Misc - NAGASE Kenji

剛性と座屈を考慮したテンセグリティ構造体の最小質量設計

佐藤賢太郎,長瀬賢二

2014年度日本機械学会年次大会 ( 日本機械学会 )    J0110104   2014.09

Minimal mass design of tensegrity structures

Kenji Nagase, R. E. Skelton

Proceedings of SPIE - The International Society for Optical Engineering ( SPIE )  9061   doi: 10.1117/12.2044869 (14 pages)   2014  [Refereed]

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This paper provides a unified framework for minimal mass design of tensegrity systems. For any given configuration and any given set of external forces, we design force density (member force divided by length) and cross-section area to minimize the structural mass subject to an equilibrium condition and a maximum stress constraint. The answer is provided by a linear program. Stability is assured by a positive definite stiffness matrix. This condition is described by a linear matrix inequality. Numerical examples are shown to illustrate the proposed method. © 2014 SPIE.

DOI

把握多面体の相対運動に基づく多指ハンドロボットによる 物体のシームレスマニピュレーション（アーム・ハンドロボット系への拡張）

菊地範夫,長瀬賢二

第13回計測自動制御学会システムインテグレーション部門講演会 ( 計測自動制御学会 )    1826- 1830   2012.12

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

菊地範夫,長瀬賢二

第30回日本ロボット学会学術講演会 ( 日本ロボット学会 )    RSJ2012AC3O1-5   2012.09

書評:『動吸振器とその応用』(コロナ社) 背戸一登(著)

長瀬賢二

計測と制御,Vol. 50, No. 3     245   2011.03

Vibration control of flexible structures based on impedance matching index

Kenji Nagase, Yasuyuki Takeuchi

IFAC Proceedings Volumes (IFAC-PapersOnline) ( International Federation of Automatic Control )  18 ( 1 ) 11562 - 11567   2011  [Refereed]

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This paper is concerned with a new feedback control design methodology for vibration control of flexible structures by the wave control. In the wave control, controllers are usually designed to minimize the reflection coefficient based on the wave analysis. However, because the method utilizes the wave analysis directly, it has been mainly applied to simple uniform structures, and control design method with some other control objectives has not been established yet. In this paper, aiming to establish a control design method for more complex systems and more complex control design, we propose a method based on the impedance matching index, which represents the difference of the transfer functions between the closed system and the controller. The index is motivated by the wave analysis and control for the uniformly varying ladder networks, an electric circuit analogy of a class of mechanical systems. As a design example for vibration control of mechanical systems, optimal tuning of the passive damper and the dynamic absorber by the index is conducted in the numerical example. © 2011 IFAC.

DOI

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(画像特徴量を用いた場合)

梅澤 哲也,長瀬 賢二

第28回日本ロボット学会学術講演会講演論文集(CD-ROM) ( 日本ロボット学会 )    RSJ2010AC1O3-7   2010.09  [Refereed]

Study on One-legged Robot Jumping

Masafumi Miwa, Hiroyasu Sakane, Kenji Nagase, Yasuhiro Koshimoto, Shigeki Tuchitani

SERVICE ROBOTICS AND MECHATRONICS ( SPRINGER-VERLAG LONDON LTD )    119 - +   2010  [Refereed]

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In this study, simulations and experiments were done with experimental one-legged robot, and jump motion results with or without impedance matching design were compared. Jumping motion of the experimental robot was captured by high-speed video camera, and jumping height was measured from captured movie. As the results, jumping motion with impedance matching design was about one and a half times higher than that without impedance matching design in both experiments and simulations.

自由度が制限された多指ハンドロボットによる対象物運動と内力の選択と制御

藤田健次,長瀬賢二

第11回計測自動制御学会システムインテグレーション部門講演会講演論文集 ( 計測自動制御学会 )    pp. 1339-1342   2009.12

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)

竹内康之,長瀬賢二

第11回運動と振動の制御シンポジウム講演論文集 ( 日本機械学会 )    pp. 424-429   2009.09

指先と対象物の相対距離に基づく多指ハンドロボットの制御—ソフトコンタクトの場合—

林剛史,長瀬賢二

第27回日本ロボット学会学術講演会講演論文集 ( 日本ロボット学会 )    RSJ2009AC3A1-4   2009.09

Contact Point Sensing from Force Measurements Disturbed by Noise

H. Mukai and K. Nagase

European Control Conference 2009 ( European Union Control Association )    TuA14.6   2009.08  [Refereed]

指先位置と対象物の重心位置間の相対距離に着目した把握操りの制御

白井哲, 長瀬賢二

ロボティクス・メカトロニクス講演会'08 講演論文集(CD-ROM) ( 日本機械学会 )    1P1-A03   2008.06

力覚センサの力/モーメントのノイズの偏りを考慮した接触点位置推定法

向井浩氣、長瀬賢二

第8回 計測自動制御学会 システムインテグレーション部門 講演会論文集 ( 計測自動制御学会 )    9月10日   2007.12

指先-対象物間の相対距離に着目した把握操りの制御

白井哲、長瀬賢二

第50回自動制御連合講演会講演論文集 ( 日本機械学会等 )    623-626   2007.11

測定ノイズを考慮した力覚センサによる二次曲面上の接触点位置の推定

向井浩氣, 長瀬賢二

第24回日本ロボット学会学術講演会予稿集CD-ROM ( 日本ロボット学会 )    1C33   2006.09

2指ハンドロボットによる物体の把握と操り--転がり拘束を受ける剛体系の運動と接触点の同時制御--

中島明, 長瀬賢二, 早川義一

計測と制御,第45巻7号     pp.614-619   2006.07

圧電素子を用いたスイッチングLRシャントダンピング

高木賢太郎, 長瀬賢二, 大嶋和彦, 早川義一, 羅志偉, 市川浩幸

第48回自動制御連合講演会講演論文集 ( 日本機械学会等 )    pp.327-332   2005.01

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 ( IEEE )  2005   1445 - 1452   2005  [Refereed]

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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.

DOI

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 ( SPIE )  5648   97 - 108   2005  [Refereed]

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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.

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