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Primal Formulation of Parallel Model Predictive Control
Naoyuki Hara,Keiji Konishi 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper shows a method for decomposing a QP (quadratic programming) problem arising from linear model predictive control to small subproblems. The subproblems have the form of QP problems and they can be solved in parallel. The solution of the original QP problem is obtained by solving the subproblems iteratively. The distinct feature compared to the previous work is that the subproblems are directly formulated as modified finite horizon optimal control problems.
Production of Chemistry Laboratory Class for Senior High School Freshmen
Mikito Yasuzawa,Keiji Minagawa,Sachiyo Kamitani,Yuka Arai,Yuki Konishi,Shinsuke Nakanishi,Takuya Oshima,Junko Yamaguchi,Arisa Ishii 한국공학교육학회 2010 공학교육연구 Vol.13 No.5
Chemistry laboratory class was produced for senior high school freshmen with the cooperation of university staffs, high school teachers and the university students. Although the students who will take the lab class are senior high school freshmen, we decided to prepare four experiments that are simple and have highly visible reactions or transformation. That is, 1) Water purification, 2) Surface modification, 3) Briggs-Rauscher reaction, and 4) Polymer synthesis and characterization. After the safety guideline and experiment instructions by the faculty staffs, two teaching assistants (TAs) supervised each experiment. Since taking a direct part in it will provide stronger impact than only being one who is just watching the experiment, all experiments contained some process that the high school students must handle the reagents, tools or the equipment, by themselves. Although, the operation performed by the students was limited to a series of simple actions, the various unique phenomena presented by the experiments impressed the students. The lab class was fruitful not only for high school students, but also good for university students. The lab class provided good opportunity for them to improve the abilities to teach and guide someone.
A Senior High School Chemistry Laboratory Class Observed by University Students
Kamitani, Sachiyo,Arai, Yuka,Konishi, Yuki,Nakanishi, Shinsuke,Oshima, Takuya,Yamaguchi, Junko,Ishii, Arisa,Minagawa, Keiji,Yasuzawa, Mikito Korean Society for Engineering Education 2010 공학교육연구 Vol.13 No.5
Upon request from the Tokushima Prefectural Senior High School of Science and Technology, two faculty staff members and eight students of The University of Tokushima visited the high school and set up a chemistry laboratory class for 59 students. Since the participating senior high school students were freshmen, four simple, safe and visual experiments were selected: 1) Water purification, 2) Surface modification, 3) Briggs-Rauscher reaction, and 4) Polymer synthesis and characterization. All experiments received a favorable reception as a follow-up questionnaire verified. Since the high school students enjoyed the experiments it is hoped that the results will strengthen the students' interest in chemistry. It was good opportunity for the observers; they recognized the difficulty of teaching students.
Analysis of input-output characteristics of boundary value linear systems
Yoshiki Kagitani,Naoyuki Hara,Keiji Konishi 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper considers an eigenvalue problem of boundary value systems. A method for calculating the eigenvalues and eigenvectors is derived. The method is applied to an inverted mobile robot and its basic properties are investigated by simulation and experiment.
Koki Kakita,Naoyuki Hara,Keiji Konishi 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
Floating offshore wind turbines have attracted interest in recent years. In floating offshore wind turbines, generator output fluctuation and platform motions are caused by the variation of wind and waves. In this paper, a PI control in collective blade pitch control is used to suppress the fluctuation and motions, and PI controller gains are tuned by the FRIT (Fictitious Reference Iterative Tuning) method. We show that the tuned PI controller improves the disturbance suppression performance.
Compensation law for constrained systems based on a decomposition of finite-horizon linear systems
Naoyuki Hara,Hideki Kokame,Keiji Konishi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper considers a compensation law for constrained continuous-time linear systems. We introduce singular value decomposition(SVD) offinite-horizon linear systems and provide a compensation law which satisfies system constraints based on the SVD. The SVD allows us to construct basis functions consisting of dominant input-output signals where an auxiliary dynamical system is newly introduced so that it generates useful basis functions. The properties of the resulting system with compensation law are discussed, and the features of the proposed method are demonstrated by numerical examples.
Flavien Thiery,Naoyuki Hara,Keiji Konishi 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In floating offshore wind turbines, the platform motions induced by wind and wave conditions should be reduced to mitigate fatigue load on wind turbine components and decrease cost efficiency. This paper considers an individual blade pitch angle control of floating offshore wind turbines using model predictive control (MPC) with failure compensation to improve controller performance in case of failure on a blade pitch actuator. The proposed MPC controller is demonstrated in numerical simulation using FAST, a high-fidelity aero-elastic simulator.
Parallel Model Predictive Control for Constrained Linear Systems
Naoyuki Hara,Yoshiki Kagitani,Keiji Konishi 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper considers a parallel model predictive control (MPC) for input constrained linear systems. A dual of an optimization problem in MPC is decomposed into sub-problems, which can be solved in parallel. The proposed parallel MPC is demonstrated in numerical simulation.
Reduced order model predictive control for constrained linear systems with disturbance attenuation
MasaakiTakahashi,Hideki Kokame,Keiji Konishi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper deals with reduced order model predictive control for input-constrained discrete-time linear systems with disturbance attenuation. By introducing a decomposition technique for a quadratic cost functional, an MPC law is obtained from are duced order optimization problem. The fundamental properties of there sulting MPC law are discussed.
Production of Chemistry Laboratory Class for Senior High School Freshmen
Yasuzawa, Mikito,Minagawa, Keiji,Kamitani, Sachiyo,Arai, Yuka,Konishi, Yuki,Nakanishi, Shinsuke,Oshima, Takuya,Yamaguchi, Junko,Ishii, Arisa Korean Society for Engineering Education 2010 공학교육연구 Vol.13 No.5
Chemistry laboratory class was produced for senior high school freshmen with the cooperation of university staffs, high school teachers and the university students. Although the students who will take the lab class are senior high school freshmen, we decided to prepare four experiments that are simple and have highly visible reactions or transformation. That is, 1) Water purification, 2) Surface modification, 3) Briggs-Rauscher reaction, and 4) Polymer synthesis and characterization. After the safety guideline and experiment instructions by the faculty staffs, two teaching assistants (TAs) supervised each experiment. Since taking a direct part in it will provide stronger impact than only being one who is just watching the experiment, all experiments contained some process that the high school students must handle the reagents, tools or the equipment, by themselves. Although, the operation performed by the students was limited to a series of simple actions, the various unique phenomena presented by the experiments impressed the students. The lab class was fruitful not only for high school students, but also good for university students. The lab class provided good opportunity for them to improve the abilities to teach and guide someone.