Updated on 2025/02/28

写真a

 
YAMAMOTO KAORU
 
Organization
Faculty of Information Science and Electrical Engineering Department of Electrical Engineering Associate Professor
Research Institute of Advanced Electric Propulsion Aircrafts (Concurrent)
School of Engineering Department of Electrical Engineering and Computer Science(Concurrent)
Graduate School of Information Science and Electrical Engineering Department of Electrical and Electronic Engineering(Concurrent)
Joint Graduate School of Mathematics for Innovation (Concurrent)
Graduate School of Integrated Frontier Sciences Department of Automotive Science(Concurrent)
Title
Associate Professor
Contact information
メールアドレス
Tel
0928023669
Profile
イナーターを用いた拡張サスペンションシステム,隊列走行する車両群などの相互作用する動的ネットワーク系の制御,サンプル値制御系におけるナイキスト周波数以上の信号の制御とその機械系振動制御や画像処理への応用,などの研究に従事.

Research Areas

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

Degree

  • Ph.D. in control engineering (University of Cambridge, UK)

Research History

  • Postdoctoral Researcher, University of Minnesota, USA Postdoctoral Researcher, Lund University, Sweden   

Research Interests・Research Keywords

  • Research theme: Control of autonomous mobile robots, control of UAVs, control of multiagent systems, vibration control in mechanical systems, passivity-based control, control of signals beyond the Nyquist frequency in sampled-data systems

    Keyword: control of autonomous robots, vibration control, passivity, dynamical systems, network systems, sampled-data systems

    Research period: 2015.10

Awards

  • 第4回 日本ロボット学会 優秀研究・技術賞

    2023.9   日本ロボット学会   平行リンクモジュールを用いた3軸変形フレームを有するドローンの提案

  • 第4回 優秀研究・技術賞

    2023.9   日本ロボット学会  

     More details

    平行リンクモジュールを用いた3軸変形フレームを有するドローンの提案

    researchmap

  • Highly Commended Oral Presentation at UKACC Day, Ph.D. Presentation Showcase

    2014.8   The Royal Society  

Papers

  • Distributed control for flock navigation using nonlinear model predictive control Reviewed International journal

    Aneek Nag, Kaoru Yamamoto

    Advanced Robotics   2024.1

     More details

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

    DOI: https://doi.org/10.1080/01691864.2023.2299859

    Repository Public URL: https://hdl.handle.net/2324/7170250

  • Nonlinear Sampled-data Systems-A lifting framework Reviewed International journal

    Yamamoto, Y; Yamamoto, K

    IFAC-PapersOnLine   56 ( 2 )   6406 - 6410   2023.11   ISSN:2405-8963 ISBN:9781713872344

     More details

    Authorship:Last author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:IFAC-PapersOnLine  

    This short note gives a new framework for dealing with nonlinear sampled-data systems. We introduce a new idea of lifting, which is well known for linear systems, but not successfully generalized to nonlinear systems. This paper introduces a new lifting technique for nonlinear, time-invariant systems, which are different from the linear counterpart as developed in Bamieh et al. (1991); Yamamoto (1994) etc. The main difficulty is that the direct feedthrough term effective in the linear case cannot be generalized to the nonlinear case. Instead, we will further lift the state trajectory, and obtain an equivalent time-invariant discrete-time system with function-space input and output spaces. The basic framework, as well as the closed-loop equation with discrete-time controller, is given. As an application of this framework, we give a representation for the Koopman operator derived from the given original nonlinear system.

    DOI: 10.1016/j.ifacol.2023.10.840

    Web of Science

    Scopus

  • Hypertracking and Hyperrejection: Control of Signals beyond the Nyquist Frequency Reviewed International journal

    Kaoru Yamamoto, Yutaka Yamamoto, Masaaki Nagahara

    IEEE Transactions on Automatic Control   68 ( 10 )   6232 - 6239   2023.10   ISSN:00189286 eISSN:15582523

     More details

    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers ({IEEE})  

    Ⅰ.INTRODUCTION / Ⅱ. PROBLEM FORMULATION / Ⅲ. HYPERTRACKING AND TRACKING CONDITIONS / Ⅳ.DESIGN METHOD / Ⅴ.ROBUSTNESS / Ⅵ. MISCELLANEOUS EXAMPLES / VII. CONCLUDING REMARKS

    File: TNv5.pdf

    DOI: 10.1109/tac.2022.3230599

    Web of Science

    Scopus

    CiNii Research

    researchmap

    Repository Public URL: https://hdl.handle.net/2324/6791128

  • Regularization and Interpolation of Positive Matrices Reviewed International coauthorship International journal

    Kaoru Yamamoto, Yongxin Chen, Lipeng Ning, Tryphon T. Georgiou, Allen Tannenbaum

    IEEE Transactions on Automatic Control   63 ( 4 )   1208 - 1212   2018.4

     More details

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

    DOI: 10.1109/TAC.2017.2749258

    Repository Public URL: http://hdl.handle.net/2324/4785150

  • Bounded Disturbance Amplification for Mass Chains with Passive Interconnection Reviewed International coauthorship International journal

    Kaoru Yamamoto, Malcolm C. Smith

    IEEE Transactions on Automatic Control   61 ( 6 )   1565 - 1574   2016.6

     More details

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

    DOI: 10.1109/TAC.2015.2478126

    Repository Public URL: http://hdl.handle.net/2324/4784736

▼display all

Presentations

  • Ensemble control of mobile robots Invited International conference

    @Kaoru Yamamoto

    the 62nd IEEE Conference on Decision and Control  2023.12 

     More details

    Event date: 2023.12

    Language:English   Presentation type:Symposium, workshop panel (public)  

    Venue:Singapore   Country:Singapore  

  • Nonlinear Sampled-Data Systems - a Lifting Framework International conference

    @Yutaka Yamamoto, @Kaoru Yamamoto

    IFAC World Congress 2023  2023.7 

     More details

    Event date: 2023.7

    Language:English  

    Venue:Yokohama   Country:Japan  

  • Nonlinear Sampled-Data Systems - a Lifting Framework International conference

    Yutaka Yamamoto, Kaoru Yamamoto

    IFAC World Congress 2023  2023.7 

     More details

    Event date: 2023.7

    Language:English   Presentation type:Poster presentation  

    Venue:Yokohama   Country:Japan  

    researchmap

  • 車両群のナビゲーション:群れのモデルとその制御 Invited

    @山本薫, @Themelis Andreas

    第67回 システム制御情報学会研究発表講演会(SCI23)  2023.5 

     More details

    Event date: 2023.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:京都   Country:Japan  

  • 車両群のナビゲーション:群れのモデルとその制御 Invited

    山本薫, Themelis Andreas

    第67回 システム制御情報学会研究発表講演会(SCI23)  2023.5 

     More details

    Event date: 2023.5

    Language:Japanese  

    Venue:京都   Country:Japan  

    researchmap

▼display all

MISC

  • People in Control Invited International journal

    Yamamoto, K

    IEEE CONTROL SYSTEMS MAGAZINE   44 ( 3 )   24 - 26   2024.6   ISSN:1066-033X eISSN:1941-000X

     More details

    Authorship:Lead author, Last author, Corresponding author   Language:English   Publisher:IEEE Control Systems  

    KAORU YAMAMOTO

    DOI: 10.1109/MCS.2024.3382374

    Web of Science

    Scopus

  • Swarm Control—V Invited Reviewed

    Yamamoto Kaoru, Themelis Andreas

    SYSTEMS, CONTROL AND INFORMATION   67 ( 10 )   433 - 438   2023.10   ISSN:09161600 eISSN:24241806

     More details

    Authorship:Lead author, Corresponding author   Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)   Publisher:THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS  

    DOI: 10.11509/isciesci.67.10_433

    CiNii Research

  • 非線形モデル予測制御による車両群の分散誘導制御:群れのモデルとその制御

    山本薫, Andreas Themelis

    システム/制御/情報   2023.10

     More details

    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

  • Connectivity in Mobile Robot Networks Invited Reviewed

    Yamamoto Kaoru

    SYSTEMS, CONTROL AND INFORMATION   67 ( 1 )   12 - 17   2023.1   ISSN:09161600 eISSN:24241806

     More details

    Authorship:Lead author, Last author, Corresponding author   Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)   Publisher:THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS  

    DOI: 10.11509/isciesci.67.1_12

    CiNii Research

  • 移動ロボット群における連結性

    山本 薫

    システム/制御/情報   2023.1

     More details

    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

    DOI: https://doi.org/10.11509/isciesci.67.1_12

    Repository Public URL: https://hdl.handle.net/2324/7170249

▼display all

Professional Memberships

  • The Society of Instrument and Control Engineers

  • Institute of Electrical and Electronics Engineers (IEEE)

  • The Robotics Society of Japan

  • Institute of Systems, Control and Information Engineers

  • The Society of Instrument and Control Engineers

      More details

▼display all

Committee Memberships

  • 船井情報科学振興財団   奨学事業選考委員   Domestic

    2021.4 - 2025.3   

  • 計測自動制御学会   代議員   Domestic

    2021.4 - 2025.3   

  • 計測自動制御学会   代議員  

    2021.4 - 2025.3   

      More details

Academic Activities

  • Program Committee International contribution

    the 63rd IEEE Conference on Decision and Control  ( Milano Italy ) 2024.12

     More details

    Type:Competition, symposium, etc. 

  • 組織委員

    第68回 システム制御情報学会 研究発表講演会 SCI’24  ( Japan ) 2024.5

     More details

    Type:Competition, symposium, etc. 

  • Member International contribution

    IFAC Technical committee on Networked Systems  ( Austria ) 2024.4 - Present

     More details

    Type:Competition, symposium, etc. 

  • Screening of academic papers

    Role(s): Peer review

    2024

     More details

    Type:Peer review 

    Number of peer-reviewed articles in foreign language journals:2

    Proceedings of International Conference Number of peer-reviewed papers:10

  • Program Committee International contribution

    the 62nd IEEE Conference on Decision and Control  ( Singapore Singapore ) 2023.12

     More details

    Type:Competition, symposium, etc. 

▼display all

Research Projects

  • Scale-invariant control of multi-mobile robot systems

    Grant number:24K07546  2024.4 - 2028.3

    Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (C)

    山本 薫

      More details

    Grant type:Scientific research funding

    本研究の目的は、群ロボットの制御、特に、スケール(ロボット総数)によらず所望の外乱抑制性能を有する分散制御器設計法の確立である。群れ内部での外乱伝播特性はスケール依存性が高く、様々なスケールに対して有効な分散制御器は現在のところ得られていない。これを、代表者がこれまで推進してきたスケールフリー群制御理論に基づき解決しようとするものである。これにより、タスク実行中のロボットの自在な新規参入や離脱、複数群への分割などを可能とする、新しい群ロボット制御理論の展開を目指す。

    CiNii Research

  • 超小型震源装置1台と地震計1台で地下探査を可能とする自律型地震探査装置の開発

    2023.4 - 2025.3

    JAXA 宇宙探査イノベーションハブ 

      More details

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

  • AMD(アクティブ・マス・ダンパ)を用いた床振動低減アルゴリズムに関する研究

    2023.4 - 2024.3

    Joint research

      More details

    Authorship:Principal investigator  Grant type:Other funds from industry-academia collaboration

  • AMD(アクティブ・マス・ダンパ)を用いた床振動低減アルゴリズムに関する研発

    2023.4 - 2024.3

      More details

    Authorship:Principal investigator 

  • AMD(アクティブ・マス・ダンパ)を用いた床振動低減アルゴリズムに関する研究

    2022.4 - 2023.3

    Joint research

      More details

    Authorship:Coinvestigator(s)  Grant type:Other funds from industry-academia collaboration

▼display all

Educational Activities

  • Our group studies Systems and Control theory and various applications in this area. In particular, we work on networked systems and multi-agent systems such as vehicle platooning and cooperative drones. Each agent in such a system can only collect some partial information in the network such as the position and/or speed of the neighbouring agents, and our task is to control the behaviour of the whole network under such constraints. We also work on vibration control such as vibration suppression for multi-storey building subjected to an earthquake, and digital signal processing.

Class subject

  • (IUPE)System Control B

    2023.12 - 2024.2   Winter quarter

  • 計算機プログラミング演習Ⅱ

    2023.12 - 2024.2   Winter quarter

  • プログラミング演習Ⅲ

    2023.12 - 2024.2   Winter quarter

  • 電気電子工学読解Ⅱ

    2023.10 - 2024.3   Second semester

  • Technical Reading in EEE I

    2023.10 - 2024.3   Second semester

▼display all

FD Participation

  • 2023.7   Role:Participation   Title:【シス情FD】若手教員の研究紹介⑨

    Organizer:[Undergraduate school/graduate school/graduate faculty]

  • 2023.4   Role:Participation   Title:【シス情FD】若手教員による研究紹介⑧

    Organizer:[Undergraduate school/graduate school/graduate faculty]

  • 2023.4   Role:Participation   Title:【シス情FD】若手教員による研究紹介⑧

    Organizer:[Undergraduate school/graduate school/graduate faculty]

  • 2022.7   Role:Participation   Title:【シス情FD】若手教員による研究紹介⑤

    Organizer:[Undergraduate school/graduate school/graduate faculty]

  • 2022.7   Role:Participation   Title:【シス情FD】若手教員による研究紹介⑤

    Organizer:[Undergraduate school/graduate school/graduate faculty]

▼display all

Participation in international educational events, etc.

  • 2019.9

    国際教育支援センター

    英語によるSTEM科目の教授法(NEEP)

      More details

    Venue:Australia, Queensland

Other educational activity and Special note

  • 2024  Class Teacher  学部

  • 2023  Class Teacher  学部

  • 2023  Class Teacher  学部

  • 2022  Class Teacher  学部

  • 2022  Class Teacher  学部

▼display all

Social Activities

  • 第3回福岡空のモビリティ講演会

    JST RISTEX RInCA 「「空飛ぶクルマ」の社会実装において克服すべきELSIの総合的研究」プロジェクト  エルガーラ多目的ホール(福岡市天神)  2024.2

     More details

    Audience:General, Scientific, Company, Civic organization, Governmental agency

    Type:Lecture

  • 「空飛ぶクルマ」の社会実装において私たちは何を検討すべきか?

    早稲田大学エクステンションセンター  オンライン  2024.2

     More details

    Audience:General, Scientific, Company, Civic organization, Governmental agency

    Type:Seminar, workshop

  • ロボット群の「スケーラブル」な制御

    九州大学アジア・オセアニア研究教育機構  Zoom(YouTube公開:https://youtu.be/KIY-9BJFpJs)  2024.1

     More details

    Audience:General, Scientific, Company, Civic organization, Governmental agency

    Type:Lecture

    近年、物流やインフラ点検、災害対応など、さまざまな場面で、ロボットやドローンの活用が期待されています。たくさんのロボットやドローンを協調させて、複雑なタスクを実行するためには、「スケーラブル」、つまり、ロボットやドローンの数にかかわらず適切に制御できる性質を備えた制御手法の実現が求められます。なるべくシンプルな仕組みで、たくさんのロボットの群れを安定的に制御するにはどうすればよいでしょうか。本セミナーでは、スケーラブルな制御の例として、自然界の群れ行動を参考にした群制御や、新しい医療技術として注目を集めるナノロボット誘導のためのアンサンブル制御などを紹介します。

  • 第3回空飛ぶクルマ自治体ネットワーキング in 長崎 自治体ワークショップ

    長崎県,JST RISTEX RInCA 「「空飛ぶクルマ」の社会実装において克服すべきELSIの総合的研究」プロジェクト  出島メッセ長崎  2023.9

     More details

    Audience:General, Scientific, Company, Civic organization, Governmental agency

    Type:Seminar, workshop

  • 海外大学院留学説明会

    米国大学院学生会主催、船井情報科学振興財団後援  九州大学  2023.7

     More details

    Audience:General, Scientific, Company, Civic organization, Governmental agency

    Type:Lecture

▼display all

Media Coverage

  • 米国大学院学生会主催の「2020夏 京都大学編 海外大学院留学説明会」に講演者・パネリストとして登壇。

    YouTube  2020.7

     More details

    米国大学院学生会主催の「2020夏 京都大学編 海外大学院留学説明会」に講演者・パネリストとして登壇。