Conference Activities & Talks -

Wave-based analysis and wave control of ladder networks

Kenji Nagase, Hirotaka Ojima, Yoshikazu Hayakawa

Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05  2005   IEEE

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This paper investigates the wave-based analysis and the wave control for ladder electric networks. The results are a generalized version of our previous work for the cascade connected damped mass-spring systems. We first clarify the class of the ladder networks which satisfies the three condition for the propagation constants to be analyzed by the wave-based analysis. Secondly, for the class of the networks, we investigate the analyticity of the secondary constants and positive real property of the characteristic impedances. Properties of the impedance matching are also investigated. A numerical example for a mechanical system shows effectiveness of the impedance matching for vibration control. © 2005 IEEE.

Control of a sphere rolling on a plane with constrained rolling motion

Akira Nakashima, Kenji Nagase, Yoshikazu Hayakawa

Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05  2005   IEEE

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In this paper, we discuss control of contact coordinates for a contact point between a sphere and a plane with pure rolling contact by using iterative closed paths on the sphere with contstrained rolling motion. We first analyze the boundary of the reachable area by the closed path with constrained rolling motion. Utilizing the result, we second propose a method which converge all the contact coordinates to a target point by the iteration of a finite number of the closed paths. A numerical example where the rolling motion is restricted to the area on the semisphere shows the effectiveness of the proposed method. ©2005 IEEE.

Parameter identification method for piezoelectric shunt damping

Kentaro Takagi, Kenji Nagase, Kazuhiko Oshima, Yoshikazu Hayakawa, Zhi-Wei Luo

Proceedings of SPIE - The International Society for Optical Engineering  2005   SPIE

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Piezoelectric shunt damping is a method to reduce structural vibration by shunting a piezoelectric element with an electrical circuit. This paper proposes a method to identify the physical parameters that are required to design piezoelectric shunt damping systems. Employing self-sensing actuator methodology, the proposed method requires no additional sensor or actuator other than a simple bridge circuit. The parameters can be identified from a transfer function simply by linear least squares method. To demonstrate the validity of the proposed method, the shunt damping of the steel plate with the piezoelectric ceramic is performed based on the identified parameters.

自由度が制限された指先での転がり接触を用いた把握・操りと接触点の同時制御

中島明,長瀬賢二,早川義一

計測自動制御学会第33回 制御理論シンポジウム  2004.01   計測自動制御学会

転がり量の制約を考慮した平面を転がる球の接触点の制御

中島明、長瀬賢二、早川義一

計測自動制御学会第4回制御部門大会資料  2004.01   計測自動制御学会

Wave Control of Damped Mass-Spring Systems

K. Nagase, H. Ojima, Y. Hayakawa

Proc. of the 10thIFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems: Theory and Applications  2004.01   THE INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL

Simultaneous Control of Grasp/Manipulation and Contact Points with Rolling Contact

A. Nakashima, K. Nagase, Y. Hayakawa

Proc. of 16th IFAC World Congress  2004.01   INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL

ソフトフィンガーを用いた未知対象物の把握・操りの制御

傍島幸之助,中島明,長瀬賢二,早川義一

計測自動制御学会第3回制御部門大会資料  2003.01   計測自動制御学会

A Study on the Impedance Matching Controller for the Uniformly Varying Damped Mass-Spring Systems

H. Ojima, K. Nagase, Y. Hayakawa

Proc. of 2003 American Control Conference  2003.01   American Automatic Control Council

An Estimation Method of Mode Shapes by Independent Component Analysis and Its Application to Fault Diagnosis

TAKAGI Kentaro, NAGASE Kenji, HAYAKAWA Yoshikazu, KAWASAKI Tokuo

The Proceedings of the Symposium on the Motion and Vibration Control  2003   The Japan Society of Mechanical Engineers

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This papaer considers the fault diagnosis for vibrating systems. An estimation method of the mode shapes by using independent component analysis is presented. The harmonic signal, impulse signal, and white noise are available for the input signals. The method only requires independence of the modal coordinates, and it does not require physical parameters of vibrating systems and inputs' information. In the numerical example, fault diagnosis for a plate is presented as an application of the proposed method.

614 Passive piezoelectric shunt damping based on minimizing the robust performance index

TAKAGI Kentaro, NAGASE Kenji, OSHIMA Kazuhiko, HAYAKAWA Yoshikazu, ICHIKAWA Hiroyuki

The Proceedings of the Dynamics & Design Conference  2003   The Japan Society of Mechanical Engineers

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Passive piezoelectric shunt damping is a vibration suppression method using a piezoelectric element which is electrically shunted by a passive electrical circuit. This paper shows a method of optimizing the values of the elements of the shunt circuits based on the robust performance index against the model uncertainties. For the optimization, the worst-case peak gain of the transfer function is selected as a cost function. From the results of the optimization for the LR shunt circuit, we investigate some required properties for the robustness of shunt circuits. As an example of the robust shunt circuits, the optimization for the LR-LRC shunt circuit is also presented. The experimental results demonstrate the efficiency of the proposed method.

2本指ロボットハンドによる指先の転がりを考慮した対象物の把握・操り-拘束のNonholonomic性を利用した対象物と接触点の制御-

中島明,長瀬賢二,早川義一

計測自動制御学会第2回制御部門大会資料  2002.01   計測自動制御学会

有限回の閉軌道の繰り返しを用いた平面を転がる球の接触点の制御

中島明, 長瀬賢二, 早川義一

計測自動制御学会 第31回制御理論シンポジウム資料  2002.01   計測自動制御学会

Wave Control of a Multi-Story Structure with Active Mass Dampers

K. Nagase, H. Ojima, Y. Hayakawa

Proc. of the Sixth International Conf. on Motion and Vibration Control  2002.01   The Japan Society of Mechanical Engineers

Control of Contact Points of Two-Fingered Robot Hand with Manipulating an Object

K. Nagase, H. Ojima. Y. Hayakawa

Proc. of International Symposium for Young Researchers on Modeling and their Applications  2002.01  

動吸振器による波動制御法の実現について

長瀬賢二,尾嶌裕隆,早川義一

日本機械学会日本機械学会東海支部豊橋地区講演会講演論文集  2002.01   日本機械学会

分割ピエゾフィルムセンサによる平板境界部の故障診断

高木賢太郎,川崎督生,長瀬賢二,大嶋和彦,早川義一

システム制御情報学会第46回システム制御情報学会研究講演会講演論文集  2002.01   システム制御情報学会

Vibration Control of a Class of Damped Mass-spring Systems Based on Wave-Based Analysis

H. Ojima, K. Nagase, Y. Hayakawa

Proc. of the SICE/ICASE Joint Workshop  2001.07   The Society of Instrument and Control Engineers

多指ハンドロボットの把握と操り-指先力を利用した制御系設計法-

長瀬賢二,早川義一

計測自動制御学会システムインテグレーション部門学術講演会SI2001講演論文集  2001.01   計測自動制御学会

マスタースレーブシステムを用いた多指ハンドロボットによる把握・操り

神保智彦,長瀬賢二,早川義一

日本機械学会東海支部第50期総会講演会講演論文集  2001.01   日本機械学会