subsequently, this proved that H-infinity Filter can provide another available estimation method for especially in SLAM.

Bilateral Teleoperation of Wheeled Mobile Robot with Time Delay using Virtual Image Robot.

Yasunori Kawai, Toru Namerikawa, Masayuki Fujita

Proceedings of the IEEE International Conference on Control Applications, CCA 2010, Yokohama, Japan, September 8-10, 2010 (IEEE) 77 - 82 2010.09

Research paper (international conference proceedings), Accepted

Access to Document (DOI)

Four-channel force-reflecting teleoperation with impedance control

Do Nam Duc, Namerikawa Toru

International Journal of Advanced Mechatronic Systems 2 ( 5-6 ) 318 - 329 2010

Research paper (scientific journal), Joint Work, Accepted, ISSN 1756-8412

This paper focuses on a bilateral control of teleoperation system with four-channel force-reflection (FR) algorithm and communication time delays. In this method, we propose a new system input of impedance control that relates to FR scheme of teleoperation. The goal of this paper is to improve the tracking performance and transparency, the control-based force-reflecting teleoperation uses a force feed forward channel in comparison with a conventional method to transfer the position, velocity and human force information from the master side to the slave side. Hence, we receive a four-channel architecture of the teleoperation system. Using variable damping values, the contact stability is achieved at the time when the slave robot contacts with the environment. To analyse stability of the system, one method based on Lyapunov technique is concerned, the input-to-state stability (ISS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable. Several experimental results show the effectiveness of our proposed algorithm. © 2010 Inderscience Enterprises Ltd.

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Network-Topology Independent Cooperative Target-enclosing Behavior by Swarms of Vehicles

KAWAKAMI Hiroki and Namerikawa Toru

Transactions of the Society of Instrument and Control Engineers (The Society of Instrument and Control Engineers) 45 ( 12 ) 688 - 695 2009.12

Research paper (scientific journal), Joint Work, Accepted

This paper deals with cooperative target-enclosing problem for swarms of vehicles with dynamic network-topology.
First, we introduce a dynamic network topology that depends on relative distance between the vehicles.
Secondly, we propose the target-enclosing strategy based on consensus seeking with dynamic network-topology.
In proposed strategy, at least one vehicle has to acquire the states of target-object. Furthermore, we prove that
convergence speed of each vehicle is independent of network-topology. To analyze the convergence of target-enclosing
behavior under dynamic network topology, algebraic graph theory and matrix theory are utilized.
Finally, numerical simulation results and experimental results are provided that demonstrate the effectiveness of
the proposed method.

Bilateral Control with Constant Feedback Gains for Teleoperation with Time Varying Delay

Toru Namerikawa

PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009) (IEEE) 7527 - 7532 2009.12

Research paper (international conference proceedings), Accepted, ISSN 0743-1546

This paper describes a bilateral control of nonlinear teleoperation with time varying communication delay.
The proposed method are simple PD-type controllers which are independent of the rate of time delay change and depend on the upper bound of round-trip delay. The proposed control strategy is independent of parameter uncertainties of the model of the robots and the operator and remote environment. The delay-dependent stability of the origin is shown via Lyapunov stability theorem. Furthermore the proposed strategy also achieves master-slave position coordination and bilateral static force reflection.
Several experimental results with wireless communication and the Internet show the effectiveness of our proposed strategy.

GIMC structure based Anti-Windup control considering L2 performance

Nakashima Yusuke, Namerikawa Toru

Proceedings of the IEEE International Conference on Control Applications (IEEE = Institute of Electrical and Electronics Engineers) 956 - 961 2009.07

Research paper (international conference proceedings), Accepted, ISSN 1085-1992

This paper deals with GIMC (Generalized Internal Model Control) structure based Anti-Windup (AW) control system design. First, we setup a L2 performance criterion based on GIMC structure for Anti-Windup control problems. The design problem is formulated as an optimization problem with a parameter Q. Then we calculate the optimization problem and find an optimal Q. Finally, the effectiveness of proposed method is shown by experimental results for a magnetic suspension system. © 2009 IEEE.

Stability and Tracking Properties in Predictive Control with Adaptation for Bilateral Teleoperation

Kouei Yoshida, Toru Namerikawa

2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9 (IEEE) 1323 - 1328 2009.06

Research paper (international conference proceedings), Accepted, ISSN 0743-1619

This paper deals with an environment estimation based predictive control for teleoperation with communication time delay. In this predictive control framework, the delayed position tracking and non-delayed force reflection are attempted. The goal of this paper is to propose a new control method which guarantees the stability, the convergence of position tracking error to zero and the small force tracking error theoretically. Proposed control structure is the 3ch architecture with environment estimation based force prediction. In this proposed method, the master controller implements force control with environmental force prediction while the slave controller implements position and force control. The theoretical analysis shows the stability, the convergence of position error to zero and the small force tracking error. Experimental results show the effectiveness of the proposed method.

Delay-Independent Stabilization of Teleoperation Systems with Time-Varying Delay

Hiroyuki FUJITA, Toru Namerikawa

SICE Journal of Control, Measurement, and System Integration (The Society of Instrument and Control Engineers) 2 ( 3 ) 177 - 183 2009.05

Research paper (scientific journal), Joint Work, Accepted, ISSN 1882-4889

This paper deals with stability of nonlinear teleoperation systems with time-varying communication delays.
The proposed method is the use of passivity-based controllers with time-varying gains which depend on the rate of
change of time-varying delay. In our proposed method, the stability condition is independent of the magnitude of the
communication delay and the damping of the system. The delay-independent stability is shown via Lyapunov stability
methods. Several experimental results show the effectiveness of our proposed teleoperation structure.

CiNii Research

Robust stabilization of running self-sustaining two-wheeled vehicle with varying speed and mass variations

Satoh Hiroshi, Namerikawa Toru

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C (Japan Society of Mechanical Engineers) 75 ( 752 ) 882 - 889 2009.04

Research paper (scientific journal), Accepted, ISSN 0387-5024

This paper deals with robust stabilization of running self-sustaining two-wheeled vehicle with varying running speed and mass variations. Recently, there have been a lot of research results about stabilization of two-wheeled vehicle. These researches have achieved the stable running only by the steering control. However, an actual two-wheeled vehicle is stabilized by not only the steering control, but the control of a vehicle's center of gravity. We have proposed the stabilization control method of two-wheeled vehicle in the state of stillness, and have shown the effectiveness of proposed approach. In this research, we construct the control system for the running stabilization of two-wheeled vehicle. H^∞ control problem is used to design the controller to achieve running stability even if the running speed and the mass of two-wheeled vehicle would change. The experimental results show effectiveness of proposed approach for robustness.

Access to Document (DOI)

Bilateral Control of Nonlinear Teleoperation with Time Varying Delays

Hisanosuke Kawada and Toru Namerikawa

Transactions of the Society of Instrument and Control Engineers (Society of Instrument and Control Engineers) 45 ( 1 ) 18 - 26 2009.01

Research paper (scientific journal), Joint Work, Accepted

This paper addresses the bilateral control of nonlinear teleoperation with time varying delays. The proposed
control strategies are two types of simple PD-type controllers which directly connect the master and slave robots by position and velocity signals over the delayed communication. For the velocity control, the first controller has a time varying D-gains which depend on the rate of change of delays and the second one has a constant
D-gains which are designed under stability condition. Moreover the both controllers have explicit position feedback/feedforward control. Using Lyapunov-Krasovskii function, the delay-depend stability of the origin is shown
for the range of the gains. Furthermore the proposed framework enforces master-slave position coordination
and static force reflection. Several simulation and experimental results show the effectiveness of our proposed
framework.

10911937617020100411175258PDF1.pdf

通信遅延を有する異構造バイラテラルテレオペレーションの同調制御

河田久之輔, 吉田航瑛, 滑川徹

計測自動制御学会論文集 (計測自動制御学会) 44 ( 10 ) 802 - 808 2008.10

Research paper (scientific journal), Joint Work, Accepted, ISSN 0453-4654

本稿では通信遅延を有する異構造テレオペレーションに対して安定性を保証した制御手法を提案する．まずマスタ及びスレーブロボットに対してフィードバック受動化を行い，次に通信遅延とスケーリング要素を有する同調制御則を提案する．リアプノフの安定法を用いることで, 提案テレオペレーションの位置誤差が遅延とスケーリング要素に対して独立に漸近安定となることを示す. 最後に構造とスケールの異なる2台の2自由度アームを用いた実験により提案手法の有効性を示す.

GIMC 構造による故障検出とその磁気浮上システムへの応用

中曽裕次郎, 滑川徹

システム制御情報学会論文集 (システム制御情報学会) 21 ( 9 ) 277 - 284 2008.09

Research paper (scientific journal), Joint Work, Accepted

本稿ではGIMC 構造によって得られる推定誤差信号によるオンライン故障検出法の提案と, それを用いた耐故障制御系の構築をおこなう. 故障検出フィルタに関して外乱による影響の最小化問題を新たに定式化し, それに対する最適な故障検出フィルタを導出することで, 外乱と故障の影響を区別する. また磁気浮上系に対し外乱および故障信号を含めたモデルを導出し, 最適故障検出フィルタの設計を行う. 最後に検証実験を行い, 設計した故障検出フィルタの有効性を確認する.

Observer-based Consensus Control Strategy for Multi-Agent System with Communication Time Delay

Chika Yoshioka, Toru Namerikawa

2008 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2 (IEEE) 859 - 864 2008.09

Research paper (international conference proceedings), Accepted, ISSN 1085-1992

マルチエージェントシステムの合意問題とそのフォーメーション制御への応用

吉岡愛, 滑川徹

計測自動制御学会論文集 (計測自動制御学会) 44 ( 8 ) 663-669 2008.08

Research paper (scientific journal), Joint Work, Accepted

本稿では線形システムとして表現される複数の同一のダイナミクスをもつエージェントの合意問題に対し，新規の合意制御則の設計法を提案する．この設計法はLyapunovの安定定理に基づき，従来法に比べ設計の見通しが良い．つぎに状態推定を含む出力合意問題に対して，情報交換を行うエージェントの数に依存しない状態推定方法を用いた合意制御則を提案し，更に積分器を加えた合意制御則を提案する．最後に提案制御則をフォーメーション制御に応用し，制御実験により提案法の有効性を検証する．

補償器の初期状態を考慮したＨ∞ＤＩＡ制御と磁気軸受による過渡特性の検証

瀬戸洋紀, 滑川徹

日本AEM学会誌 (日本AEM学会) 15 ( 4 ) 422 - 428 2007.12

Research paper (scientific journal), Joint Work, Accepted, ISSN 0919-4452

本論文では補償器の初期状態を考慮したH∞ DIA 制御を磁気軸受に適用して過渡応答特性を検証する．まず磁気軸受の数学モデルの導出と補償器の初期状態を考慮したH∞ DIA制御系設計について述べる．次にこの補償器の初期状態を考慮したH∞ DIA補償器を異なる初期状態の不確かさに対する重みＮを持つ補償器を設計する．その補償器を用いて，初期値応答と外乱応答を計測し，Nの大きさと時間応答の変化を検証する．

CiNii Research

Synchronized control for teleoperation with different configurations and communication delay

Hisanosuke Kawada, Kouei Yoshida, Toru Namerikawa

PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 (IEEE) 2546 - 2551 2007.12

Research paper (international conference proceedings), Accepted, ISSN 0743-1546

This paper deals with a control for teleoperation with different configurations and communication delays. We propose a synchronized control with individual gains and power scaling in the task space. In this method, the end-effector motion and force relationship between the master and slave robots can be specified freely in the task space and the control gains can be independently selected appropriately for the master and slave robots. The delay-independent asymptotic stability of the origin of the position and velocity errors is proven by using passivity of the systems and Lyapunov stability methods. The proposed control law achieves synchronization with power scaling. Several experimental results show the effectiveness of our proposed method.

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