研究者詳細 - 長瀬　賢二

論文 - 長瀬　賢二

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切頂八面体テンセグリティ3次元格子の接続行列の系統的な構成方法とその最適設計への応用

長瀬賢二, 永田大次郎, 橋本和磨 (担当区分：筆頭著者 )

日本機械学会論文集 90 ( 938 ) 24-00097 (24 pages) 2024年10月 [査読有り]

電位差出力型誘電エラストマー発電回路とその特性解析

山本秋斗, 長瀬賢二 (担当区分：責任著者 )

日本機械学会論文集 89 ( 924 ) 22-00335 - (18 pages) 2023年08月 [査読有り]

Wave Analysis and Control of Uniformly Varying Two-Dimensional Ladder-Network Structures

K. Nagase, K. Taniuchi (担当区分：筆頭著者,　責任著者 )

Mechanical Systems and Signal Processing 185 109765 2023年02月 [査読有り]

二次元結合マス・ばね・ダンパ系の波動解析・波動制御（二次定数の解析関数としての性質に基づく解析）

長瀬賢二, 谷内邦夫 (担当区分：筆頭著者 )

日本機械学会論文集 87 ( 902 ) 21-00228 2021年10月 [査読有り]

Genetic-algorithm-based global design optimization of tree-type robotic systems involving exponential coordinates

Amar Julien, Nagase Kenji (担当区分：責任著者 )

Mechanical Systems and Signal Processing 156 107461 - 107461 2021年06月 [査読有り]

Analytical Properties of Secondary Constants of Uniform and Uniformly Varying Mono-Coupled Periodic Structures

K. Nagase, A. Doshita, T. Midoro (担当区分：筆頭著者 )

Mechanical Systems and Signal Processing 146 106974 - 106974 2021年01月 [査読有り]

非一様な二段結合マス・ばね・ダンパ系の波動解析・波動制御

箕土路拓也, 長瀬賢二 (担当区分：責任著者 )

システム制御情報学会論文誌 33 ( 7 ) 207 - 218 2020年07月 [査読有り] [招待有り]

A Unified Framework for Dynamics and Control of Tree-Type Systems using Exponential Coordinates

J. Amar, K. Nagase (担当区分：責任著者 )

Mechanical Systems and Signal Processing 131 446 - 468 2019年09月 [査読有り]

並列仮想ばねを利用した自己釣り合い力を有するマルチエージェントシステムのフォーメーション制御

田上,長瀬 (担当区分：責任著者 )

計測自動制御学会論文集 55 ( 7 ) 466 - 475 2019年07月 [査読有り]

多段結合マス・ばね・ダンパ系の波動解析・波動制御

箕土路,長瀬 (担当区分：責任著者 )

日本機械学会論文集(C編) 85 ( 873 ) 19-00054 2019年05月 [査読有り]

二段結合を有するマス・ばね・ダンパ系のインピーダンスマッチングコントローラの正実性について

箕土路、長瀬 (担当区分：責任著者 )

日本機械学会論文集(C編) 84 ( 868 ) 18-00302 2018年12月 [査読有り]

On a connectivity matrix formula for tensegrity prism plates

K. Nagase, T. Yamashita, N. Kawabata (担当区分：責任著者 )

Mechanics Research Communications ( Elsevier Ltd ) 77 29 - 43 2016年10月 [査読有り]

This paper considers tensegrity structures constructed from repetition of simple fundamental units. The tensegrity prism is chosen as a fundamental unit, which allows us to build plates, columns, towers, and their variations. The connectivity matrix plays a central role in analysis and design of tensegrity structures. This paper provides a systematic way to construct connectivity matrices for tensegrity structures constructed from repetition of tensegrity prisms. The number of units and node locations (shape) can be chosen arbitrarily. As an application of the connectivity matrix, a minimal-mass design subjected to force equilibrium (force balance) and yield and buckling stress constraints is shown.

DOI

Wave analysis and control of double cascade-connected damped mass-spring systems

K. Nagase (担当区分：筆頭著者 )

MECHANICS RESEARCH COMMUNICATIONS ( PERGAMON-ELSEVIER SCIENCE LTD ) 70 49 - 57 2015年12月 [査読有り]

This paper presents wave analysis and control for double cascade-connected damped mass-spring systems, whose mass is connected beyond the adjacent masses. The system is motivated by a cantilevered tensegrity beam supporting tensile and compressive forces. The wave solution is derived from a recurrent formula, and the properties of the propagation constants are precisely investigated. Elimination of reflected waves provides the impedance matching controller. We show that the impedance matching controller can be constructed from a similarity transformation of the characteristic impedance matrix by a matrix composed of the propagation constants. A numerical example of vibration control of a tensegrity beam is shown. (C) 2015 Elsevier Ltd. All rights reserved.

DOI

自己釣り合い状態を利用したマルチエージェントシステムのフォーメーション制御

増田,長瀬 (担当区分：責任著者 )

計測自動制御学会論文集 ( The Society of Instrument and Control Engineers ) 51 ( 10 ) 744 - 754 2015年10月 [査読有り]

This paper proposes a cooperative formation control of multi-agent systems by using self-equilibrium condition based on the force-density method. The force-density method is widely used in structural mechanics, which enables us to design the equilibrium of axially loaded structures (tensegrity structures) with non-zero control force. The control law is derived from a potential function of linear springs connecting the agents. Replacing the design variables in linear springs by force density (control force per unit length) and member constant (product of spring constant and rest length), the design problems can be described as convex optimization problems. As an application of the proposed strategy, a control design method for multi-agent systems with communication time-delays is provided. Permissible time-delay is maximized by minimizing the maximum eigen value of the tangent rigidity matrix. Numerical examples show that the permissible time-delay is increased by introducing the non-zero internal force.

DOI

Double-Helix Tensegrity Structures

K. Nagase, R. E. Skelton

AIAA JOURNAL ( AMER INST AERONAUTICS ASTRONAUTICS ) 53 ( 4 ) 847 - 862 2015年04月 [査読有り]

This paper describes a class of tensegrity systems that are formed from a common type of connectivity, having a double-helix configuration. Structures made from such internal patterns will be called a double-helix tensegrity. This paper derives the connectivity matrix for the double-helix tensegrity class of structures. This generalized common mathematical formulation will allow efficient computations for a large class of tensegrity systems, which can have many different configurations, albeit employing the same rules for connecting components. Special cases of these configurations include torus, cylinders, paraboloids, spheres, ellipsoids, and other configurations.

DOI

大域的運動表現を用いた多指ハンドによるシームレスマニピュレーション

長瀬賢二,菊地範夫

計測自動制御学会論文集 50(10) 721-730 2014年10月 [査読有り]

Minimal Mass Tensegrity

K. Nagase, R.E. Skelton (担当区分：筆頭著者 )

55 ( 1 ) 37 - 48 2014年01月 [査読有り]

Network and vector forms of tensegrity system dynamics

K. Nagase, R. E. Skelton

Mechanics Research Communications ( Elsevier Ltd ) 59 14 - 25 2014年 [査読有り]

We write the equations of motion in vector form for any class k tensegrity system dynamics. The network approach yields a connectivity matrix and nodal matrix, providing the dynamics of any network of bars, pipes and cables. The class 1 (bars do not connect) dynamics are described together with a constraint added to allow bar to bar connections. Damping and gravity forces as well as base movement can be handled in a unified framework. The constraint force is eliminated to yield a compact set of vector equations. © 2014 Elsevier Ltd.

DOI

多段結合を有するマス・ばね・ダンパ系の波動制御（基礎理論とテンセグリティ構造体への応用）

長瀬賢二中道健太

日本機会学会論文集（C編） 79(806) 443-458 2013年10月 [査読有り]

Tensile Tensegrity Structures

R.E. Skelton and K. Nagase

International Journal of Space Structures 27(2&3) 131-137 2012年06月 [査読有り]

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