九州大学-研究者情報 [山本薫 (准教授) システム情報科学研究院電気システム工学部門]

山本薫（やまもとかおる）

データ更新日：2024.05.02

准教授　／　システム情報科学研究院電気システム工学部門エネルギー応用システム工学講座

学会発表等

1.	Kaoru Yamamoto, Ensemble control of mobile robots, the 62nd IEEE Conference on Decision and Control, 2023.12.
2.	Yutaka Yamamoto, Kaoru Yamamoto, Nonlinear Sampled-Data Systems - a Lifting Framework, IFAC World Congress 2023, 2023.07.
3.	山本薫， Themelis Andreas, 車両群のナビゲーション:群れのモデルとその制御, 第６7回　システム制御情報学会研究発表講演会（SCI23）, 2023.05.
4.	Ryusei Yoshise, Kaoru Yamamoto, Algebraic connectivity of layered path graphs under node deletion, IEEE 61st Conference on Decision and Control (CDC), 2022.12.
5.	久保亮太，山本薫，セメリスアンドレアス, 人工ポテンシャル法を用いた未知環境での移動ロボットナビゲーションにおける停留回避, 第６5回自動制御連合講演会, 2022.11.
6.	石井貴悠，坂口聡範，山本薫, 集中制御による自動運転車両合流時の挙動円滑化, 第６5回自動制御連合講演会, 2022.11.
7.	Aneek Nag, Shuo Huang, Andreas Themelis, Kaoru Yamamoto, Flock navigation with dynamic hierarchy and subjective weights using nonlinear MPC, The 6th IEEE Conference on Control Technology and Applications (CCTA 2022), 2022.08.
8.	濱里洋平,山本薫,辻健, 弾性波探査のためのドローン群の巡回経路最適化, 第６６回　システム制御情報学会研究発表講演会（SCI'22）, 2022.05.
9.	築城大知，坂口聡範，越智亮太，山本薫, Pure pursuit法を用いた移動ロボットにおける滑らかな障害物回避手法の提案, 第６４回自動制御連合講演会, 2021.11, [URL].
10.	築城大知，坂口聡範，越智亮太，山本薫, Pure pursuit法を用いた移動ロボットにおける滑らかな障害物回避手法の提案, 第40回計測自動制御学会九州支部学術講演会, 2021.11.
11.	上村凌雅,坂口聡範，越智亮太，山本薫, 複数クアッドコプター近接飛行時における乱流に基づく相互干渉分析を目的とするPIV計測, 第40回計測自動制御学会九州支部学術講演会, 2021.11.
12.	山田貴大，山本薫，藤田健吾，川邊武俊, 繰り返し制御による建築構造物の周期外乱抑制, 第８回制御部門マルチシンポジウム, 2021.03.
13.	Kaoru Yamamoto, Yutaka Yamamoto, Masaaki Nagahara, Hypertracking: a new approach to signals beyond the Nyquist frequency - a brief overview, IFAC World Congress 2020, 2020.07.
14.	Kaoru Yamamoto, Towards scale free disturbance suppression in heterogeneous mass chains, 18th European Control Conference, ECC 2019, 2019.06, [URL], We study the disturbance attenuation problem in a heterogeneous mass chain where both the number of masses and the mass distribution may change. The paper studies the scalar transfer functions from the disturbance at a boundary point to a given intermass displacement. It is shown that these transfer functions can be represented in the form of composition sequences generated by Möbius transformations. The framework aims at devising a method of designing the interconnection impedances in the mass chain in a scale-free manner. That is, the resulting design guarantees certain performance criteria for mass chains of any length and any mass distribution. A graphical method is provided for such an interconnection design problem..
15.	山本　薫, ストリングトポロジーを有するネットワークシステムのスケールフリー制御, 第６回制御部門マルチシンポジウム, 2019.03.
16.	Yutaka Yamamoto, Kaoru Yamamoto, Masaaki Nagahara, Sampled-Data Filters with Compactly Supported Acquisition Prefilters, 57th IEEE Conference on Decision and Control, CDC 2018, 2018.12, [URL], This paper studies the problem of reconstructing continuous-time signals from discrete-time uniformly sampled data. This signal reconstruction problem has been studied by the authors in various contexts, and led to a new signal processing paradigm. The key idea there is to employ a physically realizable signal generator model, and design an (sub)optimal filter via H^ infty(mathbb C- +) optimal sampled-data control theory. The present paper aims at extending this framework to a more general setting where observed data are acquired through an acquisition device (prefilter) that has compact support. In this way, the framework can capture the properties of processing signals with a localized acquisition filter. We give a general setup as well as approximate solution methods along with their convergence results. A simulation is presented to illustrate some properties of the result..
17.	Richard Pates, Kaoru Yamamoto, Sensitivity Function Trade-Offs for Networks with a String Topology, 57th IEEE Conference on Decision and Control, CDC 2018, 2018.12, [URL], We present two sensitivity function trade-offs that apply to a class of networks with a string topology. In particular we show that a lower bound on the H-infinity norm and a Bode sensitivity relation hold for an entire family of sensitivity functions associated with growing the network. The trade-offs we identify are a direct consequence of growing the network, and can be used to explain why poorly regulated low frequency behaviours emerge in long vehicle platoons even when using dynamic feedback..
18.	Richard Pates, Kaoru Yamamoto, Scale Free Bounds on the Amplification of Disturbances in Mass Chains, 2018 Annual American Control Conference, ACC 2018, 2018.08, [URL], We give a method for designing a mechanical impedance to suppress the propagation of disturbances along a chain of masses. The key feature of our method is that it is scale free. This means that it can be used to give a single, fixed, design, with provable performance guarantees in mass chains of any length. We illustrate the approach by designing a bidirectional control law in a vehicle platoon in a manner that is independent of the number of vehicles in the platoon..
19.	山本　薫, ネットワークシステムにおける動的特性〜１次元多質点系モデルにおける再帰的性質を用いて〜, RACOT研究会, 2018.08.
20.	Kaoru Yamamoto, Dynamics of heterogeneous mass chains via repeated compositions of Moebius transformations, The 23rd International Symposium on Mathematical Theory of Networks and Systems, 2018.07, This note studies the disturbance amplification in an interconnected heterogeneous mass chain in which one end is connected to a movable point. Each interconnection is represented by a general mechanical impedance function. The problem arises in the design of multi-storey buildings subjected to earthquake disturbances, or bidirectional control of vehicle platoons. Recurrence relations with respect to the number of masses are derived for the scalar transfer functions from the movable point displacement to a given intermass displacement. In particular, each relation takes the form of a Moebius transformation..
21.	Kaoru Yamamoto, Masaaki Nagahara, Yutaka Yamamoto, Signal reconstruction with generalized sampling, 56th IEEE Annual Conference on Decision and Control, CDC 2017, 2018.01, [URL], This paper studies the problem of reconstructing continuous-Time signals from discrete-Time uniformly sampled data. This signal reconstruction problem has been studied by the authors in various contexts, and led to a new signal processing paradigm. The crux there is to employ a physically realizable signal generator model, and design an (sub)optimal filter via H^TC(C₊) optimal sampled-data control theory. The present paper extends this framework to the situation where sampling is more general having a generalized sampling kernel. It is more consistent with a more general framework, for example, wavelet signal expansion, and can lead to a more general applications. We give a general setup along with a solution via fast-sample/fast-hold approximation. A simulation is presented to illustrate the result..
22.	Kaoru Yamamoto, Yutaka Yamamoto, Masaaki Nagahara, Simultaneous rejection of signals below and above the nyquist frequency, 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017, 2017.10, [URL], This paper studies the disturbance rejection problem for sampled-data control systems, where disturbance signal occurs below and above the Nyquist frequency simultaneously. Two discrete-time controllers are designed via H^∞ optimal control in two steps; at first a controller is designed to reject the low-frequency components, and then we construct the generalized plant including the first controller to design the second controller, which has the capability of rejecting the high-frequency components. In view of the well-known sampling theorem, one recognizes that any high-frequency components may be detected only as an alias in the low base band, and hence it is impossible to recover or detect such frequency components. The authors recently showed in [13] that this assumption depends crucially on the underlying analog model, and it is indeed possible to track or reject such frequency components by introducing multirate signal processing techniques. This paper aims to make this design technique applicable to the case in which the target frequencies lie both below and above the Nyquist frequency. Detailed analysis of multirate closed-loop systems are given. It is shown via examples that rejection of lower- and higher-frequency signals than the Nyquist frequency can be achieved..
23.	Yutaka Yamamoto, Kaoru Yamamoto, Masaaki Nagahara, Tracking of signals beyond the Nyquist frequency, 55th IEEE Conference on Decision and Control, CDC 2016, 2016.12, [URL], This paper studies the problem of tracking or disturbance rejection for sampled-data control systems, where the tracking signal can have frequency components higher than the Nyquist frequency. In view of the well-known sampling theorem, one recognizes that any high-frequency components may be detected only as an alias in the low base band, and hence it is impossible to recover or detect such frequency components. This paper examines the basic underlying assumption, and shows that this assumption depends crucially on the underlying analog model. We show that it is indeed possible to recover such high-frequency signals, and also that, by introducing multirate signal processing techniques, it is possible to track or reject such frequency components. Detailed analysis of multirate closed-loop systems and zeros and poles are given. It is shown via examples that tracking of high-frequency signals beyond the Nyquist frequency can be achieved with satisfactory accuracy..
24.	Kaoru Yamamoto, M. C. Smith, Design of passive interconnections in tall buildings subject to earthquake disturbances to suppress inter-storey drifts, 13th International Conference on Motion and Vibration Control, MOVIC 2016 and the 12th International Conference on Recent Advances in Structural Dynamics, RASD 2016, 2016.10, [URL], This paper studies the problem of passive control of a multi-storey building subjected to an earthquake disturbance. The building is represented as a homogeneous mass chain model, i.e., a chain of identical masses in which there is an identical passive connection between neighbouring masses and a similar connection to a movable point. The paper considers passive interconnections of the most general type, which may require the use of inerters in addition to springs and dampers. It is shown that the scalar transfer functions from the disturbance to a given inter-storey drift can be represented as complex iterative maps. Using these expressions, two graphical approaches are proposed: one gives a method to achieve a prescribed value for the uniform boundedness of these transfer functions independent of the length of the mass chain, and the other is for a fixed length of the mass chain. A case study is presented to demonstrate the effectiveness of the proposed techniques using a 10-storey building model. The disturbance suppression performance of the designed interconnection is also verified for a 10-storey building model which has a different stiffness distribution but with the same undamped first natural frequency as the homogeneous model..
25.	Kaoru Yamamoto, Malcolm C. Smith, Mass chains with passive interconnection Complex iterative maps and scalability, 52nd IEEE Conference on Decision and Control, CDC 2013, 2013.01, [URL], This paper introduces the problem of passive control of a chain of N identical masses in which there is an identical passive connection between neighbouring masses and a similar connection to a movable point. The problem arises in the design of multi-storey buildings which are subjected to earthquake disturbances, but applies in other situations, for example vehicle platoons. The paper will study the scalar transfer functions from the disturbance to a given intermass displacement. It will be shown that these transfer functions can be conveniently represented in the form of complex iterative maps and that these maps provide a method to establish boundedness in N of the H _∞-norm of these transfer functions for certain choices of interconnection impedance..
26.	山本薫, 藤田皓平, 竹脇出, 層間変位及び加速度の伝達関数のＨ^∞ノルムを最小化する粘性ダンパーの最適配置, 日本建築学会学術講演梗概集B-1 構造1, 2010.07.
27.	山本薫, 藤田皓平, 竹脇出, 免震装置特性の変動に起因する免震建物の不確定性解析, 学術講演梗概集. B-2, 構造II, 振動, 原子力プラント, 2009.07.
28.	山本薫, 藤田皓平, 竹脇出, 免震装置特性の変動に起因する免震建物の不確定性解析, 日本建築学会近畿支部研究報告集. 構造系, 2009.05.

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