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]

把握多面体の相対運動に基づく多指ハンドロボットのシームレスマニピュレーション(ソフトコンタクトの場合)

長瀬賢二, 林剛

日本機会学会論文集（C編） 77(779) 2720-2733 2011年07月 [査読有り]

自由度が制限された多指ハンドロボットにおける対象物運動と内力の選択と制御

長瀬賢二, 藤田健次

計測自動制御学会論文集 47(4) 181-190 2011年04月 [査読有り]

インピーダンスマッチング指標を用いた柔軟構造物の振動制御(受動ダンパと動吸振器の最適調整)

長瀬賢二,竹内康之

日本機会学会論文集(C編) Vol. 76, No. 766 pp. 1452-1461 2010年06月 [査読有り]

Seamless Control of Multi-fingered Robot Hands based on Grasp Polyhedrons

K. Nagase, S. Shirai, T. Hayashi

SICE Journal of Control, Measurement, and System Integration Vol. 3, No. 5 pp. 358-367 2010年05月 [査読有り]

力とモーメントのノイズの偏りを考慮した力覚センサによる接触点位置の推定

長瀬賢二,向井浩氣

日本ロボット学会誌 Vol. 27,No. 10 pp. 1160-1168 2009年12月 [査読有り]

Estimation of Contact Location from Force Measurements Disturbed by Noise

H. Mukai and K. Nagase

SICE Journal of Control, Measurement, and System Integration Vol. 2, No. 3 pp. 146-152 2009年05月 [査読有り]

圧電素子を用いた電荷充電型スイッチングシャントダンピング

宮崎貴芳, 長瀬賢二, 高木賢太郎, 早川義一, 郭松

日本機械学会論文集. C編 ( 一般社団法人日本機械学会 ) 72 ( 718 ) 1738 - 1744 2006年06月 [査読有り]

Switching shunt damping technique is one of the most effective methods for structural vibration control due to its simplicity and robustness. However, because of the spillover, conventional switching LR shunt damping technique has limitation of its application to multi degree-of-freedom systems. In this paper, we propose a new switching shunt damping technique to reduce vibration of a specified mode of multi degree-of-freedom systems. Basic idea of the proposed method is to recover the loss of electrical charge of the piezoelectric element by charge supply from parallel connected capacitors. Effectiveness of the proposed method is examined numerically and experimentally.

Wave-based Analysis and Impedance Matching for Ladder Networks

K. Nagase, H. Ojima, Y. Hayakawa

計測自動制御学会論文集 ( The Society of Instrument and Control Engineers ) Vol. 41, N. 11 ( 11 ) pp.886-893 - 893 2005年11月 [査読有り]

This paper investigates wave-based analysis and impedance matching for the 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 conditions 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.

DOI

自由度が制限された2指ハンドによる転がり接触を用いた対象物の把握・操りと接触点の同時制御

中島明,長瀬賢二,早川義一

計測自動制御学会論文集 Vol. 41, No.6 pp.481-490 2005年06月 [査読有り]

測定ノイズを考慮した力覚センサによる接触点位置の推定

長瀬賢二,吉永光介,中島明,早川義一

日本ロボット学会誌 Vol. 23, No. 6 pp.725-731 2005年06月 [査読有り]

圧電素子を用いたスイッチングLRシャントダンピングにおける回路素子値最適化

高木賢太郎, 長瀬賢二, 大嶋和彦, 早川義一, 羅志偉, 市川浩幸

日本機械学会論文集. C編 ( 一般社団法人日本機械学会 ) 71 ( 704 ) 1193 - 1200 2005年04月 [査読有り]

Switching inductive shunt damping technique is one of the most useful methods for structural vibration control due to its simplicity and robustness. In this paper, a method to design the inductance and the resistance in the shunt circuit is discussed. Initial response and harmonic response are especially considered in the design method. The design method is validated by simulation. Furthermore, switching shunt damping applied for a multi degrees of freedom system is examined using an experimental plate.

転がり量の制限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

計測自動制御学会論文集 Vol. 40, No.11 pp.1088-1097 2004年11月 [査読有り]

独立成分解析を用いたモード形状の推定法と故障診断への応用

高木賢太郎, 長瀬賢二, 早川義一, 川崎督生

日本機械学会論文集. C編 ( 一般社団法人日本機械学会 ) 70 ( 698 ) 2847 - 2853 2004年10月 [査読有り]

This paper 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 the physical parameters of vibrating systems and the inputs' information. In the numerical example, fault diagnosis for a plate is presented as an application of the proposed method.

ソフトフィンガーを用いた対象物の把握・操りの制御

長瀬賢二,中島明,早川義一,傍島幸之助

計測自動制御学会論文集 Vol. 40, No.5 pp.518-527 2004年05月 [査読有り]

単一種類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

計測自動制御学会論文集 Vol. 40, No.4 pp.434-441 2004年04月 [査読有り]

On the Analysis of the Impedance Matching Controller for Uniformly Varying Damped Mass-Spring Systems

計測自動制御学会論文集 40 ( 3 ) 315 - 321 2004年03月 [査読有り]

2指ハンドによる転がり接触を用いた対象物の把握・操りと接触点の制御

中島明,長瀬賢二,早川義一

計測自動制御学会論文集 Vol. 40, No.1 pp.70-79 2004年01月 [査読有り]

圧電素子を用いたシャントダンピングのための実験的パラメータ同定法

高木賢太郎, 長瀬賢二, 大嶋和彦, 早川義一, 市川浩幸

日本機械学会論文集 C編 ( 一般社団法人日本機械学会 ) 70 ( 690 ) 445 - 452 2004年 [査読有り]

This paper considers a method to identify the parameters for the piezoelectric shunt damping. Employing the self-sensing actuator methodology, the proposed method uses the piezoelectric element for shunt damping as a sensor/actuator, and only a simple circuit is required for the experimental setup. From the frequency response obtained from the voltage signals of the circuit, the parameters are calculated simply by the linear least squares method. The experimental results demonstrate the efficiency of the proposed method.

DOI

分割ピエゾフィルムを用いた平板の振動モードフィルタリング

高木賢太郎, 長瀬賢二, 大嶋和彦, 早川義一

日本機械学会論文集 C編 ( 一般社団法人日本機械学会 ) 70 ( 695 ) 1951 - 1958 2004年 [査読有り]

This paper considers modal filtering of the vibration of a rectangular plate with an equally segmented piezoelectric film sensor. The simply supported and clamped boundary conditions are mainly concerned. Estimated modal coordinates are calculated from the sum of the weighted voltages of the segmented piezoelectric film. The weights determination is based on least-square method, and the effects of the spatial aliasing are also considered. Experimental results demonstrate the efficiency of this method.

DOI

圧電素子を用いたパッシブ制振におけるロバスト性能指標に基づくシャント回路素子値の最適化

高木賢太郎, 長瀬賢二, 大嶋和彦, 早川義一, 市川浩幸

日本機械学會論文集. C編 = Transactions of the Japan Society of Mechanical Engineers. C ( 一般社団法人日本機械学会 ) 69 ( 688 ) 3183 - 3190 2003年12月 [査読有り]

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.

Realization of Wave Control for Uniformly Varying Damped Mass-Spring Systems by Active Mass Dampers

K. Nagase, H. Ojima, Y. Hayakawa

計測自動制御学会論文集 39 ( 10 ) 904 - 913 2003年10月 [査読有り]

Wave-based Analysis and Wave Control of Damped Mass-Spring Systems---Characterization from the propagation constants---

H. Ojima, K. Nagase, Y. Hayakawa

計測自動制御学会論文集 38 ( 3 ) 239 - 246 2002年03月 [査読有り]

インピーダンスマッチングによる層構造物の制振制御

長瀬賢二,早川義一

日本機械学会論文集(C編) 67巻658号 pp. 1814-1819 2001年06月 [査読有り]

制振モードの変動を考慮したμ設計による主塔模型のアクティブ制振制御

長瀬賢二,早川義一

日本機械学会論文集(C編) 63巻593号 pp. 906-913 1997年03月 [査読有り]

二層振り子のアクティブ制振制御

長瀬賢二大庭弘早川義一水野浩

日本機械学会論文集(C編) 62巻593号 pp. 41-48 1996年01月 [査読有り]

H∞制御によるロボットマニピュレータの残留振動抑制制御

長瀬賢二,早川義一,藤井省三

日本機械学会論文集(C編) 61巻583号 pp. 1058-1063 1995年03月 [査読有り]

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