Updated on 2024/07/13

写真a

 
HIRAMOTO Kazuhiko
 
Organization
Academic Assembly Institute of Science and Technology SEISAN DESIGN KOUGAKU KEIRETU Professor
Graduate School of Science and Technology Advanced Materials Science and Technology Advanced Mechanical Science and Engineering Professor
Faculty of Engineering Department of Engineering Professor
Title
Professor
External link

Degree

  • 博士(工学) ( 2000.4   秋田大学 )

Research Interests

  • 最適化手法のバイオメカニクスへの応用

  • 制御系設計理論とその機械システム・建築構造物の制御への応用

  • Theory of Control System Design and its Application for Mechanical Systems

Research Areas

  • Life Science / Rehabilitation science

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering

  • Informatics / Robotics and intelligent system

  • Informatics / Mechanics and mechatronics

Research History (researchmap)

  • Niigata University   Associate Professor

    2010.4 - 2015.3

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  • Visiting Professor, University of Houston

    2003.10 - 2004.7

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  • Akita University   Faculty of Engineering and Resource Science   Associate Professor

    2000.4 - 2010.3

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  • Akita University   Research Assistant

    1996.6 - 2000.3

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  • Akita University

    1996 - 2000

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  • Akita University

    1994.4 - 1996.5

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  • Department of Mechanical Engineering Mining

    1994 - 1996

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  • College, Akita University,

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  • Technical Official

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Research History

  • Niigata University   Faculty of Engineering Department of Engineering   Professor

    2017.4

  • Niigata University   Graduate School of Science and Technology Advanced Materials Science and Technology Advanced Mechanical Science and Engineering   Professor

    2015.4

  • Niigata University   Abolition organization Manufacturing System   Professor

    2015.4 - 2017.3

  • Niigata University   Abolition organization Manufacturing System   Associate Professor

    2010.4 - 2015.3

  • Niigata University   Graduate School of Science and Technology Advanced Materials Science and Technology   Associate Professor

    2010.4 - 2015.3

Education

  • Akita University   Graduate School, Division of Mining

    - 1994

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  • Akita University   鉱山学研究科   生産機械工学

    - 1994

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    Country: Japan

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Professional Memberships

 

Papers

  • Semi-active vibration control of structural systems with a neural network that trained preview optimal control for MLD model Reviewed

    Kaoru SATO, Kazuhiko HIRAMOTO

    Transactions of the JSME (in Japanese)   2021

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    Authorship:Last author   Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Mechanical Engineers  

    DOI: 10.1299/transjsme.21-00180

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  • Active vibration control of structural systems with a preview of a future seismic waveform generated by remote waveform observation data and an artificial intelligence–based waveform estimation system Reviewed

    Kazuhiko Hiramoto, Taichi Matsuoka

    Journal of Vibration and Control   26 ( 17-18 )   1602 - 1613   2020.9

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:SAGE Publications  

    We propose a new active vibration control strategy of structural systems based on the information of future seismic waveform observed in remote observation sites. The observed waveform information of the remote site is transmitted by a waveform transmission network to the structure under control. The waveform transmission network is realized by interconnecting multiple controlled structures and observation sites. By using the remote waveform containing the future information of the disturbance at the location of the controlled structure, we propose an active control method that achieves fairly higher control performance over conventional methodologies. A preview control consisting of the state-feedback and feedforward control (preview action) is adopted as the control law. For the preview action, a future seismic waveform in some time interval is needed. Because the future seismic waveform is not available, the preview action contributing the performance improvement is generally impossible. To get over this difficulty, an artificial intelligence–based waveform estimation system to estimate the future seismic waveform is proposed. The core of the wave estimation system is a multi-layered artificial neural network. Through a small-scale simulation study with a recorded seismic event in Japan, we show that the proposed control method achieves much higher control performance over the optimized [Formula: see text] state-feedback control law.

    DOI: 10.1177/1077546319901024

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    Other Link: http://journals.sagepub.com/doi/full-xml/10.1177/1077546319901024

  • Optimal design of piping systems using a vibration control device generating an inertial resistance force Reviewed

    Issei YAMAZAKI, Kazuhiko HIRAMOTO

    Transactions of the JSME (in Japanese)   86 ( 891 )   20 - 00059   2020

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    Authorship:Last author   Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Mechanical Engineers  

    DOI: 10.1299/transjsme.20-00059

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  • Adaptive Gain Scheduled Semiactive Vibration Control Using a Neural Network Reviewed

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    Shock and Vibration   2018 ( 3762784 )   2018

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Hindawi Limited  

    We propose an adaptive gain scheduled semiactive control method using an artificial neural network for structural systems subject to earthquake disturbance. In order to design a semiactive control system with high control performance against earthquakes with different time and/or frequency properties, multiple semiactive control laws with high performance for each of multiple earthquake disturbances are scheduled with an adaptive manner. Each semiactive control law to be scheduled is designed based on the output emulation approach that has been proposed by the authors. As the adaptive gain scheduling mechanism, we introduce an artificial neural network (ANN). Input signals of the ANN are the measured earthquake disturbance itself, for example, the acceleration, velocity, and displacement. The output of the ANN is the parameter for the scheduling of multiple semiactive control laws each of which has been optimized for a single disturbance. Parameters such as weight and bias in the ANN are optimized by the genetic algorithm (GA). The proposed design method is applied to semiactive control design of a base-isolated building with a semiactive damper. With simulation study, the proposed adaptive gain scheduling method realizes control performance exceeding single semiactive control optimizing the average of the control performance subject to various earthquake disturbances.

    DOI: 10.1155/2018/3762784

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  • Active/semi-active hybrid control for motion and vibration control of mechanical and structural systems Reviewed

    Kazuhiko Hiramoto, Karolos M. Grigoriadis

    JOURNAL OF VIBRATION AND CONTROL   22 ( 11 )   2704 - 2718   2016.6

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:SAGE PUBLICATIONS LTD  

    As a new control design framework for motion and vibration control of mechanical and structural systems, an active/semi-active hybrid control (ASHC) methodology is proposed in this paper. In the proposed ASHC framework, a mechanical system that has both an actuator for motion and vibration control, and a semi-active control device, e.g., MR damper, for vibration control is defined as a control configuration. Depending on the location of the actuator and the semi-active device, two ASHC problems are formulated as optimization problems of the control performance on the motion and vibration control. In the ASHC approach, the higher control performance is accomplished by the cooperative and complementary control of the actuator and the semi-active control device. Some solution candidates and design examples are presented to show the effectiveness and the importance of the ASHC framework.

    DOI: 10.1177/1077546314550700

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  • Semi-active vibration control of structural systems based on a reference active control law: output emulation approach Reviewed

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    STRUCTURAL CONTROL & HEALTH MONITORING   23 ( 3 )   423 - 445   2016.3

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:WILEY-BLACKWELL  

    A new semi-active control strategy that approximates a predicted control output of a reference active control is proposed. A variable parameter of a semi-active control device is selected at every time instant so that the predicted control output of the semi-active control system becomes close to the corresponding predicted control output of the reference active control as much as possible. Parameters of the reference active control law are optimized in the premise of the aforementioned output emulation' strategy so that the control performance of the semi-active control becomes good and the error' in the sense of achieved control performance between the reference active control and semi-active control systems becomes small. A pole placement method based on a linear matrix inequality (LMI) framework is adopted as the reference active control law. Parameters to determine the domain in the complex plane where the closed-loop poles are placed are searched so that control performance of the semi-active control system based on the output emulation approach is optimized. Copyright (c) 2015 John Wiley & Sons, Ltd.

    DOI: 10.1002/stc.1770

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  • Seismic response control using electromagnetic inertial mass dampers Reviewed

    Yutaka Nakamura, Akira Fukukita, Kazuo Tamura, Issei Yamazaki, Taichi Matsuoka, Kazuhiko Hiramoto, Katsuaki Sunakoda

    EARTHQUAKE ENGINEERING & STRUCTURAL DYNAMICS   43 ( 4 )   507 - 527   2014.4

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:WILEY-BLACKWELL  

    This paper presents a new type of electromagnetic damper with rotating inertial mass that has been developed to control the vibrations of structures subjected to earthquakes. The electromagnetic inertial mass damper (EIMD) consists of a ball screw that converts axial oscillation of the rod end into rotational motion of the internal flywheel and an electric generator that is turned by the rotation of the inner rod. The EIMD is able to generate a large inertial force created by the rotating flywheel and a variable damping force developed by the electric generator. Device performance tests of reduced-scale and full-scale EIMDs were undertaken to verify the basic characteristics of the damper and the validity of the derived theoretical formulae. Shaking table tests of a three-story structure with EIMDs and earthquake response analyses of a building with EIMDs were conducted to demonstrate the seismic response control performance of the EIMD. The EIMD is able to reduce story drifts as well as accelerations and surpasses conventional types of dampers in reducing acceleration responses. Copyright (c) 2013 John Wiley & Sons, Ltd.

    DOI: 10.1002/eqe.2355

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  • Simultaneous optimal design of the structural model for the semi-active control design and the model-based semi-active control Reviewed

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    STRUCTURAL CONTROL & HEALTH MONITORING   21 ( 4 )   522 - 541   2014.4

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:WILEY-BLACKWELL  

    Various semi-active control methods have been proposed for vibration control of civil structures. In contrast to active vibration control systems, all semi-active control systems are essentially asymptotically stable because of the stability of general structural systems with structural damping and the energy dissipative nature of the semi-active control itself. In this study, by utilizing the aforementioned property on the stability of semi-active control systems, a structural model for the semi-active control design and a model-based semi-active control law are simultaneously designed so that the control performance of the resulting semi-active control system becomes good. The model for the control system design is assumed to be a linear parameter varying model with adjustable structural design parameters. The semi-active control law is based on the one step ahead prediction of the structural response of the designed model for the control system design. A genetic algorithm is adopted to obtain design parameters in the model for the control system design and the semi-active control law. Those design parameters are optimized so that the closed-loop system with the detailed dynamic model that accurately approximates the dynamic behavior of the real structural system and the semi-active control law obtained with the model for the control system design. The effectiveness of the present approach is shown with a simulation study. Copyright (c) 2013 John Wiley & Sons, Ltd.

    DOI: 10.1002/stc.1581

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  • Cooperative Control Method of Active and Semiactive Control: New Framework for Vibration Control Reviewed

    Kazuhiko Hiramoto

    MATHEMATICAL PROBLEMS IN ENGINEERING   2014 ( 518276 )   2014

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:HINDAWI PUBLISHING CORPORATION  

    A new control design framework for vibration control, the cooperative control of active and semiactive control, is proposed in the paper. In the cooperative control, a structural system having both of an actuator and a semiactive control device, for example, MR damper and so forth, is defined as the control object. In the proposed control approach, the higher control performance is aimed by the cooperative control between the active control with the actuator and the semiactive control with the semiactive control device. A design method to determine the active control input and the command signal to drive the semiactive control device based on the one-step prediction of the control output is proposed. A simulation example of a control system design for a benchmark building is presented to show the effectiveness of the proposed control framework.

    DOI: 10.1155/2014/518276

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  • Control system design of mechanical systems with time varying mechanical and control parameters Reviewed

    Kazuhiko Hiramoto

    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING   8 ( 3 )   2014

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:JAPAN SOC MECHANICAL ENGINEERS  

    A new control framework of motion and/or vibration control system design for mechanical systems with a time varying mechanical and control parameters is studied. As examples of such time varying mechanical and control parameters, we can assume a variable damping or stiffness parameter of semi-active control devices and a time varying weighting function in a generalized plant respectively. The mechanical system in the present study is assumed to have also an actuator for active motion and/or vibration control. The active control law to drive the actuator is obtained by a gain-scheduling controller based on linear matrix inequalities (LMIs) so that the closed-loop system is stable for all assumed values of the time varying mechanical and control parameters in the generalized plant. We use the adjustability of the time varying mechanical and control parameters in the closed-loop system to realize given control specifications. As the control law of the time varying parameters in the closed-loop system, a multi-layered feedforward artificial neural network (ANN) is designed as a dynamic map from available signals in the control system to time varying mechanical and control parameters. Design parameters of the ANN are optimized with a genetic algorithm (GA). With a design example of an active positioning and vibration control of a mechanical system with variable damping coefficient, the proposed design approach is shown to be capable of achieving highly sophisticated control specifications that are hard to be satisfied by conventional control methods.

    DOI: 10.1299/jamdsm.2014jamdsm0028

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  • Semi-Active vibration control for approximating the targeted active control output

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    Proceedings of the SICE Annual Conference   929 - 934   2013

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Society of Instrument and Control Engineers (SICE)  

    As a method for semi-Active control of structural systems, the active-control-based method that emulates the control force of a targeted active control law by semi-Active control devices has been studied. In the active-control-based method, the semi-Active control devices are not necessarily able to generate the targeted active control force because of the dissipative nature of those devices. In this study, a new semi-Active control strategy that approximates the control output of the targeted active control is proposed. The variable parameter of the semi-Active control device is selected at every time instant so that the predicted control output of the semi-Active control system becomes close to the corresponding predicted control output of the targeted active control as much as possible. Parameters of the targeted active control law are optimized in the premise of the above "output emulation" strategy so that the control performance o f the semi-Active control becomes good and the "error" of the achieved control performance between the targeted active control and the semi-Active control becomes small.

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  • Simultaneous Optimal Design of the Lyapunov-Based Semi-Active Control and the Semi-Active Vibration Control Device: Inverse Lyapunov Approach Reviewed

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    JOURNAL OF PRESSURE VESSEL TECHNOLOGY-TRANSACTIONS OF THE ASME   134 ( 6 )   2012.12

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:ASME  

    We address a simultaneous optimal design problem of a semi-active (SA) control law and design parameters in a semi-active control device for civil structures. The vibration control device (VCD) that is being developed by authors is used as the semi-active control device. The VCD is composed of a ball screw with a flywheel for the inertial resistance force and an electric motor with an electric circuit for the damping resistance force. A new bang-bang type semi-active control law referred to as inverse Lyapunov approach is proposed. In the inverse Lyapunov approach, the Lyapunov matrix in the bang-bang type semi-active control based on the Lyapunov function is searched so that the control performance of the semi-active control system is optimized. Design parameters to determine the Lyapunov function and those of the VCD are optimized with the genetic algorithm (GA). The effectiveness of the proposed approach is presented with simulation studies. [DOI: 10.1115/1.4007033]

    DOI: 10.1115/1.4007033

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  • Iterative System Identification and Controller Design with an LMI-Based Framework: Windsurfer-Like Approach Reviewed

    Kazuhiko Hiramoto

    JOURNAL OF APPLIED MATHEMATICS   2012 ( 328186 )   2012

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:HINDAWI PUBLISHING CORPORATION  

    An LMI-based method for the integrated system identification and controller design is proposed in the paper. We use the fact that a class of a system identification problem results in an LMI optimization problem. By combining LMIs for the system identification and those to obtain a discrete time controller we propose a framework to integrate two steps for the model-based control system design, that is, the system identification and the controller synthesis. The framework enables us to obtain a good model for control and a model-based feedback controller simultaneously in the sense of the closed-loop performance. An iterative design algorithm similar to so-called Windsurfer Approach is presented.

    DOI: 10.1155/2012/328186

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  • Inverse Lyapunov Approach for semi-active control of civil structures Reviewed

    K. Hiramoto, T. Matsuoka, K. Sunakoda

    STRUCTURAL CONTROL & HEALTH MONITORING   18 ( 4 )   382 - 403   2011.6

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:WILEY-BLACKWELL  

    In the present paper an Inverse Lyapunov method in a bang-bang type semi-active control for civil structures is proposed. The vibration control device (VCD) that has been developed by authors is employed for the semi-active control. The VCD is installed between two neighboring stories of structures like general dampers and generates two types of resistance forces, i.e. an inertial force proportional to the relative acceleration and a damping force proportional to the relative velocity of the two floors. The damping coefficient of the VCD can be changed by a command signal to an electric circuit connected to the VCD. In conventional Lyapunov-based semi-active control the Lyapunov function is firstly determined, mostly it is defined as the sum of the kinetic and potential energies at every instant, and the bang-bang type control is derived so that the dissipation rate of the defined Lyapunov function (the total energy) is maximized. In this paper, conversely, we assume the simple bang-bang type control firstly and then the Lyapunov function is searched so that the high performance on vibration suppression of civil structures, e. g. small relative displacement between adjacent two floors and absolute acceleration of each storey, etc., is achieved. Genetic Algorithm is adopted for the search of the Lyapunov function. Structural responses subject to recorded and artificial earthquake waves are used in the searching process. We show the effectiveness of the proposed Inverse Lyapunov Approach with a simulation example for a 15-storey building with three VCDs. Copyright (C) 2010 John Wiley & Sons, Ltd.

    DOI: 10.1002/stc.375

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  • Integrated Design of Structural and Semi-active Control Systems: Inverse Lyapunov Approach Reviewed

    K. Hiramoto, T. Matsuoka, A. Fukukita, K. Sunakoda

    JSDD   5 ( 5 )   665 - 680   2011

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    Language:English   Publisher:The Japan Society of Mechanical Engineers  

    An integrated design method of structural and semi-active control systems for civil structures is presented. The Vibration Control Device (VCD) that has been developed by authors is used as the semi-active control device. A new semi-active control method, which is referred to as the <I>inverse Lyapunov approach</I>, is proposed. In the inverse Lyapunov approach we firstly assume a bang-bang type semi-active control law based on an unknown Lyapunov function. The Lyapunov matrix that defines the Lyapunov function is optimized so that quantitative performance measures on vibration suppression of civil structures are optimized. The control design problem of the semi-active control law in the inverse Lyapunov approach results in an optimization problem of the Lyapunov matrix to construct the Lyapunov function. In the present study, in addition to the design parameters to determine the Lyapunov matrix, structural design parameters, the stiffness between neighboring two floors of the structural system itself and the parameters of the VCD, are optimized simultaneously so that the structural responses subject to recorded and/or artificial earthquake waves are optimized in the sense of the specifications on vibration suppression of civil structures. We adopt the Genetic Algorithm (GA) to get the optimal Lyapunov matrix and the structural design parameters.

    DOI: 10.1299/jsdd.5.665

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  • Integrated design of structural and semi-active control systems for civil structures

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda, Akira Fukukita, Issei Yamazaki

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   76 ( 765 )   1193 - 1200   2010

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Mechanical Engineers  

    In this paper we address an integrated design problem of semi-active controlled civil structures with Vibration Control Device (VCD) that has been developed by authors. A new semi-active control law based on a one-step-ahead prediction of the seismic response is proposed. The VCD generates two types of resistance forces, i. e., a damping force proportional to the relative velocity and an inertial force proportional to the relative acceleration between two stories. The damping coefficient of the VCD can be changed with a command signal to an electric circuit connected to the VCD. In the present paper the command signal for changing the damping coefficient of each VCD is assumed to take two values, i.e., the command to take the maximum or minimum damping coefficient. The optimal command signal is selected from all candidates of command signals so that a norm of the one-step-ahead predicted seismic response, calculated by a numerical integration, is minimized. Under the semi-active control law the stiffness distribution between neighboring two stories of the structure, design parameters of the VCDs and those in the semi-active control are optimized so that the seismic responses subject to various recorded and artificial earthquake waves are optimized. Genetic Algorithm (GA) is adopted for the optimal design. A simulation example of a fifteen-story building with three VCDs is presented. With the proposed integrated design method structural parameters and the semi-active control law that achieve the good control performance have been obtained.

    DOI: 10.1299/kikaic.76.1193

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  • Integrated design of large-scale collocated structural system and control parameters using a norm upper bound approach Reviewed

    Mona Meisami-Azad, Javad Mohammadpour Velni, Kazuhiko Hiramoto, Grigoriadis M. Karolos

    Efficient Modeling and Control of Large-Scale Systems   305 - 328   2010

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    Language:English   Publishing type:Part of collection (book)   Publisher:Springer US  

    The traditional design optimization of system parameters and a feedback controller usually follows a sequential strategy, where the open-loop system parameters are optimized first, followed by the controller design. However, this design strategy will not lead to an optimal closed-loop performance due to the coupled nature of the plant and controller optimization problems. Specifically, this two-step design methodology does not utilize the full design freedom to achieve an optimal overall system. It has been shown that the overall system performance can be significantly improved if the design process of the plant and the control system is integrated [17,18,28-30]. The integrated design strategy corresponds to a simultaneous optimization of the design parameters of both the plant and the controller to satisfy desired set of design specifications and to optimize the closed-loop system performance. Past research work has demonstrated the improved performance achieved using the integrated design strategy compared to the sequential method of design. © 2010 Springer Science+Business Media, LLC.

    DOI: 10.1007/978-1-4419-5757-3_12

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  • Bang-bang Type Semi-active Control of Civil Structures: A Prediction-based Approach

    HIRAMOTO Kazuhiko, MATSUOKA Taichi, SUNAKODA Katsuaki, FUKUKITA Akira, YAMAZAKI Issei

    JSDD   4 ( 1 )   103 - 114   2010

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    Language:English   Publisher:The Japan Society of Mechanical Engineers  

    We propose a semi-active control of civil structures based on a one-step-ahead prediction of the seismic response. The vibration control device (VCD), which has been developed by authors, generates two types of resistance forces, i.e., a damping force proportional to the relative velocity and an inertial force proportional to the relative acceleration between two stories. The damping coefficient of the VCD can be changed with a command signal to an electric circuit connected to the VCD. In the present paper the command signal for changing the damping coefficient of each VCD is assumed to take two values, i.e., the command to take the maximum or minimum damping coefficient. The optimal command signal is selected from all candidates of command signals so that the Euclidean norm of the one-step-ahead predicted seismic response, calculated by a numerical integration, is minimized. As an example a semi-active control of a fifteen-story building with three VCDs is considered. The simulation results show that the proposed semi-active control achieves superior performance on vibration suppression compared with a passive control case where the damping coefficient of each VCD is fixed at its maximum value.

    DOI: 10.1299/jsdd.4.103

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  • Upper bound H-infinity and H-2 control for collocated structural systems

    K. Hiramoto, K. Grigoriadis

    STRUCTURAL CONTROL & HEALTH MONITORING   16 ( 4 )   425 - 440   2009.6

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:WILEY-BLACKWELL  

    A static-rate-feedback control for collocated structural systems is considered in this paper. The feedback gain matrix is obtained by solving linear matrix inequalities (LMIs) to minimize an upper bound of the closed-loop H-infinity or H-2 norm. The LMI conditions are obtained by assuming the form of Lyapunov matrices in the standard LMI conditions for evaluating the H-infinity or H-2 norm. We demonstrate that the obtained upper bounds of the H-infinity and H-2 norms closely match their actual values, respectively, when a relatively large amount of energy is allowed for the control. A decentralized rate feedback controller that globally minimizes the upper bound of the closed-loop H-infinity or H-2 norm can also be obtained with the proposed framework. Furthermore, if the coefficient matrices of the system&apos;s equations of motion are linear functions of structural design parameters, the obtained result for the controller synthesis can be easily extended to an integrated design problem of structural and control systems, a simultaneous optimal design of the structural design parameters and the feedback controller, while retaining the LMI structure with respect to the feedback gain matrix and structural design parameters. This fact means that the global optimal solution to the integrated design problem, which is generally hard to solve in a global sense, can be obtained if we take the upper bound of the closed-loop norm as the objective function. Copyright (c) 2008 John Wiley & Sons, Ltd.

    DOI: 10.1002/stc.261

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  • ナノモーションアクチュエータに対するPID制御器の設計

    長縄明大, 平元和彦, 古谷将人, 渋谷 嗣, 森 英季

    日本機械学会論文集C編   74 ( 741 )   1303   2009

  • BIOMECHANICAL ANALYSYS OF LOWER EXTREMITIES DURING CONVENTIONAL AND FUNCTIONAL ELECTRICAL STIMULATION (FES) ROWING IN NON-DISABLED INDIVIDUALS

    Akita journal of medicine   36 ( 3 )   203 - 213   2009

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    Language:English   Publisher:Akita University  

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    Other Link: http://hdl.handle.net/10295/1712

  • Electromagnetic Vibration Control Device Applicable to Twin Mode of Semiactive and Passive Types(Mechanical Systems)

    SUNAKODA Katsuaki, MATSUOKA Taichi, HIRAMOTO Kazuhiko, FUKUKITA Akira

    Transactions of the Japan Society of Mechanical Engineers Series C   75 ( 758 )   2659 - 2664   2009

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    The authors have developed a vibration control device (VCD) using an electromagnetic damping. The device has an inertial force generated by a flywheel, and a damping force derived from an energy dissipation of a power generator. The small scale experimental model was manufactured, and the vibration tests were carried out. In this paper, for the purpose of applying the device to a large structure, new two VCDs of 30kN load range are developed, and shipped to NCREE in Taiwan. In order to investigate the dynamic properties of the VCD, performance tests are carried out, and the resisting force characteristics are measured. And vibration tests of 3-story structure with the VCDs are carried out by using a shaking table. The 3-story structure has 9m height, 3m width, and 18 tons weight. Seismic responses at each story are measured in cases of passive or semiactive type. The VCDs are controlled by Bang-Bang control which is based on minimizing the time derivative of the Lyapunov function. The effects of vibration suppression using the VCD are confirmed experimentally.

    DOI: 10.1299/kikaic.75.2659

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  • S0202-1-1 The analysis of a body load in case of rowing exercise

    IWAMI Takehiro, HIRAMOTO Kazuhiko, MIYAWAKI Kazuto, SHIMADA Yoichi, OBINATA Goro

    The proceedings of the JSME annual meeting   2009   37 - 38   2009

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    This development of machines and equipment to make elderly people healthy in their daily lives is becoming increasing important these days. Especially, resistance training equipment is effective for prevention of muscle atrophy in not only healthy adult people, but also the elderly people, and even disabled individuals. Functional Electrical Stimulation (FES) is the artificial stimulation of muscle which have lost nervous control, with the aim of providing muscular contraction and producing a functional useful movement for exercise, standing, and walking. Some authors demonstrated that FES-rowing for persons with spinal cord injury was safe and it also decreased the risk factors for cardiovascular disease. Based on a new concept to effectively restrengthen disused muscles and to enable whole body exercise in seniors or paraplegics, we developed a hybrid power rehabilitation equipment including FES technology. The purpose of this study was to analyze the body load in case of rowing exercise.

    DOI: 10.1299/jsmemecjo.2009.5.0_37

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  • アクティブゲインスケジューリング-LPV システムとゲインスケジューリング制御の協調-

    平元和彦, 川村光貴, 三浦憲幸

    日本機械学会論文集C編   74 ( 741 )   2008

  • 消散システム理論に基づく二値切替型セミアクティブ制御系の設計

    平元和彦, 松岡太一, 砂子田勝昭

    日本建築学会構造系論文集   ( 621 )   33   2007

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  • LMIによるロボットマニピュレータの動力学パラメータの大域的最適設計

    小笠原伸二, 平元和彦, 土岐 仁

    機械学会論文集C編   73 ( 734 )   2742   2007

  • Integrated Design of Structural and Control Systems Based on a Polynomial Matrix Approach: A Unified Framework for Structural and/or Control Design

    HIRAMOTO Kazuhiko, INAYOSHI Hironori

    JSDD   1 ( 3 )   605 - 616   2007

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    A unified methodology of structural and/or control design for mechanical systems based on a polynomial matrix approach is proposed. A closed-loop <i>D</i>-stability specification is considered in this paper. By employing the polynomial matrix approach structural design parameters of mechanical systems, e.g., the mass, the damping and the stiffness and a feedback controller that is allowed to have a specified structure can be obtained simultaneously by solving LMIs. A simple iterative algorithm to obtain a <i>better D</i>-stable closed-loop system and a <i>better</i> central polynomial matrix is proposed. Design examples are provided to show the effectiveness of the present idea.

    DOI: 10.1299/jsdd.1.605

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  • Study on Vibration Control Device Using Power Generator

    MATSUOKA Taichi, SUNAKODA Katsuaki, HIRAMOTO Kazuhiko, OHTAKE Takafumi

    Transactions of the Japan Society of Mechanical Engineers C   73 ( 735 )   2926 - 2931   2007

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    In this paper, the authors developed a vibration control device (V.C.D.) using a power generator and a flywheel which is suitable for vibration suppression of a structure. The V.C.D. consists of a ball screw, a ball nut, a flywheel, a gear, and a power generator. The linear motion is converted into a rotating motion by the ball screw mechanism. The damping force is generated by the power generator, and controlled by an electric resistance at the terminal of the power generator. The inertial force is created by the flywheel which is attached to the end of the screw shaft. Since these forces are magnified by the ball screw and the gear, the V.C.D. has resisting force characteristics as the sum of the controllable damping force and the inertial force in the low frequency range. In order to investigate dynamic properties, a test V.C.D. is manufactured, and the resisting force characteristics are measured by using a vibration actuator. The experiments of frequency response are carried out using a shaking table, and the experimental results are compared with the theoretical results. The seismic responses are calculated under a semiactive control based on Linear Quadratic Regulator, and the effects of the vibration suppression of the V.C.D. are discussed experimentally and numerically.

    DOI: 10.1299/kikaic.73.2926

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    Other Link: http://hdl.handle.net/10295/1470

  • Integrated design of structural and control systems with a homotopy like iterative method

    K. Hiramoto, K. M. Grigoriadis

    INTERNATIONAL JOURNAL OF CONTROL   79 ( 9 )   1062 - 1073   2006.9

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    We consider an integrated design problem of structural and control systems. It is well known that even the simplest formulation of this problem results in a kind of a BMI problem. In this paper, homotopy-like iterative design method based on LMIs is proposed to obtain an optimal plant and a controller simultaneously for a full-order output feedback problem. We can deal with a multiobjective problem, e. g., H-2/H-infinity control problem etc. in the proposed design method. We can also optimize structural design parameters appearing non-linearly in the coefficient matrices of the plant state space form using the first order approximation of the non-linear dependence in the proposed algorithm. Several design examples show that the proposed algorithm works quite effectively for various integrated design problems.

    DOI: 10.1080/00207170600750105

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  • An LMI Based Mechanical Design and a Simultaneous Optimization of Structural and Gain-Scheduling Control System for Robot Manipulators

    OGASAWARA Shinji, HIRAMOTO Kazuhiko, DOKI Hitoshi

    Transactions of the Society of Instrument and Control Engineers   42 ( 11 )   1217 - 1223   2006

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    In this paper we deal with a simultaneous optimal design problem of mechanical/dynamical parameters and a control system for robot manipulators. The mechanical parameters are evaluated from an index of manipulability based on Jacobian matrix of the robot manipulators. We propose an LMI based optimization method for the mechanism of the manipulator whose Jacobian matrix is an affine function on the length of each link. Dynamical parameters are evaluated by a closed-loop performance controlled by an LMI based gain-scheduled controller. We propose a new simultaneous optimal design method of mechanical/dynamical parameters and gain-scheduled controller using a numerical design algorithm that consists of an iterative LMI approximation of nonlinear matrix inequalities.

    DOI: 10.9746/sicetr1965.42.1216

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  • 構造系とゲインスケジュールドコントローラの統合化設計

    平元和彦, 中道健太

    日本機械学会論文集C編   72 ( 718 )   1785 - 1792   2006

  • Simultaneous optimal design of structural and control systems for cantilevered pipes conveying fluid

    K Hiramoto, H Doki

    JOURNAL OF SOUND AND VIBRATION   274 ( 3-5 )   685 - 699   2004.7

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    We consider a shape optimization problem for a cantilevered pipe conveying fluid. The outer diameter distribution of the pipe and the location of the sensor and the actuator are optimized such that the critical flow velocity of the closed-loop system is maximized. The outer diameter distribution is optimized such that the total volume of the pipe is unchanged with the initial diameter distribution. The critical flow velocity of the closed-loop system is defined as the flow velocity which cannot be stabilized by active control law with a predetermined energy quantity. By this definition, it is physically reasonable comparing the quality of several design candidates since all candidates are actively controlled with the same energy consumption. We propose a method for obtaining the critical flow velocity with consideration of the amount of computation for the optimal design. This optimal design problem results in a maximization problem with equality and inequality constraints. We adopt simulated annealing method which is known as one of discrete optimization techniques for obtaining the optimal design. (C) 2003 Elsevier Ltd. All rights reserved.

    DOI: 10.1016/S0022-460X(03)00745-4

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  • Development of new ski-system for legs-disabled persons

    H. Doki, K. Hiramoto, M. Tanaka

    The Engineering of Sports 4, Edited by S.Ujihashi and S.J.Haake,Blackwell Publishing   609 - 615   2002

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  • A Simultaneous Optimal Design for Cantilevered Pipes Conveying Fluid : Experimental Verification for a Combined Pipe Conveying Fluid

    DOKI Hitoshi, HIRAMOTO Kazuhiko, SAITO Isamu, MIYAZAKI Tomomichi

    Transactions of the Japan Society of Mechanical Engineers. Series C.   68 ( 667 )   817 - 824   2002

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    We deal with a simultaneous optimal design of structural and control system of cantilevered pipes conveying fluid. We consider a combined pipe conveying fluid which is consisted of a beam (with variable shape) sandwiched by two pipes conveying fluid. The mathematical model of the combined pipe system is derived as a single pipe conveying fluid whose structural properties are variable. The width distribution of the beam and the location of the sensor and the actuator are structural design parameters. We employ the LQG control law with the input energy constraint as the active control method. The structural design parameters and the LQG controller are simultaneously adjusted so that the critical flow velocity of the controlled system ( closed-loop critical flow velocity) is maximized with an iterative numerical optimization technique. The simulation result shows the necessity of the simultaneous optimal design approach in designing the active control system of the cantilevered pipe conveying fluid. The experimental study is also conducted. The experimental result fairly agrees with the simulation result and emphasizes the proposed design methodology.

    DOI: 10.1299/kikaic.68.817

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  • Simultaneous Optimization of Structure and Control Systems Based on Analytical Approach : The Case of DVDFB Control Method

    SON Hoesoo, OBINATA Goro, DOKI Hitoshi, HIRAMOTO Kazuhiko

    Transactions of the Japan Society of Mechanical Engineers. Series C.   68 ( 670 )   1728 - 1734   2002

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    This paper considers a simultaneous optimization problem of structure and control systems. We parameterize all passive parameters of the mechanical structure such that the parameters work in the control system like static output feedback gains. Using this parameterization, we define a performance index, which consists of the quadratic term of LQ regulator and the quadratic term of dynamical forces of the structure. When DVDFB (Direct Velocity and Displacement Feedback) control law is applied to the class of a certain plant, it is shown analytically in this paper that the performance index can be expressed as a positive function of the structure parameters, which can be adjusted. This result comes from that DVDFB control law is one solution of the LQ regulator with a certain weighting function. A numerical example is given to illustrate how to use the result for practical design optimizing. In the simultaneous optimization problem for which an analytical solution can hardly obtained except for some cases, this paper shows clearly the relations between the performance index and the structure parameters under the class of the limited plant and control law. In this paper, it is shown that we can analytically obtain the structure parameters, which gives a global solution of the performance index under the defined simultaneous optimization problem.

    DOI: 10.1299/kikaic.68.1728

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  • Simultaneous optimal design of structure and control systems based on Youla parameterization Reviewed

    K Hiramoto, H Doki, C Obinata

    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING   43 ( 2 )   326 - 334   2000.6

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    This paper deals with simultaneous optimal design of structure and control systems. For structures with collocated sensors and actuators, a stabilizing state-feedback gain and an estimator gain can be obtained easily. Using these two gain matrices, we can parameterize all stabilizing controllers for the structure by Youla parameterization scheme. Since stability of the closed-loop system is guaranteed, we can optimize design parameters in the structure and the controller simultaneously without taking two-step design procedures which consist of the step for controller synthesis and that for structural parameter tuning. Hence, convergence to the local optima is achieved with standard descent-based nonlinear optimization techniques (steepest descent, Newton method, etc.). By a design example, we show the effectiveness of proposed design method.

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  • OPTIMAL SENSOR/ACTUATOR PLACEMENT FOR ACTIVE VIBRATION CONTROL USING EXPLICIT SOLUTION OF ALGEBRAIC RICCATI EQUATION Reviewed International journal

    K. HIRAMOTO, H. DOKI, G. OBINATA

    Journal of Sound and Vibration   229 ( 5 )   1057 - 1075   2000.2

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1006/jsvi.1999.2530

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  • 両下肢障害者用スキーの動作解析(スキーロボットによるターンの解析)

    日本スキー学会誌   10 ( 1 )   119   2000

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  • 離散的設計変数を考慮した構造系と制御系の同時最適設計(共著)

    平元 和彦, 土岐 仁, 大日方 五郎

    日本機械学会論文集(C編)   66 ( 643 )   793 - 800   2000

  • A Simultaneous Optimization of Structural and Control Systems for Cantilevered Pipes Conveying Fluid

    HIRAMOTO Kazuhiko, DOKI Hitoshi

    Transactions of the Japan Society of Mechanical Engineers. Series C.   66 ( 641 )   45 - 52   2000

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    We consider a shape optimization problem for a cantilevered pipe conveying fluid. The pipe is controlled actively by LQG controller which is synthesized for a mathematical model of the pipe system in a specified flow velocity. The outer diameter distribution of the pipe and the location of the sensor and the actuator are optimized such that the critical flow velocity of the closed-loop system is maximized. The outer diameter distribution is optimized such that the total volume of the pipe is nuchanged with the initial diameter distribution. This optimal design problem results in a maximization problem with an equality constraint. Since the critical flow velocity of the closed-loop system may not be continuous for each design parameter, we can not utilize a gradient information of the objective function. In this paper, we use SA(simulated annealing)method which is known as one of discrete optimization techniques.

    DOI: 10.1299/kikaic.66.45

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  • 回旋機構によるスレッジ型両下肢障害者用スキーの開発(第1報 実機2号機の性能試験)

    日本スキー学会誌   10 ( 1 )   151   2000

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  • Development of New Ski-system for Legs-disabled Persons : Comparison of Skiing Turns between Able Bodied and Disabled Persons

    DOKI Hitoshi, HIRAMOTO Kazuhiko, TANAKA Masanori, TERAO Makoto, ONUKI Youichi

    The Proceedings of Joint Symposium: Symposium on Sports Engineering, Symposium on Human Dynamics   2000   150 - 154   2000

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    This report deals with an attempt of the development of the new ski-system for legs-disabled persons. This ski-system is a sledge type which has two ski plates and the rotation mechanism operated by hands. Therefore, this is safe and useful for beginners and serious disabled persons. The rotation mechanism is introduced such that the beginners can easily turn by parallel christiania and stop by snowplow. We examine the abilities of this ski-system in a skiing slope and compare the skiing turns between able bodied and disabled persons by means of three-dimensional motion analysis. It is found that the carving turn and the stable snowplow can be realized by this ski-system.

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  • 両下肢障害者用スキーの開発(実機による滑走試験)(共著)

    日本スキー学会誌   9 ( 1 )   1999

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  • Simultaneous Optimal Design of Structure and Control Systems Based on Youla Parameterization

    HIRAMOTO Kazuhiko, DOKI Hitoshi, OBINATA Goro

    Transactions of the Japan Society of Mechanical Engineers. Series C.   65 ( 630 )   515 - 521   1999

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    This paper deals with simultaneous optimal design of structure and control systems. For structures with collocated sensors and actuators, a stabilizing state-feedback gain and an estimator gain can be derived easily. Using these two gain matrices, we can parameterize all stabilizing controllers for the structure by Youla parameterization scheme. Since stability of the closed-loop system is completely guaranteed, we can optimize design parameters in the structure and the controller simultaneously without taking two-step procedures which consist of the step for controller synthesis and that for structural parameter tuning. Hence, convergence to the local optima is achieved using standard descent-based nonlinear optimization techniques (steepest descent, Newton method, etc. ). By a design example, we show the effectiveness of the proposed design method.

    DOI: 10.1299/kikaic.65.515

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  • Stabilizing Control of Cantilevered Pipes Conveying Fluid Using Gain Scheduling Technique

    DOKI Hitoshi, HIRAMOTO Kazuhiko, SAITO Nobuhiro, OBINATA Goro

    Transactions of the Japan Society of Mechanical Engineers. Series C.   65 ( 632 )   1448 - 1453   1999

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    This paper deals with a stabilization of cantilevered pipes conveying fluid. To suppress the unstable phenomena of the pipe system, we employ so called gain scheduling technique. This control design procedure consists of following two steps. First, several linear time invariant controllers are obtained for the pipe system with fixed flow velocity. Next, those controllers are scheduled according to the flow velocity, i.e. scheduling parameter. The control object which consists of the pipe system and the actuator is modeled mathematically by Galerkin method. The experimental setup consists of the pipe system, a laser sensor, an A/D converter, a personal computer, a D/A converter, a DC servomotor which is used as an actuator, and a flow meter. The flow meter measures the flow velocity which is used in the controller. Experimental results show that the gain scheduled controller has superior property to stabilize unstable phenomena of the pipe system.

    DOI: 10.1299/kikaic.65.1448

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  • Active control of cantilevered pipes conveying fluid with constraints on input energy

    H Doki, K Hiramoto, RE Skelton

    JOURNAL OF FLUIDS AND STRUCTURES   12 ( 5 )   615 - 628   1998.7

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:ACADEMIC PRESS LTD  

    This paper deals with the stabilization of flutter in cantilevered pipes conveying: fluid with constraints on input energy for control. The controller in this study is designed by using an algorithm which iteratively tunes the weighting matrix of the quadratic performance index in the LQG problem. This controller design method takes the performance of the actuator into consideration. The theoretical and experimental results show that the effectiveness of the controller in stabilizing flutter in cantilevered pipes conveying fluid varies according to the input variance constraints, i.e., the difference in the dynamic range of an actuator. Furthermore, the critical flow velocity at instability of the pipe can be estimated by the method stated in this paper, where the system loses its stability because of the restriction of control force produced by an actuator. (C) 1998 Academic Press.

    DOI: 10.1006/jfls.1997.0154

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  • 両下肢障害者用スキーの開発に関する基礎研究(共著)

    土岐 仁, 平元和彦, 西村信三

    日本スキー学会誌   8 ( 1 )   159   1998

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  • A Design Method of a Vibration Control System for Flexible Structures(Optimal Sensor/Actuator Placement Using Explicit Solution of Riccati Equation)

    DOKI Hitoshi, HIRAMOTO Kazuhiko, AKIMOTO Fumio

    Transactions of the Japan Society of Mechanical Engineers. Series C.   64 ( 621 )   1508 - 1513   1998

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    This paper deals with an optimal placement problem of sensors and actuators for active vibration control of flexible structures. For undamped flexible structures with collocated sensors and actuators, each solution of two generalized algebraic Riccati equations are obtained explicitly. Using these two solutions, it is shown that the stabilizing H_∞ suboptimal controller based on the normalized left coprime factorization approach can be synthesized directly for all candidates of the placement. The sensor/actuator placement problem which optimizes other closed-loop performance can be formulated easily by applying this H_∞ controller. As a design example, a placement problem which minimizes H_2 norm of the closed loop transfer matrix using this H_∞ controller is considered for a cantilevered beam. The experimental results show the effectiveness of the sensor/actuator placement method stated in this paper.

    DOI: 10.1299/kikaic.64.1508

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  • A Design Method of a Vibration Control System for Flexible Structures (Vibration Control with Control Energy Constraints)

    DOKI Hitoshi, HIRAMOTO Kazuhiko, KAIDO Jun, SKELTON Rober e.

    Transactions of the Japan Society of Mechanical Engineers. Series C.   64 ( 623 )   2536 - 2541   1998

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    This paper deals with a sensor/actuator placement problem in design of active vibration control system for flexible structures. This problem is formulated as a minimization problem of the total energy which is defined as a sum of a kinetic and strain energy in a colatrolled structure with a constraint of control effort. The inequality constraint on the variance of the closed loop control effort is adopted to represent the capacity of the actuator. Using a design algorithm which iteratively tunes the weighting matrix of the quadratic performance index in LQG problem, the controller which meets these specifications can be synthesized. The optimal location of the sensor/actuator is determined by calculating the total energy for each candidate of them under several energy constraints of the control effort. It is found that the optimal placement of the sensor/actuator depends on the input energy constraint. The simulation and a experiment for a cantilevered beam as a typical example of flexible structures are conducted. It is shown that these results of the optimization can be used as a guide to the design of active vibration control systems.

    DOI: 10.1299/kikaic.64.2536

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  • Parametrization of All Classes of Controllers for the Optimization of Structure and Control Systems

    HIRAMOTO Kazuhiko, DOKI Hitoshi, OBINATA Goro

    Transactions of the Japan Society of Mechanical Engineers. Series C.   63 ( 614 )   3454 - 3459   1997

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Recent advances in the field of control theory have enabled us to design active vibration control systems for various large-flexible structures. In many cases, the controller used to achieve vibration suppression has been synthesized for the given mathematical model of the structure. The control system designer has not been able to utilize the degree of freedom to adjust the structural parameters of the control object. To overcome this problem, some studies are now using on the so-called "Structure/Control Simultaneous Optimization" method, which involves a numerical optimization technique. In this paper, we parametrize all controllers to optimize the structure and control systems simultaneously and show that these controllers have a special form of a decentralized-type controller. In this framework, a criterion is given to judge whether the result of the optimization is valid from the viewpoint of the energy needed to achieve the desired closed-loop performance. Using this concept, a constrained optimization problem is formulated and solved numerically.

    DOI: 10.1299/kikaic.63.3454

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  • A Design Method of Simultaneous Stabilizing Controller Which Optimizes Closed-Loop Characteristics

    HIRAMOTO Kazuhiko, DOKI Hitoshi, OBINATA Goro

    Transactions of the Society of Instrument and Control Engineers   33 ( 9 )   875 - 881   1997

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    Publisher:The Society of Instrument and Control Engineers  

    In this paper, we consider the design problem of simultaneous stabilizing controller which takes into account various closed-loop performances, e.g. sensitivity or robust stability etc.. Using the parametrization of simultaneous stabilizing controller, this problem is formulated as a standard model-matching-type problem whose objective function is affine in the design parameter. Under this formulation, a simple sufficient condition to achieve simultaneous stabilization is derived as in the form of an inequality <i>H</i><sub>∞</sub> norm constraint on the design parameter. Moreover, we show that the presented design problem including above constraint can be cast as convex optimization problem. By a design example, the effectiveness of the proposed method is presented.

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  • Active Control of Cantilevered Pipes Conveying Fluid (Stabilization with Constraint on Input Energy)

    DOKI Hitoshi, HIRAMOTO Kazuhiko, AKUTSU Hiroyuki

    Transactions of the Japan Society of Mechanical Engineers. Series C.   62 ( 604 )   4507 - 4512   1996

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    We presents an active control of cantilevered pipes conveying fluid with constraint on input energy. The controller used in this study is designed with constraints on input energy variances. LQG control law is used to obtain the feedback controller. This controller design method takes the performance of the actuator into consideration. The control object which consists of a pipe system and an actuator is modeled mathematically by the Galerkin method. The experimental setup consists of the pipe system, a laser sensor, an A/D converter, a personal computer, a D/A converter, and a DC servomotor which produces a transverse force for active control of the pipe. The experimental results show that the effectiveness of the controller in stabilizing unstable phenomena of cantilevered pipes conveying fluid varies according to the conditions of input variance constraints.

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  • H<sup>∞</sup>制御による片持送水管の安定化(共著)

    日本機械学会論文集(C編)   62 ( 601 )   3394   1996

  • Simultaneous Optimization for Passive and Active Systems in Consideration of a Performance of an Open Loop System

    HIRAMOTO Kazuhiko, DOKI Hitoshi, OBINATA Goro

    Transactions of the Japan Society of Mechanical Engineers. Series C.   61 ( 584 )   1450 - 1455   1995

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    There have been many reports on the design of active vibration control systems. Most of them have optimized control systems based on the LQ optimal regulator or H_∞ control theory. However, there are no answers to the problem whether given passive parameters of plants (e. g. , spring constant on damping coefficient) are 'suitable' for the designed controller. In this paper, we consider structure and control simultaneous optimization for an active vibration control system. To provide solutions, several methods have been proposed which are based on tuning the design paramethers existing in the structure and controller. Most of the control laws are those of standard LQ optimal requlators which require full states measurements and estimate performance of a closed-loop control systems in the time domain. From the viewpoint of active vibration control, it is natural to discuss the performance of the control system in the frequency domain. Therefore, we adopt the frequency shaped LQG control law in simultaneous optimization design, which enables output feedback control and frequency shaping.

    DOI: 10.1299/kikaic.61.1450

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  • Simultaneous Optimization for Structural and Control Subsystems (The Case of the Regulator Problem)

    OBINATA Goro, SATO Tomoko, HIRAMOTO Kazuhiko, MURAGISHI Yasushi, KURITA Yutaka

    Transactions of the Japan Society of Mechanical Engineers. Series C.   61 ( 591 )   4264 - 4269   1995

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    Recently, LQ optimal regulators have been successfully applied to design of active vibration control systems. Most of them have been discussed in terms of the closed-loop performance and the relationship to the performance indices. However, optimization through the entire design procedure has not been completed on passive elements. So, for optimizing all design parameters, we propose a numerical method which is based on the necessary condition for controller parameters and the performance sensitivities to passive parameter changes. The method includes an iterative procedure ; the convergence is examined using 2-degree-of-freedom models. It is shown that the proposed method provides good closed-loop performance and LQ optimality.

    DOI: 10.1299/kikaic.61.4264

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  • H<sup>∞</sup>理論に基づくアクティブサスペンションシステムの設計 (共著)

    秋田大学鉱山学部研究報告   ( 15 )   67   1994

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  • 制御の事典

    平元 和彦, 大日方五郎( Role: Contributor ,  凸最適化)

    朝倉書店  2015  ( ISBN:9784254231410

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    Responsible for pages:159-162   Language:Japanese Book type:Dictionary, encyclopedia

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  • わかりやすい振動工学

    砂子田勝昭, 伊藤智博, 鄭 萬溶, 平元和彦( Role: Joint author)

    共立出版  2012  ( ISBN:9784320081857

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  • "Semi-Active Control of Civil Structures Based on the Prediction of the Structural Response: Integrated Design Approach" in Vibration Analysis and Control - New Trends and Developments

    K. Hiramoto, T. Matsuoka, K. Sunakoda( Role: Contributor ,  151-172)

    Intech  2011  ( ISBN:9789533074337

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  • はじめての制御工学

    佐藤和也, 平元和彦, 平田研二( Role: Joint author)

    講談社  2010  ( ISBN:9784061557918

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  • "Integrated Design of Large-Scale Collocated Structural System and Control Parameters Using a Norm Upper Bound Approach'', in Efficient Modeling and Control of Large-Scale Systems

    M.​ ​Mi​s​a​m​i​-​A​z​a​d​,​ ​J.​ ​M​o​h​a​m​m​a​d​p​o​u​r​ ​V​e​l​n​i​,​ ​K.​ ​H​i​r​a​m​o​t​o, K.​M​.​ ​G​r​i​g​o​r​i​a​d​i​s( Role: Contributor ,  305-328)

    Springer  2009  ( ISBN:9781441957566

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    Integrated Design of Large-Scale Collocated Structural System and Control Parameters Using a Norm Upper Bound Approach (Mona Meisami-Azad, Javad Mohammadpour Velni, Kazuhiko Hiramoto and Karolos M. Grigoriadis, in J. Mohammadpour and K.M. Grigoriadis Eds. Efficient Modeling and Control of Large-Scale Systems)

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MISC

  • 422 Improvement of a time delay at switching damping effect using parametric excitation

    AONO Erina, MATSUOKA Taichi, HIRAMOTO Kazuhiko

    Dynamics and Design Conference : D & D   2014   "422 - 1"-"422-9"   2014.8

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    A semiactive damper has a controllable damping force as an advantage point, but it necessarily has a time delay at mechanically switching by a control. Therefore, a control law does not work perfectly enough, a command signal is saturated at upper limit, and performance is depended on the time delay. If the damping force can be switched as quickly as possible, it will be comparatively more effective and useful for vibration reduction under quick motion such as earthquakes which has a high frequency domain. In this paper the authors propose a radically different approach way how to mechanically improve the time delay at switching for a semiactive damper under control. In order to switch more quickly, the command signal to the damper using a parametric excitation is demonstrated. Rising time of a test mechatronic damper which can switch the damping force by controlling external resistance of a generator are measured when it is periodically subjected to a triangle wave. The experimental results are compared with conventional system using a step function or an overshot impulse function. Finally, improvement of a time delay using parametric excitation is confirmed experimentally.

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  • D19 Semi-active Control of Structural Systems with a Targeted Control Output

    TOMII Keisuke, HIRAMOTO Kazuhiko, MATSUOKA Taichi, SUNAKODA Katsuaki

    Dynamics and Design Conference   2013 ( 13 )   "D19 - 1"-"D19-10"   2013.8

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    As a method for semi-active control of structural systems, the active-control-based method that emulates the control force of a targeted active control law by semi-active control devices has been studied. In the active-control-based method, the semi-active control devices are not necessarily able to generate the targeted active control force because of the dissipative nature of those devices. In such a situation, the meaning of the targeted active control law becomes unclear in the sense of the control performance achieved by the resulting semi-active control system. In this study, a new semi-active control strategy that approximates the control output (not the control force) of the targeted active control is proposed. The variable parameter of the semi-active control device is selected at every time instant so that the predicted control output of the semi-active control system becomes close to the corresponding predicted control output of the targeted active control as much as possible. Parameters of the targeted active control law are optimized in the premise of the above "output emulation" strategy so that the control performance of the semi-active control becomes good and the "error" of the achieved control performance between the targeted active control and the semi-active control becomes small.

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  • 243 Optimal Design of the Model and the Reference Control Law in Semi-Active Conntrol

    HIRAMOTO Kazuhiko, TOYAMA Ryota, MATSUOKA Taichi, SUNAKODA Katsuaki

    Dynamics and Design Conference : D & D   2012   43 - 43   2012.9

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  • 443 Simultaneous Design of the Low Order Structural Model and the Semi-Active Control Law for Improving the Control Performance

    HIRAMOTO Kazuhiko, MATSUOKA Taichi, SUNAKODA Katsuaki

    Dynamics & Design Conference   2011   "443 - 1"-"443-10"   2011.9

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    Various semi-active control methods have been proposed for vibration control of civil structures. In contrast to active vibration control systems, all semi-active control systems are essentially asymptotically stable because of the stability of the structural systems (with structural damping) themselves and the energy dissipating nature of the semi-active control law. In this study, by utilizing the above property on the stability of semi-active control systems, a reduced-order structural model and a semi-active control law are simultaneously obtained so that the performance of the resulting semi-active control system becomes good. Based on the above fact any semi-active control laws derived from some models stabilize all real-existing structural systems that have structural damping. It means that the difference of dynamic behaviors between the real structural system and the reduced-order mathematical model in the sense of the open-loop response is no longer an important issue. In other words, we do not have to consider the closed-loop stability, which is one of the most important constraints in active control, in the process of the reduced-order structural modeling and the semi-active control design. We can only focus on the control performance of the closed-loop system with the real structure with the (model-based) semi-active control law in obtaining the reduced-order model. The semi-active control law in the present study is based on the one step ahead prediction of the structural response. The Genetic Algorithm (GA) is adopted to obtain the reduced-order model and the semi-active control law based on the reduced order model.

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  • 21313 Vibration Control Using Variable Electromagnetic Damper with Rotating Inertia Mass : Part 4: Feasibility Study of Semi-active Control

    HIRAMOTO Kazuhiko, MATSUOKA Taichi, SUNAKODA Katsuaki, FUKUKITA Akira, TAMURA Kazuo

    Summaries of technical papers of Annual Meeting Architectural Institute of Japan. B-2, Structures II, Structural dynamics nuclear power plants   2008   625 - 626   2008.7

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  • B17 A Simultaneous Design Method of Mechanical/Dynamical Parameters and a Control System for Robot Manipulators

    OGASAWARA Shinji, HIRAMOTO Kazuhiko, DOKI Hitoshi

    Dynamics and Design Conference   2005 ( 9 )   254 - 259   2005.8

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    In this paper we deal with a simultaneous optimal design problem of mechanical/dynamical parameters and a control system for robot manipulators. The mechanical parameters are evaluated from an index of manipulability based on Jacobian matrix of the robot manipulators. We propose an LMI based optimization method for the mechanism of the manipulators whose Jacobian matrix becomes an affine function on the length of each link. Dynamical parameters are evaluated by a closed-loop performance controlled by a gain-scheduled controller. We propose a new simultaneous optimal design method of mechanical/dynamical parameters and gain-scheduled controller using a numerical design algorithm of an iterative LMI approximation.

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  • An Integrated Design of a Cantilevered Pipe Conveying Fluid with Considering the Sign of the Sensitivity Function

    HIRAMOTO Kazuhiko, DOKI Hitoshi, MISHIMA Motohiro, KATO Hiroshi

    Dynamics and Design Conference   2003 ( 8 )   142 - 145   2003.10

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    In actively controlled cantilevered pipes conveying fluid the critical flow velocity depends not only on the structural property of the pipe but also the feedback controller. In this report we discuss an integrated design of a cantilevered pipe conveying fluid to optimize both parameters in the pipe system and the controller in simultaneous manner. The pipe is composed by a beam with variable width and two pipes conveying fluid attached on both sides of the beam. The beam is divided into several parts and the width of each part can be independently adjusted so as to obtain the higher closed-loop critical flow velocity. This means that the resulted beam has a stepped form after the optimization The location and the number of the division of the beam are determined by the sign distribution of the sensitivity function of the critical flow velocity on the small width change of each divided part of the beam. The effectiveness of the proposed design methodology is justified by a simulation study.

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  • Development of a New Ski-system for the Disabled (Lift-up Mechanism of the Seat)

    DOKI Hitoshi, HIRAMOTO Kazuhiko, TANAKA Masanori, Ngai Chikara, Kobayashi Yoshitaka

    The JSME Symposium on Welfare Engineering   2002 ( 2 )   329 - 332   2002.11

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  • 605 An Experimental Study on the Stability and the Optimal Design of a Combined Pipe Conveying Fluid

    DOKI Hitoshi, HIRAMOTO Kazuhiko, MIYAZAKI Tomomichi, MISHIMA Motohiro

    2001   175 - 176   2001.9

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  • 624 A simultaneous optimal design for cantilevered pipes conveying fluid : Experimental verification for combined pipe conveying fluid

    DOKI Hitoshi, HIRAMOTO Kazuhiko, SAITO Isamu, MIYAZAKI Tomomichi

    2001   184 - 184   2001.8

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    We deal with a simultaneous optimal design of structural and control system of cantilevered pipes conveying fluid. A combined pipe conveying fluid, which is a beam (with variable shape) sandwiched by two pipes conveying fluid is considered in this report. The mathematical model of the combined pipe system is derived as a single pipe conveying fluid whose structural properties are variable. The width distribution of the beam and the location of the sensor and the actuator are structural design parameters. We employ the LQG control law with the input energy constraint as the active control method. The structural design parameters and the LQG controller are simultaneously adjusted so that the critical flow velocity of the controlled system (closed-loop critical flow velocity) is maximized with an iterative numerical optimization technique. The simulation result shows that the necessity of the simultaneous optimal design methodology for designing the active control system of the cantilevered pipe conveying fluid. The experimental study is also conducted. Fairly agreement is achieved between the simulation and the experimental results. The result of the experiment emphasizes the proposed design method.

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  • W202 Development of New Ski-system for Legs-disabled Persons : Effect of movement of the center of gravity

    DOKI Hitoshi, HIRAMOTO Kazuhiko, IWAMI Takehiro, KATO Takehiro, TANAKA Masanori

    2001   294 - 294   2001.8

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    This report deals with an attempt of the development of the new ski-system for legs-disabled persons. This ski-system is a sledge type which has two ski plates and the rotation mechanism operated by hands. Therefore, this is safe and useful for beginners and serious disabled persons. The rotation mechanism is introduced such that the beginners can easily turn by parallel christiania and stop by snowplow. Furthermore, this ski-system has the mechanism moving the center of gravity. We examine the abilities of this ski-system in a skiing slope and compare the skiing turn between with and without this mechanism by means of three-dimensional motion analysis. It is found that this mechanism is effective in realizing a stable skiing turn.

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  • 336 A method for obtaining the class of the control object and the controller based on the performance of the closed-loop system

    HIRAMOTO Kazuhiko, DOKI Hitoshi, OBINATA Goro

    Dynamics and Design Conference   2001 ( 7 )   471 - 474   2001.4

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    We deal with an integrated design problem of structural and control systems. The integrated design, problem is formulated as an optimization problem for obtaining the class of the control object and the controller. With LMI based gain scheduled controller design scheme we propose an integrated design algorithm. The algorithm is an iterative method which is constructed by an LMI optimization and a vertex moving of the passive parameter. We show that the design algorithm is guaranteed to converge at least to a local optimal solution if the direction and the size of the vertex moving are selected appropriately.

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  • Simultaneous optimal design of structural and control system for lossless systems

    HIRAMOTO Kazuhiko, OBINATA Goro, DOKI Hitoshi

    2000 ( 4 )   25 - 28   2000.10

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    We consider an integrated design problem of structural and control systems for a class of lossless systems. For such class of control object we show that the maximum stability margin for the normalized coprime factorization becomes 1/√<2>. With this result the H_∞ controller proposed by McFarlane and Glover can be obtained explicitly. We show that an integrated design of the structural and control system for the closed-loop system can be approximately cast as LMI.

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  • On the relation between the critical flow velocity and sensor/actuator placement in active control of cantilevered pipes conveying fluid

    DOKI Hitoshi, Hiramoto Kazuhiko, FUJITANI Masaki, SAITO Isamu

    2000   163 - 163   2000.9

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    This report deals with an optimal sensor/actuator placement problem for active control of a cantilevered pipe conveying fluid. The optimal sensor/actuator/placement is determined such that the closed-loop critical flow velocity is maximized. We adopt LQG control law with constraint on input variance. The optimal placement is obtained by searching over all candidates of the sensor/actuator placement. It is found that the closed-loop critical flow velocity highly depends on their placements. Moreover, the optimal sensor/actuator placement also depends on the input wariance constraint. The obtained result are partially verified by an experiment.

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  • Simultaneous optimal design of structure and control system for cantilevered pipes conveying fluid

    HIRAMOTO Kazuhiko, DOKI Hitoshi

    2000   162 - 162   2000.9

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    We consider a shape optimization problem for a cantilevered pipe conveying fluid. The outer diameter distribution of the pipe and the location of the sensor and the actuator are optimized such that the critical flow velocity of the closed-loop system is maximized. The outer diameter distribution is optimized such that the total volume of the pipe is unchanged with the initial diameter distribution. The critical flow velocity of the closed-loop system is defined as the one which cannot be stabilized by active control law with a prescribed energy quantity. By this definition, it is physically reasonable comparing the quality of several design candidates since all candidates are actively controlled with the same energy. We propose a method for obtaining an upper bound of the critical flow velocity with consideration of the amount of computation for the optimal design. This optimal design problem results in a maximization problem with equality and inequality constraints. We adopt SA (simulated annealing) method which is known as one of discrete optimization techniques for obtaining the optimal design.

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  • Simultaneous optimal design of structure and control systems based on Youla parameterization

    Kazuhiko Hiramoto, Hitoshi Doki, Goro Obinata

    JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing   43 ( 2 )   326 - 334   2000

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    This paper deals with simultaneous optimal design of structure and control systems. For structures with collocated sensors and actuators, a stabilizing state-feedback gain and an estimator gain can be obtained easily. Using these two gain matrices, we can parameterize all stabilizing controllers for the structure by Youla parameterization scheme. Since stability of the closed-loop system is guaranteed, we can optimize design parameters in the structure and the controller simultaneously without taking two-step design procedures which consist of the step for controller synthesis and that for structural parameter tuning. Hence, convergence to the local optima is achieved with standard descent-based nonlinear optimization techniques (steepest descent, Newton method, etc.). By a design example, we show the effectiveness of proposed design method.

    DOI: 10.1299/jsmec.43.326

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Presentations

  • VARIABLE INERTIA DAMPER USING MR FLUID

    Taichi Matsuoka, Kazuhiko Hiramoto, Katsuaki Sunakoda, Naoto Abe

    PROCEEDINGS OF THE ASME PRESSURE VESSELS AND PIPING CONFERENCE, 2016, VOL 8  2017  AMER SOC MECHANICAL ENGINEERS

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    Event date: 2017

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    Inertia damper has an inertia effect by a flywheel which is caused by a quick moving mass. In general, it is difficult to change the inertia mass physically. In order to obtain a variable inertia effect, a new type of inertia damper has a long bypass pipe is proposed in this paper. This type of damper generates a damping effect and inertia effect by the fluid. It is noted that the inertia effect is depended on a density of the fluid, cross sectional areas of cylinder and bypass pipe, and length of the bypass pipe. If the diameter of the bypass pipe can be controlled, it means that a cross sectional area of the bypass pipe can be switched by clustering particles of MR fluid under magnetization, the inertia effect might be artificially controllable. A trial damper with several electromagnets installed along the long bypass pipe is manufactured, and dynamic property is measured when MR fluid inside the bypass pipe is magnetized by the electromagnets. From experimental results, it seems to be that the inertia effect can be switched and depended on amplitude of magnetization. Finally, the calculated results are theoretically approached, and compared with the experimental results.

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  • INERTIA DAMPER USING MR FLUID WITH SPIRALED BY-PASS PIPE

    Taichi Matsuoka, Shoma Yamano, Kazuhiko Hiramoto, Katsuaki Sunakoda, Naoto Abe, Pei-Yang Lin

    ASME PRESSURE VESSELS AND PIPING CONFERENCE - 2015, VOL 8  2015  AMER SOC MECHANICAL ENGINEERS

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    Event date: 2015

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    Authors develop a unique type damper using MR fluid in order to obtain a series inertia effect for vibration suppression. The damper consists of a cylinder, a piston, and a long by-pass pipe. A rectangular gap is spirally formed at outer side of the cylinder as like a long by-pass pipe, and covered with an outer cylinder by interference fitting. Series inertia effect is caused by quickly movement of the fluid inside the by-pass pipe, and proportional to a length, density, and a ratio of cross sectional areas between the cylinder and the by-pass pipe. It is obvious from former study that not only a resonance frequency can be shifted toward low frequency, but also vibration can be cut off at an anti-resonance frequency by series inertia effect. The test damper is manufactured, and dynamic properties are investigated when it is subjected to sinusoidal wave. Force and Displacement curves are measured, and compared with theoretical results. Seismic vibration tests using 3-story benchmark structure with the damper installed are carried out. The effect of vibration suppression is evaluated, and the validity of the inertia effect is confirmed experimentally.

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  • SEMI-ACTIVE CONTROL OF STRUCTURAL SYSTEMS WITH AN OUTPUT EMULATION METHOD BASED ON A QUADRATIC ERROR FUNCTION

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    ASME PRESSURE VESSELS AND PIPING CONFERENCE - 2015, VOL 8  2015  AMER SOC MECHANICAL ENGINEERS

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    Event date: 2015

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    A semi-active control method based on a controlled output of a targeted active control law is proposed in the study. As a conventional method, a semi-active control law based on the targeted active control input, e.g., a clipped optimal control and its related methods, is widely used for the vibration control of structural systems. In the present study, on the other hand, the controlled output of the targeted active control law is used as the reference of the semi-active control. The semi-active control strategy is referred to as "output emulation approach" and the authors showed a method based on the output emulation approach based on the predicted controlled output by assuming the targeted active control its the LQ optimal control law in the previous study. In this paper, a new output emulation semi-active control method with a quadratic error function between the controlled output signal of the semi-active control system and that of the targeted active control system. The semi-active control law minimizing the quadratic error function is obtained as a bang bang type switching of the variable damping coefficient of the semi-active control device. The targeted active control law is defined as a state-space control with a constraint on the closed loop pole placement. Design parameters to determine the region of the pole placement of the targeted active control system are adjusted so that the semi-active control based on the proposed output emulation approach is optimized. The effectiveness of the proposed approach is shown with a simulation example.

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  • Active/semi-active hybrid control framework for vibration control of mechanical systems

    K. Hiramoto, S. Saito

    Proc. 12th International Conference on MOVIC  2014.8 

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  • Output emulation approach in semi-active vibration control of structural systems

    K. Hiramoto, T. Matsuoka, K. Sunakoda

    Proc. 6th World Congress on Structural Control and Monitoring  2014.7 

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  • SEMI-ACTIVE CONTROL OF STRUCTURAL SYSTEMS AIMING TO APPROXIMATE THE PERFORMANCE OF THE TARGETED ACTIVE CONTROL LAW: OUTPUT EMULATION APPROACH

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    PROCEEDINGS OF THE ASME PRESSURE VESSELS AND PIPING CONFERENCE - 2013, VOL 8: SEISMIC ENGINEERING  2014  AMER SOC MECHANICAL ENGINEERS

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    Event date: 2014

    Language:English  

    As a method for semi-active control of structural systems, the active-control-based method that emulates the control force of a targeted active control law by semi-active control devices has been studied. In the active-control-based method, the semi-active control devices are not necessarily able to generate the targeted active control force because of the dissipative nature of those devices. In such a situation, the meaning of the targeted active control law becomes unclear in the sense of the control performance achieved by the resulting semi-active control system. In this study, a new semi-active control strategy that approximates the control output (not the control force) of the targeted active control is proposed. The variable parameter of the semi-active control device is selected at every time instant so that the predicted control output of the semi-active control system becomes close to the corresponding predicted control output of the targeted active control as much as possible. Parameters of the targeted active control law are optimized in the premise of the above "output emulation" strategy so that the control performance of the semi-active control becomes good and the "error" of the achieved control performance between the targeted active control and the semi-active control becomes small.

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  • Investigation on the detailed resistance force of MRF damper

    Y. Sato, K. Sunakoda, H. Sodeyama, K. Hiramoto

    Proc. SICE Annual Conference 2013  2013.9 

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  • Active/semi-active hybrid control for motion and vibration control of mechanical systems

    K. Hiramoto

    Proc. SICE Annual Conference 2013  2013.9 

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  • Semi-active Vibration Control for Approximating the Targeted Active Control Output

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)  2013  IEEE

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    Event date: 2013

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    As a method for semi-active control of structural systems, the active-control-based method that emulates the control force of a targeted active control law by semi-active control devices has been studied. In the active-control-based method, the semi-active control devices are not necessarily able to generate the targeted active control force because of the dissipative nature of those devices. In this study, a new semi-active control strategy that approximates the control output of the targeted active control is proposed. The variable parameter of the semi-active control device is selected at every time instant so that the predicted control output of the semi-active control system becomes close to the corresponding predicted control output of the targeted active control as much as possible. Parameters of the targeted active control law are optimized in the premise of the above "output emulation" strategy so that the control performance of the semi-active control becomes good and the "error" of the achieved control performance between the targeted active control and the semi-active control becomes small.

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  • Simultaneous design of the low order structural model and the inverse Lyapunov semi-active control law

    K. Hiramoto, T. Matsuoka, K. Sunakoda

    Proc. 15th World Conference on Earthquake Engineering  2012.9 

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  • Semi-active control of civil structures with a simultaneous reduced-order modeling and a tuning of the control law

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    American Society of Mechanical Engineers, Pressure Vessels and Piping Division (Publication) PVP  2011 

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    Event date: 2011

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    Various semi-active control methods have been proposed for vibration control of civil structures. In contrast to active vibration control systems, all semi-active control systems are essentially asymptotically stable because of the stability of the structural systems themselves (with structural damping) and the energy dissipating nature of the semi-active control law. In this study, by utilizing the above property on the stability of semi-active control systems, a reduced-order structural model and a semi-active control law are simultaneously obtained so that the performance of the resulting semi-active control system becomes good. Based on the above fact any semi-active control laws derived from some models stabilize all real-existing structural systems that have structural damping. It means that the difference of dynamic behaviors between the real structural system and the reduced-order mathematical model in the sense of the open-loop response is no longer an important issue. In other words, we do not have to consider the closed-loop stability, which is one of the most important constraints in active control, in the process of the reduced-order structural modeling and the semi-active control design. We can only focus on the control performance of the closed-loop system with the real structure with the (modelbased) semi-active control law in obtaining the reduced-order model. The semi-active control law in the present study is based on the one step ahead prediction of the structural response. The Genetic Algorithm (GA) is adopted to obtain the reduced-order model and the semi-active control law based on the reduced order model. Copyright © 2011 by ASME.

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  • SIMULTANEOUS OPTIMAL DESIGN OF THE LYAPUNOV-BASED SEMI-ACTIVE CONTROL AND THE SEMI-ACTIVE VIBRATION CONTROL DEVICE: INVERSE LYAPUNOV APPROACH

    Kazuhiko Hiramoto, Taichi Matsuoka, Akira Fukukita, Katsuaki Sunakoda

    PROCEEDINGS OF THE ASME PRESSURE VESSELS AND PIPING CONFERENCE 2010, VOL 8  2010  AMER SOC MECHANICAL ENGINEERS

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    Event date: 2010

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    We address a simultaneous optimal design problem of a semi-active control law and design parameters in a vibration control device for civil structures. The Vibration Control Device (VCD) that is being developed by authors is used as the semiactive control device in the present paper. The VCD is composed of a mechanism of a ball screw with a flywheel for the inertial resistance force and an electric motor with an electric circuit for the damping resistance force. A new bang-bang type semiactive control law referred to as Inverse Lyapunov Approach is proposed as the semi-active control law. In the Inverse Lyapunov Approach the Lyapunov function is searched so that performance measures in structural vibration control are optimized in the premise of the bang-bang type semi-active control based on the Lyapunov function. The design parameters to determine the Lyapunov function and the design parameters of the VCD are optimized for the good performance of the semi-active control system. The Genetic Algorithm is employed for the optimal design.

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  • Integrated design of structural and semi-active control systems: Inverse Lyapunov approach

    K. Hiramoto, T. Matsuoka, A. Fukukita, K. Sunakoda

    Proc. 10th International Conference on MOVIC, #10-203  2010 

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  • New Windsurfer-like Approach for the Enhancement of the Closed-loop Performance: An LMI framework

    Kazuhiko Hiramoto

    2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS  2010  IEEE

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    Event date: 2010

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    An LMI-based method for the simultaneous system identification and controller design is proposed in the paper. With the fact that a class of system identification problem results in an LMI optimization problem a model update with a constraint on the closed-loop performance in an approximate sense is proposed. By combining the LMI-based identification method with the LMI-based conventional controller design we propose a framework to integrate two steps, system identification and controller design. The framework enables us to obtain a good model and feedback controller simultaneously in the sense of the closed-loop performance. An iterative design algorithm similar to so-called Windsurfer Approach is presented in the paper.

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  • VIBRATION TESTS OF 3-STORY BENCHMARK STRUCTURE WITH THREE SEMIACTIVE DAMPERS

    Taichi Matsuoka, Katsuaki Sunakoda, Kazuhiko Hiramoto, Issei Yamazaki, Akira Fukukita, Chin-Hsiung Loh, Pei-Yang Lin

    PROCEEDINGS OF THE ASME PRESSURE VESSELS AND PIPING CONFERENCE 2010, VOL 8  2010  AMER SOC MECHANICAL ENGINEERS

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    Event date: 2010

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    In a previous paper the authors developed a semiactive damper that generates electrical power, and carried out vibration tests using a 3-story benchmark structure at NCREE, Taiwan in 2006. At that time, the dampers were installed at 1st and 2nd floors. The damper has a large inertia mass by flywheel and controllable damping force by generator, and a load capacity of 30 kN. In the test, the damper at 1st floor was only controlled by Bang-bang control that was based on Lyapunov function.
    In this paper as the next step, in order to demonstrate more effectiveness of vibration suppression, the dampers are installed at all floors of the 3-story structure, and vibration tests using the same structure are carried out again in 2008. The control law which is proposed here is based on Lyapunov function or predictive switching control for all of damper at each floor. The structure has 9 m high, 3 m wide, 2 m span, 18 tons total weight. Several earthquake waves normalized to be 150 gal are inputted horizontally to the base by a shaking table, and the seismic responses of each floor are estimated quantitatively. It is obviously from the experimental results that the seismic reductions for acceleration and displacement in case of large inertia mass are much better than the case of small one, but control effect is decreasing. Because seismic reduction can be depended on a balance between inertial force and controllable damping force, and plus the one of the reason is time delay of the damper. At last, we can summarize that the semiactive damper is available for seismic isolation in practical use.

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  • SEISMIC PERFORMANCE OF VIBRATION CONTROL DEVICE THAT GENERATES POWER

    Taichi Matsuoka, Katsuaki Sunakoda, Kazuhiko Hiramoto, Issei Yamazaki, Akira Fukukita, Paul N. Roschke, Chin-Hsiung Loh, Pei-Yang Lin

    ASME PRESSURE VESSELS AND PIPING CONFERENCE, VOL 8: SEISMIC ENGINEERING  2010  AMER SOC MECHANICAL ENGINEERS

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    Event date: 2010

    Language:English  

    In a previous paper the authors proposed a semi-active vibration control device (VCD) that generates power. The device utilizes a ball screw, and has inertial and damping forces. The damping coefficient is adjusted by altering resistance at the terminal of the power generator. A small-scale VCD was manufactured for experimental testing. Frequency responses of a small-scale spring mass structure were measured in order to confirm the effects of vibration suppression within a wide range of frequencies.
    In this paper, as the next step, vibration tests using a benchmark structure with an installed VCD that has a 30 kN capacity are carried out at the National Center for Research on Earthquake Engineering (NCREE) in Taiwan The benchmark structure has three stories with a 3 m height and a mass of 6 tons at each floor level for a total height and weight of 9 m and 18 tons, respectively. The VCDs arc installed between adjacent floors with steel chevron braces A simple control law that is based on a minimized Lyapunov function and employs bang-bang operation is used as a variable current controller instead of the modifying the resistance level of the VCD. Scaled earthquake motions including the Imperial Valley El Centro north-south component that is normalized to be a peak level of 0 5 m/s(2), are applied to the base of the steel framed structure in the horizontal direction by a shaking table Experimental responses of each floor for the uncontrolled and controlled cases are compared with analytical responses, and effects of vibration suppression for the large-scale model are discussed quantitatively

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  • Semi-active control of civil structures with a one-step-ahead prediction of the seismic response

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda, Akira Fukukita, Issei Yamazaki

    American Society of Mechanical Engineers, Pressure Vessels and Piping Division (Publication) PVP  2010 

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    Event date: 2010

    Language:English  

    We propose a semi-active control of civil structures based on a one-step-ahead prediction of the seismic response. The vibration control device (VCD), which has been developed by authors, generates two types of resistance forces, i.e., a damping force proportional to the relative velocity and an inertial force proportional to the relative acceleration between two stories. The damping coefficient of the VCD can be changed with a command signal to an electric circuit connected to the VCD. In the present paper the command signal for changing the damping coefficient of each VCD is assumed to take two values, i.e., the command to take the maximum or minimum damping coefficient. The optimal command signal is selected from all candidates of command signals so that the Euclidean norm of the one-step-ahead predicted seismic response is minimized. As an example a semi-active control of a fifteen-story building with three VCDs is considered. The simulation results show that the proposed semi-active control achieves superior performance on vibration suppression compared with a passive control case where the damping coefficient of each VCD is fixed at its maximum value. Copyright © 2009 by ASME.

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  • LPV-BASED-METHOD AIMING AT A WIN-WIN SITUATION FOR ANALYTICAL CONTROL THEORIES AND INTELLIGENT OPTIMIZATION METHODOLOGIES

    Kazuhiko Hiramoto

    PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2009, PTS A AND B  2010  AMER SOC MECHANICAL ENGINEERS

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    Event date: 2010

    Language:English  

    A new collaborative control strategy between time varying design parameters in LPV plants and the feedback controllers is proposed in the present paper As the feedback control law the gain scheduling control scheme is adopted to guarantee the closed-loop L(2) gain performance against the variation of the time varying parameter in the control object. The gain-scheduling controller can be obtained in an analytical manner by solving LMIs. For the closed-loop system with the LPV plant and the gain scheduling controller Genetic algorithm (GA), known as a so-called intelligent optimization method, is applied to optimize the closed-loop response. The proposed control system has a complementary structure between the LMI-based analytical control strategy and the flexible intelligent control method that does not impair their advantages each other In this sense a win-win situation for the LMI-based gain scheduling control and the GA-based intelligent optimization is realized in the proposed approach. A simple simulation example is presented to show the effectiveness of the proposed method.

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  • Decentralized control of structural systems using a norm upper bound formulation

    J. Mohammadpour, K. Hiramoto, K.M. Grigoriadis

    Proc. 5th World Congress on Structural Control and Monitoring, #5WSCM-11  2010 

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    Event date: 2010

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  • Integrated design of system parameters, control and sensor/actuator placement for symmetric mechanical systems

    Kazuhiko Hiramoto, Javad Mohammadpour, Karolos M. Grigoriadis

    Proceedings of the IEEE Conference on Decision and Control  2009 

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    Event date: 2009

    Language:English  

    In this paper, we address the problem of integrated design of output feedback control, structural damping parameters, and sensor/actuator placement to satisfy an upper bound on the closed-loop ℋ∞ or ℋ2 norm performance of externally symmetric systems. By combining results on the upper bound of the closed-loop norm for externally symmetric systems with a homotopy-like approximation of an optimization problem, we provide a formulation of the integrated design problem of minimizing the upper bound ℋ∞ or ℋ2 norm via iterative LMI optimization problems. In this formulation, the corresponding decision variables are the structural damping parameters, the static rate feedback gain, and the sensor and actuator locations. By iteratively solving the approximated LMI problem, a locally optimal solution is obtained. The method is validated on a numerical example of active collocated vibration control of a simply supported beam. ©2009 IEEE.

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  • Integrated Design of System Parameters, Control and Sensor/actuator Placement for Symmetric Mechanical Systems

    Kazuhiko Hiramoto, Javad Mohammadpour, Karolos M. Grigoriadis

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

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    Event date: 2009

    Language:English  

    In this paper, we address the problem of integrated design of output feedback control, structural damping parameters, and sensor/ actuator placement to satisfy an upper bound on the closed-loop H-infinity or H-2 norm performance of externally symmetric systems. By combining results on the upper bound of the closed-loop norm for externally symmetric systems with a homotopy-like approximation of an optimization problem, we provide a formulation of the integrated design problem of minimizing the upper bound H-infinity or H-2 norm via iterative LMI optimization problems. In this formulation, the corresponding decision variables are the structural damping parameters, the static rate feedback gain, and the sensor and actuator locations. By iteratively solving the approximated LMI problem, a locally optimal solution is obtained. The method is validated on a numerical example of active collocated vibration control of a simply supported beam.

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  • Vibration tests of a three story benchmark structure with Vibration Control Device that generates power

    T. Matsuoka, K. Sunakoda, K. Hiramoto, P. Roschke

    Proc. ASCE Structures Congress 2008  2008 

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    Event date: 2008

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  • Global optimal design of dynamic parameters of robot manipulators

    Shinji Ogasawara, Kazuhiko Hiramoto, Hitoshi Doki

    PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3  2007  IEEE

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    Event date: 2007

    Language:English  

    In this paper we deal with a global optimal design of dynamic parameters of robot manipulators. The dynamic characteristic of robot manipulators is uniquely determined by base parameters, which are functions of physical parameters, e.g., the mass, the moment of inertia and the damping of each link, etc.. Using the fact that the equation of motion of manipulators generally becomes an affine function on the base parameters we propose an LMI based global optimal design of the base parameters of robot manipulators. In this paper we obtain the global optimal base parameters minimizing the required energy to achieve a given task (given by the reference trajectory of the end-effector). We adopt the computed torque method as the control law for the robot manipulators. The proposed design method guarantees the global optimality of the optimized base parameters. As a design example an optimal design of the base parameters of planar two link manipulator is presented.

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  • Active gain scheduling: A collaborative control strategy between LPV plants and gain scheduling controllers

    Kazuhiko Hiramoto

    PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3  2007  IEEE

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    Event date: 2007

    Language:English  

    We propose a new collaborative control strategy between time varying design parameters of the plant and the feedback controller. As the feedback control law we adopt the LMI based gain scheduling control scheme to guarantee the closed-loop L-2 gain performance against the variation of the time varying parameter of the control object. Under the gain scheduling control we propose a method for the adjustment of the time varying parameter using the theory of dissipative systems. The objective of the time varying parameter tuning is to obtain smaller L-2 norm of the controlled output. We refer to this control strategy as Active Gain Scheduling Control (AGSC) because the scheduling parameter is actively changed while the control system is working. We show that the tuning rule of the time varying design parameter becomes a bang-bang type in some cases.

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  • Numerical simulation of 3-story structure with vibration control device

    T. Matsuoka, K. Hiramoto, K. Sunakoda

    Proc. 4th International Conference on Earthquake Engineering (4ICEE)  2006 

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    Event date: 2006

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  • An energy dissipation based semi-active control of civil structures with a new mechatronic vibration control device

    K. Hiramoto, T. Matsuoka, K. Sunakoda, T. Ohtake, P. Roschke

    Proc. 4th International Conference on Earthquake Engineering (4ICEE)  2006 

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    Event date: 2006

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  • Integrated design of structural and control systems with a homotopy like iterative method

    K Hiramoto, K Grigoriadis

    ACC: Proceedings of the 2005 American Control Conference, Vols 1-7  2005  IEEE

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    Event date: 2005

    Language:English  

    We consider an integrated design problem of structural and control systems. It is well known that even the simplest formulation of this problem results in a kind of a BMI problem. In this paper, a homotopy-like iterative design method based on LMIs is proposed to obtain an optimal plant and a controller simultaneously for a full-order output feedback problem. We can deal with a multiobjective problem, e.g., H-2/H-infinity control problem etc. in the proposed design method. We can also optimize structural design parameters appearing nonlinearly in the coefficient matrices of the plant state-space form using the first order approximation of the nonlinear dependence in the proposed algorithm. Several design examples show that the proposed algorithm works quite effectively for various integrated design problems.

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  • Upper bound H-infinity and H2 control for symmetric mechanical systems

    Proc. 16th IFAC World Congress  2005 

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    Event date: 2005

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  • A plant design problem for optimizing the closed-loop H-infinity norm

    K Hiramoto, A Naganawa, H Doki, G Obinata

    SICE 2003 ANNUAL CONFERENCE, VOLS 1-3  2003  IEEE

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    Event date: 2003

    Language:English  

    We deal with an integrated design problem of structural and control systems. For a plant with unstable poles and zeros we consider a design problem of the plant itself for minimizing the closed-loop H-infinity norm. The design parameter of the optimal design problem is the location of unstable poles and zeros of the plant. The achievable minimum., norm of the closed-loop system can be obtained just by examining the determinant of Pick matrix defined by the unstable poles and zeros of the plant. We show the analytic relation between the unstable poles/zeros and the optimal closed-loop H-infinity norm for a class of plants with two unstable poles (and/or zeros). In the general case (the number of unstable poles/zeros is more than three) the optimal design problem can be formulated as a minimization of the maximum eigenvalue in a generalized eigenvalue problem related to Pick matrix.

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  • Integrated design of structure/control systems in micromachines

    H Ando, K Hiramoto, G Obinata

    SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5  2002  IEEE

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    Event date: 2002

    Language:English  

    A design problem of active controlled micromachines has been considered in this paper. Stable two-dimensional vibration of a structure at pre-specified frequencies is sought subject to the vibration amplitude and the actuator capacity requirements. It is shown that the simultaneous optimization both on the mechanical structure and the active controller is quite useful for this kind of design problems.

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  • Integrated Optimal Design of Passive and Active elements for Hard disk Servo Systems

    Proc. of IEEE International Conference on Control Applications and IEEE International Symposium on Computer Aided Control System Design  1999 

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    Event date: 1999

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  • Integrated optimal design of passive and active elements for hard disk servo systems

    Proc. of IEEE International Conferenceon Control Applications and IEEE International Symposium on Computer Aided Control System Design  1999 

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    Event date: 1999

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  • Structural design for reduced-order H-infinity controller

    Proc. of IEEE International Conferenceon Control Applications and IEEE International Symposium on Computer Aided Control System Design  1999 

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    Event date: 1999

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  • Active control of cantilevered pipes conveying fluid with constraint on input energy

    Proc. of 4th International Symposium on Fluid-Structure Interactions, Aeroelasticity, Flow-Induced Vibration and Noise  1997 

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    Event date: 1997

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  • Actuator selection for vibration control with control energy constraint

    Proc. of 1997 ASME Design Engineering Technical Conferences  1997 

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    Event date: 1997

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  • Design method of decentralized control system via stable factorization -Approach from simultaneous stabilization-

    Preprints of 13th World Congress of IFAC  1996 

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    Event date: 1996

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  • Desigh Method of Decentralized Control System via Stable Facturization (共著)

    Preprivits of 13th World Corgress of IFAC  1996 

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    Event date: 1996

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  • Active preview vibration control with the estimated future seismic waveform generated by an AI-based estimation system

    Kazuhiko Hiramoto, Taichi Matsuoka

    17th World Conference on Earthquake Engineering, 17WCEE  2021.10 

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    Language:English   Presentation type:Oral presentation (general)  

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  • Preview Type Active Vibration Control of Structural Systems\\ with the Waveform Information of Remote Observation Sites: Waveform Estimation System with Multiplexing and Ensemble Functions

    Kazuhiko Hiramoto, Kaoru Sato

    Dynamics and Design Conference 2021  2021.9 

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    Language:Japanese   Presentation type:Oral presentation (general)  

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  • Semi-active vibration control of semi-active suspensions with the optimal preview control for the MLD model

    Kaoru Sato, Kazuhiko Hiramoto

    Dynamics and Design Conference 2021  2021.9 

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    Language:Japanese   Presentation type:Oral presentation (general)  

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  • Optimal Design of 3-dimensional Piping Systems with Inertia Mass Dampers

    Issei Yamazaki, Kazuhiko Hiramoto

    Dynamics and Design Conference 2021  2021.9 

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    Language:Japanese   Presentation type:Oral presentation (general)  

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  • Semi-active vibration control for structural systems with a variable inertia mass damper

    Issei Yamazaki, Kazuhiko Hiramoto

    The 15th International Conference on Motion and Vibration  2020.12 

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    Language:English   Presentation type:Oral presentation (general)  

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  • Semi-active vibration control of structural systems based on linear approximation of switched linear system

    Kaoru Sato, Kazuhiko Hiramoto

    The 15th International Conference on Motion and Vibration  2020.12 

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Industrial property rights

  • PID制御装置及びそのPID制御系の制御要素を設定する方法

    長縄 明大, 平元 和彦, 森 英季, 渋谷 嗣

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    Applicant:独立行政法人科学技術振興機構

    Application no:特願2006-006309  Date applied:2006.1

    Announcement no:特開2007-188322  Date announced:2007.7

    J-GLOBAL

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Awards

  • 著述賞「はじめての制御工学」

    2013.9   計測自動制御学会  

    佐藤 和也, 平元 和彦, 平田 研二

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  • 日本機械学会東北支部技術研究賞

    2002  

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    Country:Japan

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Research Projects

  • A preview-type structural control based on the earthquake waveform estimation with a seismic observation network: Performance enhancement of the waveform estimation system

    Grant number:22K03995

    2022.4 - 2025.3

    System name:Grants-in-Aid for Scientific Research

    Research category:Grant-in-Aid for Scientific Research (C)

    Awarding organization:Japan Society for the Promotion of Science

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    Grant amount:\4160000 ( Direct Cost: \3200000 、 Indirect Cost:\960000 )

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  • Development of three-dimensional oral structure, function diagnosis and treatment support system based on novel intraoral coordinate system

    Grant number:22K12799

    2022.4 - 2025.3

    System name:Grants-in-Aid for Scientific Research

    Research category:Grant-in-Aid for Scientific Research (C)

    Awarding organization:Japan Society for the Promotion of Science

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    Grant amount:\4290000 ( Direct Cost: \3300000 、 Indirect Cost:\990000 )

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  • High performance structural vibration control by a preview of the future seismic waveform generated with a wave transmission network and an AI-based estimation system

    Grant number:19K04254

    2019.4 - 2022.3

    System name:Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)

    Research category:Grant-in-Aid for Scientific Research (C)

    Awarding organization:Japan Society for the Promotion of Science

    Hiramoto Kazuhiko

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    Grant amount:\4420000 ( Direct Cost: \3400000 、 Indirect Cost:\1020000 )

    A new active vibration control strategy of structural systems based on the information of future seismic waveform observed in remote observation sites is proposed. A waveform transmission network transmits the observed waveform information of the remote site to the structure under control. The waveform transmission network is realized by interconnecting multiple controlled structures and observation sites. By using the remote waveform information, a preview control method is adopted as the control law. For the preview action, a future seismic waveform in some time interval is needed. An artificial-intelligence-based waveform estimation system is proposed to estimate the future seismic waveform. The core of the wave estimation system is a multi-layered artificial neural network. We show that the proposed control method achieves much higher control performance over the optimized LQ state-feedback control law through a simulation study with a recorded seismic event in Japan.

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  • MR流体を用いた可変慣性ダンパの開発

    2016 - 2019

    System name:科学研究費補助金(基盤研究(C))

    Awarding organization:文部科学省

    松岡太一

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    Grant type:Competitive

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  • 制御仕様を過不足なく満たすパッシブ,アクティブ,セミアクティブ要素の系統的決定法

    2015 - 2018

    System name:科学研究費補助金(基盤研究(C))

    Awarding organization:文部科学省

    平元和彦

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    Authorship:Principal investigator  Grant type:Competitive

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  • 高効率太陽熱発電のための高温型粒子流動層式ソーラー集熱/蓄熱システムの開発

    2013 - 2016

    System name:科学研究費補助金(基盤研究(B))

    Awarding organization:文部科学省

    松原幸治

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    Grant type:Competitive

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  • 係数励振によるセミアクティブダンパの時間遅れ改善

    2012 - 2015

    System name:科学研究費補助金(基盤研究(C))

    Awarding organization:文部科学省

    松岡太一

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    Grant type:Competitive

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  • 高齢者の転倒防止を目的とした座位バランス能力評価・訓練装置の開発

    2011 - 2013

    System name:科学研究費補助金(基盤研究(C))

    Awarding organization:文部科学省

    巖見武裕

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    Grant type:Competitive

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  • Optimal design of the structural model for the semiactive control design and the model-based semi-active control

    Grant number:23560255

    2011 - 2013

    System name:Grants-in-Aid for Scientific Research

    Research category:Grant-in-Aid for Scientific Research (C)

    Awarding organization:Japan Society for the Promotion of Science

    HIRAMOTO Kazuhiko, MATSUOKA Taichi

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\5200000 ( Direct Cost: \4000000 、 Indirect Cost:\1200000 )

    In this study, a simultaneous optimal design of a structural model for the semi-active control design and a model based semi-active control law has been studied. All semi-active control systems are essentially asymptotically stable because of the stability of general structural systems with structural damping and the energy dissipative nature of the semi-active control device itself. With the stability nature of semi-active control systems, parameters of the model for the control system design and those in the model-based semi-active control law were optimized simultaneously so that the closed-loop system with the detailed dynamic model that accurately approximates the dynamic behavior of the real structural system and the semi-active control law obtained with the model for the control system design without considering the modeling error. The genetic algorithm was adopted to the optimization. The effectiveness of the present approach was shown with simulation studies.

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  • LMI-based system identification method and its application

    Grant number:20560208

    2008 - 2010

    System name:Grants-in-Aid for Scientific Research(基盤研究(C))

    Research category:基盤研究(C)

    Awarding organization:Ministry of Education, Culture, Sports, Science and Technology

    Kazuhiko HIRAMOTO, Takehiro IWAMI, Taichi MATSUOKA

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\4550000 ( Direct Cost: \3500000 、 Indirect Cost:\1050000 )

    A methodology for system identification based on LMI (Linear matrix inequality) has been studied in the present research project. Achievements of the study are summarized as follows :・An iterative system identification and controller design method based on LMIs is developed.・With a dynamic model of a device for vibration suppression several methods for semi-active control of civil structures are proposed.・A method to simultaneously obtain an appropriate model of the control object and a decentralized controller with an LMI approach is proposed.

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  • Vibration Control System Using Dampers Applicable to Twin Mode of Semi-Active and Passive Types

    Grant number:19560224

    2007 - 2008

    System name:Grants-in-Aid for Scientific Research(基盤研究(C))

    Research category:基盤研究(C)

    Awarding organization:Ministry of Education, Culture, Sports, Science and Technology

    Katsuaki SUNAKODA, Kazuhiko HIRAMOTO, Taichi MATSUOKA

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    Authorship:Collaborating Investigator(s) (not designated on Grant-in-Aid)  Grant type:Competitive

    Grant amount:\4160000 ( Direct Cost: \3200000 、 Indirect Cost:\960000 )

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  • 階層構造の導入による機械システム制御系の知能化

    Grant number:18760160

    2006 - 2007

    System name:科学研究費補助金(若手研究(B))

    Research category:若手研究(B)

    Awarding organization:文部科学省

    平元和彦

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\3500000 ( Direct Cost: \3500000 )

    時変の調整パラメータを有する機械システムの新しい制御系設計手法ついて検討を行った.制御構造を,時変設計パラメータを閉ループ性能が向上するように調整するスーパーバイザ部と,時変パラメータ変動の情報を考慮してフィードバック制御を行うコントローラの2要素・2階層と設定した.フィードバックコントローラ部は,時変パラメータの変動を考慮したLMIべ一スのゲインスケジューリングコントローラとした.この制御則を採用することによって,スーパーバイザの設計時に閉ループ系の安定性を考慮する必要性がなくなるため,種々の最適化手法を用いたスーパバイザ設計が柔軟に行えることを示し,このような階層構造を有する制御手法を,アクティブゲインスケジューリングと定義した.アクティブゲインスケジューリング手法は,閉ループノルムを最小化することを目的とした解析的な制御系設計手法と,閉ループ系の安定性等の保証は困難であるものの,閉ループ過渡応答の直接的な調整も可能で柔軟性の高い知的制御手法(ニューラルネットワークやファジィ手法など)の利点を相補的に活用可能な方法であることを示した.さらに,本手法が,制御対象中の設計変数とコントローラの統合化設計の拡張とも位置づけられることを明らかにした.提案する手法の有効性を示すため,簡単な機械系制御システムを例として,二値切替型のスーパバイザや,遺伝的アルゴリズム(GA)によるスーパ...

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  • A Simultaneous Optimal Design of Structural and Control Systems for Cantilevered Pipes Conveying Fluid

    Grant number:12650222

    2000 - 2001

    System name:Grants-in-Aid for Scientific Research(基盤研究(C))

    Research category:基盤研究(C)

    Awarding organization:Ministry of Education, Culture, Sports, Science and Technology

    Hitoshi DOKI, 平元和彦

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    Authorship:Collaborating Investigator(s) (not designated on Grant-in-Aid)  Grant type:Competitive

    Grant amount:\3600000 ( Direct Cost: \3600000 )

    We deal with a simultaneous optimal design of structural and control system of cantilevered pipes conveying fluid. We consider a combined pipe conveying fluid which is consisted of a beam (with variable shape) sandwiched by two pipes conveying fluid. The mathematical model of the combined pipe system is derived as a single pipe conveying fluid whose structural properties are variable. The width distribution of the beam and the location of the sensor and the actuator are structural design parameters. We employ the LQG control law with the input energy constraint as the active control method....

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  • 構造系と制御系の同時最適設計法の開発:構造設計のより初期段階への適用を目指して

    Grant number:10750161

    1998 - 1999

    System name:科学研究費補助金(奨励研究(A))

    Research category:奨励研究(A)

    Awarding organization:文部科学省

    平元和彦

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\2000000 ( Direct Cost: \2000000 )

    制御対象の設計と制御を行うコントローラを,制御対象の設計初期段階から同時に最適設計する(構造系と制御系の同時最適設計)手法の確立を目的として研究を行った.この設計問題で最適化される設計変数は,以下のように分類される.1.制御対象中の設計変数(1)センサ設置数,構造部材の材質等の離散的にしか調整できない設計変数(2)構造の形状,センサ配置等の連続的に調整可能な設計変数2.コントローラ中の設計変数(1)PID制御の各ゲイン,LQ制御問題における二次形式評価関数の重み行列これらの設計変数を同時に最適化する問題は,いわゆる混合多目的最適化問題となる.この問題に対して,従来提案されてきた傾斜法に基づく構造系と制御系の同時最適設計の手法が適用可能かどうか検討した.その結果,従来の設計手法の単純な応用では,本問題に対して,実用的な計算量で最適な設計変数を求めることが不可能であることが分かった.そこで,従来手法とは異なる最適化手法として,最適化の過程に確率的選択を導入した確率的最適化手法の適用を提案した.本研究では,確率的最適化手法の一つである"擬似焼きなまし法"を用いて同時最適設計を行うことを提案した.提案する設計手法を確認するための設計例として,はり状構造物の同時最適設計問題を取り上げ,良好な結果を得た.以上の研究成果は論文にまとめて投稿し,掲載が決定され,現在印刷中である.さらに,本最...

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  • Active vibration control of cantilevered pipes conveying fluid with gain scheduling controller

    Grant number:09650261

    1997 - 1998

    System name:Grants-in-Aid for Scientific Research(基盤研究(C))

    Research category:基盤研究(C)

    Awarding organization:Ministry of Education, Culture, Sports, Science and Technology

    Hitoshi DOKI, 平元和彦, 大日方五郎

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    Authorship:Collaborating Investigator(s) (not designated on Grant-in-Aid)  Grant type:Competitive

    Grant amount:\900000 ( Direct Cost: \900000 )

    This research deals with a stabilization of cantilevered pipes conveying fluid. To suppress the unstable phenomena of the pipe system, we employ so called gain scheduling technique. This control design procedure consists of following two steps. First, several linear time invariant (LTI) controllers are obtained for the pipe system with fixed flow velocity. We adopt LQG control law for each LTI controller design. Next, those controllers are scheduled according to the flow velocity, i.e. scheduling parameter. Concretely, LO state-feedback gains and the Kalman filter gains, which are obtained ...

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  • Study on Simultaneous Optimization of Structural and Coutrol Systems

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    Grant type:Competitive

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  • 生体運動のモデル化や解析に関する研究

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    Grant type:Competitive

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  • モデルとコントローラ設計の一体化に関する研究

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    Grant type:Competitive

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  • 振動系やロボットを対象とする構造と制御の統合化設計に関する研究

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    Grant type:Competitive

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  • セミアクティブ振動制御系設計に関する研究

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    Grant type:Competitive

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  • Application of Simultaneous optimal design to mechatronics devices

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    Grant type:Competitive

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Teaching Experience

  • 総合工学概論

    2023
    Institution name:新潟大学

  • 物理工学実験

    2021
    Institution name:新潟大学

  • 自然科学総論II

    2021
    Institution name:新潟大学

  • 機械工学実験III

    2020
    Institution name:新潟大学

  • プロジェクト研究特別概説

    2020
    Institution name:新潟大学

  • 先端研究入門

    2020
    -
    2022
    Institution name:新潟大学

  • 機械工学実験IV

    2020
    -
    2021
    Institution name:新潟大学

  • 機械工学実験II

    2017
    Institution name:新潟大学

  • リメディアル演習

    2017
    Institution name:新潟大学

  • 機械工学概論

    2017
    Institution name:新潟大学

  • 工学リテラシー入門(力学分野)

    2017
    Institution name:新潟大学

  • 物理工学実験

    2017
    -
    2018
    Institution name:新潟大学

  • 機械工学実験I

    2016
    Institution name:新潟大学

  • 英文輪読II

    2016
    Institution name:新潟大学

  • 機械工学演習

    2016
    Institution name:新潟大学

  • 英文輪読I

    2016
    Institution name:新潟大学

  • 卒業研究

    2016
    Institution name:新潟大学

  • 卒業研修

    2016
    Institution name:新潟大学

  • ロボット工学

    2016
    -
    2022
    Institution name:新潟大学

  • 技術英語入門

    2016
    Institution name:新潟大学

  • 工業力学

    2015
    Institution name:新潟大学

  • 自然科学総論Ⅱ

    2015
    -
    2018
    Institution name:新潟大学

  • 情報機器操作入門

    2015
    Institution name:新潟大学

  • 機械科学セミナーⅠ

    2013
    -
    2015
    Institution name:新潟大学

  • 機械科学セミナーⅡ

    2013
    -
    2015
    Institution name:新潟大学

  • 材料生産システム特定研究Ⅱ

    2013
    -
    2015
    Institution name:新潟大学

  • 研究発表演習・発表

    2013
    -
    2015
    Institution name:新潟大学

  • 材料生産システム特定研究Ⅰ

    2013
    -
    2015
    Institution name:新潟大学

  • 機械科学特別演習

    2012
    -
    2015
    Institution name:新潟大学

  • 機械科学文献詳読Ⅰ

    2012
    -
    2015
    Institution name:新潟大学

  • 機械科学文献詳読Ⅱ

    2012
    -
    2015
    Institution name:新潟大学

  • くらしを支える機械システム工学

    2011
    Institution name:新潟大学

  • 工学リテラシー入門(機械システム工学科)

    2011
    -
    2020
    Institution name:新潟大学

  • リメディアル演習(機械数理)

    2011
    -
    2020
    Institution name:新潟大学

  • 機械力学II

    2010
    Institution name:新潟大学

  • 機械力学I

    2010
    Institution name:新潟大学

  • 機械システム制御論

    2010
    Institution name:新潟大学

  • 振動解析・制御特論

    2010
    Institution name:新潟大学

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