Updated on 2022/05/19

写真a

 
AMANO, Yoshiharu
 
Affiliation
Faculty of Science and Engineering, School of Fundamental Science and Engineering
Job title
Professor

Concurrent Post

  • Faculty of Science and Engineering   Graduate School of Fundamental Science and Engineering

Research Institute

  • 2020
    -
    2022

    理工学術院総合研究所   兼任研究員

  • 2014
    -
    2023

    動力エネルギーシステム研究所   プロジェクト研究所所長

Education

  •  
    -
    1998.03

    Waseda University  

    Dr. Eng., Waseda University

  • 1991.04
    -
    1996.03

    Waseda University   Graduate School of Science and Engineering   Department of Mechanical Engineering  

  •  
    -
    1991

    Waseda University   Science and Engineering   Department of Mechanical Engineering  

Degree

  • Doctor (Engineering)

Research Experience

  • 2008
    -
    Now

    Professor, Waseda Univ.   Department of Applied Mechanics and Aerospace Engineering   Professor

  • 2008
    -
    2009

    Visiting professor, EPFL (Swiss, Lausanne)

  • 2002
    -
    2008

    Associate professor, Waseda Univ.

  • 2000
    -
    2002

    Assistant professor, Advanced Research Institute for Science and Engineering, Waseda Univ.

  • 1998
    -
    2000

    Visiting assistant professor at Advanced Research Institute for Science and Engineering, Waseda Univ.

  • 1994
    -
    1998

    Research Associate at Advanced Research Institute for Science and Engineering, Waseda Univ.

▼display all

Professional Memberships

  •  
     
     

    Japan Society of Energy and Resources

  •  
     
     

    The American Society of Mechanical Engineers

  •  
     
     

    The Japan Society of Mechanical Engineers

  •  
     
     

    The Society of Instrument and Contol Engineers

 

Research Areas

  • Earth resource engineering, Energy sciences

  • Control and system engineering

  • Mechanics and mechatronics

  • Robotics and intelligent system

Research Interests

  • Energy Systems Optimization, Systems Engineering, Fieldbus, Autonomous Mobile System, GNSS, UAV, 3D-Mapping

Papers

  • Estimation of the utility value of unused heat sources for a CO2 network system in Tokyo

    Takahiro Nagano, Jungo Kajita, Akira Yoshida, Yoshiharu Amano

    Energy     120302 - 120302  2021.07  [Refereed]

    Authorship:Last author

    DOI

  • NLOS Multipath Classification of GNSS Signal Correlation Output Using Machine Learning

    Taro Suzuki, Yoshiharu Amano

    Sensors    2021.04  [Refereed]

    Authorship:Last author

    DOI

  • Radiation dose and its protection in the Moon from galactic cosmic rays and solar energetic particles: at the lunar surface and in a lava tube

    Masayuki Naito, Nobuyuki Hasebe, Mana Shikishima, Yoshiharu Amano, Junichi Haruyama, Jose A Matias-Lopes, Kyeong Ja Kim, Satoshi Kodaira

    Journal of Radiological Protection   40 ( 4 ) 947 - 961  2020.12  [Refereed]  [International journal]

     View Summary

    The lunar surface is directly and continuously exposed to Galactic Cosmic ray (GCR) particles and Solar energetic particles (SEPs) due to the lack of atmosphere and lunar magnetic field. These charged particles interact with the lunar surface materials producing secondary radiations such as neutrons and gamma rays. In a departure from precise GCR and SEP data, we estimated the effective dose equivalent at the lunar surface and in a lunar lava tube in this paper by using PHITS, a Monte Carlo simulation tool. The effective dose equivalent due to GCR particles at the lunar surface reached 416.0 mSv yr-1 and that due to SEPs reached 2190 mSv/event. On the other hand, the vertical hole of the lava tube provides significant radiation protection. The exposure by GCR particles at the bottom of the vertical hole with a depth of 43 m was found to be below 30 mSv yr-1 while inside a horizontal lava tube, the value was less than 1 mSv yr-1 which is the reference value for human exposure on the Earth. We expect that the lunar holes will be useful components in the practical design of a lunar base to reduce radiation risk and to expand mission terms.

    DOI PubMed

  • Combinatorial Optimization-based Hierarchical Management of Residential Energy Systems as Virtual Power Plant

    Toranosuke Saito, Akira Yoshida, Takahiro Kashikawa, Koichi Kimura, Yoshiharu Amano

    2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020     1833 - 1839  2020.09  [Refereed]

    Authorship:Last author

     View Summary

    © 2020 The Society of Instrument and Control Engineers - SICE. The supply-demand adjustment market in Japan will be opened in 2021, and it is expected to contribute to a virtual power plant (VPP) to gather distributed energy resources even from residential sector. The problem is to integrate residential sector that respond differently depending on the characteristics of each household, with keeping protecting consumer privacy. This article proposes a hierarchical management method that realizes VPP in residential sector. The proposed framework meets the requirements to join a market. The proposed method gets evaluated in numerical experiments. We aim to aggregate 1 MW controllable electricity with 4, 000 detached household. The results show that the proposed method could achieve an amount of electricity of the procurement target in computing time of 10 minutes.

  • Rotating GNSS Antennas: Simultaneous LOS and NLOS Multipath Mitigation

    Taro Suzuki, Kazuki Matsuo, Yoshiharu Amano

    GPS Solutions   24 ( 3 )  2020.07

    Authorship:Last author

     View Summary

    © 2020, Springer-Verlag GmbH Germany, part of Springer Nature. Urban environments present significant challenges to global navigation satellite system (GNSS) positioning. GNSS signals are often obstructed by buildings and other obstacles, leading to reflection and diffraction, which cause major line-of-sight (LOS) and non-line-of-sight (NLOS) multipath positioning errors. We propose a new, precise GNSS positioning technique that can simultaneously mitigate LOS and NLOS multipath errors by rotating the GNSS antenna arm horizontally at a certain angular velocity. The key idea behind this technique is to use the antenna motion to mitigate the LOS multipath effect and detect the NLOS multipath signals. The relative carrier phase between the direct signal and the multipath signal frequently changes when a GNSS antenna is moving. As a result, the effect that the strong reflected signal affects the direct signal can be reduced. We use this characteristic to mitigate LOS multipath errors by generating antenna motion. By rotating a GNSS antenna, the Doppler frequency is produced by the antenna motion. If the received GNSS signal is the NLOS signal, the direction of incoming signals is different from that of direct signals. In this situation, the phase of the generated Doppler frequency will be different, and NLOS signals can be detected by comparison with the ideal Doppler frequency. We conducted an experiment to evaluate the proposed method. The positioning error of the proposed method using LOS multipath mitigation and NLOS exclusion by the rotating antenna was decreased from 18.96 to 2.83 m. In addition, the availability of GNSS positioning increased from 44.29 to 100%.

    DOI

  • Operational Planning of a Residential Fuel Cell System for Minimizing Expected Operational Costs Based on a Surrogate Model

    Yuta Tsuchiya, Yu Fujimoto, Akira Yoshida, Yoshiharu Amano, Yasuhiro Hayashi

    IEEE Access   8   173983 - 173998  2020  [Refereed]

    DOI

  • Fast hierarchical coordination using price signal for town-scale home-EMSs aggregation with digital annealer

    Toranosuke Saito, Shinya Katayama, Akira Yoshida, Takahiro Kashikawa, Koich Kimura, Yoshiharu Amano, Yasuhiro Hayashi

    ECOS 2020 - Proceedings of the 33rd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems     1662 - 1673  2020  [Refereed]

    Authorship:Last author

     View Summary

    © ECOS 2020.All right reserved. The demand response (DR), which balances power supply and demand, is attracting attention as a method of absorbing fluctuations in renewable energy when output is unstable. Since the Great East Japan Earthquake in 2011, Japan has made progress toward the liberalization of electricity and the introduction of renewable energy. In 2021, a supply and demand adjustment market will be opened. Unlike companies and factories, which can control large amounts of power for long periods, household demand has a small capacity and is short term. However, household demand is expected to be able to respond quickly to emergencies and to secure capacity by consolidating multiple households via an aggregator. This study concerns two problems in assessing town-scale residential DR capability. First, we evaluate residential DR response capacity. This capacity is assumed to be pre-cooling heating by an air conditioner according to thermal insulation and heat capacity characteristics, and energy storage by a hot water storage tank and a power storage device. Next, we investigate implementing the optimization of the town-scale DR by an aggregator. Optimal town-scale aggregation proposals are often formulated in large-scale combinatorial optimization problems. The challenge is that the calculation tends to be time-consuming and difficult to solve. In this research, we propose a framework that can be solved at high speed using digital annealer. Finally, we evaluate the possibility of town-scale residential DR in specific areas of Tokyo.

  • Feasibility of 100% renewable energy system in residential area and a multi-dwelling building with photovoltaic and electric vehicle

    Hiroto Nakazawa, Shinya Katayama, Akira Yoshida, Yoshiki Nagasaki, Shin Onodera, Kazuyuki Kobayashi, Yoshiharu Amano

    ECOS 2020 - Proceedings of the 33rd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems     1295 - 1306  2020  [Refereed]

    Authorship:Last author

     View Summary

    © ECOS 2020.All right reserved. The utilization of "100% renewable energy" has recently attracted considerable interest in view of the objective of achieving a low-carbon society. An approach that seems effective to realize this goal is the purchase of renewable electricity from the power grid. However, the amount of renewable electricity that the power grid can supply at various seasons and periods is limited. In view of this, it is necessary to consider the use of energy systems that can exploit renewable energy, such as the installation of photovoltaics in households. The purpose of this study is to investigate the feasibility of 100% renewable energy systems in residential areas and multi-dwelling buildings. The area and building examined are limited to a set of "all-electric houses" with electric vehicles, photovoltaics, and heat pump water heaters. In each case, the electricity self-sufficiency ratio and electricity self-consumption ratio resulting from the use of photovoltaics are derived. In this study, an operation that minimizes CO2 emissions during the evaluation period is developed. It is found that the use of 100% renewable energy in residential areas without relying on the renewable electricity from the power grid is possible as demonstrated by the high feasibility of using 100% renewable energy in rural areas. In multidwelling buildings, this feasibility is lower than that in residential areas. To achieve the utilization of 100% renewable energy using the renewable electricity from the power grid, the grid should increase its supply of renewable electricity at dawn and in the evening. In winter, the renewable electricity from the photovoltaic power alone is insufficient; hence, the power grid requires other renewable electricity sources, such as windgenerated power. To improve the electricity self-sufficiency ratio of multi-dwelling buildings, the use of an energy system that allows electricity sharing from the residential areas to multi-dwelling buildings is found effective.

  • Environmental efficiency evaluation in high solar wind penetration region with fractional optimization-based operational planning

    Akira Yoshida, Kuniaki Yabe, Hideo Ishii, Yoshiharu Amano, Yasuhiro Hayashi

    ECOS 2020 - Proceedings of the 33rd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems     1686 - 1698  2020  [Refereed]

    Authorship:Last author

     View Summary

    © ECOS 2020.All right reserved. The article develops and demonstrates the fractional optimization to evaluate the environmental efficiency of the regional-scale energy system with heat pumping and thermal storage. The fractional optimization gets converted into the equivalent quadratic one via the proposed iterative algorithm. The proposed method makes converting a fractional equation into a different one with an auxiliary variable, and it makes us free from heuristic parameter tuning that makes balancing the weight of objective coefficient when the objective function is composed of some terms. We consider the operational planning problem of the mixed energy grid, including electricity and heat. It manages power generations and a heat pump with thermal storage as an application. The numerical studies take into account the open data measured by the most western region of Japan, where the region gets applied the installation/connection of variable renewable energy sources of 25.7 GW at the moment even not every capacity starts operation. As a result, the CO2conversion factor reaches 0.21 kg-CO2/kWh in the best case. It is confirmed that a heat pump with thermal storage can absorb the electrical output from variable renewable energy sources up to 2.72 TWh/y.

  • A study into the feasibility of introducing a CO2 network system for district heating and cooling in Tokyo

    Takahiro Nagano, Jungo Kajita, Akira Yoshida, Yoshiharu Amano

    ECOS 2020 - Proceedings of the 33rd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems     1792 - 1803  2020  [Refereed]

    Authorship:Last author

     View Summary

    © ECOS 2020.All right reserved. Reducing CO2emissions by the effective use of renewable energy is one of the most important issues globally. Therefore, research has focused on both the development of individual high-performance equipment and also district heating and cooling systems. In Japan, installations of the conventional district heating and cooling system, which utilizes steam and chilled water, are rare. In recent years, a promising alternative, the CO2network system, has been proposed by researchers at Swiss Federal Institute of Technology in Lausanne. The system uses the latent heat of vaporization of the CO2refrigerant to transport and exchange unused heat to specific areas via decentralized heat pumps on the demand-side. The proposed system is expected to significantly reduce energy consumption compared with the conventional system. In this study, we analyzed the energy-saving effects of introducing a CO2network system in Tokyo, with consideration of the environmental conditions and the typical energy demand profiles. The effects of modifying the central unit and the demand-side decentralized heat pump systems were examined in the context of Tokyo. When using the CO2network, the annual energy consumption resulting from equipment operation can be reduced by approximately 80% compared with the conventional system. This effect is almost of the same magnitude as the effect observed in previous research conducted in Switzerland. Furthermore, we examined the optimum connection pattern of the decentralized heat pumps and the optimum temperature of the CO2supplied to the network.

  • A convolutional neural network model for prediction of pressure-drop at wellhead in geothermal power plant

    Akira Yoshida, Atsuhiro Imagawa, Norihiro Fukuda, Yoshiharu Amano

    ECOS 2020 - Proceedings of the 33rd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems     1352 - 1363  2020  [Refereed]

    Authorship:Last author

     View Summary

    © ECOS 2020.All right reserved. The objective of the research is to develop an optimal management and control framework to contribute to improving the capacity factor of the geothermal power plant. As the initial consideration of the study, the article aims to identify the phenomenon that causes to decrease capacity factor from the analysis of a process data, to detect the phenomenon to support the decision-making of operators. For achieving the latter goal, we construct the framework that announces the operator to how much anomaly with a convolutional neural network model, which can capture non-stationary and nonlinearity of process data. Through the literature survey and the analysis of the process data, we confirmed that the steam flow rate and pressure of wellbore having two feed zones oscillate, and the wellbore reached the spurts stop of the steam due to oscillation growth. We confirmed that the pressure-drop events occurred six times in 2018, and it would be one of the causes to decrease capacity factor. As numerical results of the proposed framework, before the pressure-drop happens, they are increased that the amplitude of the second harmonic wave, the period of the first harmonic wave, and the anomaly score we derived. We could conclude that the pressure-drop, as mentioned above indexes made by the proposed method, could predict the pressure-drop at the one minute ahead, even in the case that pressure time-series have the nature of non-stationarity and nonlinearity.

  • Demonstration of bottom-up procedure to explore configurations for absorption power cycle

    Wataru Ito, Keisuke Takeshita, Yoshiharu Amano

    ECOS 2020 - Proceedings of the 33rd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems     2415 - 2424  2020  [Refereed]

    Authorship:Last author

     View Summary

    © ECOS 2020.All right reserved. The SYNTHSEP methodology that presents a general procedure to derive a complex system configuration of thermodynamic systems operating with a pure working fluid was proposed by A. Lazzaretto and A. Toffolo et al. In this methodology, the designers focus on a set of fundamental thermodynamic processes (compression, heating, expansion, and cooling) in the flowsheet, which is called as the "basic configuration", and it is defined by aggregating certain elementary thermodynamic cycles. In previous studies, this methodology was applied to the absorption refrigeration cycle by Seki et al. for a water-lithium bromide system used as a working fluid pair. By aggregating certain elementary thermodynamic cycles, the cycle configuration and operating point equivalent to the absorption refrigerator that had been considered optimal were demonstrated by a case study. Based on these works, this study redefines a part of the bottom-up synthesis methodology to apply to an absorption power system. In a case study considered for this research, elementary thermodynamic cycles were operated with an ammonia-water mixture. The proposed methodology for optimization is demonstrated by performing a case study for an absorption power cycle with thermal efficiency as an objective function.

  • NLOS multipath detection using convolutional neural network

    Taro Suzuki, Kazuki Kusama, Yoshiharu Amano

    Proceedings of the 33rd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2020     2989 - 3000  2020  [Refereed]

    Authorship:Last author

     View Summary

    © 2020 Proceedings of the 33rd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2020. All rights reserved. In global navigation satellite system (GNSS) positioning, GNSS satellites are often obstructed by buildings, leading to reflected and diffracted signals, which are known as non-line-of-sight (NLOS) signals. Such signals cause major GNSS positioning (also known as “NLOS multipath”) errors. In this paper, a novel NLOS multipath detection technique using a machine-learning approach to improve the positioning accuracy in urban environments is proposed. The key idea behind this technique is to construct a classifier that discriminates NLOS multipath signals from the output of the multiple GNSS signal correlators of a software GNSS receiver. In the case of an NLOS signal, there are no direct signals; the first reflected signal has low power compared to a direct signal. Hence, the correlation function is expected to be more distorted in the case of an NLOS signal correlation. We use this phenomenon to detect NLOS signals. To consider the change in shape of the correlation values of NLOS signals and their temporal variation, we propose a method for constructing a convolutional neural network (CNN)-based NLOS discriminator. Furthermore, we propose a method for applying the NLOS probability, which is the output of the CNN, to the positioning calculation. To evaluate the proposed technique, we conducted NLOS classification experiments using signal correlation data acquired at different locations in the Shinjuku area of Japan. We compared the proposed method with a method using a simple NN. As the experiment results indicate, the proposed method can correctly discriminate approximately 98% of NLOS multipath signals, and the discrimination rate of the proposed CNN-based method is higher than that of the simple NN-based approach. Furthermore, we improved the positioning accuracy from 34.1 to 1.6 m using the proposed method and concluded that the proposed approach can increase the positioning accuracy in urban environments.

    DOI

  • Preface

    Ryohei Yokoyama, Yoshiharu Amano

    ECOS 2020 - Proceedings of the 33rd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems    2020

  • Hot Water Demand Prediction Method for Operational Planning of Residential Fuel Cell System

    Yuta Tsuchiya, Yasuhiro Hayashi, Yu Fujimoto, Akira Yoshida, Yoshiharu Amano

    7th International Conference on Smart Grid, icSmartGrid 2019     46 - 51  2019.12

     View Summary

    © 2019 IEEE. This study proposes a hot water demand prediction method for operational planning of polymer electrolyte fuel cell cogeneration systems (PEFC-CGSs). PEFC-CGSs provide hot water by utilizing waste heat produced in the electricity generation process. An optimal operational plan according to household demand leads to further energy saving. Therefore, operational planning methods based on household demand prediction have received intense focus. In particular, the prediction of the amount of hot water demand is important for efficient operation. The authors have attempted to improve the hot water prediction method based on multivariate random forest (MRF), which uses the average of many decision trees' outputs as the prediction result. However, some experimental results show that a prediction strategy based on averaging the outputs of decision trees does not always lead to the best solution. In this study, the authors propose a novel prediction method utilizing the quantile of the estimation results derived in MRF. By setting the appropriate quantile, we can evade the demand underestimation, which has a higher negative impact on operational efficiency than overestimation. The usefulness of the proposed approach is evaluated via numerical simulations using real-world demand data.

    DOI

  • Robust UAV Position and Attitude Estimation using Multiple GNSS Receivers for Laser-based 3D Mapping

    Taro Suzuki, Daichi Inoue, Yoshiharu Amano

    IEEE International Conference on Intelligent Robots and Systems     4402 - 4408  2019.11  [Refereed]

    Authorship:Last author

     View Summary

    © 2019 IEEE. Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser scanner is required for numerous remote sensing applications. In direct 3D mapping, the precise information about the position and attitude of the UAV is necessary for constructing 3D maps. In this study, we propose a novel and robust technique for estimating the position and attitude of small-sized UAVs by employing multiple low-cost and light-weight global navigation satellite system (GNSS) antennas/receivers. Using the 'redundancy'' of multiple GNSS receivers, we enhance the performance of real-time kinematic (RTK)-GNSS by employing single-frequency GNSS receivers. This method consists of two approaches: hybrid GNSS fix solutions and consistency examination of the GNSS signal strength. The fix rate of RTK-GNSS using single-frequency GNSS receivers can be highly enhanced to combine multiple RTK-GNSS to fix solutions in the multiple antennas. In addition, positioning accuracy and fix rate can be further enhanced to detect multipath signals by using multiple GNSS antennas. In this study, we developed a prototype UAV that is equipped with six GNSS antennas /receivers. From the static test results, we conclude that the proposed technique can enhance the accuracy of the position and attitude estimation in multipath environments. From the flight test, the proposed system could generate a 3D map with an accuracy of 5 cm.

    DOI

  • Performance of single- and double-effect operable mechanical vapor recompression desalination system adaptable to variable wind energy

    Yeongmin Kim, Dong kook Kim, Yoshiharu Amano, Kim Choon Ng, Wongee Chun

    International Journal of Energy Research   43 ( 9 ) 4606 - 4612  2019.07  [Refereed]

     View Summary

    © 2019 John Wiley & Sons, Ltd. This paper deals with the development and operation of a mechanical vapor recompression (MVR) desalination system with improved energy efficiency in harnessing wind energy, which is non-dispatchable. Its design, construction, and operation details are presented in this paper. Especially, the main focus of developing the system was on the operation of the system in conjunction with variable loads of new and renewable power sources, in particular, varying wind power. That is, the present work has been carried out to assess the feasibility of its operation in light of capacity modulation to match the power generated under various wind speeds. Optimal operation modes of the system were studied, in which single- and double-effect operations were analyzed for their improvement in energy efficiency. The compression ratio of the proposed MVR system was 1.55 at an inverter speed of 55 Hz, which agreed well with its design value. Operation of the main heat exchanger remained stable within the limits of its operable range, although the temperature differences in the main heat exchanger did not remain constant because of the pressure variations in the evaporator. The daily freshwater yield was between 28 and 51 tons. The power consumption per ton of freshwater produced was about 43 kW for a single effect and about 23 kW for a double effect, which is about twice as efficient.

    DOI

  • Estimation of expected cost curve on operation parameter space for planning residential PEFC-CGS

    Yuta Tsuchiya, Yasuhiro Hayashi, Yu Fujimoto, Akira Yoshida, Yoshiharu Amano

    2019 IEEE Milan PowerTech, PowerTech 2019    2019.06  [Refereed]

     View Summary

    © 2019 IEEE. This study proposes an operation planning method for polymer electrolyte fuel cell cogeneration systems (PEFC-CGSs). PEFC-CGSs provide hot water by utilizing waste heat produced in the electricity generation process. An appropriate operation plan according to household demand will lead to further energy saving. The authors have discussed a framework for estimating expected operation costs of individual operation plans to select an appropriate candidate that minimizes the cost. In this scheme, the expected cost under each corresponding operation was independently estimated. This approach can be expected to provide accurate prediction of costs under individual operations. However, one open issue remains; it may not work well in estimating relative goodness compared to other operations. In this study, the authors propose a new cost estimation approach, focusing on relative appropriateness in candidate plans based on a multiple output prediction. The usefulness of the proposed approach is proved via a numerical simulation.

    DOI

  • Development of Complex Energy Systems with Absorption Technology by Combining Elementary Processes

    Kosuke Seki, Keisuke Takeshita, Yoshiharu Amano

    Energies   12 ( 3 )  2019.02  [Refereed]

    Authorship:Last author

     View Summary

    © 2019 by the authors. Optimal design of energy systems ultimately aims to develop a methodology to realize an energy system that utilizes available resources to generate maximum product with minimum components. For this aim, several researches attempt to decide the optimal system configuration as a problem of decomposing each energy system into primitive process elements. Then, they search the optimal combination sequentially from the minimum number of constituent elements. This paper proposes a bottom-up procedure to define and explore configurations by combining elementary processes for energy systems with absorption technology, which is widely applied as a heat driven technology and important for improving system’s energy efficiency and utilizing alternative energy resources. Two examples of application are presented to show the capability of the proposed methodology to find basic configurations that can generate the maximum product. The demonstration shows that the existing absorption systems, which would be calculated based on the experience of designers, could be derived by performing optimization with the synthesis methodology automatically under the simplified/idealized operating conditions. The proposed bottom-up methodology is significant for realizing an optimized absorption system. With this methodology, engineers will be able to predict all possible configurations and identify a simple yet feasible optimal system configuration.

    DOI

  • Analysis of operation plans of residential PEFC–CGS: a perspective of cost optimality under demand uncertainty

    Yuta Tsuchiya, Yu Fujimoto, Akira Yoshida, Yoshiharu Amano, Yasuhiro Hayashi

    Journal of International Council on Electrical Engineering   9 ( 1 ) 105 - 112  2019.01

    DOI

  • An online HEMS scheduling method based on deep recurrent neural network

    Akira Yoshida, Yu Fujimoto, Yoshiharu Amano, Yasuhiro Hayashi

    ECOS 2019 - Proceedings of the 32nd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems     1327 - 1335  2019  [Refereed]

     View Summary

    © ECOS 2019 - Proceedings of the 32nd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems. All rights reserved. For a daily-basis scheduling of an energy system, energy management system often enough to use not a global optimal scheduling but a near optimal scheduling. The article proposes an online scheduling framework without online optimization. The framework is built from two encoder-decoder architectures to extract features of time series; a multi-layer long short-term memory regression model for multi-step time-series forecasting, and multi-class and single-label classification model for on/off scheduling of a device. The models are estimated at offline, and return scheduling from historical time series as input, at online. We evaluate the accuracy of scheduling from the viewpoint of Kullback-Leibler divergence which measures the dissimilarity between two probability distributions. Through the numerical experiments, we demonstrate the usefulness of the proposed framework.

  • General bottom-up procedure for exploring configurations of energy systems that use absorption technology

    Wataru Ito, Kousuke Seki, Keisuke Takeshita, Yoshiharu Amano

    ECOS 2019 - Proceedings of the 32nd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems   2019-June   4515 - 4527  2019  [Refereed]

    Authorship:Last author

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    © 2019 Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems.All rights reserved. It is extremely difficult to conduct fundamental research on optimizing the system configuration and design parameters of energy conversion systems because many parameters need to be considered. This study ultimately aims to develop a methodology for realizing an energy system that utilizes available resources to generate a maximum product that employs the minimum number of components. Several studies have been conducted to find an optimal system configuration by decomposing energy systems into primitive process elements and sequentially searching for the optimal combination that uses the minimum number of constituent elements. This paper proposes a bottom-up methodology for defining and exploring configurations that combine elementary processes of energy systems with absorption technology. Absorption technology is a widely applied heat driven technology that is important for improving the energy efficiency of systems and also utilizes alternative energy resources. A specific procedure using a codification method is presented that generates new candidate configurations for the absorption system with respect to the optimization problem and enables an optimization algorithm to be used to implement the organized rules. When applying the proposed methodology to optimization, designers should narrow promising solutions by conducting the optimization under simplified and/or idealized conditions, and then adjusting the solutions by considering certain real conditions. One example of applying this optimization is shown to reveal the capability of the proposed methodology in clarifying a basic configuration that generates the maximum product under constant heat source capacity conditions. The demonstration shows that the existing absorption system, which is calculated based on the experience of designers, could be derived by automatically performing the optimization using this methodology. The proposed methodology is significant for use in realizing an optimized absorption system, and it allows designers to predict all possible configurations in advance and clarify a simple and feasible optimal system configuration.

  • A Status-transition Model for CO2 Heat Pump Water Heater Based on Modified Lorentz cycle

    Y. Bando, H. Hattori, Y. Amano

    International Journal of Thermodynamics   22 ( 1 ) 26 - 33  2019  [Refereed]

    Authorship:Last author

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    2019 © International Journal of Thermodynamics. All Rights Reserved. Energy management is a systematic activity for improving energy performances of a target system, and an energy management system is expected to solve operational planning problems and report or suggest opportunities for performance improvement. An equipment model is required to reflect the characteristics of the actual equipment’s performance and to have a simple structure to apply to operational planning problems. The model should be able to diagnose changes with performance degradation over time. In this study, we proposed a thermodynamically-sound model of a CO2 heat pump water heater, suitable for solving operational planning problems and diagnosing degradation of equipment. The proposed model consists of a heat pump unit (HP) and a hot water storage tank (ST). The HP model is a status-transition model, constructed based on the Lorentz efficiency, which is identified by experimental values and a theoretical maximum coefficient of performance (COP) for a trans-critical heat pump cycle. The ST model is simplified and can describe temperature distribution in the ST because the unit COP of the HP influences the thermal stratification of the ST. The proposed model is preferable in its simplicity and robust performance for a wide temperature range by comparison with a conventional statistical regression model.

    DOI

  • Optimal configuration of residential energy systems with energy sharing among multiple households in smart building

    Shinya Katayama, Akira Yoshida, Yoshiharu Amano

    ECOS 2019 - Proceedings of the 32nd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems     1235 - 1246  2019  [Refereed]

    Authorship:Last author

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    © ECOS 2019 - Proceedings of the 32nd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems. All rights reserved. To reduce CO2 emissions in the residential sector, the installation of high-efficiency energy supply equipment and development of zero energy house are progressing in Japan. It is important to appropriately select energy system configuration, such as the number of installed equipment and capacity when designing the system configuration. There are various studies on the configuration of energy systems. The purpose of this study, we analyze the trends of the relationship between optimal configuration and household characteristics. Then, based on the derived configuration, we evaluate the system configuration from a long-term perspective. We assume a smart residential building consisting of multiple households that introduces photovoltaics (PV) and battery (BT) as common assets and has variations in the number of occupants and demand profile. In addition, we consider various thermal devices, which is a gas-fired water heater (GH), heat pump water heater (HPWH), and solid oxide fuel cell cogeneration systems (SOFC). Deriving the optimal configuration of energy systems over the year is difficult from the viewpoint of calculation load. Therefore, we select 7 representative days for each month and derive optimal configuration such as minimizing CO2 emissions in each evaluation period. Then, we aggregate the results and decide the optimal configuration of the residential building in the target year. As a result, when the CO2 conversion factor for electricity is 0.400 kg/kWh or more, installing SOFC to the few-person household is effective. On the other hand, in the case of the many-person household, the SOFC installation effect is lower than the HPWH from the viewpoint of CO2 emissions.

  • Optimal temperature conditions of finite heat-recovery cycles from a non-isothermal heat source

    Keisuke Takeshita, Yoshiharu Amano

    ECOS 2019 - Proceedings of the 32nd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems     1337 - 1348  2019  [Refereed]

    Authorship:Last author

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    © ECOS 2019 - Proceedings of the 32nd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems. All rights reserved. In this paper, an analysis of the temperature condition producing maximal power from a sensible heat source by finite heat-recovery thermodynamic cycles is presented. Some studies have been conducted that theoretically analyzed a system utilizing thermal energy from heat sources by multiple thermodynamic cycles in cascade with the assumption of constant heat-source temperature. However, many heat sources for heat-recovery thermodynamic cycles are sensible, in which the temperature changes considerably with the cycles during heat exchange. Therefore, it is necessary to consider the temperature change of the heat source. First, a temperature condition that maximizes the power generated by a combination of single/multiple Carnot cycles from constant-specific-heat heat sources is analyzed, and the optimal temperature is derived analytically. Subsequently, simulations of the Rankine cycle and several patterns of the Kalina cycle are compared to the analytical model. These comparisons reveal that the Carnot cycle model provides an effective estimation of the temperature conditions for the heat-recovery cycles that produce maximal power from a sensible heat source.

  • Operation planning method for home air-conditioners considering characteristics of installation environment

    Ryoichi Kuroha, Yu Fujimoto, Wataru Hirohashi, Yoshiharu Amano, Shin-ichi Tanabe, Yasuhiro Hayashi

    Energy and Buildings   177   351 - 362  2018.10  [Refereed]

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    © 2018 Elsevier B.V. Home energy management systems (HEMSs) are the system to manage the energy usage in houses. The use of HEMSs, and especially those which are capable of automatically controlling home energy appliances such as air-conditioners (ACs), is expected to manage energy utilized in domestic field effectively. In the present study, we focused on automatic AC operation by HEMS with the combined goal of improving thermal comfort while reducing electricity costs. In general, the room temperature and electricity consumption of an AC are highly dependent on the characteristics of the installation environment, so that the derivation of an appropriate AC operation plan is generally a difficult task. To tackle this problem, an energy management method to provide AC operation plan tailor-made for the target AC installation environmental by learning the characteristics of the installation environment (CIE) from the historical operation result data is proposed. The efficacy of the proposed method is verified via numerical and real-world experiments.

    DOI

  • Optimal operating conditions and cost-effectiveness of a single-stage ammonia/water absorption refrigerator based on exergy analysis

    Keisuke Takeshita, Yoshiharu Amano

    Energy   155   1066 - 1076  2018.07

    Authorship:Last author

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    © 2017 IMEKO This study presents optimal design conditions by considering the cost effectiveness and operability of a single-stage ammonia/water absorption refrigerator (AAR) via exergy analysis. Chemical exergy change constitutes complexity with respect to exergy analysis of absorption systems. In the study, Gibbs free energy is considered in exergy analysis to precisely evaluate absorption and rectification processes including chemical exergy change. The theoretical maximum exergy efficiency of AAR and the influence of its design/operating conditions on exergy efficiency/destructions are investigated in an ideal condition. The analysis indicates the importance of the evaporator outlet liquid (bleed) ammonia mass fraction and desorber temperature. A condition of bleed mass fraction control is illustrated. The study also involves performing sensitivity analysis of design parameters (pinch temperatures) with respect to exergy efficiency and optimal desorber temperature. Finally, design conditions that maximize exergy efficiency per cost are derived relative to the sum of thermal conductance as a cost parameter. The study demonstrates the potential for downsizing of AAR without reducing exergy efficiency. The results indicate that approximately 39% total thermal conductance reduction, maintaining nominal efficiency, or 19% total thermal conductance reduction with an exergy efficiency increase of 16% are expected when compared to those in a commercial AAR.

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  • Curb detection and accessibility evaluation from low-density mobile mapping point cloud data

    Kiichiro Ishikawa, Daisuke Kubo, Yoshiharu Amano

    International Journal of Automation Technology   12 ( 3 ) 376 - 385  2018.05  [Refereed]

    Authorship:Last author

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    © 2018, Fuji Technology Press. All rights reserved. Our goal is to automatically classify objects from Mobile Mapping System data to enable the automatic construction of dynamic maps. We aimed at the extraction of curbstones and classification of curb types. Although there is much research about curbstones being recognized from laser-scanned point clouds, there are few methods to classify curb types. In this paper, we propose a method to extract curbstones from low-density-type laser scan data. We also propose a method to distinguish whether curbstones allow access to off-road facilities. Evaluation tests give an F-measure of ≥94.4% and an accessibility classification accuracy of ≥99.6%. Moreover, the results of applying multiple filters to noise removal are compared.

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  • Asynchronous ADMM HEMS aggregation scheme in smart grid

    Akira Yoshida, Yu Fujimoto, Yoshiharu Amano, Yasuhiro Hayashi

    ECOS 2018 - Proceedings of the 31st International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems    2018  [Refereed]

    Authorship:Last author

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    © 2018 University of Minho. All rights reserved. There is a high demand that aggregating Home Energy Management System (HEMS) as demand response service. Aggregation scheme is divided into the centralized and decentralized approach. On the one hand, in a centralized fashion, a controller manages all device. On the other hand, in a decentralized fashion, a local controller manages own devices and exchanges information for achieving the global optimum. Our previous work has proposed decentralized HEMS aggregation with Alternating Direction Method of Multipliers (ADMM) to address scalability and privacy issue. The main idea of this method is that we decompose the large-scale aggregated scheduling problem into individual HEMS scheduling problem by introducing local upper limit which stands for the maximum purchasable electricity from an electrical grid. This article reports that we extend the previous decentralized HEM method to asynchronous fashion in order to improve convergence time efficiency from the practical implementation perspective. We propose the waiting ratio which represents the minimum HEMS number for updating the next local upper limit. We also evaluate the algorithm processing time with changing waiting ratio and the number of households. As a result, it is confirmed that though the result shows 53% of acceleration at the most accompanied by barely 2% increase cost, the asynchronous process does not always accelerate the processing time. It may be reasonable to suppose that the degree of acceleration is decreased, as the degree of asynchrony increases, because iteration number until fulfilling converging criteria is increased.

  • Evaluation of CO<inf>2</inf> heat pump water heater model for operational planning

    Yasuaki Bando, Hironori Hattori, Yoshiharu Amano

    ECOS 2018 - Proceedings of the 31st International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems    2018  [Refereed]

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    © 2018 University of Minho. All rights reserved. Energy management is systematic activity to improve energy performances of target system, and it has already been introduced in the industrial and commercial field. Energy management system is expected to solve operational planning problem and report or suggest opportunities for performance improvement. In recent years, CO2 heat pump water heater (HPWH) is attracting attention as one of the high-efficiency devices to meet domestic hot water demand. Equipment model is required to reflect the characteristics of the actual equipment’s performance and to have a simple structure to apply to operational planning problem and should diagnose the changes with the performance degradation overtime. However, few studies have been reported which proposes the thermodynamically-sound model of HPWH for energy management. In this paper, we proposed a simple model suitable for solving operational planning problem and diagnosing aging deterioration or degradation of equipment in energy management system. Firstly, we constructed function model consisting of a heat pump unit (HP) and a hot water storage tank (ST). HP model is simply composed of start-up, steady state, and shut-down status-transition model. The steady state model is constructed based on the Lorentz efficiencyand theoretical maximum coefficient of performance (COP) for trans-critical heat pump cycle. The Lorentz efficiency is identified by experiment on typical domestic hot water demand with variation of ambient temperature, inlet/outlet water temperature at the gas-cooler. While the heat pump system is operating, unit COP of the HP is influenced on the thermal stratification of ST. The ST model is a simplified model that can describe temperature distribution in ST. Secondly, we validated the model. Proposed model reproduced experimental values with sufficient accuracy for day-ahead planning problem. Finally, we confirmed that the proposed model is preferable in its simplicity and robust performance for wide temperature range by comparing with a conventional statistical regression model.

  • Optimal design method for absorption heat pump based on energy-utilization diagram

    Kosuke Seki, Hironori Hattori, Yoshiharu Amano

    ECOS 2018 - Proceedings of the 31st International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems   22 ( 1 ) 9 - 17  2018  [Refereed]

    Authorship:Last author

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    © 2018 University of Minho. All rights reserved. Some general procedures for optimizing energy systems have previously been presented. However, it is practically difficult to obtain an optimal design of thermodynamic systems that have several system parameters. The optimization is considered at three levels: synthesis (configuration), design (component characteristics), and operation. In this paper, the syntheses of two absorption heat pump systems are evaluated and their design/operation optimization is performed efficiently based on an energy-utilization diagram (EUD) for performance improvement. Cycle models of an absorption heat pump system, including an absorber heat exchanger (AHX) and a solution heat exchanger (SHX), are constructed. These models consider exergy destruction caused by heat transfer and pressure loss. The exergy analysis is performed to evaluate the system performance, and an EUD is drawn to evaluate the margins for improvement. The design parameters and operating points are improved for reducing the exergy destruction in the components where dominant exergy destruction occurs, based on an EUD. Before improvements, COP and exergy efficiency are higher in the SHX cycle, while the margin for improvement is larger in the AHX cycle. In the absorber, exergy destruction is reduced by adjusting the operating point to make the temperature slopes at the hot and cold sides coincide. In other components, exergy destruction is reduced by adjusting the design parameters to improve the heat transfer performances. The results show that exergy efficiency is improved by the distribution of exergy destruction of each component. After these improvements, COP is higher in the SHX cycle, while exergy efficiency is higher in the AHX cycle. It is concluded that we can efficiently realize the design/operation optimization of a thermodynamic system using an EUD. This is because an EUD presents both exergy destruction and margin for improvement at the components comprehensively, as well as the operating point of the system.

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  • Versatile Modeling Platform for Cooperative Energy Management Systems in Smart Cities

    Hayashi, Yasuhiro, Fujimoto, Yu, Ishii, Hideo, Takenobu, Yuji, Kikusato, Hiroshi, Yoshizawa, Shinya, Amano, Yoshiharu, Tanabe, Shin-Ichi, Yamaguchi, Yohei, Shimoda, Yoshiyuki, Yoshinaga, Jun, Watanabe, Masato, Sasaki, Shunsuke, Koike, Takeshi, Jacobsen, Hans-Arno, Tomsovic, Kevin

    Proceedings of the IEEE   106 ( 4 ) 594 - 612  2018  [Refereed]

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    © 2018 IEEE. With growing attention to sustainability and recognition of the impact of global warming problems, energy supply and consumption have become critically important. This paper presents the construction of a modeling platform accommodating cooperative energy management systems (EMSs), which virtually produces the model of a smart city with a distribution network (DN) by using a wide range of data obtained from the real world. The platform involves models of various EMSs, governing the operation of a power system or controlling consumer-installed devices, and simulating the power flow, electrical losses, and voltage in the DN. In addition, indices measuring the sustainability of the model city, such as CO2 emission, are estimated from scenarios, for example, photovoltaic system installation, electric vehicle penetration, etc. The results can be visually displayed and the platform is highly versatile and applicable to various types of issues associated with smart cities. Two case studies are presented in detail.

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  • Distributed energy management for comprehensive utilization of residential photovoltaic outputs

    Yu Fujimoto, Hiroshi Kikusato, Shinya Yoshizawa, Shunsuke Kawano, Akira Yoshida, Shinji Wakao, Noboru Murata, Yoshiharu Amano, Shin Ichi Tanabe, Yasuhiro Hayashi

    IEEE Transactions on Smart Grid   9 ( 2 ) 1216 - 1227  2018  [Refereed]

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    © 2016 IEEE. The introduction of photovoltaic power systems is being significantly promoted. This paper proposes the implementation of a distributed energy management framework linking demand-side management systems and supply-side management system under the given time-of-use pricing program for efficient utilization of photovoltaic power outputs; each system implements a consistent management flow composed of forecasting, operation planning, and control steps. In our framework, demand-side systems distributed in the electric distribution network manage individual energy consumption to reduce the residential operating cost by utilizing the residential photovoltaic power system and controllable energy appliances so as not to inconvenience residents. On the other hand, the supply-side system utilizes photovoltaic power maximally while maintaining the quality of electric power. The effectiveness of the proposed framework is evaluated on the basis of an actual Japanese distribution network simulation model from both the supply-side and demand-side viewpoints.

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  • Stochastic receding horizon control minimizing mean-variance with demand forecasting for home EMSs

    Akira Yoshida, Jun Yoshikawa, Yu Fujimoto, Yoshiharu Amano, Yasuhiro Hayashi

    Energy and Buildings   158   1632 - 1639  2018.01  [Refereed]

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    © 2017 Elsevier B.V. As demand-side energy management system (EMS) has not only a function to maximize owner's utility by automatic control but also a potential capability to respond a demand activation, demand-side EMS is expected to fulfill the key role for intelligent control of community energy management. To achieve the stable control result of EMS against the uncertain environment, it needs approach from both forecast and operation sides. The objective of this study is to construct a control scheme for a home EMS from a practicable implementation perspective and to evaluate the control performance of the scheme proposed. The scheme is composed of operational planning with receding horizon and energy demand forecasting. The goal of the scheme is to maximize householder's utility only by retrofitting the home EMS to a residential household. Throughout numerical results, it is revealed that the better control performance comes from the conservative operational strategy derived from the multiple scenarios.

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  • Development of prediction-based operation planning method for domestic air-conditioner with adaptive learning of installation environment

    Ryoichi Kuroha, Yu Fujimoto, Wataru Hirohashi, Yoshiharu Amano, Shin Ichi Tanabe, Yasuhiro Hayashi

    2017 IEEE Power and Energy Society Innovative Smart Grid Technologies Conference, ISGT 2017    2017.10  [Refereed]

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    © 2017 IEEE. The world is more aware of the need for saving energy because of increasing world energy consumption and environmental problems. To promote saving energy in the domestic field, the use of home energy management systems (HEMSs) is rapidly spreading. The HEMS which has automatically controlling function can control domestic electrical appliances including air-conditioners (ACs). In this research, we focus on AC operation plans to improve thermal comfort and reduce electricity costs for residents. However, AC control planning is generally a difficult task because the operation results greatly depend on the environmental characteristics in which the HEMS is installed. To solve this problem, we proposed an AC planning method that accounts for environmental characteristics and uncertainty in prediction by using historical data.

    DOI

  • 3D Mapping using Small UAV with LiDAR in Disaster Environments

    NIWA Keisuke, TAKAHASHI Yusuke, SUZUKI Taro, AMANO Yoshiharu

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   1P1 - R09  2017

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    <p>This paper describes an extrinsic parameter calibration of light detection and ranging (LiDAR) for a 3D measurement system using an unmanned aerial vehicle (UAV). Recently, the use of small UAVs becomes widespread in 3D measurements because small UAVs are highly useful. We target 10 cm accuracy of 3D measurement aiming for use in disaster environments. 3D measurements using small UAV need estimating not only accurate position and attitude of UAV but also accurate extrinsic parameters of the LiDAR. We propose a calibration method of extrinsic parameters of the LiDAR using reflectors. The proposed method estimates the angle of the LiDAR that minimizes the RMS error of the distance between the reference points of the reflectors and the measured 3D points. As the result of the calibration, vertical RMS error of 3D measurements was 0.0408 m and horizontal RMS error was 0.0472 m.</p>

    DOI CiNii

  • 3D Mapping using Small UAV with LiDAR in Disaster Environments

    SASAKI Ryohei, TAKAHASHI Yusuke, SUZUKI Taro, AMANO Yoshiharu

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   1P1 - R10  2017

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    <p>This paper describes a precise attitude estimation method for a 3D measurement system using LiDAR on a small unmanned aerial vehicle (UAV). Recently, the use of small UAVs becomes widespread in 3D measurements because small UAVs are highly useful. In 3D measurement using LiDAR, the precise attitude of the UAV is necessary because attitude estimation errors influence the 3D measurement accuracy. However, it is difficult to estimate the attitude of small UAVs because they are too small to be equipped with large and precise inertial measurement unit (IMU). Therefore, we proposed a method using six global navigation satellite systems (GNSS) receivers and a low-cost and light-weight IMU to estimate the precise attitude. The method combines Euler angles calculated statistically using six GNSS receivers with angular velocities measured by the IMU. As a result of evaluation, the proposed method is effective on improvement of the attitude estimation accuracy.</p>

    DOI CiNii

  • Precise Positioning Based on NLOS Multipath Detection by Using Machine Learning in Urban Environments

    NAKANO Yusuke, SUZUKI Taro, AMANO Yoshiharu

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   2P2 - B05  2017

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    <p>This paper describes a method of non-line-of-sight (NLOS) multipath detection by using machine learning of signal correlation value of grobal positioning system (GPS) for precise positioning in urban environments. GPS is widely used for estimating self-position in many scenes. However, in urban canyons, GPS positioning accuracy is deteriorated due to NLOS multipath signals. Because of obstacles between NLOS satellites and a GPS antenna, GPS signals omitted from GPS satellites are reflected or diffracted by obstacles. We propose the method to detect NLOS multipath signals using support vector machine (SVM) based on a machine learning of GPS signal correlation values. GPS signal correlation values can be obtained by using a software receiver. We extract the features of NLOS multipath signals from signal correlation value and create the NLOS multipath detection program by machine learning of its feature. As the result of the evaluation, the proposed method is effective to detect NLOS multipath signal.</p>

    DOI CiNii

  • Stochastic model predictive control of residential fuel cell cogeneration unit with periodic forecast update for distributed architecture

    Akira Yoshida, Jun Yoshikawa, Yu Fujimoto, Yoshiharu Amano, Yasuhiro Hayashi

    30th International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems, ECOS 2017    2017

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    © 2017 IMEKO As communication standard, such as SEP 2.0 and ECHONET Lite, for digital communication of home appliances has been established, the research of networked control system is progressing in the domain of residential house. Instead of building new power station to fulfil new electricity requirement, such as electric vehicle charging, the concept, that an aggregator coordinates massive amount of home energy management system (HEMS) to supply negawatt power, is proposed. The aggregator requires to manipulate electricity consumption through massive amount of HMES as networked control system. As fundamental study for control algorithm of distributed architecture, this paper constructed one of the networked supervisory control system formulated as stochastic model predictive control scheme, and analysed primary energy consumption sensitivity against update interval of energy demand forecasting and operational strategy in addition to changing number of scenarios. The mainly results are concluded that: as the energy saving ratio in the case of 6 hours update interval has enough high point, which is 9.5% in comparison with the case of 24 hours update interval, the stochastic model predictive control scheme proposed in the case using six scenarios can downsample until 6 hours update interval.

  • Impact on energy saving under energy interchanges among buildings concerning demand profiles

    Harunobu Ikegami, Akira Yoshida, Yoshiharu Amano

    30th International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems, ECOS 2017    2017  [Refereed]

    Authorship:Last author

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    © 2017 IMEKO In order to reduce energy consumption, the installation of combined heat and power (CHP) has been promoted. However, when the heat to power ratio of CHP and the energy demand do not match, performance of CHP is depreciated. As one of the solutions to improve performance of the CHP and to reduce the energy consumption, energy interchanges have attracted attention and gradually increased in importance in the commercial sector. The objective of this study was to analyze the impact of the difference between demand profiles in buildings employing power and heat interchanges on energy saving. Specifically, we formulated the optimal planning problem of building energy systems by Mixed Integer Linear Programming (MILP) from the viewpoint of energy consumption minimization. The analysis was applied to three model areas with different demand profiles by changing the component ratio of each building in a city with the same total floor area. The main results showed that the energy reduction effects of three model areas with different demand profiles were due to power and heat interchanges. We also found that employing power and heat interchanges increased both the installed capacity of CHPs in buildings and the contributing ratio of CHPs for electricity demand.

  • Design of an ejector-absorption heat pump based on entropy generation minimization

    Hironori Hattori, Haruka Matsumoto, Yoshiharu Amano

    30th International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems, ECOS 2017    2017  [Refereed]

    Authorship:Last author

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    © 2017 IMEKO This paper presents the design method for an ejector-absorption heat pump based on entropy generation minimization (EGM). This cycle is driven by low-temperature waste heat below 90 °C. A cycle model of the ejector-absorption heat pump with an ammonia-water mixture as the working fluid has been constructed. The required model parameters to represent the thermodynamic and geometric characteristics were determined from an experimental study. Cycle simulation specifies the dominant locations of irreversibility and operability. Parametric analysis is performed to investigate the effects of the geometry of the cycle components on entropy generation. This study considers the entropy generation from two components: one associated with the frictional pressure drop and the other including heat transfer in each heat exchanger. The geometric parameter for each component is set based on the results of the parametric analysis. The performance of the designed heat pump is evaluated by its modified coefficient of performance (COP) based on the primary energy consumption. The results show that the dominant entropy generation occurs in the solution heat exchanger and absorber, and the design using EGM produces an improved COP. The results of the sensitivity analysis for the overall unit size of the designed heat pump are also shown.

  • Optimal configuration of energy system in multiple households with power interchange for reduction of CO2 emissions in Japan

    Toshiyuki Nagai, Akira Yoshida, Yoshiharu Amano

    30th International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems, ECOS 2017    2017  [Refereed]

    Authorship:Last author

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    © 2017 IMEKO As a replacement for conventional sources, which cause CO2 emissions, the installation of photovoltaics (PV) has increased extensively in residential sectors. However, large-scale PV installation causes voltage violations of low-voltage distribution grids, particularly in the residential sector. According to previous studies, energy storage systems and power interchange methods are effective in utilizing PV surplus electricity and saving energy. The objective of this study is to derive the optimal configuration of energy systems in multiple households under power interchange for the minimization of total CO2 emissions. Two methods for solving this complicated and large-scale problem are proposed. First, we considered a calculation of the optimal configuration of energy systems in multiple households as an optimal unit sizing of energy systems in a single household. Second, we examined the operational planning problem as mixed integer linear programming (MILP) with an enumeration method. We found that a heat pump water heater (HP) can be installed as the heat supply equipment regardless of the PV installation ratio by the year 2030 in Japan, when the CO2 conversion factor of the electrical grid will be 0.37 kg/kWh. In addition, the maximum impact of power interchange on CO2 emissions will lead to its reduction by 85 kg, at 75 % of PV installation ratio.

  • Impact of utilizing PV surplus electricity on CO<inf>2</inf> emissions from the residential energy systems

    Toshiyuki Nagai, Akira Yoshida, Yoshiharu Amano

    ASME 2017 11th International Conference on Energy Sustainability, ES 2017, collocated with the ASME 2017 Power Conference Joint with ICOPE 2017, the ASME 2017 15th International Conference on Fuel Cell Science, Engineering and Technology, and the ASME 2017 Nuclear Forum    2017  [Refereed]

    Authorship:Last author

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    Copyright © 2017 ASME. In order to reduce CO2 emissions in the residential sector, the installation of photovoltaics (PV) has been increasing extensively. However, such large-scale PV installations cause problems in the low-voltage distribution grid of the residential sector, such as PV related voltage surges. In this study, the utilization of suppressed PV output through energy storage devices was proposed. Using demand side energy storage devices reduces voltage surge, transmission loss, and CO2 emissions from the residential buildings. The objective of this study was to add voltage constraints of the low-voltage distribution grid to an operational planning problem that we developed for the residential energy systems, and to quantitatively evaluate the potential of heat pump water heater (HP) to utilize the PV surplus electricity, while considering the electrical grid constraints based on the minimization of CO2 emissions. We found that when a 4.5 kW HP with 370 L storage, which utilizes PV output, was added to the system, the reduction in CO2 emissions was more than twice compared with that in the case of adding 4 kWh battery (BT) to a PV and gas fired water heater configuration. Further, the effect of utilizing the suppressed PV electricity by HP was almost equivalent to that by the BT. Therefore, the potential of HP in utilizing PV surplus electricity is higher than that of the BT in terms of CO2 emissions reduction in the residential sector.

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  • INVESTIGATION OF ABSORPTION HEAT PUMP CYCLE DRIVEN BY LOW TEMPERATURE WASTE HEAT

    Matsumoto, H, Hattori, H, Amano, Y

    Proceedings of the First Pacific Rim Thermal Engineering Conference   1 ( 15084 ) 1 - 5  2016.03

    Authorship:Last author

  • MODEL FOR DAILY OPERATIONAL PLANNING OF A RESIDENTIAL FUEL-CELL COGENERATION SYSTEM BASED ON EXPERIMENT.

    Furuichi, T, Yoshida, A, Amano, Y

    Proceedings of the First Pacific Rim Thermal Engineering Conference   ( PRTEC-14607 ) 1 - 5  2016.03  [Refereed]

  • IMPACT OF DEMAND PREDICTION ACCURACY ON ENERGY SAVING CHARACTERISTICS OF RESIDENTIAL PEFC-CGS.

    Yoshikawa, J, Yoshida, A, Amano, Y

    Proceedings of the First Pacific Rim Thermal Engineering Conference   ( PRTEC-15105 ) 1 - 5  2016.03  [Refereed]

  • Optimal scheduling for residential PEM fuel cell cogeneration system under uncertainty of PV output and energy demand using MISOCP approach

    Akira Yoshida, Jun Yoshikawa, Yu Fujimoto, Shinji Wakao, Yoshiharu Amano

    ECOS 2016 - Proceedings of the 29th International Conference on Efficiency, Cost, Optimisation, Simulation and Environmental Impact of Energy Systems    2016

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    © 2016 University of Ljubljana. The degree of operational freedom of home appliances is increasing with introducing controllable demand-side appliances by using Home Energy Management System with some communication standard. This situation increases the demands on methodology achieving customer utility maximization, which is able to plan operational strategies of a variety of appliances under various exogenous variables such as energy demand, outlet temperature, and power output of Photovoltaic power generator. Energy demand and photovoltaic output have some uncertainty or variation in the parameter. The objective of this study is to analyze a solution behavior of an operational planning problem adapting Mixed Integer Second-Order Cone Programming extended from traditional Mixed Integer Linear Programming model. The objective function of the mathematical optimization involves mean and its variance by extracting naturally Markowitz model. Above proposed model is intended to sophisticate robust operational planning method, and is also evaluated on the EMS simulation platform that we are developing. As a result, it is found that involving variance to objective function affects to computational time meaning computational load rather than robustness of planned schedule. Additionally, using several scenario results in more robust schedule than using plausible one scenario.

  • Precise UAV Position and Attitude Estimation by Multiple GNSS Receivers for 3D Mapping

    Taro Suzuki, Yusuke Takahashi, Yoshiharu Amano

    PROCEEDINGS OF THE 29TH INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS+ 2016)   2   1455 - 1464  2016  [Refereed]

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    Recently, small unmanned aerial vehicles (UAVs) have been widely investigated for a variety of applications, including remote sensing and aerial surveying. For such applications, current small UAV platforms use a camera to generate a 3D map from aerial images obtained by the UAV. To generate a 3D map, accurate position and attitude data of the UAV is necessary. However, the typical positioning accuracy of a single frequency global navigation satellite system (GNSS) receiver is 1-3 m, and the attitude accuracy obtained from a low-cost micro electro mechanical system (MEMS) sensor is limited to approximately 1-3°. This accuracy is not sufficiently high for accurate 3D mapping. The goal of this study is establish an accurate position and attitude determination technique by using low-cost GNSS receivers for small UAVs. The key idea behind the proposed method is using multiple low-cost and single-frequency GNSS antennas/receivers to accurately estimate the position and attitude of a UAV. Using the "redundancy" of multiple GNSS receivers, we improve the performance of Real-time kinematic (RTK)-GNSS by using the single-frequency GNSS receivers. This method consists of two approaches: hybrid GNSS fix solutions and consistency check of the GNSS signal strength. In multipath environments, the carrier-phase multipath affects the ambiguity resolution of RTK-GNSS. Different GNSS signal propagation paths are caused at each GNSS antenna. As a result, different multipath errors are caused in each GNSS receiver. It can be used to detect the multipath signals. With this method, we can enhance the availability of carrier-phase ambiguity solutions by using a single-frequency GNSS receiver. Furthermore, we propose a direct attitude estimation technique for a small UAV by using the multiple GNSS receivers. To estimate the absolute attitude of the UAV, we used relative GNSS antenna positions determined by GNSS carrier-phase measurements. It is difficult to resolve the ambiguity for a low-cost single-frequency receiver. In this paper, baseline length constraints can be applied between the GNSS antennas to estimate a reliable ambiguity. To evaluate the proposed method, we conducted a static test in a narrow-sky environment. First, we determined the attitude by using the proposed technique. Using the proposed method, we could almost perfectly solve the GNSS carrier-phase ambiguity by using low-cost single-frequency GNSS receivers in multipath environments. Next, we evaluated the position determination by using the proposed technique. The fix rates are improved in every GNSS antenna by using the proposed multipath elimination technique. Finally, the fix rate reaches 99.9 %, and it can be concluded that the proposed technique offers increased positioning accuracy in urban environments.

    DOI

  • An optimal predictive control of 0.75 kW PEM fuel cell cogeneration with home appliances for efficient PV utilization

    Yoshida, A., Yoshikawa, J., Fujimoto, Y., Amano, Y.

    ASME International Conference on Fuel Cell Science, Engineering and Technology, FUELCELL 2016, Collocated with the ASME Power Conference and the ASME International Conference on Energy Sustainability    2016  [Refereed]

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    © Copyright 2016 by ASME. This paper proposes an optimal predictive control of 0.75 kW PEM fuel-cell cogeneration with home appliances. This paper also models fuel cell system for design and operation evaluation of building equipment based on actual measurement of residential fuel cell system on sale. As one application of constructed model and proposed control method, this paper discusses concerning home EMS for efficient PV utilization.

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  • Current Development Status of an X-ray Generator for X-ray Fluorescence Analysis on Space Mission

    Hiroki Kusano, Nobuyuki Hasebe, Hiroshi Nagaoka, Masayuki Naito, Miho Mizone, Yoshiharu Amano, Eido Shibamura, Haruyoshi Kuno

    Proceedings of International Symposium on Radiation Detectors and Their Uses (ISRD2016)    2016  [Refereed]

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  • An Investigation of Elemental Composition of Martian Satellites by Gamma-ray and Neutron Spectrometer

    Nobuyuki Hasebe, Toru Ohta, Yoshiharu Amano, Masayuki Naito, Hiroki Kusano, Hiroshi Nagaoka, Kohei Yoshida, Takuto Adachi, Timothy J. Fagan, Haruyoshi Kuno, Eido Shibamura, Akira Hitachi, José A, Matias Lopes, Jesus Martínez-Frías, Tomoki Nakamura, Shingo Kameda, Yuichiro Cho, Naoki Shirai, Hideaki Miyamoto, Takafumi Niihara, Takashi Mikouchi, Tatsuaki Okada, Yuzuru Karouji

    Proceedings of International Symposium on Radiation Detectors and Their Uses (ISRD2016)    2016  [Refereed]

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  • 3D Reconstruction Using Multibaseline Omnidirectional Motion Stereo Based on GPS/Dead-reckoning Compound Navigation System

    Jun-ichi Meguro, Jun-ichi Takiguchi, Yoshiharu Amano, Takumi Hashizume

    The International Journal of Robotics Research   26 ( 6 ) 625 - 636  2016

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    This paper presents a motion-stereo device using the GPS/DR (dead reckoning) combination along with omnidirectional cameras to reconstruct 3-D environments by means of sensors small enough to be installed on a mobile robot. The proposed technique is based on the fact that it is possible to determine epipolar lines by using the precise positions and heading angles measured by a combination of GPS and various sensors; high-precision stereo matching may then be performed by means of geometrical restrictions. Furthermore, in comparison to the other stereo techniques, it is also possible to establish longer baselines for peripheral objects and simultaneously provide a higher precision in calculating the distances to far objects by applying voting processing to a series of distant motion-stereo images, which can be attained by using more than one baseline length, in 3-D spaces based on the precise positions and heading angles. In short, the proposed technique provides a substantial increase in measurement precision as compared to that with the well-known SFM (structure from motion) technique for reconstructing 3-D environments with monocular cameras; this is because the proposed technique utilizes a greater number of mobile parameters, which are determined using precise cameras. In this experiment, the measurement precision of the proposed technique has been evaluated in reconstructing the shapes of vehicles parked alongside a road; the measurements were found to have a standard deviation of 140 mm within a range of 10 m. It can be stated that the proposed omnidirectional motion-stereo technique is robust to environmental perturbations and can accurately estimate distances in the case of highly textured objects. © 2007 SAGE Publications.

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  • Localization for Autonomous Navigation of a Mobile Robot Using an Open Source GNSS Library in Pedestrian Environments

    TSUKAGOSHI Takaya, AKEHI Takeshi, KITAMURA Mitsunori, SUZUKI Taro, AMANO Yoshiharu

    Transactions of the Society of Instrument and Control Engineers   52 ( 5 ) 276 - 283  2016

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    This paper describes the localization method based on global navigation satellite systems (GNSS) technology for autonomous navigation of mobile robots. The accurate and robust position estimation of the robot is the key to the autonomous navigation. GNSS was usually not used in localization in urban environments because its positioning has multipath errors and problems in availability. In this paper, we propose the GNSS positioning technique that is suitable for the autonomous navigation of mobile robots. We use an open source GNSS positioning library to compute the GNSS fix solutions. The techniques, which select the GNSS observations using the GNSS signal strength and validate GNSS fix solutions, are proposed. Then the GNSS fix solutions are integrated with inertial sensors and an odometer through the extended Kalman filter. From the experiment in the &quot;Real World Robot Challenge (RWRC)&quot;, it was confirmed that the effectiveness of our proposed technique and the feasibility of its highly accurate positioning.

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  • NLOS Satellite Detection Using a Fish-Eye Camera for Improving GNSS Positioning Accuracy in Urban Area

    Shodai Kato, Mitsunori Kitamura, Taro Suzuki, Yoshiharu Amano

    Journal of Robotics and Mechatronics   28 ( 1 ) 31 - 39  2016

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    © 2016, Fuji Technology Press. All rights reserved. In recent years, global navigation satellite systems (GNSSs) have been widely used in intelligent transport systems (ITSs), and many countries have been rapidly improving the infrastructure of their satellite positioning systems. However, there is a serious problem involving the use of kinematic GNSS positioning in urban environments, which stems from significant positioning errors introduced by non-line-of-sight (NLOS) satellites blocked by obstacles. Therefore, we propose the method for positioning based on NLOS satellites detection using a fish-eye camera. In general, it is difficult to robustly extract an obstacle region from the fish-eye image because the image is affected by cloud cover, illumination conditions, and weather conditions. We extract the obstacle region from the image by tracking image feature points in sequential images. Because the obstacle region on the image moves larger than the sky region, the obstacle region can be determined by performing image segmentation and by using feature point tracking techniques. Finally, NLOS satellites can be identified using the obstacle region on the image. The evaluation results confirm the GNSS positioning accuracy without the NLOS satellites was improved compared with using all observed satellites, and confirm the effectiveness of the proposed technique and the feasibility of implementing its highly accurate positioning capabilities in urban environments.

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  • Communication schedule optimization of cascade control using foundation fieldbus

    Sangsuwan, T., Pongswatd, S., Julsereewong, A., Morioka, Y., Amano, Y.

    ICIC Express Letters   10 ( 1 ) 197 - 204  2016

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    © 2016 ICIC International. This paper presents a technique to optimize the communication schedules generated for synchronization of Foundation Fieldbus H1 devices in cascade control loop. A level-to-flow cascade control operated by the Harmonas-DEO host system is examined as an illustrative case study. Major objectives of the optimization are not only to minimize the latency of the control loop but also to maximize the availability of the network bandwidth. The proposed technique can be applied for H1 segment macrocycle schedules performing the control functions in both of the host controller and the field devices. Three examples for optimizing communication schedules generated from different control block assignments are described. The validation of the optimization methods can be determined by using two metrics: control loop latency improvement and publication gap availability improvement. Experimental results confirm that the proposed technique works effectively to operate the studied H1 segment for cascade control without any problems.

  • Impact of electric battery degradation on cost- and energy-saving characteristics of a residential photovoltaic system

    Akira Yoshida, Tomikazu Sato, Yoshiharu Amano, Koichi Ito

    Energy and Buildings   124   265 - 272  2016

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    © 2015 Elsevier B.V. All rights reserved. In Japan, a feed-in tariff scheme has been implemented to promote the use of photovoltaic power generators in combination with electric batteries. Although many researchers have assessed the operation of grid-connected photovoltaic systems with electric batteries, little attention has been paid to the impact of the electric batteries' degradation characteristics. This paper evaluates the operation of a grid-connected photovoltaic/electric-battery system in a house in terms of cost savings and energy savings. We constructed a long-term operational optimization model considering the degradation characteristics of the electric battery. This model contains two objective functions: energy savings and operating costs. We create a scenario of power rates and photovoltaic/battery system configurations. To reveal the optimal operational strategy for the photovoltaic/battery system, the multi-objective optimization problem was solved. As a result, Pareto-optimal solutions were obtained, and trade-off relationships between cost and energy savings are presented. In this study, the utilization of a grid-connected photovoltaic system with an electric battery was expected to be most effective in energy-saving priority operation.

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  • Attitude Determination using Single Frequency GNSS Receivers for Small UAVs

    Suzuki Taro, Akehi Takeshi, Massubuchi Takuma, Amano Yoshiharu

    The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts   2015 ( 6 )  2015.12

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    This paper describes an accurate attitude determination technique using multiple global navigation satellite system (GNSS) receivers and antennas for small unmanned aerial vehicles (UAVs). A laser survey using a small UAV needs highly accurate attitude information for reconstructing 3D models. The proposed technique uses the multiple GNSS antenna&#039;s positions computed by the GNSS carrier phase measurements to estimate the UAV&#039;s attitude. To solve the GNSS carrier phase ambiguity, the reliable ambiguity search is performed with a couple of constraints for the base line vector. The performance of the proposed technique is evaluated in the static test. From the test, the proposed technique could estimate UAV&#039;s yaw angle in 0.1 degree accuracy.

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  • Performance Evaluation of Kinematic Positioning Using Multi-GNSS in an Urban Area

    Kato, S, Kitamura, M, Suzuki, T, Amano

    Proc. of International Symposium on GNSS 2015   1   204 - 210  2015.11  [Refereed]

  • Personalized Energy Management Systems for Home Appliances Based on Bayesian Networks.

    Shoji, T, Hirohashi, W, Fujimoto, Y, Amano, Y, Tanabe, S, Hayashi, Y

    Journal of International Council on Electrical Engineering   5 ( 1 ) 64 - 69  2015.11  [Refereed]

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  • A multi-stage renewal planning of an energy supply system for a hospital based on the mathematical optimization method

    Shu Yoshida, Koich Ito, Akira Yoshida, Yoshiharu Amano

    ECOS 2015 - 28th International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems    2015  [Refereed]

    Authorship:Last author

     View Summary

    The multi-stage renewal planning problem is studied here for an energy supply system installed into a hospital from the long- Term economic viewpoint by applying the mathematical optimization method. This problem is mathematically formulated as a large-scale mixed-integer linear programming one, and the average annual total cost during the evaluation period is set as the objective function to be minimized. In this problem, by taking the deterioration of performance efficiency of the existing pieces of equipment, the renewal system is assumed to be composed by installing new pieces of equipment with improved efficiency by reflecting technical progress. By optimizing the system's operational policy for hourly and seasonally changing energy demands through years of the evaluation period, the renewal years and the system's configurations at each multi-stages are determined optimally. A numerical study is carried out for a really existing hospital with total floor area of 25000m2, and many comprehensive and useful results are obtained by comparing 13 alternative renewal plans by using the CPLEX solver.

  • Economic evaluations of residential energy systems based on the prediction-operational planning-control method using time-of-use prices

    Ryohei Ogata, Akira Yoshida, Yu Fujimoto, Noboru Murata, Shinji Wakao, Shin Ichi Tanabe, Yoshiharu Amano

    ECOS 2015 - 28th International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems   ( 50898 ) 1 - 12  2015  [Refereed]

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    Demand-side electricity saving is an important factor in the reduction of the installed capacity of power-supply facilities. In order to save electricity automatically while maintaining comfort levels, home energy management systems (HEMS) have attracted attention. These systems can control residential energy equipment cooperatively to reduce electricity consumption while considering benefits to consumers. Although many researchers have evaluated HEMS, no one has conducted a study which considers the control of various types of residential energy equipment in real time along with the uncertainties of energy demands. This paper proposes a single HEMS method which connects prediction, operational planning and control steps and enables the evaluation of operational planning methods of HEMS connected with many kinds of residential energy equipment currently in use in Japan while considering the uncertainties. The purpose of this study is to evaluate the economic potential of residential energy systems based on the proposed method with the uncertainties of energy demands and photovoltaic (PV) output under time-of-use prices. The results allowed us to establish a framework to quantitatively evaluate the operational planning methods of HEMS with the uncertainties of energy demands and PV output. In addition, the usability of the proposed method was confirmed by comparing the operational costs to those of a reference method.

  • Advantage of a home energy management system for PV utilization connected to grid

    Akira Yoshida, Shinya Yoshizawa, Yu Fujimoto, Noboru Murata, Shinji Wakao, Shin Ichi Tanabe, Yasuhiro Hayashi, Yoshiharu Amano

    ECOS 2015 - 28th International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems     1 - 12  2015  [Refereed]

     View Summary

    Residential houses are in the process of introducing power generators such as photovoltaic (PV) power generators and fuel cell cogeneration systems. Under current laws in Japan, surplus electricity from a residential PV system can be sold by feeding it back into the electrical grid. However, when a lot of neighboring power generators make and feed back electricity at the same time, there is an issue of an upper voltage violation of the provisions of the laws and regulations relating to the Electricity Business Act in the distribution system of the electrical grid. The issue has been solved by stopping power generators when they reach an upper voltage limit, 107V. Another solution is to acknowledge demand response signal from electrical grid operator to store electricity in residential batteries using Home Energy Management System (HEMS). The research question is that how to collaborate HEMS and Grid Energy Management System (GEMS). This paper developed an evaluation framework for the cooperative behavior between HEMS and GEMS. Using this evaluation framework, this paper demonstrated the optimal operational strategy of HEMS including PV in the case that HEMS is informed voltage profile from GEMS, and also assessed amount of PV suppression quantitatively in residential sector in practical aspect.

  • Future lunar mission Active X-ray Spectrometer development: Surface roughness and geometry studies

    Naito, M., Hasebe, N., Kusano, H., Nagaoka, H., Kuwako, M., Oyama, Y., Shibamura, E., Amano, Y., Ohta, T., Kim, K. J., Lopes, J. A. M.

    Nuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment   788   182 - 187  2015

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    © 2015 Elsevier B.V. All rights reserved. The Active X-ray Spectrometer (AXS) is considered as one of the scientific payload candidates for a future Japanese mission, SELENE-2. The AXS consists of pyroelectric X-ray generators and a Silicon Drift Detector to conduct X-Ray Fluorescence spectroscopy (XRF) on the Moon to measure major elements: Mg, Al, Si, Ca, Ti, and Fe; minor elements: Na, K, P, S, Cr and Mn; and the trace element Ni depending on their concentration. Some factors such as roughness, grain size and porosity of sample, and the geometry of X-ray incidence, emission and energy will affect the XRF measurements precision. Basic studies on the XRF are required to develop the AXS. In this study, fused samples were used to make homogeneous samples free from the effect of grain size and porosity. Experimental and numerical studies on the XRF were conducted to evaluate the effects from incidence and emission angles and surface roughness. Angle geometry and surface roughness will be optimized for the design of the AXS on future missions from the results of the experiment and the numerical simulation.

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  • Effects of a MIP start for solving weekly operational planning problem of a residential energy system

    Akira Yoshida, Jun Yoshikawa, Noboru Murata, Yoshiharu Amano

    ICOPE 2015 - International Conference on Power Engineering   2015 ( 12 ) "ICOPE - 15-1025-1"-"ICOPE-15-1025-10"  2015

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    An optimal operational planning problem of residential energy system has been formulated by Mixed Integer Linear Programming (MILP). The decision variables of optimal operational planning problem are energy and mass flows, equipment's operating statuses, and energy level of storage. Many kinds of energy supply equipment are available for householders in Japan. Of course, in operational planning problem, the increase of integer variables which means equipment's on/off status, is linked to the increase of calculation time. It is important to assess the impact of introducing an energy system for a house based on the suitable planning horizon of this problem. Energy storage brings the energy in the form of hot water and electricity to the next d a y. The operational strategy of energy system including storage should be evaluated through few days toward various energy demand. The optimal planning problems become large scale because many pieces of equipment to introduce and long evaluation period are required. This paper analyzes characteristics of energy systems caused by planning horizon. Additionally, we propose a hierarchical method as heuristic method for solving large MILP problem easily, and the proposed method is tested the effectiveness. Our finding shows that the proposed search method for better feasible solution has good performance in comparison with default settings of conventional MILP solver in terms of calculation time.

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  • 太陽電池・蓄電池組込み型PEFCシステムの省エネルギー性評価

    吉田彬, 伊東弘一, 天野嘉春

    日本機械学会論文集   80巻816号   1 - 12  2014.08  [Refereed]

    Authorship:Last author

    DOI

  • An Active X-Ray Spectrometer for the SELENE-2 Rover

    Ja KIM Kyeong, AMANO Yoshiharu, V. BOYNTON William, KLINGELHÖFER Gostar, BRÜCKNER Johannes, HASEBE Nobuyuki, HAMARA Dave, D. STARR Richard, F. LIM Lucy, JU Gwanghyeok, J. FAGAN Timothy, OHTA Tohru, SHIBAMURA Eido

    TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, SPACE TECHNOLOGY JAPAN   12 ( 29 ) Pk_35 - Pk_42  2014

     View Summary

    The Active X-ray Spectrometer (AXS) for the Japanese SELENE-2 rover has been proposed for elemental analysis on the lunar surface to measure the major elements: Mg, Al, Si, Ca, Ti, and Fe; the minor elements, Na, K, P, S, Cl, Cr, and Mn and the trace element Ni, all depending on their concentrations at a landing site. The elemental data of the AXS allow us to not only classification but also quantification of surface rocks on the Moon. The AXS is a compact low-weight instrument for elemental analysis based on the principle of X-ray fluorescence spectrometry using an X-ray spectrometer and two (four) pyroelectric crystals as X-Ray Generators (XRG). This paper introduces the current status of the pre-project to develop an AXS for the SELENE-2 Rover including the investigations on the generation of X-ray flux of the XRG, required surface roughness for the XRS measurement, and a thermal design of the AXS.

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  • Autonomous navigation of a mobile robot based on GNSS/DR integration in outdoor environments

    Suzuki, T., Kitamura, M., Amano, Y., Kubo, N.

    Journal of Robotics and Mechatronics   26 ( 2 ) 214 - 224  2014  [Refereed]

     View Summary

    This paper describes the development of a mobile robot system and an outdoor navigation method based on global navigation satellite system (GNSS) in an autonomous mobile robot navigation challenge, called the Tsukuba Challenge, held in Tsukuba, Japan, in 2011 and 2012. The Tsukuba Challenge promotes practical technologies for autonomous mobile robots working in ordinary pedestrian environments. Many teams taking part in the Tsukuba Challenge used laser scanners to determine robot positions. GNSS was not used in localization because its positioning has multi-path errors and problems in availability. We propose a technique for realizing multipath mitigation that uses an omnidirectional IR camera to exclude "invisible" satellites, i.e., those entirely obstructed by a building and whose direct waves therefore are not received. We applied GPS/dead reckoning (DR) integrated based on observation data from visible satellites determined by the IR camera. Positioning was evaluated during Tsukuba Challenge 2011 and 2012. Our robot ran the 1.4 km course autonomously and evaluation results confirmed the effectiveness of our proposed technique and the feasibility of its highly accurate positioning.

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  • Improving availability and accuracy of multi- GNSS positioning using QZSS

    M. Kitamura, T. Ota, Y. Amano

    27th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2014   3   2341 - 2345  2014  [Refereed]

    Authorship:Last author

     View Summary

    Copyright © (2014) by the Institute of Navigation All rights reserved. This paper describes a new positioning method that improves the availability and accuracy of Multi-global navigation satellites system (GNSS) positioning by using QZSS satellites in urban canyon environments. Standard multi-GNSS is problematic because one satellite is defined as the master satellite in each GNSS, leaving insufficient numbers of satellites for positioning roles. Our new method uses QZSS as the sole master satellite. To this end, we solve the ambiguity of QZSS by the wide- lane method and the QZSS LEX signal, and preserve that double-difference (DD) ambiguity is integral number. We also estimate the inter system bias (ISB). The GNSS used in our method includes GPS, QZSS, GLONASS, Galileo, and BeiDou satellites. Static evaluation tests were conducted in open-sky and narrow-sky environments. The open-sky evaluation confirmed the accurate positioning ability of our proposed method (horizontal RMS error: 1.6 cm), whereas the narrow-sky evaluation confirmed that our proposed method operates with accurate positioning and high availability in urban canyon environments (fixed ratio: 92.7%, horizontal RMS error: 4.2 cm). In conclusion, our method realizes high accuracy and availability high-coverage positioning.

  • Development of an X-ray generator using a pyroelectric crystal for X-ray fluorescence analysis on planetary landing missions

    Kusano, Hiroki, Oyama, Yuki, Naito, Masayuki, Nagaoka, Hiroshi, Kuno, Haruyoshi, Shibamura, Eido, Hasabe, Nobuyuki, Amano, Yoshiharu, Kim, Kyeong J., Matias Lopes, Jose A.

    Proceedings of SPIE - The International Society for Optical Engineering   9213   921311  2014  [Refereed]

     View Summary

    © 2014 SPIE. The chemical element abundance on planetary surface is essential for planetary science. We have been developing an active X-ray spectrometer (AXS), which is an in-situ chemical element analyzer based on the X-ray uorescence analysis for future planetary landing missions. The AXS consists of an X-ray detector and multiple X-ray sources. Although a pyroelectric X-ray generator is promising for the AXS as an X-ray source, the raise of emission X-ray intensity is necessary for short-time and precise determination of elemental composition. Also, in order to enhance the detection efficiency of light major elements such as Mg, Al, and Si, we have tested the low energy X-ray emission by changing the target material. In this study, the X-ray emission calculation at the target by Monte Carlo simulation and the X-ray emission experiments were carried out. More than 106 cps of the time-averaged X-ray emission rate was achieved in maximum using a LiTaO3 crystal with 4 mm thickness and Cu target with 10 μm thickness. The performance of pyroelectric X-ray generator is presented in this paper.

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  • Energy-Saving Evaluation of SOFC Cogeneration Systems With Solar Cell and Battery

    Akira Yoshida, Koichi Ito, Yoshiharu Amano

    Journal of Fuel Cell Science and Technology   11 ( 6 ) 061001  2014  [Refereed]

    Authorship:Last author

     View Summary

    Copyright ©2014 by ASME. The purpose of this study is to evaluate the maximum energy-saving potential of residentia energy supply systems consisting of a solid oxide fuel cell (SOFC) cogeneration syste (CGS) combined with a solar cell (SC) and a battery (BT), compared with reference system (RS). This study applies an optimization theory into an operational plannin problem to measure actual energy demands over the course of 1 year. Eight differen types of energy supply system were compared with each other by changing the component of the SOFC-CGS, SC, BT, and RS. Meaningful numerical results are obtained indicating the maximum potential energy savings.

    DOI

  • Impact of electric battery's degradation on economic and energy saving characteristics of residential photovoltaic system

    Akira Yoshida, Tomikazu Sato, Yoshiharu Amano, Koichi Ito

    Proceedings of the 27th International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems, ECOS 2014     1 - 13  2014  [Refereed]

     View Summary

    In Japan a feed-in tariff scheme has promoted the utilization of photovoltaic power generators in combination with electric batteries. Although many researchers have assessed the operations of grid-connected photovoltaic systems with electric batteries, little attention has been paid to the impact of the electric batteries' degradation characteristics. This paper presents an evaluation of the operation of a grid-connected photovoltaic/electric battery system in a house from energy saving and economy viewpoints. We constructed a long-term operational optimization model considering the degradation characteristics of the electric battery. This model contains two objective functions: energy saving and operating cost. We set a scenario of power rate and photovoltaic/battery system configurations. In order to reveal the optimal operational strategy of the photovoltaic/battery system, the multi-objective optimization problem was solved. As a result, pareto optimal solutions were obtained, and trade-off relationships between economy and energy saving are presented. In this study, the utilization of the grid-connected photovoltaic system with an electric battery was expected to be effective in an energy saving priority operation.

  • Evaluation of optimal capacity of hot water tank in PEM cogeneration system for residential energy demand profiles

    Akira Yoshida, Yoshiharu Amano

    27th International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems, ECOS 2014   2014-June   1 - 13  2014  [Refereed]

     View Summary

    Various residential cogeneration systems have been studied and developed as parts of distributed energy supply system. A residential fuel cell cogeneration system is composed of three units: a fuel cell unit, a thermal storage unit and a back-up boiler. Those three-parts are necessary to compensate a gap between system output with a rigid heat-to-power ratio and heat and power demand. It is difficult to operate the fuel cell system with frequent starts and stops. The peak thermal load is far greater than the maximum thermal output capacity of the fuel cell unit alone. Generally, a cogeneration system performs effectively when all of the recovered heat was utilized in a day. The common issues in promoting residential fuel cell cogeneration systems are the unit price and size. The size must be reduced for use in apartment houses, which constitute about half of the households in Japan. The objectives of this study are to evaluate the rational hot water tank capacity for individual households in order to provide a guide for hot water tank capacity sizing. Sensitivity analysis on the hot water tank capacity from energy saving and economic viewpoints based on an optimal operational planning problem was carried out. Additionally, residential energy demand profiles with different climate conditions are analysed. Our findings show that, in Japan, commutative duration of hot water demand is about 10% or less of the time in one year, and domestic hot water demand rarely observed above 4 kWh in any quarter of an hour. Annual primary energy consumption and operating costs rarely fell when the hot water tank capacity was 7 kWh or more. Additionally, reducing the hot water tank capacity to 5 kWh had only a small effect on the objective values. This suggests that the hot water tank could be smaller than that currently in use. The daily hot water demand gives an excellent estimation of the maximum stored heat of the hot water tank. It was found that the hot water tank capacity can be estimated from the regression lines, or from the fraction of daily hot water demand.

  • Evaluation of the Communication Load of a Real-Time Fieldbus Using Concepts of Periodical Communication

    Yoshitsugu Morioka, Yoshiharu Amano

    SICE Journal of Control, Measurement, and System Integration   Vol.6 ( No.5 ) 316 - 321  2013.09

    DOI

  • Mobile Mappingデータにおける大規模三次元点群からの道路周辺地物の認識(第5報):柱状物体の位置関係を用いた空中架線の抽出

    外村 史輝, 石川 貴一朗, 天野 嘉春

    精密工学会学術講演会講演論文集   2013   623 - 624  2013

     View Summary

    本研究では,MMSで計測された大規模三次元点群を用いて電線などの空中架線を効率的に管理することを目的とし,空中架線の自動抽出手法について提案する.本手法では,まず柱状物体をSVMにより認識し,次に認識された柱状物体と空中架線との位置関係から架線の認識を行う.本論文では,本手法の詳細と実際のMMS点群に本手法を適用した結果について述べる.

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  • Optimal operation of a residential photovoltaic/fuel-cell energy system using scenario-based stochastic programming

    Akira Yoshida, Yoshiharu Amano, Koichi Ito

    Proceedings of the 26th International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems, ECOS 2013    2013  [Refereed]

     View Summary

    The operational degree of freedom in a residential energy system has dramatically increased recently because an energy system tends to be composed of many devices including some energy buffers. It is challenging to construct the framework of the operational planning problems, which update the plan based on the short-span predictions. This framework has to plan the operation before uncertain demand and PV output are realized; hence the plan is based on ex-ante decisions. The aim of this paper is to apply a stochastic programming framework to the operational planning of a residential energy system considering the prediction, and is to show basic directions for the planning. The residential energy system includes a fuel cell cogeneration system with a hot water tank, the photovoltaic system with an electrical battery. The parameters of the numerical experiments are three kinds of temporal precision and the number of predicted scenarios. The operation means the timing of the fuel cell's start-stop, and the stored energy levels of the battery and the hot water tank. As a result, the expected value based on scenarios was 21% greater than the minimized value based on perfect information in terms of daily primary energy consumption. The number of predicted scenarios was reasonable around 10 at 15-min temporal precision, because the great number of input scenarios made a decision not to operate the fuel cell cogeneration system for the entire day, and needed a great deal of the computational time.

  • Basic studies on x-ray fluorescence analysis for active x-ray spectrometer on SELENE-2

    Kusano, Hiroki, Hasebe, Nobuyuki, Nagaoka, Hiroshi, Kodama, Takuro, Oyama, Yuki, Tanaka, Reiko, Amano, Yoshiharu, Kim, Kyeong J., Matias Lopes, Jose A.

    Proceedings of SPIE - The International Society for Optical Engineering   8852  2013

     View Summary

    An active X-ray spectrometer (AXS) is now being developed as a payload candidate for the rover on SELENE-2, the next Japanese lunar exploration mission. The AXS will determine the chemical compositions of lunar rocks and regolith around the landing site. The surface of lunar rock samples will be ground using a rock abrasion tool. Thus, fundamental studies on the X-ray fluorescence analysis for lunar rocks and regolith are required to design and develop the AXS. In this study, we have investigated the X-ray fluorescence analysis in order to evaluate the effects of surface roughness of samples and the angle of incident and emergent X-rays. It was found that the fluorescent X-ray yield for low energy X-rays, i.e. the light elements, decreases at rough surface samples. This effect of surface roughness becomes small for smooth surface samples. It was also found that the fluorescent X-ray yield depends on the incident angle, which is attributed to the fact that the X-ray fluorescence occurs closer to the sample surface at larger incident angles. Since the emergent X-rays are affected by the detection geometry and surface roughness, the incident angle effect also depends on the above conditions. © 2013 SPIE.

    DOI

  • Vehicle Teleoperation Using 3D Maps and GPS Time Synchronization

    T. Suzuki, Y. Amano, T. Hashizume, N. Kubo

    IEEE Computer Graphics and Applications   33 ( 5 ) 82 - 88  2013  [Refereed]

     View Summary

    In conventional vehicle teleoperation systems, using low-bandwidth, high-delay transmission links causes a serious problem for remote control of the vehicles. To solve this problem, a proposed teleoperation system employs 3D maps and GPS time synchronization. Two GPS receivers measure the transmission delay, which the system uses to estimate the vehicle's location and orientation. Field experiments show that the 3D-map-based interface lets users easily comprehend the remote environment while navigating a vehicle. The experiments also show that taking communication delays into account improves maneuverability. © 2013 IEEE.

    DOI

  • Path Planning for Mobile Mapping System Considering the Geometry of the GPS Satellite

    Kiichiro Ishikawa, Yoshiharu Amano, Takumi Hashizume

    Journal of Robotics and Mechatronics   25 ( 3 ) 545 - 552  2013  [Refereed]

     View Summary

    In this paper, we propose a path planning method for a Mobile Mapping System (MMS) considering GPS geometry for the purpose of increasing GPS availability. We calculate Position Dilution of Precision (PDOP) using aerial laser survey data that provides geography and height of buildings near roads. PDOP is used for weighting road network data. By using the Chinese postman problem, we then calculate the optimum path that passes through all routes at least once. We describe currentMMS operation first and clear up problems with the current method. We then describe the proposed method in detail. Finally, we conduct evaluation tests and describe results in detail. The evaluation test verifies that the proposed method increases the GPS FIX ratio by 5% under the same GPS geometry and proves the effectiveness of the proposed method.

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  • A Comparison of Optimal Operation of a Residential Fuel Cell Co-Generation System Using Clustered Demand Patterns Based on Kullback-Leibler Divergence

    Akira Yoshida, Yoshiharu Amano, Noboru Murata, Koichi Ito, Takumi Hasizume

    Energies   6 ( 1 ) 374 - 399  2013  [Refereed]

     View Summary

    When evaluating residential energy systems like co-generation systems, hot water and electricity demand profiles are critical. In this paper, the authors aim to extract basic time-series demand patterns from two kinds of measured demand (electricity and domestic hot water), and also aim to reveal effective demand patterns for primary energy saving. Time-series demand data are categorized with a hierarchical clustering method using a statistical pseudo-distance, which is represented by the generalized Kullback-Leibler divergence of two Gaussian mixture distributions. The classified demand patterns are built using hierarchical clustering and then a comparison is made between the optimal operation of a polymer electrolyte membrane fuel cell co-generation system and the operation of a reference system (a conventional combination of a condensing gas boiler and electricity purchased from the grid) using the appropriately built demand profiles. Our results show that basic demand patterns are extracted by the proposed method, and the heat-to-power ratio of demand, the amount of daily demand, and demand patterns affect the primary energy saving of the co-generation system. © 2013 by the authors; licensee MDPI, Basel, Switzerland.

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  • Path Planning for Autonomous Vehicles Using QZSS and Satellite Visibility Map

    Mitsunori Kitamura, Yoichi Yasuoka, Taro Suzuki, Yoshiharu Amano, Takumi Hashizume

    Journal of Robotics and Mechatronics   25 ( 2 ) 400 - 407  2013  [Refereed]

    Authorship:Last author

     View Summary

    This paper describes a path planning method that uses the Quasi-Zenith Satellites System (QZSS) and a satellite visibility map for autonomous vehicles. QZSS is a positioning system operated by Japan that has an effect similar to an increase in the number of GPS satellites. Therefore, QZSS can be used to improve the availability of GPS positioning. A satellite visibility map is a special map that simulates the number of visible satellites at all points on the map. The vehicle can use the satellite visibility map to determine the points that receive more satellite signals. The proposed method generates the artificial potential fields from the satellite visibility map and obstacle information around the vehicle, and it generates the path following the potential fields. Thereby, the vehicle can select the path that has more satellite signals, improving the availability of GPS fixed solutions. Hence, the vehicle can reduce the accumulated error by dead reckoning, and it can improve the safety of self-control. In this study, we evaluate the satellite visibility maps and the path planning method. The results show that the proposed method does improve the availability of GPS fixed solutions.

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  • Influence of Initial Systems on the Renewal Planning of Energy Supply Systems for a Hospital

    Shu YOSHIDA, Koichi ITO, Yoshiharu AMANO

    Transactions of the Japan Society of Mechanical Engineers Series B   79 ( 806 ) 2312 - 2323  2013  [Refereed]

    Authorship:Last author

     View Summary

    In this study, a renewal planning problem of energy supply system is formulated as a large scale mixed-integer linear programming problem, in which the objective function to the minimized is the average value of annual total cost during system's evaluation period. By adopting the programming language AMPL and CPLEX solver, a numerical study is carried out for a hospital, where electrical(e.g., heat pump) and gas(e.g., gas engine cogeneration) systems are compared together with arbitrary combination one, which is composed of electrical and gas driven pieces of equipment, by focusing particularly on the influence of initial system's difference. The main results obtained are as follows: (a) If the initial system is gas one, it is better to renew it to the electrical one as soon as possible due to relatively low energy efficiency of gas utilizing pieces of equipment, the high price of gas input energy and so on. (b) If the initial system is electrical one, the optimal renewal year becomes relatively later year, because it is economically better to use the initially installed high efficiency system as long as possible. (c) Theoretically, the arbitrary combination system is of course the best renewal one. However, there is no economic difference between the arbitrary combination system and the electrical one. © 2013 The Japan Society of Mechanical Engineers.

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  • Experiment and Analysis of Two-Phase Compression in a Rocking Type Steam Compressor

    Tsubasa HISHIKI, Shuhei NAKAMURA, Yoshiharu AMANO, Toshiyuki HINO

    Transactions of the Japan Society of Mechanical Engineers Series B   79 ( 808 ) 2826 - 2835  2013  [Refereed]

    Authorship:Last author

     View Summary

    The steam compressors have been developed, in large capacities, which have been applied for special VRC (Vapor Re-Compression) process. However, it seems to have a considerable ripple effect on the various purposes if the small size and high performance steam compressors are practically available. The Vapor Compression and Condensation (VCC) system is a heat pump cycle utilizing water as a working fluid. In the process, it should be negative pressure at the inlet of the compressor to prevent the leakage of volatile substances to the atmosphere. It causes higher degrees of superheat of the steam at the discharge. In this paper, the authors introduced two-phase compression process to reduce the superheat and reduction of the compression work. The thermal model of the process which is based on a heat transfer model between droplets and vapor is proposed. In addition, an experimental set-up, which employs a unique reciprocating compressor, is built in order to validate the model. Effect of two-phase compression of the steam is reported by comparing calculation results based on two types of models, conventional and proposed one, with experimental results. It shows that results of both of the models matched the experimental results well. © 2013 The Japan Society of Mechanical Engineers.

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  • GNSSマルチパス波判別を複合した精密単独測位による屋外移動ロボットの位置推定

    鈴木 太郎, 北村 光教, 天野 嘉春, 橋詰 匠

    計測自動制御学会論文集   Vol.48 ( No.7 ) 399 - 405  2012.07

     View Summary

    This paper describes a GNSS (Global Navigation Satellite System) precise point positioning (PPP) technique that can be applied to mobile robots in urban environments. The multipath signals, which from invisible satellites in urban area, cause serious effect on the GNSS positioning. Our proposed technique mitigates GNSS multipath signals by means of an omnidirectional infrared (IR) camera that can eliminate the need for invisible satellites by using IR images. With an IR camera, the sky appears distinctively dark. This facilitates the detection of the borderline between the sky and the surrounding buildings, which are captured in white, because of the difference in the atmospheric transmittance rates between visible light and IR rays. Positioning evaluation was carried out only with visible satellites that have less multipath errors. The evaluation results confirm the effectiveness of the proposed technique and the feasibility of its highly accurate positioning.

    DOI CiNii

  • Mobile Mappingデータにおける大規模三次元点群からの道路周辺地物の認識(第3報):局所領域の点群孤立度に着目した柱状物体の認識

    外村 史輝, 石川 貴一朗, 天野 嘉春, 橋詰 匠

    精密工学会学術講演会講演論文集   2012   283 - 284  2012

     View Summary

    本研究では,モバイルマッピングシステムにより取得した大規模三次元点群からの道路周辺地物の自動認識を目的としている.本研究の従来手法では,柱状物体の認識において壁面の誤認識が多いことが課題であった.そこで本論文では壁面の誤認識低減のために,従来の認識手法に加え,局所領域の点群孤立度に着目した認識手法を提案する.また,本手法を実環境の大規模三次元点群に適用した結果や課題について述べる.

    DOI CiNii

  • Effect of initial systems on the renewal planning of energy supply systems for a hospital

    Shu Yoshida, Koichi Ito, Yoshiharu Amano, Shintaro Ishikawa, Takahiro Sushic, Takumi Hashizume

    Proceedings of the 25th International Conference on Efficiency, Cost, Optimization and Simulation of Energy Conversion Systems and Processes, ECOS 2012   7   107 - 118  2012

     View Summary

    In recent years, many types of energy supply systems have come into use in various buildings for spaceheating/ cooling and hot water supply. Lifetimes of buildings are generally more than 60 years, but those of energy supply systems are around 15~25 years. Therefore, these systems must be renewed several times during lifetimes of buildings. In the study, this renewal planning problem is formulated mathematically as an optimization one, in which the objective function to be minimized is the average value of annual total cost during system's evaluation period. Namely, this optimization problem is formulated as a large-scale mixed-integer linear programming problem, and the programming language AMPL solver is adopted here as the solving tool to derive the numerical solution. A numerical study is carried out for a hospital with the total floor area of 25 000m2, where electrical (e.g., heat pump) and gas (e.g., gas engine cogeneration) systems are compared together with their hybrid system. The analysis is particularly focused on the influence of initial system's difference on the renewal planning of energy supply system. Through this study, the following results are mainly obtained: a) If the initial system is gas one, it is better to renew it to the electrical one as soon as possible due to relatively low energy efficiency of gas utilizing pieces of equipment, the high price of gas input energy in Japan, and so on. b) If the initial system is electrical one, the optimal renewal year becomes relatively later year, because it is economically better to use the initially installed high efficiency system as long as possible. c) Theoretically, the hybrid system is of course the best renewal one. However, there is no economic difference between the hybrid and the electrical systems.

  • Development of a Positioning Technique for an Urban Area Using Omnidirectional Infrared Camera and Aerial Survey Data

    Jun-ichi Meguro, Taishi Murata, Yoshiharu Amano, Takumi Hasizume, Jun-ichi Takiguchi

    Advanced Robotics   22 ( 6 ) 731 - 747  2012  [Refereed]

     View Summary

    This paper describes an outdoor positioning system for vehicles that can be applied to an urban canyon by using an omnidirectional infrared (IR) camera and a digital surface model (DSM). By means of omnidirectional IR images, this system enables robust positioning in urban areas where satellite invisibility caused by buildings hampers high-precision GPS measurements. The omnidirectional IR camera can generate IR images with an elevation of 20-70° for the surrounding area of 360°. The image captured by the camera is highly robust to light disturbances in the outdoor environment. Through the IR camera, the sky appears distinctively dark; this enables easy detection of the border between the sky and the buildings captured in white due to the difference in the atmospheric transmittance rate between visible light and IR rays. The omnidirectional image, which includes several building profiles, is compared with building-restoration images produced by the corresponding DSM in order to determine the self-position. Field experiments in an urban area show that the proposed outdoor positioning method is valid and effective, even if high-rise buildings cause satellite blockage that affects GPS measurements. © 2008 VSP.

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  • A comparison of optimal operation of residential energy systems using clustered demand patterns based on kullback-leibler divergence

    Akira Yoshida, Yoshiharu Amano, Noboru Murata, Koichi Ito, Takumi Hashizume

    Proceedings of the 25th International Conference on Efficiency, Cost, Optimization and Simulation of Energy Conversion Systems and Processes, ECOS 2012   3   1 - 16  2012  [Refereed]

     View Summary

    Residential energy demand varies widely in terms of time-series behaviors, amounts consumed between families, and even within one family. Residential energy demand profiles have a high degree of uncertainty in their essentials because the demand profile is entirely based on the occupant-driven load. When evaluating residential energy systems like co-generation systems, hot water and electricity demand profiles are critical. In this paper, in order to clarify rational energy system selection guidelines and rational operation strategies, authors aim to extract basic demand time-series patterns from two kinds of measured demand (electricity and domestic hot water), measured over 26307 days of data in Japan. Authors also aim to reveal the relationship between primary energy consumption and demand patterns. Demand time-series data are categorized by means of a kind of "unsupervised" learning, which is a hierarchical clustering method using a statistical pseudo-distance. The statistical pseudo-distance is calculated from the generalized Kullback-Leibler divergence with the Gaussian mixture distribution fitted to the demand time-series data. The classified demand patterns are built using a hierarchical clustering and then a comparison is performed between the optimal operation of the two systems (a polymer electrolyte membrane fuel cell co-generation system, and a CO2 heat pump system) and the operation of a reference system (a conventional combination of a condensing gas boiler and electricity purchased from the grid) using the demand profiles appropriately built. Our results show that basic demand patterns are extracted by the proposed method. The demand patterns, the amount of daily demand and heat-to-power ratio of demand affect the primary energy reduction ratio of the polymer electrolyte membrane fuel cell co-generation system.

  • Evaluation for Vehicle Positioning in Urban Environment Using QZSS Enhancement Function

    Mitsunori Kitamura, Taro Suzuki, Yoshiharu Amano, Takumi Hashizume

    Journal of Robotics and Mechatronics   24 ( 5 ) 894 - 901  2012

     View Summary

    In this paper, we have evaluated the performance and availability enhancement of Quasi-Zenith Satellite System (QZSS) in urban environments. In urban environments, QZSS can be expected to be fairly effective because of the high elevation angle of satellite and enhancement functions. Therefore, we conducted performance and availability enhancement evaluation tests to verify thus. In performance enhancement evaluation test, in order to evaluate the improvement of GPS accuracy by L1 Submeter-class Augmentation with Integrity Function (L1-SAIF) broadcasted by QZSS satellite, we compared the positioning errors of only GPS positioning and L1-SAIF positioning in open sky environment. In availability enhancement evaluation test, we performed the static and kinematic observation test. In static observation test, in order to evaluate the improvement of GPS accuracy by availability enhancement, we observed GPS and QZSS statically in narrow-sky environment. And we compared the positioning errors of only GPS positioning and positioning using availability enhancement. In kinematic observation test, in order to evaluate the availability of QZSS based on the visibility of QZSS satellite in urban environment, we observed QZSS and SBAS from moving vehicle. And we compared the visibility of QZSS and SBAS satellites. From these evaluation tests, it was confirmed that the performance and availability enhancement of QZSS have high availability and effectiveness.

    DOI

  • フィールドバス技術とプロセスおよびフィールド機器診断

    橋詰匠, 天野嘉春

    バルブ技報   26 ( 2 ) 18 - 31  2011.09

  • Mobile Mapping Systemの三次元点群処理に関する研究:複数レーザを利用した対向車除去

    小倉 徹也, 石川 貴一朗, 天野 嘉春, 橋詰 匠

    精密工学会学術講演会講演論文集   2011   137 - 138  2011

     View Summary

    MMSの計測データには対向車など不要なデータが計測される。そのため、使用用途によっては対向車の除去が必要である。筆者らは、これまでに進行方向を向いたカメラとレーザを用いた対向車除手法を提案してきた。本報では、前後方向を計測できる複数のレーザを搭載したMMSに着目し、1回の走行の中で複数のレーザで計測された対向車の点群を検出し、除去する手法を提案する。

    DOI CiNii

  • Mobile Mapping Systemの災害復興への活用に関する研究

    山崎 敏宣, 石川 貴一朗, 天野 嘉春, 橋詰 匠

    精密工学会学術講演会講演論文集   2011   139 - 140  2011

     View Summary

    大規模災害からの復興の際に,支援物資の輸送や新たな街づくり等において道路は重要なインフラである.そのため航空写真などを用いた広域な被災状況の収集に加えて,道路周辺環境の詳細な被災状況の把握が,迅速な災害復興に結びつく.本論文では,道路周辺環境の詳細な情報収集が可能なMobileMappingSystemを活用した災害復興の支援手法を提案し,さらに東日本大震災への適用の展望について述べる.

    DOI CiNii

  • Comparative study on renewal planning of alternative energy supply systems for a hospital

    Shu Yoshida, Masahiro Inoue, Akira Okano, Koichi Ito, Yoshiharu Amano, Takumi Hashizume

    Proceedings of the 24th International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems, ECOS 2011     1372 - 1382  2011

     View Summary

    In this paper, a method of rationally determining an optimal renewal plan is proposed for energy supply systems based on the optimization approach. In the planning of this proposed method, it becomes necessary to consider many factors such as the deterioration of each pieces of existing equipment, candidate pieces of equipment with upgraded efficiency reflecting technology improvement in the proper renewal year, the structure of renewal system, and so on. It is also necessary to determine the system's operational policy to match energy demands, which change daily and hourly through the year. A numerical study is carried out for a hospital with the total floor area of 25 000m2, where electrical (e.g., heat pump) and gas (e.g., gas engine cogeneration) systems are compared together with their combination of gas and electricity driven equipment (hybrid) system. Through this numerical study, the following results are obtained: a) Theoretically, the hybrid system is, of course, the best renewal system. However, the economic difference between the hybrid and the electrical systems is very small. b) The gas system is worse economically than the electrical one relatively due to the low energy efficiency of the related equipment, the high price of energy, and so on.

  • Evaluation of a positioning correction method in GPS blockage condition

    Yu Sakuma, Kiichiro Ishikawa, Toshinori Yamazaki, Yoshiharu Amano, Takumi Hashizume

    Proceedings of the SICE Annual Conference     1670 - 1674  2011

     View Summary

    A next-generation digital road map (DRM) is expected to be an effective technology for achieving detailed navigation and driving safety assistance. As certain precise road information is required to make the next-generation DRM, the mobile mapping system (MMS) has attracted considerable attention as an efficient and precise survey method to gather such information. Since the MMS is a vehicle equipped with a GPS/inertial measurement unit along with a navigation system, cameras, and laser scanners, it can acquire precise, detailed 3D road information. However, when the MMS surveys are carried out during a GPS blockage, the positioning precision is reduced. In such a case, the MMS corrects its position by observing landmarks (LMs) which is surveyed its position by conventional method to calculate the precise position. In this study, we performed simulations of the positioning correction method to evaluate optimum landmark intervals and estimated the acceptable observation errors. We also conducted a field test to evaluate the effectiveness of the abovementioned positioning correction method. © 2011 SICE.

  • Evaluation for vehicle positioning in urban environment using QZSS L1-SAIF augmentation

    Mitsunori Kitamura, Taro Suzuki, Yoshiharu Amano, Takumi Hashizume

    Proceedings of the SICE Annual Conference     491 - 494  2011

     View Summary

    In this paper, we have evaluated the L1 submeter-class augmentation with integrity function (L1-SAIF) broadcasted by the Quasi-Zenith Satellite System (QZSS) in an urban environment for vehicle positioning. In urban environments, the augmentation of QZSS can be expected to be fairly effective because of the high elevation angles. Therefore, we conducted static and kinematic evaluation tests to verify thus. In the static evaluation test, for evaluating the positioning accuracy, we compared the positioning errors for only GPS positioning and augmentation of QZSS positioning. In the kinematic evaluation test, for evaluating the availability, we compared the visibility of QZSS and SBAS satellites. From the evaluation tests, it was confirmed that the QZSS augmentation has better availability and effectiveness than the SBAS augmentation. © 2011 SICE.

  • Improvement of GPS and GLONASS Positioning Accuracy by Multipath Mitigation Using Omnidirectional Infrared Camera

    Mitsunori Kitamura, Taro Suzuki, Yoshiharu Amano, Takumi Hashizume

    Journal of Robotics and Mechatronics   23 ( 6 ) 1125 - 1131  2011

     View Summary

    This paper describes a precision positioning technique that can be applied to vehicles or mobile robots in urban or leafy environments. The availability of satellite positioning is currently expected to improve due to the presence of positioning satellites such as US GPS, Russia's Glonass and Europe's Galileo. Due to the serious multipath impact on positioning accuracy in urban or leafy areas, however, improvements in satellite positioning availability do not necessarily facilitate highprecision positioning. Our proposed technique mitigates the GPS and Glonass multipath using an omnidirectional infrared (IR) camera that can eliminate the need for invisible satellites using IR images. With an IR camera, the sky appears distinctively dark. This facilitates the detection of the borderline between the sky and surrounding buildings and foliage due to the difference in atmospheric transmittance between visible light and IR rays, since buildings and foliage appear white. The proposed technique can automatically and robustly mitigate the GPS and Glonass multipath by excluding invisible satellites. Positioning was evaluated with visible satellites, which have less multipath error and without using invisible satellites. Evaluation results confirmed the effectiveness of the proposed technique and the feasibility of its highly accurate positioning.

    DOI

  • Development of a SIFT based monocular EKF-SLAM algorithm for a small unmanned aerial vehicle

    Taro Suzuki, Yoshiharu Amano, Takumi Hashizume

    Proceedings of the SICE Annual Conference     1656 - 1659  2011

     View Summary

    This paper describes a simultaneous localization and mapping (SLAM) algorithm using a monocular camera for a small unmanned aerial vehicle (UAV). A small U AV is attracted the attention for effective means of the collecting aerial information. However, there are few practical applications due to its small payloads for the 3D measurement. We propose extended Kalman filter (EKF) SLAM to increase UAV position and attitude data and to construct 3D terrain maps using a small monocular camera. We propose 3D measurement based on scale-invariant feature transform (SIFT) triangulation features extracted from captured images. Field-experiment results show that our proposal effectively estimates U AV position and attitude of the U AV and construct the 3D terrain map. © 2011 SICE.

  • Multipath Mitigation using Omnidirectional Infrared Camera for Tightly Coupled GPS/INS Integration in Urban Environments

    Yoshiharu Amano

    PROCEEDINGS OF THE 24TH INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS 2011)   4   2914 - 2922  2011  [Refereed]

     View Summary

    This paper describes a precision positioning technique that can be applied to vehicles or mobile robots in urban environments. Currently, the availability of satellite positioning is anticipated to improve because of the presence of various positioning satellites such as U.S.'s GPS, Russia's GLONASS and Europe's GALILEO systems. However, because of the serious impact of multipath on their positioning accuracy in urban areas, such improvements in the availability of satellite positioning do not necessarily also facilitate high precision positioning. In this study, we propose a precision positioning technique that can be applied to vehicles or mobile robots in urban environment using a single frequency GNSS receiver, and we propose a technique to realize code multipath mitigation that uses an omnidirectional IR (infrared) camera to exclude invisible satellites. With the IR camera, the sky is distinctively dark. This makes it easy to detect the borderline between the sky and the obstacles such as the buildings, which are captured in white, due to the difference in the atmospheric transmittance rates between visible light and far-IR rays. Moreover we apply a tightly coupled GPS/INS (inertial navigation system) integration based on code and carrier phase from visible satellites determined by the omnidirectional IR camera. In a situation of degraded GNSS availability because of elimination of invisible satellites however a tightly coupled configuration is capable of updating the filter with only one visible satellite. Positioning evaluation was carried out only with visible satellites that have less multipath errors and without using invisible satellites. The evaluation results confirm the effectiveness of the proposed technique and the feasibility of its highly accurate positioning.

  • High-accuracy GPS and GLONASS positioning by multipath mitigation using omnidirectional infrared camera

    Taro Suzuki, Mitsunori Kitamura, Yoshiharu Amano, Takumi Hashizume

    IEEE International Conference on Robotics and Automation     311 - 316  2011  [Refereed]

     View Summary

    This paper describes a precision positioning technique that can be applied to vehicles or mobile robots in urban or leafy environments. Currently, the availability of satellite positioning is anticipated to improve because of the presence of various positioning satellites such as GPS of the U.S., GLONASS of Russia and GALILEO of Europe. However, because of the serious impact of multipath on their positioning accuracy in urban or leafy areas, such improvements in the availability of satellite positioning do not necessarily also facilitate high precision positioning. Our proposed technique mitigates GPS and GLONASS multipath by means of an omnidirectional infrared (IR) camera that can eliminate the need for invisible satellites by using IR images. With an IR camera, the sky appears distinctively dark. This facilitates the detection of the borderline between the sky and the surrounding buildings, which are captured in white, because of the difference in the atmospheric transmittance rates between visible light and IR rays. The proposed technique can automatically and robustly mitigate GPS and GLONASS multipath by excluding the invisible satellites. Positioning evaluation was carried out only with visible satellites that have less multipath errors and without using invisible satellites. The evaluation results confirm the effectiveness of the proposed technique and the feasibility of its highly accurate positioning. © 2011 IEEE.

    DOI

  • 3D terrain reconstruction by small Unmanned Aerial Vehicle using SIFT-based monocular SLAM

    Suzuki, T., Amano, Y., Hashizume, T., Suzuki, S.

    Journal of Robotics and Mechatronics   23 ( 2 ) 292 - 301  2011

     View Summary

    This paper describes a Simultaneous Localization And Mapping (SLAM) algorithm using a monocular camera for a small Unmanned Aerial Vehicle (UAV). A small UAV has attracted the attention for effective means of the collecting aerial information. However, there are few practical applications due to its small payloads for the 3D measurement. We propose extended Kalman filter SLAM to increase UAV position and attitude data and to construct 3D terrain maps using a small monocular camera. We propose 3D measurement based on Scale-Invariant Feature Transform (SIFT) triangulation features extracted from captured images. Field-experiment results show that our proposal effectively estimates position and attitude of the UAV and construct the 3D terrain map.

    DOI

  • 空調システムの最適更新計画における経済性と環境性のトレードオフ分析

    吉田 修, 伊東弘一, 天野嘉春, 橋詰匠

    空気調和・衛生工学会論文集   ( 159 ) 1 - 8  2010.06

  • 6-DOF Localization for a Mobile Robot Using Outdoor 3D Point Clouds

    Taro Suzuki, Yoshiharu Amano, Takumi Hashizume

    Journal of Robotics and Mechatronics   22 ( 2 ) 158 - 166  2010.04

  • Vision based localization of a small UAV for generating a large mosaic image

    Taro Suzuki, Yoshiharu Amano, Takumi Hashizume

    Proceedings of the SICE Annual Conference     2960 - 2964  2010

     View Summary

    This paper describes a way to generate mosaic image using a small lightweight UAV for effective remote sensing. Payload limits are the source of most error in small lightweight UAVs to generate accurate mosaic images. We have overcome inherent small lightweight UAV drawbacks by providing them with integration of a GPS receiver, inertial sensors, and an image sensor to generate a large mosaic image. Position and attitude data of a UAV is estimated using onboard sensors and image correlation from SIFT features between overlapped images. A nonlinear optimization algorithm is used to optimize the position and attitude of the UAV. We demonstrated that our proposed mosaic image effectively enables low-cost remote sensing using a small lightweight UAV. © 2010 SICE.

  • Erratum to “Impact Analysis of Carbon Tax on the Renewal Planning of Energy Supply System for an Office Building” [Energy 35 (2010) 1040–1046]

    Y. Amano, K. Ito, S. Yoshida, K. Matsuo, T. Hashizume, D. Favrat, F. Maréchal

    Energy   35 ( 12 ) 5507  2010  [Refereed]

    DOI

  • 6-DOF Localization for a Mobile Robot using Outdoor 3D Voxel Maps

    Suzuki, Taro, Kitamura, Mitsunori, Amano, Yoshiharu, Hashizume, Takumi

    IEEE International Conference on Intelligent Robots and Systems     5737 - 5743  2010  [Refereed]

     View Summary

    This paper describes outdoor localization for a mobile robot using a laser scanner and a three-dimensional (3D) voxel map that is based on outdoor point clouds. A mobile mapping system (MMS) measures outdoor 3D point clouds easily and precisely. The complete 6D state of a mobile robot is estimated by combining dead reckoning and the 3D voxel map. The 2D position and orientation are extended to 3D by using the 3D voxel map and by assuming that the mobile robot remains in continuous contact with the road surface. Our approach applies a particle filter to correct position errors in the laser measurement model for a 3D point cloud space. Field experiments were performed to evaluate the accuracy of our proposed method. Our results confirmed that it is possible to achieve a localization precision of 0.2 m (RMS) using our proposed method. ©2010 IEEE.

    DOI

  • Impact analysis of carbon tax on the renewal planning of energy supply system for an office building

    Y. Amano, K. Ito, S. Yoshida, K. Matsuo, T. Hashizume, D. Favrat, F. Maréchal

    Energy   35 ( 2 ) 1040 - 1046  2010

     View Summary

    An optimal planning method is proposed for the renewal-planning problem of an energy supply system installed into building from economic viewpoint. In this method, the objective function to be minimized is the average annual total cost during the evaluation period of the objective system based on the annualized costs method, and the renewal year is considered as a decision variable together with the renewal system's structure, equipment capacities, and system's operational strategy. This problem is formulated as one of the mixed-integer linear programming problem, and a numerical study is carried out for an office building with the total floor area of 15,000 m2 by using the GAMS/CPLEX solver. Impact analysis of the carbon tax introduction is mainly studied on the renewal planning mentioned above, and the following results are obtained:. (a) The optimal renewal strategy is not affected by the future carbon tax introduction at the standard rate such as 655 Japanese Yen/t-CO2 (=4.1 €/t-CO2) argued presently in Japan. (b) By increasing the above tax rate more than 13 times higher, structure of the optimal renewal system changes suddenly, and equipment with high energy conversion efficiency becomes to be installed in spite of its expensive initial cost. © 2009 Elsevier Ltd. All rights reserved.

    DOI

  • Tunnel Cross-Section Measurement System Using a Mobile Mapping System

    Kiichiro Ishikawa, Jun-ichi Takiguchi, Yoshiharu Amano, Takumi Hashizume, Takashi Fujishima

    Journal of Robotics and Mechatronics   21 ( 2 )  2009.04

  • Development of low-cost and flexible vegetation monitoring system using small unmanned aerial vehicle

    Taro Suzuki, Yoshiharu Amano, Jun Ichi Takiguchi, Takumi Hashizume, Shinji Suzuki, Atsushi Yamaba

    ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings     4808 - 4812  2009

     View Summary

    This paper describes a low-cost and flexible vegetation monitoring system and compares it with traditional remote sensing systems such as airplanes and satellites. We have developed a small unmanned aerial vehicle (UAV) equipped with visible and infrared cameras for vegetation observation. This system can automatically generate widespread high-resolution mosaic image and calculate the vegetation index from the multiple aerial images collected by an autonomous flight of the UAV. We performed monitoring experiments at Yawata moor in Hiroshima Prefecture. From the experimental results, we concluded that the small UAV system was effective and useful for carrying out low-cost and flexible vegetation monitoring. © 2009 SICE.

  • Aerial cable localization and management using a mobile mapping system

    Kiichiro Ishikawa, Syuhei Ono, Jun Ichi Takiguchi, Yoshiharu Amano, Takumi Hashizume

    ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings     2491 - 2495  2009

     View Summary

    Aerial cables in urban area are complicated. On the other hand, to check interferences between heavy machines and road features, a safety and efficient 3D road environment survey system's necessity is increasing in the field of civil engineering. In this paper, efficient and robust aerial cable measurement method using a Mobile Mapping System (MMS) and its automatic extraction method from 3D point cloud model are introduced. And the MMS enables to measure the road 3D environment and reconstruct 3D environment efficiently. The MMS can acquire road environment data at the cruising speed. The MMS enables to detect aerial cables in excess of 6mm, and its detection ratio is 99.6%. The extracted aerial cable is registered to GIS and the result of registration to a GIS is introduced. © 2009 SICE.

  • A MULTI-STAGE OPTIMAL RENEWAL PLANNING FOR AN ENERGY SUPPLY SYSTEM FROM ECONOMIC VIEWPOINT

    Yoshiharu Amano

    PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON POWER ENGINEERING (ICOPE-09), VOL 3   5   301 - 308  2009

     View Summary

    A multi-stage optimal renewal planning method is proposed for an energy supply system installed into building from economic viewpoint. Based on the annualized costs method, the average annual total cost during the total evaluation period is formulated as the objective function to be minimized. This is formulated as one of the mixed-integer linear programming problem, and the numerical solution is carried out by using the GAMS/CPLEX solver. A numerical study is carried out for an energy supply system installed into an office building with total floor area of 15 000m2, and the optimal renewal system is proposed as the one of installing high performance equipment properly at each optimal renewal year.

  • GPS Multipath Mitigation for Urban Area Using Omnidirectional Infrared Camera

    J.-i. Meguro, T. Murata, J.-i. Takiguchi, Y. Amano, T. Hashizume

    IEEE Transactions on Intelligent Transportation Systems   10 ( 1 ) 22 - 30  2009  [Refereed]

     View Summary

    This paper describes a precision positioning technique that can be applied to vehicles in urban areas. The proposed technique mitigates Global Positioning System (GPS) multipath by means of an omnidirectional infrared (IR) camera that can eliminate the need for invisible satellites [a satellite detected by the receiver but without line of sight (LOS)] by using IR images. Some simple GPS multipath mitigation techniques, such as the installation of antennas away from buildings and using choke ring antennas, are well known. Further, various correlator techniques can also be employed. However, when a direct signal cannot be received by the antenna, these techniques do not provide satisfactory results because they presume that the antenna chiefly receives direct signals. On the other hand, the proposed technique can mitigate GPS multipath, even if a direct signal cannot be received because it can recognize the surrounding environment by means of an omnidirectional IR camera. With the IR camera, the sky appears distinctively dark; this facilitates the detection of the borderline between the sky and the surrounding buildings, which are captured in white, due to the difference in the atmospheric transmittance rate between visible light and IR rays. Positioning is performed only with visible satellites having fewer multipath errors and without using invisible satellites. With the proposed system, static and kinematic evaluations in which invisible satellites are discriminated through observation using an omnidirectional IR camera are conducted. Hence, signals are received even if satellites are hidden behind buildings; furthermore, the exclusion of satellites having large errors from the positioning computation becomes possible. The evaluation results confirm the effectiveness of the proposed technique and the feasibility of highly accurate positioning. © 2006 IEEE.

    DOI

  • Development of Information Collecting System using a Small Unmanned Aerial Vehicle for Disaster Prevention and Mitigation

    SUZUKI Taro, MEGURO Jun-ichi, AMANO Yoshiharu, HASHIZUME Takumi, KUBO Daisuke, TSUCHIYA Takeshi, SUZUKI Shinji, HIROKAWA Rui, TATSUMI Kaoru, SATO Koichi, TAKIGUCHI Jun-ichi

    Journal of the Robotics Society of Japan   26 ( 6 ) 553 - 560  2008.08

     View Summary

    This paper presents the disaster prevention and mitigation system using a small unmanned aerial vehicle (UAV) . Immediate assessments of damage information and continuous collection of information for constructing a revival plan are important for damage mitigation when natural disasters such as huge earthquakes occur. In this study, we divide the period that follows a natural disaster on the basis of three processes, and propose the use of the small UAV for gathering information in such situations. The field experiments were conducted to evaluate the proposed system employing the small UAV. From the results of our experiments, it can be concluded that the small UAV system is effective for disaster prevention and mitigation.

    CiNii

  • Multi-objective optimal renewal planning of energy supply systems for buildings from economic and environmental viewpoints

    Shu Yoshida, Koichi Ito, Yoshiharu Amano, Takumi Hashizume

    ECOS 2008 - Proceedings of the 21st International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems     1545 - 1552  2008

     View Summary

    In this paper, based on the multi-objective optimization approach, a renewal planning method is proposed for the energy supply system to determine the optimal renewal one by selecting optimal renewal year and system's structure from both economic and environmental viewpoints simultaneously. In this method, one objective function is the annual total cost of the system, which is the summation of the annual capital, operational and maintenance costs based on the annualized cost method during the evaluation years. The other objective function is the average annual total amount of CO2 emission during the evaluation years. The numerical optimal solution is derived for the system of an office building by the conventional mixed integer linear programming algorithm together with the ε-constraint method. As a result, the set of Pareto optimal solutions is derived, and the trade-off relationship between economy and environment is analyzed. Through the result of the set of Pareto optimal solutions, tolerating the increase of the system's annual total cost up to 1%, we can reduce the amount of CO2 emission from the system up to 15%. One main result also obtained shows that it is necessary to introduce different types of electrically-driven equipment such as heat pumps to reduce CO2 emission.

  • Real-time hazard map generation using small unmanned aerial vehicle

    Taro Suzuki, Daichi Miyoshi, Jun-ichi Meguro, Yoshiharu Amano, Takumi Hashizume, Koich Sato, Jun-ich Takiguchi

    SICE Annual Conference     443 - 446  2008  [Refereed]

     View Summary

    This paper presents a disaster mitigation system that uses a small unmanned aerial vehicle (UAV). The immediate assessment of damage and the continuous collection of information when natural disasters such as large earthquakes strike are important for developing a disaster recovery plan for damage mitigation. In this study, we develop a small prototype UAV and onboard software using a GPS navigation system and propose a unique disaster mitigation system that generates digital real-time hazard maps with the aid of the UAV. The effectiveness of the proposed system is confirmed by a flight experiment. © 2008 SICE.

    DOI

  • Information collecting system based on aerial images obtained by a small UAV for disaster prevention

    Taro Suzuki, Jun-ichi Meguro, Yoshiharu Amano, Takumi Hashizume, Rui Hirokawa, Kaoru Tatsumi, Koichi Sato, Jun-ichi Takiguchi

    ICMIT 2007: MECHATRONICS, MEMS, AND SMART MATERIALS, PTS 1 AND 2   6794  2008  [Refereed]

     View Summary

    This paper presents a disaster prevention system using aerial images obtained by a small unmanned aerial vehicle (UAV). The immediate assessment of damage information and the continuous collection of information for constructing a revival plan are important for damage mitigation when natural disasters such as large earthquakes occur. In this study, we develop a small prototype UAV and onboard software using a GPS navigation system and propose a unique disaster prevention system that employs the small UAV and a geographical information system (GIS). We divide the period that follows a natural disaster on the basis of three processes, and we propose the use of the small UAV for gathering and integrating information into the GIS. We conducted field experiments to evaluate the proposed system employing the small UAV. From the results of our experiments, we concluded that the system is effective in disaster prevention.

    DOI

  • GPS accuracy improvement by satellite selection using omnidirectional infrared camera

    J.-i. Meguro, T. Murata, J.-i. Takiguchi, Y. Amano, T. Hashizume

    IEEE International Conference on Intelligent Robots and Systems     1804 - 1810  2008  [Refereed]

     View Summary

    This paper describes a precision positioning technique that can be applied to vehicles in urban areas. The proposed technique mitigates GPS multipath by means of an omnidirectional infrared (IR) camera that can eliminate the need for invisible satellites (a satellite detected by the receiver but without LOS (Line Of Sight)) by using IR images. Some simple GPS multipath mitigation techniques such as installation of antennas away from buildings and using choke ring antennas are well known. Further, various correlator techniques can also be employed. However, when a direct signal cannot be received by the antenna, these techniques do not provide satisfactory results because they presume that the antenna chiefly receives direct signals. On the other hand, the proposed technique can mitigate GPS multipath even if a direct signal cannot be received because it can recognize the surrounding environment by means of an omnidirectional IR camera. With the IR camera, the sky appears distinctively dark; this facilitates the detection of the borderline between the sky and the surrounding buildings, which are captured in white, due to the difference in the atmospheric transmittance rate between visible light and the IR rays. Positioning is performed only with visible satellites having less multipath errors, and without using invisible satellites. With the proposed system, static and kinematic evaluations in which invisible satellites are discriminated through observation using an omnidirectional IR camera are conducted. Hence, signals are received even if satellites are hidden behind buildings; furthermore, exclusion of satellites having large errors from the positioning computation becomes possible. The evaluation results confirm the effectiveness of the proposed technique and the feasibility of highly accurate positioning. ©2008 IEEE.

    DOI

  • Energy saving characteristics of gas engine home cogeneration systems

    Kenichi Kitani, Koichi Ito, Yoshiharu Amano, Takumi Hashizume

    ECOS 2007 - Proceedings of the 20th International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems   2   925 - 932  2007

     View Summary

    The energy saving potential of micro-scale gas engine cogeneration systems installed in detached residential houses was studied experimentally and theoretically. First, the energy demands for electricity and hot water were measured experimentally, with a 1-minute sampling time interval, in two houses for one year. Based on these measured data, a simulation model was built to analyse and compare the energy saving characteristics of the cogeneration systems with a corresponding conventional system. The estimated results show that the total primary energy consumption of the cogeneration system in the two houses was 4.5% and 10.1% higher than that of conventional system. Therefore it did not contribute to energy saving in these houses. Next, the maximum potential energy saving characteristics of the cogeneration system was investigated by constructing a mathematical model which optimises the system's operation to minimise total primary energy consumption. It became clear that under theoretically optimal conditions the above total primary energy consumption ratios could be decreased by up to 5.5% and 6.6% in the two houses.

  • Study on optimal operational planning of an advanced co-generation system on a hotel's energy demand

    Tomizawa, M., Amano, Y., Hashizume, T.

    WIT Transactions on Ecology and the Environment   105   333 - 342  2007  [Refereed]

     View Summary

    In order to empirically study a cogeneration system, an advanced co-generation system (ACGS) was built in Waseda University in 1999. The ACGS consists of a gas turbine system, a steam turbine system, an ammonia-water mixture turbine system, an ammonia absorption refrigerator system and an ice storage system. In the bottoming stage of ACGS, by activating an ammonia-water mixture turbine system and an ammonia absorption refrigerator system, both of which are effective for heat recovery of low temperatures, the system is made up positively using the heat cascade, which is unique compared to other systems. At present, for the introduction of the co-generation system, its practicality is not fully considered and a method has not yet been established which would lead to an operating method fitting the characteristics of the customer requirements. So it is considered very important to propose the most suitable system construction, taking an overall view of the annual earnings and cost of energy for the customers. In this paper, we cover an assumed system which changed the part of composition of ACGS and, in order to find out the initial advantages of the system, seek the most suitable composition and the most suitable operational planning of a system for cooling, electricity and heat demand of a typical hotel, and then propose an example of the system design guide.

    DOI

  • A study of precise road feature localization using mobile mapping system

    Kiichiro Ishikawa, Yoshiharu Amano, Takumi Hashizume, Jun-ichi Takiguchi

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics     811 - +  2007  [Refereed]

     View Summary

    In the near future, precise digital map data is said to be applied to the next generation car navigation system as well as ITS to increase the driving safety. It is important to maintain digital map data's freshness and accuracy. A MMS (Mobile Mapping System) can acquire this highway database, while offering unbeatable productivity with the combination of navigation and videogrammetry tools. The proposed MMS, featuring a GPS/DR combined navigation system, a GPS-Gyro/IMU, nearly horizontal cameras, laser scanners, high sampling rate road data measurement logger, and the network-based RTK-GPS PASTM can acquire road feature location like snow-poles, guard-rails, road signs and road line precisely at normal cruising speed considering 3D road surface model. The carrier phased D-GPS/DR combined navigation system and GPS-Gyro/IMU performs highly accurate positioning performance at a few centimeter and posture estimation at 0.073 [deg rms] for heading and 0.064 [deg rms] for pitching, and 0.116 [deg rms] for rolling. Furthermore, the proposed road feature digitizing method, featuring 2D camera image projection to the 3D road surface model, allows users to understand complicated 3D point-cloud data intuitively and to designate desired road feature with few mistakes. The accuracy comparison between the static RTK-GPS/Total-Station measurement with the dynamic MMS mobile measurement reveal that the system allows 0.3 [m] road feature measurement accuracy with unbeatable productivity when sufficient GPS visibility is obtained. ©2007 IEEE.

    DOI

  • Development of positioning technique using omni-directional IR camera and aerial survey data

    Jun-ichi Meguro, Taishi Murata, Hidetoshi Nishimura, Yoshiharu Amano, Takumi Hasizume, Jun-ichi Takiguchi

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics     352 - +  2007  [Refereed]

     View Summary

    This paper describes an outdoor positioning system that can be applied for an urban canyon by using an omni-directional IR camera and the DSM (Digital Surface Model). The image captured by an IR camera has high robustness to light disturbances in the outdoor environment. The omni-directional image, which includes several building profiles, is compared with building-restoration images that are calculated from the corresponding DSM in order to identify the self-position. Field experiments at Fujisawa City show that the proposed outdoor positioning method is valid and effective even if high-rise buildings cause satellite blockages affecting GPS measurements. ©2007 IEEE.

    DOI

  • Study on optimal operational planning of an advanced co-generation system on a hotel’s energy demand

    M. Tomizawa, Y. Amano, T. Hashizume

    Energy and Sustainability   105   333 - 342  2007

     View Summary

    In order to empirically study a cogeneration system, an advanced co-generation system (ACGS) was built in Waseda University in 1999. The ACGS consists of a gas turbine system, a steam turbine system, an ammonia-water mixture turbine system, an ammonia absorption refrigerator system and an ice storage system. In the bottoming stage of ACGS, by activating an ammonia-water mixture turbine system and an ammonia absorption refrigerator system, both of which are effective for heat recovery of low temperatures, the system is made up positively using the heat cascade, which is unique compared to other systems. At present, for the introduction of the co-generation system, its practicality is not fully considered and a method has not yet been established which would lead to an operating method fitting the characteristics of the customer requirements. So it is considered very important to propose the most suitable system construction, taking an overall view of the annual earnings and cost of energy for the customers. In this paper, we cover an assumed system which changed the part of composition of ACGS and, in order to find out the initial advantages of the system, seek the most suitable composition and the most suitable operational planning of a system for cooling, electricity and heat demand of a typical hotel, and then propose an example of the system design guide.

    DOI

  • Development of a Vehicle-Mounted Road Surface 3D Measurement System

    Kiichiro Ishikawa, Takashi Onishi, Yoshiharu Amano, Takumi Hashizume, Jun-ichi Takiguchi, Takashi Fujishima, Yoichi Tanaka

    2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006     569 - 573  2006

     View Summary

    In recent years, automation system based on IT technology becomes very popular not only for manufacturing industries but also for the construction and civil engineering industries. The conventional location survey method in the civil engineering construction site is pinpoint location survey for a broad objective area. The conventional method has severe constraints when it comes to measure the broad objective area as macro or to estimate general distinctive geometrical features. In this study, a unique vehicle-mounted mobile measurement system which can measure dense 3D point-cloud data for wide construction site is presented. The proposed MMS (Mobile Mapping System) is equipped with the carrier phased D-GPS/DR combined navigation system, the GPS gyro, and a laser scanner. The MMS, which measures unleveled round surface at 40 [km/h] using laser scanner's range data and vehicle attitude stabilization algorithm, can construct continuous dense road surface 3D model. The functional and performance test as a mobile measurement instrument is revealed.

    DOI

  • Precise Road Line Localization Using Single Camera and 3D Road Model

    Kiichiro Ishikawa, Takashi Onishi, Yoshiharu Amano, Takumi Hashizume, Jun-ichi Takiguchi, Shogo Yoneyama

    2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006     675 - 680  2006

     View Summary

    In the near future, precise road line location data is said to be applied to car navigation system and ITS to increase the driving safety. It is important to maintain road data freshness and accuracy. A MMS(Mobile Mapping System) can acquire this road database, while offering an unbeatable productivity with the combination of navigation, and videogrammetry tools. The proposed MMS, featuring a GPS/DR(Dead Reckoning) combined navigation system, the 3 axes GPS-Gyro/IMU(Inertial Measurement Unit) , laser scanners, and nearly horizontal cameras, can measure centerline and side-line location precisely considering 3D road surface model based on a laser scanner. The carrier phased D-GPS/DR combined navigation system and GPS-Gyro/IMU performs highly accurate position and posture estimation at a few centimeter and 0.1 degree order. It can be said that the proposed MMS and its unique road signs positioning method is valid and effective as the road sign location error is within 100[mm] even in the slanted road by considering the 3D road surface model.

    DOI

  • Demonstration of a hybrid power and refrigeration ammonia-water cycle

    Keisuke Takeshita, Yoshiharu Amano, Takumi Hashizume

    Proceedings of the ASME Turbo Expo 2006, Vol 4   4   469 - 474  2006  [Refereed]

     View Summary

    This paper reports on the demonstration of a hybrid power generation and refrigeration cycle in a turbine system which employs ammonia-water mixture as the working fluid. The hybrid cycle is the one in which the ammonia-water mixture turbine cycle and the ammonia absorption refrigerator are combined. To demonstrate the performance enhancement of the hybrid cycle, its steady state characteristics were experimentally investigated. The increase of the coefficient of performance (COP) and the performance improvement of the cycle are mainly due to a reduction of the heat of rectification at the ammonia absorption refrigerator. Therefore, the authors especially focused on the COP, the heat source steam consumption rate, and the heat of rectification when the ammonia mass fraction at the rectifier inlet increased. Results showed the COP and heat source steam consumption rate improved about 20% in hybrid operation, compared with normal operation which drives the ammonia absorption refrigerator and the ammonia-water mixture turbine cycle separately. Copyright © 2006 by ASME.

    DOI

  • 3D reconstruction by a mobile robot using multi-baseline omni-directional motion stereo based on GPS/DR compound navigation system

    Jun-ichi Meguro, Jun-ichi Takiguchi, Yoshiharu Amano, Takumi Hashizume

    PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-4     1807 - 1812  2006  [Refereed]

     View Summary

    In this paper, a unique dense 3D shape reconstruction method featuring GPS/DR coupled omni-direction multi-baseline motion stereo system is presented. The epipolar plane equation between two Omni Directional Vision images is computed from the GPS/DR s position and posture information. Then, the precise epipolar lines can be obtained robustly by projecting the intersection line between the epipolar plane and the ODV s image plane. The robust matching method featuring hybrid use of the future based matching and the area based matching, as well as the bi-directional matching which chose common mutual matching points to improve robustness is also presented. Voting process using multi-baseline is used to reduce distance error of motion stereo. Hundreds of dense range images are unified based on the precise position/posture information to generate the successive dense 3D outdoor model. The range estimation accuracy within 10 [m] area is 140 [mm], which is equal to a laser radar. It can be said that the propos d omni-directional stereo vision has robustness toward environmental complication and accurate distance estimation performance for rich textured object. ©2006 IEEE.

    DOI

  • A Mobile Mapping System for road data capture based on 3D road model

    Kiichiro Ishikawa, Jun-ichi Takiguchi, Yoshiharu Amano, Takumi Hashizume

    IEEE International Conference on Control Applications     638 - 643  2006  [Refereed]

     View Summary

    The development of road telematics requires the management of continuously growing road database. A MMS(Mobile Mapping System) can acquire this road database, while offering an unbeatable productivity with the combination of navigation, and videogrammetry tools. The proposed MMS, featuring a GPS/DR(Dead Reckoning) combined navigation system, a GPS-Gyro/IMU(Inertial Measurement Unit) , laser scanners, nearly horizontal cameras and high sampling rate road data measurement logger, can measure centerline and side-line location precisely considering 3D road surface model based on a laser scanner. The carrier phased D-GPS/DR combined navigation system and GPS-Gyro/IMU performs highly accurate position and posture estimation at a few centimeter and 0.1 degree order. It can be said that the proposed MMS and its unique road signs positioning method is valid and effective as the road sign location error is within 100[mm] even in the slanted road by considering the 3D road surface model©2006 IEEE.

    DOI

  • Phased Disaster Data Collection System using Cooperation between Mobile Robots and Spatial Temporal GIS

    Jun-ichi Meguro

    Transactions of the SICE   E-5 ( 10 ) 1 - 10  2006

  • GPS自律移動監視システム

    瀧口純一, 梶原尚幸, 島嘉春, 廣川類, 黒崎隆二郎, 目黒淳一, 石川貴一朗, 天野嘉春, 橋詰匠

    日本ロボット学会誌23巻8号(12月号)    2005.12

  • ロボットと時空間GISの連携による段階的な震災データ収集システムの開発

    目黒淳一, 石川貴一朗, 畑山満則, 瀧口純一, 天野嘉春, 橋詰匠

    計測自動制御学会論文集   41 ( 12 )  2005.12

    DOI

  • Experimental investigations of oscillatory fluctuation in an ammonia-water mixture turbine system

    Yoshiharu Amano, Keisuke Kawanishi, Takumi Hashizume

    Proceedings of the ASME Advanced Energy Systems Division   45   391 - 398  2005  [Refereed]

     View Summary

    This paper reports results from experimental investigations of the dynamics of an ammonia-water mixture turbine system. The mixture turbine system features Kalina Cycle technology [1]. The working fluid is an ammonia-water mixture (AWM), which enhances the power production recovered from the low-temperature heat source [2], [3]. The Kalina Cycle is superior to the Rankine Cycle for a low temperature heat source [4], [5].
    The ammonia-water mixture turbine system has distillation-condensation processes. The subsystem produces ammonia-rich vapor and a lean solution at the separator, and the vapor and the solution converge at the condenser. The mass balance of ammonia and water is maintained by a level control at the separator and reservoirs at the condensers. Since the ammonia mass fraction in the cycle has a high sensitivity to the evaporation/condensation pressure and vapor flow rate in the cycle, the pressure change gives rise to a flow rate change and then level changes in the separators and reservoirs and vice versa. From the experimental investigation of the ammonia-water mixture turbine system, it was observed that the sensitivity of the evaporating flow rate and solution liquid density in the cycle is very high, and those sensitivity factors are affected by the ammonia-mass fraction. This paper presents the experimental results of a study on the dynamics of the distillation process of the ammonia-water mixture turbine system and uses the results of investigation to explain the mechanism of the unstable fluctuation in the system.

    DOI

  • Performance improvement of an ammonia-water mixture turbine cycle with ejector

    Yoshiharu Amano, Keisuke Takeshita, Takumi Hashizume

    Proceedings of the ASME Power Conference 2005, Pts A and B     1291 - 1297  2005  [Refereed]

     View Summary

    This paper presents the results of a preliminary investigation into the effect of installing an ejector in an ammonia-water mixture turbine cycle, also called a Kalina cycle. To enhance the availability of the cycle, we focus on the pressure difference in the cycle. The temperature difference between the heat source and sink enhances the efficiency of the thermodynamic cycle, as does the pressure difference in the cycle. To improve the heat recovery in the cycle, other heat exchangers are required, and to utilize the pressure difference in the cycle, an ejector is a reasonable choice. From the viewpoint of the impact on the initial cost of the plant, the heat exchanger option is more costly than the ejector option. The authors investigated a simple AWM turbine cycle with an ejector driven by the high-pressure solution stream to vacuum the turbine exhaust. Simulations of several AWM turbine cycle configurations, with or without heat recovery exchangers and ejectors were performed. The specific power, which is the output power per unit mass flow rate of the heat source, of the proposed cycle EJT34 was 103% that of the WMTS. The thermal conductance is only about 24% of that of the WMTS, which is almost the same as the value of the KCS34. The results shows that the EJT34 produced as much power as that from the WMTS with 24% of the heat transfer area.

    DOI

  • Comparison of hybrid configurations of power generation and refrigeration cycles using ammonia-water mixture

    Keisuke Takeshita, Masao Tomizawa, Akinori Nagashima, Yoshiharu Amano, Takumi Hashizume

    Proceedings of the ASME Power Conference 2005, Pts A and B     1039 - 1044  2005  [Refereed]

     View Summary

    This paper describes performance comparison of two types of hybrid configuration of power generation and refrigeration cycles using ammonia-water mixture by simulation calculation. Difference between two configurations is the ammonia mass fraction of solution from the turbine system (power generation cycle) to the ammonia absorption refrigerator (refrigeration cycle). The newer configuration (configuration 2) supplies higher mass fraction solution to the refrigerator. As a result, both configurations show larger system net power than separate operations when the basic composition (the ammonia mass fraction of the evaporator in the turbine system) is 0.45 kg/kg. The performance gains of configuration 1 and 2 are 13.6% and 13.8%, respectively.

    DOI

  • Study on optimal operational planning of advanced co-generation system in consideration of annual demand analysis

    Masao Tomizawa, Keisuke Takeshita, Tatsuhiro Akita, Yoshiharu Amano, Takumi Hashizume

    Proceedings of the ASME Power Conference 2005, Pts A and B     1491 - 1495  2005  [Refereed]

     View Summary

    This paper presents the optimal plan in an assumed co-generation system based on Advanced Co-generation system built in Kikui-cho campus and suggests the introductory technique of co-generation system. At first, we analyzed the annual change of the electric power and cooling demand for a typical consumer and completed the assumed model by formulating. In hospital, hotel, etc., it was checked that electric power and cooling demand have the high correlation with outside temperature, and the daily maximum temperature is effective as an explaining variable especially. We verified the optimal planning according to the consumer using this assumed demand.

    DOI

  • Creating spatial temporal database by autonomous mobile surveillance system (a study of mobile robot surveillance system using spatial temporal GIS part1)

    Jun-Ichi Meguro, Kiitirou Ishikawa, Yoshiharu Amano, Takumi Hashizume, Jun-Ichi Takiguchi, Ryujirou Kurosaki, Michinori Hatayama

    Proceedings of the 2005 IEEE International Workshop on Safety, Security and Rescue Robotics   2005   143 - 150  2005  [Refereed]

     View Summary

    This study describes mobile robot surveillance system using spatial temporal GIS. This paper specially describes the method of collecting spatial temporal data by an autonomous mobile robot system used in a factory premises with some high-rise buildings. This system consists of a wireless LAN network, a base station and an autonomous vehicle. The vehicle is equipped with a GPS/INS navigation system using the network-based Real-Time Kinematic GPS (RTK-GPS) with Positioning Augmentation Services (PAS™, Mitsubishi Electric Corporation 2003), an Area Laser Radar (ALR), a slaved camera, and an Omni-Directional Vision (ODV) sensor for surveillance and reconnaissance. The vehicle switches control modes according to the vehicle navigation error. It has three modes, "Normal", "Road tracking", and "Crossing recognition". A field test result shows that the vehicle can track the planned-path within 0.10 [m] accuracy at straight paths and within 0.25 [m] for curved paths even if RTK fixed solutions are not available. Field experiments and analyses have proved that the proposed navigation method can provide sufficient navigation and guidance accuracy under poor satellite geometry and visibility. Omni-directional image and ALR's scan data, which is synchronized with both position and GPS time, is memorized as spatial temporal. This spatial temporal data enables the operator to search everywhere in the factory premises efficiently by way of arbitrary position or measured time. The field test reveals that the spatial temporal database is confirmed to be useful for remote surveillance. © 2005 IEEE.

    DOI

  • Parking-vehicles recognition using spatial temporal data (a study of mobile robot surveillance system using spatial temporal GIS part 2)

    Kiichirou Ishikawa, Jun-Ichi Meguro, Yoshiharu Amano, Takumi Hashizume, Jun-Ichi Takiguchi, Ryujirou Kurosaki, Michinori Hatayama

    Proceedings of the 2005 IEEE International Workshop on Safety, Security and Rescue Robotics   2005   151 - 157  2005  [Refereed]

     View Summary

    In this paper, the unique omni-directional motion stereo method featuring robust epipolar estimation and hybrid use of the feature/area based matching, and the change-region recognition technique which uses dense color-textured depth map and 3D-GIS data for segmentation, are presented. The dense stereo imaging data, which is acquired by the coupled use of an ODV (Omni-Directional Vision) and a GPS/INS (Inertial Navigation Systems) by the motion stereo method, is classified in "change region" or "registered region" by the 3D-GIS's geometric model of the building. Hence, the changeable region like a parking-vehicle on the road is modeled as a hexahedron through surface recognition process, the position of vertexes and the image texture of three surfaces are measured, and are additionally registered in the Spatial Temporal GIS (Geographic Information System) as new object data. The proposed method can be applicable to a mobile robot surveillance system which is used in a site immediately after a disaster. © 2005 IEEE.

    DOI

  • Experimental study of advanced cogeneration system with ammonia–water mixture cycles at bottoming

    Keisuke Takeshita, Yoshiharu Amano, Takumi Hashizume

    Energy   30 ( 2-4 SPEC. ISS. ) 247 - 260  2005

     View Summary

    In this study, an advanced cogeneration system (ACGS) composed of three turbine systems and an ammonia absorption refrigerator is presented. The overall system configurations and some experimental results of the steady state are shown. The effectiveness of the bottoming stage that employs an ammonia-water mixture (AWM) as the working fluid is confirmed by experimental investigation. The experimental investigation shows that the AWM bottoming power-refrigeration cycles contributes to a higher bottoming efficiency, which is about 7.0% in electric power. Otherwise. the efficiency at the middle stage in conventional combined gas and steam turbine power plants is 4.6%. The cogeneration efficiency at the bottoming reached about 26.5% which is the heat and power ratio to the heat input from the heat recovery steam generator. (C) 2004 Elsevier Ltd. All rights reserved.

    DOI

  • Most Interesting Reading 賞設計工学会誌38巻11号(2003)「アンモニアを作動媒体とする冷凍機」

    天野嘉春

    設計工学/日本設計工学会    2004.05

  • Influence of Refrigerant Mass Fraction in the Performance of an Ammonia Absorption Refrigerator

    Keisuke TAKESHITA, Yoshiharu AMANO, Takumi HASHIZUME, Toshitaka TAKEI, Masao TOMIZAWA

    JSME International Journal Series B   47 ( 2 ) 242 - 248  2004

     View Summary

    The performance of the rectifying column affects the coefficient of performance (COP) of an ammonia absorption refrigerator. Ammonia mass fraction of refrigerant is one of the key parameters indicating the performance of the rectifying column. We propose a method to estimate the refrigerant mass fraction with mass and energy balance equations around the separator at the inlet of the evaporator, and describe the results of experiments which measured the refrigerant mass fraction by sampling from the refrigerant receiver. Throughout these investigations, the refrigerant mass fraction turned out to be lower than the expected value calculated from the condition of dry-saturated vapor at the top of the rectifying column. The refrigerant mass fraction can be estimated within an accuracy of 0.3% by the estimation method based on mass and energy balance equations.

    DOI

  • アンモニアを作動媒体とする冷凍機

    設計工学/日本設計工学会   Vol.38; No.11  2003.11

  • Study on ice storage system in advanced co-generation system on the operational planning

    Tomizawa, M., Takeshita, K., Amano, Y., Hashizume, T., Akiba, M.

    Nippon Kikai Gakkai Ronbunshu, B Hen/Transactions of the Japan Society of Mechanical Engineers, Part B   69 ( 680 ) 888 - 893  2003

     View Summary

    An advanced co-generation system (ACGS) was built at Waseda university. The ACGS consists of a gas turbine system, a steam turbine system, an ammonia absorption refrigerator system, an ammonia-water mixture turbine system and an ice storage system. The energy taken out from each turbine system is used for power generation. On the other hand, the ammonia absorption refrigerator is used for the air-conditioning during the daytime in parallel with storing heat in the ice storage system in order to meet cooling demand during the nighttime. In this paper, it is discussed that the operational planning of the bottoming stage of ACGS maximizing its electric power. And the relationship between the component capacity and the operational planning is also discussed by studying an optimal solution of the dual problem, the so called "shadow price".

    DOI

  • 自然媒体を利用したコージェネレーションシステム

    設計工学/設計工学会   Dec.37  2002.12

  • Dynamic behavior of a directly combined binary turbine system using a mixture (R 134 a/R 123) as a secondary medium

    Tanzawa, Y., Takeshita, K., Amano, Y., Hashizume, T.

    Nippon Kikai Gakkai Ronbunshu, B Hen/Transactions of the Japan Society of Mechanical Engineers, Part B   68 ( 671 ) 2122 - 2127  2002

     View Summary

    Dynamic behavior of a directory combined binary turbine system using a mixture of R 134 a and R 123 is investigated experimentally and theoretically. Our previous binary turbine system, which employs steam as the primary working fluid, used R 11 as the secondary working fluid because R 11 has good characteristics as a working fluid in power plants. However, substitute LBMs (Low Boiling temperature Medium) are being developed because of the ozone layer depletion by CFCs (Chloro Fluoro-Carbons). We investigated the system using R 123 in the second stage. Because R 123 is also controlled, in this paper, the steady state characteristics and dynamic behavior of the system using a mixture of R 134 a and R 123 are investigated taking into account the mole fraction of the mixture. In addition to the investigation using the experimental system, the following are clarified using our model: In the steady-state characteristics, there are remarkable differences in pressure based on the thermodynamic properties and in the load allotment of the two turbines. However, in the dynamic characteristics, the effect of the mole fraction could hardly be observed on the response characteristics of the rotating components to the load change.

    DOI

  • Modeling of the Main Component of the Bottoming Stage in an Advanced Co-Generation System on the Operational Planning.

    Masao TOMIZAWA, Keisuke TAKESHITA, Keisuke TSURI, Yoshiharu AMANO, Masashi AKIBA, Takumi HASHIZUME

    JSME International Journal Series B   45 ( 3 ) 446 - 450  2002

     View Summary

    The advanced co-generation system (ACGS) was built at Waseda University in 1999. The ACGS consists of a gas turbine, a steam turbine, an ammonia-water mixture turbine, an ammonia absorption refrigerator and an ice storage system. These turbine systems have a cascade relation upon the utilization of energy. Meanwhile, the ammonia-water mixture turbine and the ammonia absorption refrigerator located in the bottoming stage of the ACGS to utilize the lower temperature steam. In this paper, a mathematical model of the bottoming stage of the ACGS is established according to the experimental data. And, the operational planning of the bottoming stage with three cases of the cooling demand during the nighttime is also discussed.

    DOI

  • Dynamic behavior of a directly combined binary turbine system consisting of steam and R123 turbines

    Tanzawa, Y., Takeshita, K., Amano, Y., Hashizume, T.

    Nihon Kikai Gakkai Ronbunshu, B Hen/Transactions of the Japan Society of Mechanical Engineers, Part B   67 ( 658 ) 1605 - 1608  2001

     View Summary

    The binary turbine system that employs steam as the primary working fluid has used Rll as the secondary working fluid because Rll has good characteristics as a working fluid in power plants. However, substitute LBMs (low boiling-temperature mediums compared with water) are being developed because of the destruction of the ozone layer by CFCs. In this paper, modeling and experimental investigations into the dynamics of a directly combined binary turbine system using R123 instead of Rll are described. The system consists mainly of a steam-and an R123-turbine, an R123 vapor generator, and an AC generator. The dynamic behavior of the system is similarly discussed from the viewpoint of the network theory with the previous report. The validity of the model was proven through comparison with our experimental results, which are the frequency responses examined with respect to generator load changes. In addition, the effects of the thermodynamic property of the secondary medium on the steady and dynamic characteristics of the system are also described.

    DOI

  • ガスタービン,スチームタービン,アンモニア・水混合媒体タービンによるトライナリサイクルとアドバンスト・コージェネ

    日韓シンポジウム「21世紀の電力事業」/早稲田大学    2000.02

  • アドバンスト・コージェネレーションの紹介(2つのアンモニア・水混合媒体サイクルの導入)

    Yoshiharu AMANO, Takumi HASHIZUME

    クリーンエネルギー/日本工業出版   9:10  1999.10

    Authorship:Lead author

  • 早稲田大学におけるアドバンスト・コージェネレーションシステムでのアンモニア/水系サイクルの構築

    講習会「分散利用型燃料電池・アンモニア/水系エネルギーシステムの展望」/日本機械学会   99-61  1999.10

  • 2基の熱交換器を並列および直列に接続する系の動特性に関する考察

    日本機会学会論文集/日本機械学会   65;630-B  1999.02

  • Dynamics of two-heat exchanger network

    Amano, Y., Hashizume, T.

    Nihon Kikai Gakkai Ronbunshu, B Hen/Transactions of the Japan Society of Mechanical Engineers, Part B   65 ( 630 )  1999

  • 熱交換器の回路論的動特性モデルに関する研究

    日本機会学会   III;97-1  1997.03

  • Modeling of the dynamics of a two-heat-exchanger network connected in parallel and the effect of the auxiliaries

    Amano, Yoshiharu, Fujiwara, Keisuke, Hashizume, Takumi

    Nippon Kikai Gakkai Ronbunshu, B Hen/Transactions of the Japan Society of Mechanical Engineers, Part B   63 ( 608 )  1997

  • Modeling the dynamics of a two-heat-exchanger network connected in parallel and the effects of auxiliaries

    Amano, Y., Hashizume, T., Fujiwara, K.

    Heat Transfer - Asian Research   26 ( 5 )  1997

  • 動特性を考慮した熱交換器の一設計指針

    日本機会学会   III;96-15  1996.09

  • On Dynamics of Shell-and-Tube Heat Exchangers from the Viewpoint of the Network Theory.

    Yoshiharu Amano, Takumi Hashizume, Tadahiro Machiyama

    Transactions of the Japan Society of Mechanical Engineers Series B   60 ( 576 )  1994

    DOI

▼display all

Books and Other Publications

  • 33rd International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems (ECOS 2020)

    Ryohei Yokoyama, Yoshiharu Amano( Part: Compilator)

    Curran Associates, Inc.  2020.09

  • 工場の低温排熱発電と排熱利用技術

    河合素直編, 野嘉春

    サイエンス&テクノロジー  2011.07 ISBN: 9784864280242

  • 機械工学便覧 応用システム編 エネルギー供給システム

    日本機械学会

    日本機械学会  2005.05

  • 冷凍空調技術に関するシミュレーション技術II

    秋澤,齋藤, 藤居, 天野,宮崎

    日本機械学会 

Misc

  • P2-32 将来の惑星探査に向けた小型放射線分光装置の提案(ポスターセッション2,ポスター発表)

    長岡 央, 長谷部 信行, 草野 広樹, 内藤 雅之, 柴村 英道, 天野 嘉春, 太田 亨, フェイガン ティモシー, Waseda AXS team

    日本惑星科学会秋期講演会予稿集   2014   "P2 - 32"  2014.09

    CiNii

  • S0840101 Study of Operational Policy in Residential Energy System Considering Comfort

    YOSHIDA Akira, FUJIMOTO Yu, MURATA Noboru, WAKAO Shinji, TANABE Shinichi, AMANO Yoshiharu

    Mechanical Engineering Congress, Japan   2014   "S0840101 - 1"-"S0840101-5"  2014.09

     View Summary

    The main objectives of this study are to consider both thermal comfort and energy consumption on operational planning problem of residential energy system, and to handle uncertainty of energy demand and PV output for the future as a scenario-based stochastic programming problem. The energy system consists of photovoltaic power generator, electrical-driven room air-conditioner and PEM type fuel-cell cogeneration system. We introduce mathematical optimization theory for operational planning problem, because the targeted system has many alternative operations. As a result, the optimal operational planning problem, which is extended by considering PMV and future scenarios as constraints, concludes that the residential energy system achieves 33% of energy saving ratio in the case of 1.0 of PMV.

    CiNii

  • S0840102 Evaluation of Power and Refrigeration Hybrid Cycle Based on the Theoretical Optimum Cycle

    SHOGAKI Atsushi, SEKI Yoshitaka, AMANO Yoshiharu

    Mechanical Engineering Congress, Japan   2014   "S0840102 - 1"-"S0840102-5"  2014.09

     View Summary

    Three configurations of power and refregiration hybrid cycle with ammonia-water mixture are evaluated based on the theoretical optimum cycle. The first cycle is APC by D. Zheng et al, which is complicated configuration. The second is CPC by J. Wang et al, which is most simpliest configuration of the three. The last is PRPC by N. Zhang et al, whose configuration is atacched two heat exchangers and booster pump to CPC. For each cycle, investigated operating points which maximize the net power or cooling capacity on each heat source temperature with a unit mass flow rate of heat source. The cycles are compared with the theoretical optimum cycle on T-S diagram. From the diagram, the effects of configuration differences on system performance are confirmed and validated with numerical simulation.

    CiNii

  • C122 An integration of a granulating-drying system and Vapor Compression-Condensation process by pinch-method

    MASAKI Ryo, NAKAMURA Shuhei, HINO Toshiyuki, AMANO Yoshiharu

    National Symposium on Power and Energy Systems   2014 ( 19 ) 85 - 88  2014.06

     View Summary

    Drying process consumes great amount of energy, but, by attaching the evaporation-dehydration system called VCC (Vapor Compression and Condensation), energy consumption can be reduced significantly. VCC is an open-type heat pump cycle uses water. ln this study, authors take up a granulating-drying system for sewage disposal process. It is called as case-A as a reference. The adaptability of the VCC to the system is evaluated by comparing two sets of process, case-B and C. Case-B is the cascading combination of the VCC and the granulating-drying system. VCC preprocess the dehydrating process in order to relaxing the drying-load of existing centrifugal hydro-extractor. Then, to enhance the energy recovery in the process, the integrated process was derived by pinch method; that is case-C. These three cases are compared with primary energy consumption. As a result, compared with Case-A, primary energy consumption of Case-B is reduced 42.8%, and Case-C is reduced 50.5%.

    CiNii

  • C131 A study of optimal operational planning of residential PEFC system for energy demand scenarios using stochastic programming technique

    YOSHIDA Akira, OGATA Ryohei, MURATA Noboru, AMANO Yoshiharu

    National Symposium on Power and Energy Systems   2014 ( 19 ) 93 - 96  2014.06

     View Summary

    The subject of this study is to plan the operation of residential energy system with uncertain parameters based on ex-ante decision before uncertain parameters are realized. This paper applies a scenario-based stochastic programming framework to the operational planning problem having uncertain energy demand as parameters. Based on predicted energy demand scenarios, the operational strategies, which indicates the prime mover's start-stop status and the level of hot water tank, are decided. The decided operational strategies and realized values of energy demand are input to optimal control problem, which is formulated by dynamic programming. Finally we consider the operational performance of dynamic programming using the decided operational strategies based on predicted demand scenarios. As a result, the proposed stochastic programming framework decided the optimal strategies, and showed that effectiveness.

    CiNii

  • C132 Effect of demand prediction error on energy-saving performance of PEFC system for residential use

    OGATA Ryohei, YOSHIDA Akira, MURATA Noboru, AMANO Yoshiharu

    National Symposium on Power and Energy Systems   2014 ( 19 ) 97 - 100  2014.06

     View Summary

    Nowadays, PEFC-CGS is getting attention as a distributed energy system. It has high efficiency, and a lot of studies of PEFC-CGS were reported. But almost of them didn't consider energy prediction error. In this study, in order to evaluate energy-saving performance of PEFC-CGS for residential use with energy prediction error, I made PEFC-CGS control low input optimal operational plan based on energy prediction value. Consequently, operational plan to start PEFC-CGS in the morning or avoiding unneeded power runup and low load operation of PEFC-CGS can make control low of PEFC-CGS improved.

    CiNii

  • 1P2-L06 Position error correction for planetary rovers based on skyline matching azimuth estimation(Space Robotics)

    AKEHI Takeshi, KITAMURA Mitsunori, OTSU Kyohei, OTSUKI Masatsugu, AMANO Yoshiharu

      2014   "1P2 - L06(1)"-"1P2-L06(4)"  2014.05

     View Summary

    This paper presents that the method of position error correction for planetary rovers by using skyline matching azimuth estimation. Skyline matching is the method that estimating position and attitude by comparing two skylines. One skyline is simulated one from a digital elevation model (DEM). The other one is gotten from camera images taking around view. We focus on using azimuth attitude estimated by skyline matching to correct accumulation error of IMU. We modeled IMU angular velocity bias increases linearity. We conducted field experiments in Oshima Island and Chiba. As a result, estimated relative azimuth errors are lower than 1 degree. IMU azimuth errors decreased by 67% (6.25 deg to 2.15 deg ) and IMU position errors decreased by 70% (3.33m to 1.04m).

    CiNii

  • 1P1-W08 Obstacle detection by using fish-eye camera image for GPS NLOS satellites detection(Robot Vision)

    WATANABE Ken, OTA Teppei, KITAMURA Mitsunori, AMANO Yoshiharu

      2014   "1P1 - W08(1)"-"1P1-W08(3)"  2014.05

     View Summary

    This paper describes a method of obstacle detection in the fish-eye camera image for GPS-Non-Line-Of-Sight(NLOS) satellites detection. Recently the development of the autonomous mobile system(AMS) is more expected for example an auto-pilot car. A GPS measurement is widely used for estimating self-position for such AMS. It can measure the position without premeasured emvironmental data like a map-matching. However, in the urban canyon, GPS measurement accuracy deteriorates seriously using NLOS satellite. Because of obstacles between NLOS satellites and GPS antenna, electrical waves omitted from GPS satellites are reflected or diffracted by obstacles. We propose the method to detect the obstacle using a fish-eye camera image to detect NLOS satellite. Firstly fish-eye image is parted into various small segments by k-means clustering method. And the segments are divided into sky and obstacle areas according to its movement using SIFT matching. The result of a field experiment shows the proposed method is effective to detect GPS-NLOS satellites.

    CiNii

  • 1P2-G08 Attack and Retreat Judgment System Referring the Lesson from Fukushima Daiichi Nuclear Power Plant (the second report) : Development the remote-control information gathering system for fire fighting(Search and Rescue Robot and Mechatronics (2))

    TSUKAGOSHI Takaya, AMANO Yoshiharu, ISHIKAWA Kiichiro, YAMAGUCHI Yoshihiro, KUBOTA Katsuaki

      2014   "1P2 - G08(1)"-"1P2-G08(2)"  2014.05

     View Summary

    When the nuclear accident at Fukushima Daiichi Nuclear Power Plant happened, TOKYO Fire Department member were send for cooling the nuclear reactor. But there isn't means to get information of disaster site by unmanned and fire fighter had to rush into Nuclear Power Plant with taking a risk of radiation exposure. Therefore in this study, we propose Attack and Retreat Judgment System Referring the Lesson from Fukushima Daiichi Nuclear Power Plant. In this paper, we mainly describe Attack Judgment System, consisting of remote-control information gathering system and geographical information system. Remote-control information gathering system gets disaster site information with remote-control unmanned ground vehicle and geographical information system registers the information.

    CiNii

  • 2A2-T06 Improving Multi-GNSS availability in Urban Environment by using QZSS LEX signal(Localization and Mapping)

    KITAMURA Mitsunori, WATANABE Ken, OTA Teppei, AMANO Yoshiharu

      2014   "2A2 - T06(1)"-"2A2-T06(3)"  2014.05

     View Summary

    This paper describes a new positioning method which improves the availability and accuracy of multi-GNSS positioning in urban canyon environment using QZSS satellite. In our proposal method, we use GNSSs including GPS, QZSS, GLONASS, Galileo, and Beidou. Furthermore, we use the QZSS as an only master satellite. We conducted a static evaluation test in a narrow-sky environment with many obstacles above the GNSS antenna.The results of the static evaluation test show that our proposal method is highly available and has accurate positioning (fixed ratio: 92.7%, horizontal RMS error: 4.2cm) in urban canyon. In contrast, the number of DD measurements of the conventional multi-GNSS positioning method is 4 or less nearly all the time, indicating that this positioning does not work most of the time.

    CiNii

  • G061014 Multi-Objective Optimization of An Ammonia-Water Mixture Hybrid Cycle

    SEKI Yoshitaka, AMANO Yoshiharu

    Mechanical Engineering Congress, Japan   2013   "G061014 - 1"-"G061014-5"  2013.09

     View Summary

    Two configurations of power/cooling cycle with ammonia-water mixture are evaluated. At first, an ammonia-absorption hybrid cycle (AAH), which is one of the simplest configurations, is evaluated on temperature entropy diagram to introduce the insight for enhancement. The other configuration, which was proposed by Goswami, is also evaluated. It is a candidate for an enhanced in producing power. The multi-objective optimization for net-work output, refrigerating capacity and total thermal conductance are carried out to derive the pareto front. The optimization is carried out by epsilon-constraint method. The results show that T-S diagram is a good tool for derive the enhancement. Goswami cycle has about quarter cooling capacity while 123.8% net output power comparing with AAH.

    CiNii

  • J056055 Evaluation of Energy Supply Systems with Solar Cell and Battery Considering Disaster Management

    YOSHIDA Shu, ITO Koichi, AMANO Yoshiharu

    Mechanical Engineering Congress, Japan   2013   "J056055 - 1"-"J056055-5"  2013.09

     View Summary

    In this paper, three conventional energy supply systems are compared from economic and energy saving characteristic points of view for an office building with total floor area of 5000m^2. These systems are consuming mainly electricity (E-system), heavy oil (D-system), and city gas (G-system) as primary energy source, respectively. For hourly and daily changing energy demands, the daily input energy cost or primary input energy is minimized through one year for these systems by considering disaster occurring three days, respectively. As a result, economic and energy saving superiorities of E-system are resulted to those of respective D- and G-ones. For disaster occurring situation, effects of installing solar cell and battery are also evaluated by changing capacities of them numerically.

    CiNii

  • A02 Localization method by using panoramic skyline image and digital elevation model

    OTA Teppei, KITAMURA Mitsunori, ISHIKAWA Kiichirou, AMANO Yoshiharu

    Dynamics and Design Conference   2013 ( 13 ) "A02 - 1"-"A02-10"  2013.08

     View Summary

    This paper describes an outdoor localization method by matching skyline. On a surface of the moon, we cannot use either the GNSS (Global Navigation Satellite System), information of artificial landmark or map matching. However a lot of planetary probe's missions need absolute coordinates. Therefore we propose a method that uses DEM (Digital Elevation Model) and panoramic photo image, and compares skylines made by them. Extracting skylines from image uses k-means clustering method with color information. A skyline made by panoramic photo image is determined uniquely by 4 parameters. However the proposed method fixes 2 parameters and uses a rough calculation, assuming that the place to get the photo image is horizontality. As the result of experiments at Oshima Island, it was confirmed that it is possible to estimate location in error by 65 m or 19 m by using the proposed method. One of prospective causes of an error is the assumption of horizontality in the place getting photo images, so we expect to improve accuracy of estimating location if this method is used with attitude sensor.

    CiNii

  • B213 Experiment and analysis of two-phase compression in a steam compressor

    HISHIKI Tsubasa, NAKAMURA Shuhei, HINO Toshiyuki, AMANO Yoshiharu

    National Symposium on Power and Energy Systems   2013 ( 18 ) 267 - 270  2013.06

     View Summary

    The steam compressors are usually developed for the purpose of large size and special VRC (vapor re-compression) application. However, it seems to have a considerable ripple effect on the various purposes if the small size and high performance steam compressor are practical use. In this study, the authors suggest the two-phase compression process models which are based on the various assumptions. In addition, an experimental set-up which uses 7.5kW - wing type compressor is made to validate calculation results and enabled to confirm reduced discharge temperature and effect of compression work reduction. An effect of two-phase compression of the steam is reported by comparing calculation results with experimental results.

    CiNii

  • A223 Study on Residential PV-BT System Considering Degradation Characteristic of Electrical Battery

    SATO Tomikazu, YOSHIDA Akira, AMANO Yoshiharu, ITO Koichi

    National Symposium on Power and Energy Systems   2013 ( 18 ) 235 - 238  2013.06

     View Summary

    Promoting utilization of photovoltaic (PV) cell, for residential use has become urgent issue recently. One approach is to use an electrical battery (BT) in the house in order to maximize consuming the electricity generated by the photovoltaic power generator. The energy systems including energy buffer like electrical batteries have a lot of operational flexibility. The mathematical optimization technique is useful for rational energy use The objective of this study is to making operational optimization models considering degradation characteristic of a battery. As a result, the four types of operational optimization models, which consider degradation characteristics caused by battery cycle life, were formulated on the mixed integer linear programming problems. Consequently, it was found that the appropriate optimal operational strategy should be derived from the model including the degradation characteristics on DOD.

    CiNii

  • 1P1-H02 Development of an attitude measuring method combined with GPS-Gyro/IMU for a small Unmanned Aerial Vehicle(Localization and Mapping (2))

    WATANABE Ken, OTA Teppei, KITAMURA Mitsunori, AMANO Yoshiharu, HASHIZUME Takumi

      2013   "1P1 - H02(1)"-"1P1-H02(4)"  2013.05

     View Summary

    This paper describes about the attitude measuring method for a small unmanned aerial vehicle (UAV) using GPS-gyro combined with inertial measurement unit (IMU) by EKF. A small UAV attracts people's attention as the effective means for collecting aerial information. However the conventional attitude measuring methods have some issues, which cannot measure the attitude angle everywhere easily and absolutely against the earth. GPS observables are interpolated with cubic spline to do time synchronization among three GPS receivers (Master, Slave1, and Slave2). Using the attitude angle estimated by EKF, the correct solution is searched from among the candidates of integer ambiguity every epoch. The result of a field experiment shows the proposed method is effective to estimate attitude for the small UAV.

    CiNii

  • 1P1-H04 Tightly coupled GNSS/IMU integration using LEX signal broadcasted by QZSS(Localization and Mapping (2))

    Kitamura Mitsunori, Watanabe Akira, Amano Yoshiharu, Hashizume Takumi

      2013   "1P1 - H04(1)"-"1P1-H04(3)"  2013.05

     View Summary

    This paper describes a positioning method by GNSS/IMU integration using tightly coupled kalman filter and LEX signal. Tightly coupled kalman filter uses pseudorange and doppler frequency for observation update. Therefore, if a vehicle is in narrow sky environment, this filter could update states by using observation. LEX signal is GPS and QZSS performance enhancement function emitted from QZSS satellite. Therefore, it is expected that positioning accuracy is improved by using LEX signal. In this paper, the proposed method is evaluated on the course of Real World Robot Challenge at post processing.

    CiNii

  • 1P1-H05 Research on GPS multipath error under tree imminent environment(Localization and Mapping (2))

    KITAMURA Mitsunori, TAKESHITA Tomohiro, ONISHI Masamitsu, AMANO Yoshiharu, Hashizume Takumi

      2013   "1P1 - H05(1)"-"1P1-H05(3)"  2013.05

     View Summary

    The need of high precision location information has been increasing. Therefore, correcting the multipath error is needed. Especially, the multipath caused by trees are said to be difficult to correct. In this paper, we propose a new index called foliage parameter. This index is made by measuring the tree with the 3D laser scanner and shows the density distribution of the tree by the amount of leaves. By looking the multipath error and the foliage parameter, we study the correlation between them and plan to use it to correcting the multipath errors caused by trees.

    CiNii

  • 1P1-J07 Development of portable 3D measurement device which is available indoor and outdoor(3D Measurement/Sensor Fusion)

    FUJIWARA Kohei, Chino Ryohei, OTA Teppei, ISHIKAWA Kiichiro, AMANO Yoshiharu, HASHIZUME Takumi

      2013   "1P1 - J07(1)"-"1P1-J07(3)"  2013.05

     View Summary

    We developed portable 3D measurement device. It is available where cars cannot run and GPS is not available. This device consists of camera, laser scanner and PC for data acquisition. Using this devise we propose a method combining camera data and scan data. First, the method calculates standardizes a self-position with Structure from Motion (SFM) and reflects the data which a laser scanner acquired in the three-dimensional space. Then we correct unevenness of the point cloud with Principal Component Analysis (PCA). We conducted evaluation test. The evaluation test verified that we can comprehend rough indoor and outdoor shape reconstruction result by 3D measurement device.

    CiNii

  • 2A1-Q03 Real-time update Path Planning for MMS(Car Robotics & ITS)

    FUJIWARA Kohei, ISHIKAWA Kiichiro, AMANO Yoshiharu, HASHIZUME Takumi

      2013   "2A1 - Q03(1)"-"2A1-Q03(2)"  2013.05

     View Summary

    For the purpose of increasing the Global Navigation Satellite System (GNSS) availability and efficient measurement, a path planning for Mobile Mapping System (MMS) is proposed. However, this is not real time planning. Therefore, measurement precision decreases when MMS run in traffic jam. In this paper, we propose recalculation method of a path planning for MMS with Nearest Neighbor method. And, we conducted evaluation test. The evaluation test verified that the proposed method can increase 3.1% of the epoch that gets GNSS fix solution (FIX ratio) and 12.3% of the distance that gets GNSS fix solution (FIX cover ratio) under the same geometry of the GNSS.

    CiNii

  • 月惑星探査に向けた能動型蛍光X線分光器AXSの基本特性(II)

    長谷部信行, 草野広樹, 長岡央, 児玉拓郎, 大山裕輝, 田中玲子, 天野嘉春, 柴村英道, 久野治義, FAGAN T.J., 太田亨, 岡田達明, KIM K.J., GWANGHYEOK J., KLINGELHOEFER G., BRUECKNER J., BOYNTON W., HAMARA D., LIM L., STARR R.

    応用物理学会春季学術講演会講演予稿集(CD-ROM)   60th  2013

    J-GLOBAL

  • 月惑星探査に向けた能動型蛍光X線分光器AXSの基本特性(III)

    内藤雅之, 長谷部信行, 草野広樹, 長岡央, 児玉拓郎, 大山裕輝, 田中玲子, 天野嘉春, 柴村英道, 久野治義, FAGAN T. J., 太田亨, 岡田達明, KIM K. J.

    応用物理学会秋季学術講演会講演予稿集(CD-ROM)   74th  2013

    J-GLOBAL

  • G080013 Evaluation of Hybrid Power and Cooling Cycle using Ammonia-Water Mixture Based on Exergy Concept

    MORI Kazuma, SEKI Yoshitaka, AMANO Yoshiharu

    Mechanical Engineering Congress, Japan   2012   "G080013 - 1"-"G080013-4"  2012.09

     View Summary

    This paper describes performance comparison of separate and hybrid systems of power and cooling cycle that is combined with Kalina cycle and ammonia absorption refrigeration cycle. Authors emphasis on utilization of T-S diagram in order to visualize the factors of the improvement in net output power by comparing with idealized cycle such as Maximum Power cycle and Minimum input compression work for refrigeration cycle. Results of case study show that exergy efficiency of the hybrid system combining with Kalina and ammonia absorption cycle is 16.9% higher than that of the separate operation of each cycle. However, the total thermal conductance of the hybrid system is 5.32% larger than that of separate one.

    CiNii

  • F213 Analysis of the water injection effect in a vapor compression process

    FUJIWARA Fumiaki, HINO Toshiyuki, AMANO Yoshiharu

    National Symposium on Power and Energy Systems   2012 ( 17 ) 441 - 444  2012.06

     View Summary

    Steam compressor is the key unit of VRC (vapor recompression) technology. The analytical and experimental investigation on the steam compressor had been revealed that the relatively high temperature of steam at the outlet of it made it difficult to developing cost-effective steam compressor with high efficiency. The authors have been investigated on VCC (Vapor Compression and Condensation) system which is redefined from VRC technique for dehydration of wet-materials, such as wet-biomass. To reduce temperature increase at the outlet of the compressor, the effectiveness of liquid-vapor 2-phase compression process by utilizing the water injection is investigated. The case study on the 7.5kW-wing type compressor is taken up, and maximum droplet radius for the injection water which are completely evaporate in a period of a compression process.

    CiNii

  • F214 An Evaluation Method for Hybrid Power and Refrigeration Cycle Based on Theoretical Optimum Cycles

    HASUI Daisuke, AMANO Yoshiharu, HASHIZUME Takuimi

    National Symposium on Power and Energy Systems   2012 ( 17 ) 445 - 448  2012.06

     View Summary

    Evaluation method of power cycle and refrigeration cycle are usually based on first low of thermodynamics. In other words, usability of power cycle and refrigeration cycle are determined by energy efficiency and COP. In this paper, we focus on second low of thermodynamics. We compare two Hybrid power and refrigeration cycles by theoretical optimum cycles and exergy efficiency. Specifically, we simulated cooling capacity and exergy efficiency, draw T-s diagrams, and compared with theoretical optimum cycles. When using T-s diagrams, entropy is multiplied by flow rate, because hybrid power and refrigeration cycles are composed of several flow.

    CiNii

  • 1A1-H03 Vegetation Classification using Machinery Learning with a Small UAV(Robotics and Mechatronics in Agriculture)

    OTA Teppei, TAKAHASHI Takahiro, AMANO Yoshiharu, HASHIZUME Takumi, SUZUKI Shinji, TSUCHIYA Takeshi, YAMABA Atsushi

      2012   "1A1 - H03(1)"-"1A1-H03(2)"  2012.05

     View Summary

    This paper proposes a novel vegetation classification method using an airborne imagery obtained by the small unmanned aerial vehicle (UAV). A conventional method used in the vegetation classification uses the value of reflected intensity in airborne images obtained by airplanes and satellites. However, it is difficult to classify the type of vegetations because of the restriction of the image resolution. The small UAV can fly at low attitude, it can obtain a high resolution airborne imagery. The proposed method aims to make a vegetation classification map using the texture analysis and Adaboost machinery learning. We use the texture, color, and NDVI (Normalized Difference Vegetation Index) calculated from airborne imagery as the classification features. From the result of classification test, we concluded that proposed method is effective to classify the type of vegetation using a small UAV.

    CiNii

  • 2P1-R08 Survey of the disaster area using Mobile Mapping System : Extracting road environment changes by comparing time series 3D point clouds(ITS and Robot Technology)

    KIRYU Shota, ISHIKAWA Kiichiro, SAKUMA Yu, TONOMURA Fumiki, AMANO Yoshiharu, HASHIZUME Takumi

      2012   "2P1 - R08(1)"-"2P1-R08(2)"  2012.05

     View Summary

    A devastating earthquake and tsunami damaged large area in the Pacific coast of Japan, Tohoku district on March 11th 2011. In such a huge disaster, it is important to collect recovery information at regular intervals for speedy recovery work and disaster prevention. For information collecting work, aerial photos and conventional survey have been used, but these methods cost much. Thus, we have developed Mobile Mapping System (MMS) as an efficient survey method to collect information when disaster occurs. To collect information about the environment of disaster area and to record recovery process, we conducted a survey of the Tohoku district in June and November, 2011. This paper provides methods for extracting road environment changes around roads, such as postseismic crustal movement and reconstruction, by comparing time series 3D point clouds acquired from these two surveys.

    CiNii

  • 2P1-R07 Recognition of pole-like objects from 3D point cloud using Machine Learning(ITS and Robot Technology)

    TONOMURA Fumiki, ISHIKAWA Kiichiro, AMANO Yoshiharu, HASHIZUME Takumi

      2012   "2P1 - R07(1)"-"2P1-R07(3)"  2012.05

     View Summary

    As the practical uses of point cloud generated by the Mobile Mapping System (MMS) spread, modeled data are applied to many fields. However, the cost of modeling process increases with the size of data. So, in order to make the process efficient, we have proposed recognizing pole-like objects method. The proposed method recognizes pole-like objects focusing on local area of segments and using Support vector Machine (SVM). The method recognized pole-like objects robustly and its recognition accuracy is 91.4%. However, this method recognized walls as pole-like objects (miss recognition) and wasn't able to recognize tilt pole-like objects. Thus, we added two improvements to the method. One is tilt correcting in machine learning and recognition phase. The other is making local area search active. With these improvements, the total recognition accuracy became 97.4%.

    CiNii

  • 2P1-R06 Path Planning for Mobile Mapping System Survey Considering with GNSS Availability(ITS and Robot Technology)

    ISHIKAWA Kiichiro, AMANO Yoshiharu, HASHIZUME Takumi

      2012   "2P1 - R06(1)"-"2P1-R06(2)"  2012.05

     View Summary

    This paper describes a path planning for Mobile Mapping System (MMS) considering with GPS availability. In a MMS survey, accuracy and efficiency are important factor. The accuracy depends on GNSS availability, which is affected by the road environment. Also, in some operations, MMS have to survey every road in an area. Because of these conditions, it is difficult for navigators to decide MMS's path in the surveys. Thus, we proposed a path planning for MMS considering with GNSS availability. The proposed method weights all links based on the number of visible GNSS and distance between nodes. The number of visible GNSS is calculated by aerial laser survey point cloud and GNSS almanac data. Since the number of visible GNSS changes, the weight of a link is recalculated hour by hour. In a field test, the proposed method improved the GNSS availability and we confirmed the effectiveness of the proposed method.

    CiNii

  • 2P1-R09 Improvement of kinematic positioning reliability using GPS and GLONASS(ITS and Robot Technology)

    ONISHI Masamitsu, KITAMURA Mitsunori, SUZUKI Taro, AMANO Yoshiharu, HASHIZUME Takumi, Kaneko Koji

      2012   "2P1 - R09(1)"-"2P1-R09(2)"  2012.05

     View Summary

    For the realization of the 3D measurement such as MMS (Mobile Mapping System), the needs of high precision location information has been increasing. Therefore, by combining the United States GPS (Global Positioning System) , the Russian GLONASS(Global Navigation Satellite System), and the INS(Inertial Navigation System), it is possible to increase the number of satellites in reception. Moreover, it enables high precision and improvement of convenience. However, due to the effects of multipath, it is necessary to evaluate the reliability of the positioning solution obtained by the GPS and GLONASS combined positioning. In this paper, we propose an algorithm which automatically selects the reliable positioning solution.

    CiNii

  • 1A2-F10 Path planning for autonomous vehicle using QZSS and the map of the number of visible satellites(Wheeled Robot/Tracked Vehicle(2))

    KITAMURA Mitsunori, YASUOKA Yoichi, SUZUKI Taro, AMANO Yoshiharu, HASHIZUME Takumi

      2012   "1A2 - F10(1)"-"1A2-F10(4)"  2012.05

     View Summary

    This paper described a path planning method using Quasi Zenith Satellites System (QZSS) and the map for the number of visible satellites. QZSS is a positioning system in japan. And, it has effect increasing the number of satellites. The map of the number of satellites is used for path planning considering the number of visible satellites. This proposed method improving GPS positioning availability by increasing the number of satellites. In this paper, we carried out evaluation test for this proposed method. As the result of this test, it is confirm that proposed method had effectiveness for improving GPS positioning availability.

    CiNii

  • 1A2-B08 Attitude determination for a Small UAV using Single Frequency GPS Receivers(3D Measurement/Sensor Fusion(2))

    SUZUKI Taro, MANO Naoya, KITAMURA Mitsunori, AMANO Yoshiharu, HASHIZUME Takumi

      2012   "1A2 - B08(1)"-"1A2-B08(2)"  2012.05

     View Summary

    This paper describes an attitude determination technique for small UAVs (Unmanned Aerial Vehicles). Small UAVs are attracted the attention for effective means of the collecting aerial information. However, there are few practical applications, because the accurate attitude data cannot be obtained due to its small payloads. We propose the attitude determination technique using the multiple single frequency GPS receivers. We install three GPS antennas on the wing of the UAV. We resolve the integer ambiguity of the carrier frequency of GPS observation data using the geometric constrain of the antennas to estimate the attitude of the UAV. In the result of the static test, we conclude the proposed method is effective to estimate the attitude for the small UAV.

    CiNii

  • 2A1-J09 Improvement of GPS positioning accuracy using L1-SAIF provided by QZSS(Localization and Mapping(1))

    KITAMURA Mitsunori, SUZUKI Taro, AMANO Yoshiharu, HASHIZUME Takumi

      2012   "2A1 - J09(1)"-"2A1-J09(4)"  2012.05

     View Summary

    This paper describes an improvement for the accuracy of GPS single point positioning using L1-SAIF signal and carrier smoothing. L1-SAIF is a performance enhancement function of Quasi-Zenith Satellites System (QZSS). Carrier smoothing is the method for smoothing a pseudorange by precise carrier phase. The proposed technique mitigates systematic and accidental errors of GPS positioning. But, carrier smoothing has two problems. One is increasing the positioning error in long-time smoothing. Another is vulnerability to cycle slip. So, in this paper, we propose the method for decreasing the effects of these problems using L1-SAIF. The evaluation results confirm the effectiveness of the proposed technique and the feasibility of its highly accurate positioning.

    CiNii

  • J081051 Evaluation of CO_2 Emission Characteristic of 700W Class PEFC System

    OSADA Katsuya, IKEDACE Kazuki, ITO Koichi, AMANO Yoshiharu, HASHIZUME Takumi

    Mechanical Engineering Congress, Japan   2011   "J081051 - 1"-"J081051-4"  2011.09

     View Summary

    The CO_2 emission characteristic is evaluated for 700W PEFC cogeneration systems used for residential houses based on the mathematical optimization method. First the mathematical model is built based on the measured data through one year. Then, for energy demand data measured at 10 houses through one year, the optimal potential of CO_2 emission reduction ratios are analyzed by optimizing the operational policy of the system. By comparing with the conventional system composed by the condensing gas boiler and electric grid, the reduction ratios of the CO_2 emission are ?5.42%〜-0.10%, and it is concluded that this system has no high potential to contribute for CO_2 reduction.

    CiNii

  • G080014 Comparative Study on Renewal Planning of Alternative Energy Supply Systems for a Building from Economic Viewpoint

    YOSHIDA Shu, INOUE Masahiro, OKANO Akira, ITO Koichi, AMANO Yoshiharu, HASHIZUME Takumi

    Mechanical Engineering Congress, Japan   2011   "G080014 - 1"-"G080014-5"  2011.09

     View Summary

    In this paper, a method of rationally determining an optimal renewal plan is proposed for energy supply systems based on the optimization approach. In the planning of this proposed method, it becomes necessary to consider many factors such as the deterioration of each pieces of existing equipment, candidate pieces of equipment with upgraded efficiency reflecting technology improvement in the proper renewal year, the structure of renewal system, and so on. It is also necessary to determine the system's operational policy to match energy demands, which change daily and hourly through the year. A numerical study is carried out for a hospital with the total floor area of 25 000m2, where electrical (e.g., heat pump) and gas (e.g., gas engine cogeneration) systems are compared together with theircombination of gas and electricity driven equipment (hybrid) system. Through this numerical study, the following results are obtained: a) Theoretically, the hybrid system is, of course, the best renewal system. However, the economic difference between the hybrid and the electrical systems is very small. b) The gas system is worse economically than the electrical one relatively due to the low energy efficiency of the related equipment, the high price of energy, and so on.

    CiNii

  • S081012 Structural Optimization of CO_2 Heat Pump Systems to Supply Hot Water

    YOSHIDA Shu, HOSHINO Keisuke, ITO Koichi, AMANO Yoshiharu, HASHIZUME Takumi

    Mechanical Engineering Congress, Japan   2011   "S081012 - 1"-"S081012-5"  2011.09

     View Summary

    An electrically driven heat pump using CO^2 as the refrigerant is developed to supply hot water with a high coefficient of performance for use in buildings such as hospitals, hotels, and so on. In addition, these values of conventional heat pumps which use alternative chlorofluorocarbon gas are also increasing step by step in recent years. This study compares several alternative heat pump and hot water tank systems as well as a gas-fired boiler system from economic points of view based on a mathematical optimization method considering ambient temperature. A hospital is taken as the objective of this study, and the energy demand for hot water supply is estimated hourly and monthly through one year. As there are alternative modes for the system's operation, a mathematical optimization method is applied at this stage for responding to changing energy demands in a timely manner. The economic evaluation of the systems is done by applying the annualized costs method. Our results show that there exists an economically optimal combination of heat pumps and hot water tank of proper capacity. It is also seen that systems adopting heat pumps have advantages over gas systems from economic, energy saving and environmental points of view.

    CiNii

  • Estimation of space weathering effects by the major element compositions of the Apollo samples

    OHTA T., FAGAN T., AMANO Y., HASEBE N.

      2011   21 - 21  2011.09

    CiNii

  • 1A2-Q13 Positioning Correction in GPS Blockage Conditions Landmark Observation Error Reduction for Precise Positioning(ITS and Robot Technology)

    SAKUMA Yu, ISHIKAWA Kiichiro, AMANO Yoshiharu, HASHIZUME Takumi, SHIMA Yoshihiro

      2011   "1A2 - Q13(1)"-"1A2-Q13(2)"  2011.05

     View Summary

    Mobile Mapping System(MMS) come to be widely used in survey. Although MMS can survey precisely in open sky condition, the quality of positioning is reduced in GPS blockage conditions like urban area because errors which accumulated by inertial measurement unit cannot be reset. Since GPS satellite geometries change hour by hour, the precision of survey data at same position is different. This paper describes a positioning correction method using road features which are common for multiple survey data. This method references road feature coordinates extracted from high-precision data, then correct low-precision data by observing same road feature coordinates. The result of positioning of this method depends on observation errors occurred when a user selects the two coordinates. Thus, this paper also proposes an observation error reduction method calculating road feature center coordinates from 3D point clouds.

    CiNii

  • 1A2-Q15 Extrinsic Camera Parameter Estimation using Laser Scanner for a Mobile Mapping System(ITS and Robot Technology)

    SUZUKI Taro, ISHIKAWA Kiichiro, AMANO Yoshiharu, HASHIZUME Takumi, SHIMA Yoshihiro, TAKIGUCHI Jun-ichi

      2011   "1A2 - Q15(1)"-"1A2-Q15(2)"  2011.05

     View Summary

    This paper describes an extrinsic camera parameter estimation method for a 3D measurement using a mobile mapping system (MMS). MMS can acquire the 3D information of the road environment efficiently using the laser scanner. However, a measurement range is limited because of the performance of the laser scanner, the use of camera for the 3D measurement is expected. In the 3D measurement using the camera, the accurate extrinsic camera parameter estimation is required. We propose an automatic camera parameter estimation method that uses the measurement data of laser scanner acquired by the MMS. In the result of experiment, it is confirmed that the proposed method can estimate the extrinsic camera parameter to an accuracy of 0.07 degree.

    CiNii

  • 2A1-M01 Evaluation for Vehicle Positioning in Urban Environment Using QZSS L1-SAIF Signal(Localization and Mapping)

    KITAMURA Mitsunori, SUZUKI Taro, AMANO Yoshiharu, HASHIZUME Takumi

      2011   "2A1 - M01(1)"-"2A1-M01(2)"  2011.05

     View Summary

    This paper describes an evaluation of the L1-SAIF (L1 Submeter-class Augmentation with Integrity Function) augmentation broadcasted by Quasi-Zenith Satellite System (QZSS) in the urban environment for the vehicle positioning. In urban environment, it is expected that the augmentation of QZSS is quite effective because of its high elevation angle. Therefore, we carried out the static and moving evaluation test. In static evaluation test, we compared with the positioning error between the only GPS positioning and augmentation of QZSS positioning for evaluation of the positioning accuracy. In moving evaluation test, we compared with the visibility of QZSS and SBAS satellites for evaluation of availability. As the result of the evaluation test, it was confirmed that the augmentation of QZSS has better availability and effectiveness than the augmentation of SBAS.

    CiNii

  • 1P1-K02 Development of a Small Autonomous Mobile Crawler System using a Temporal Expansion 2D Grid Map(Wheeled Robot/Tracked Vehicle)

    WATANABE Akira, YASUOKA Yoichi, SUZUKI Taro, AMANO Yoshiharu, HASHIZUME Takumi, YANO Hiroshi, AMANO Hisanori

      2011   "1P1 - K02(1)"-"1P1-K02(2)"  2011.05

     View Summary

    This paper describes a development of a small autonomous mobile crawler system using a temporal expansive two-dimensional grid map for the purpose of exploring the disaster site. The environmental map generated from the laser scanner and gyroscope is unsuitable for the actual environment because of the use of low-precision sensors. Therefore we propose the temporal expansion two-dimensional grid map to differentiate the overlapping of the grid map by time-tagging measurements of a laser scanner. As a result of the actual environment test, it can be concluded that the proposed crawler system can estimate the accurate location to differentiate the overlapping using the proposed temporal expansive two-dimensional grid map.

    CiNii

  • B-25 Analysis of Energy Saving Characteristics of Gas Engine Home Cogeneration Systems

    OKUDA Hiroki, ITO Koichi, AMANO Yoshiharu, HASHIZUME Takumi

      20 ( 2 ) 813 - 816  2008.08

     View Summary

    In this study, a mathematical optimization model is constructed to analyze the energy saving characteristics of gas engine home cogeneration system (say, GE-CGS). Energy saving characteristic is analyzed by comparing GE-CGS with the corresponding conventional system composed of a gas boiler and electricity purchased from outside grid. The system's operation is determined by the optimization model, by which the annual primary energy consumption is minimized for the energy demands measured actually through one year. Energy saving characteristics is analyzed for 5 houses. As the result, no apparent energy saving improvement was observed.

    CiNii

  • 2P1-A11 Development of Real-time Information Gathering System for Disaster Situation using a Small Unmanned Aerial Vehicle

    MIYOSHI Daichi, SUZUKI Taro, MEGURO Jun-ichi, TAKIGUCHI Jun-ichi, SATO Koichi, AMANO Yoshiharu, HASHIZUME Takumi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2008 ( 0 ) _2P1 - A11_1-_2P1-A11_4  2008

     View Summary

    This paper presents a disaster mitigation system using a small unmanned aerial vehicle (UAV). When natural disasters such as large earthquakes strike, immediate assessment of damages and continuous collection of information is necessary for saving disaster victims and constructing revival plans. We develop a small prototype UAV and an onboard software using a GPS navigation system and propose a unique disaster information collection system. This system enables us to collect disaster information in real-time by processing aerial pictures transmitted by the UAV and integrate it to the geographic information system (GIS). The usability of this system is confirmed by flight experiments.

    CiNii

  • 小型自律飛行ロボットを用いた災害時における情報収集システムの構築

    鈴木 太郎, 目黒 淳一, 天野 嘉春, 橋詰 匠, 久保 大輔, 土屋 武司, 鈴木 真二, 廣川 類, 辰己 薫, 佐藤 幸一, 瀧口 純一

    ロボット学会誌     85 - 92  2008

    DOI

  • Energy Saving Characteristics of Gas Engine Home Cogeneration Systems based on Optimization

    KITANI Kenichi, ITO Koichi, AMANO Yoshiharu, HASHIZUME Takumi

      23   125 - 128  2007.01

    CiNii

  • 2A2-B05 High Accuracy 3D Measurement by a Small Unmanned Aerial Vehicle

    SUZUKI Taro, MEGURO Jun-ichi, TAKIGUCHI Jun-ichi, SATO Koichi, HATAYAMA Michinori, AMANO Yoshiharu, HASHIZUME Takumi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2007 ( 0 ) _2A2 - B05_1-_2A2-B05_4  2007

     View Summary

    This paper presents 3D measurement method using a small UAV (Unmanned Aerial Vehicle) which is loaded with limited payload sensors and can fly at lower altitude than manned-aircrafts. The proposal is based on motion stereo technique using high accuracy 3D-camera motion estimation by means of combination of GPS/INS, image features and ground control points tracking. As a result of field experiments, it can be stated that the proposed 3D measurement method is robust to environmental perturbations and can realize accurately/high resolution distance estimation.

    CiNii

  • 小型自律飛行ロボットと時空間GISの活用による防災システムの構築

    鈴木太郎, 目黒淳一, 天野嘉春, 橋詰匠, 佐藤幸一, 瀧口純一, 畑山満則

    地理情報システム学会講演論文集   16   179 - 182  2007

  • Energy Saving Characteristics of Gas Engine Home Cogeneration Systems

    KITANI Kenichi, ITO Koichi, AMANO Yoshiharu, HASHIZUME Takumi

    Proceedings of the Annual Meeting of Japan Society of Energy and Resources   25   269 - 272  2006.06

    CiNii

  • 2P1-D23 A Study of Autonomous Mobile System in Outdoor Environment : Part 46 Development of Teleoperation System using Environmental Map for Outdoor Autonomous Mobile Robot

    KAWASAKI Yuji, ANDO Shingo, MEGURO Jun-ichi, TAKIGUCHI Jun-ichi, AMANO Yoshiharu, HASHIZUME Takumi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2006 ( 0 ) _2P1 - D23_1-_2P1-D23_3  2006

     View Summary

    This paper describes a remote control procedure for the autonomous Mobile Surveillance System. In general, there are some problems for camera-based remote vehicle control system, such as the telecommunication rate, time delay, and narrowness in the camera view field. To solve these problems, real-time environmental map, which is made by the distance information from LRF and the accurate position from the GPS/INS, is used to compensate these problems. It can be said that obstacle recognition and the distance measurement ability of an operator can be improved by the proposed method.

    CiNii

  • 屋外環境下で用いる自律移動システムに関する研究(第45報 自動計測システムを用いた継続的な被災情報の収集)

    飯澤諒, 目黒淳一, 石川貴一朗, 瀧口純一, 畑山満則, 野田五十樹, 天野嘉春, 橋詰匠

    ロボティクス・メカトロニクス講演会'06    2006

  • 3935 A Study of Autonomous Mobile System in Outdoor Environment : Part 39 Hi-speed Remote Manual control in Autonomous Mobile Surveillance System

    ANDO Shingo, KAWASAKI Yuji, MEGURO Jun-ichi, TAKIGUCHI Jun-ichi, AMANO Yoshiharu, HASHIZUME Takumi

    The proceedings of the JSME annual meeting   2005 ( 0 ) 261 - 262  2005

     View Summary

    This paper describes the hi-speed remote manual control for the autonomous Mobile Surveillance System. In general, there are some problems for camera-based remote vehicle control, such as narrowness in camera view field, image time delay, and lack of distance information. To solve these problems, real-time environmental map made by the distance information from LRF and highly accurate position from the GPS/INS is used to compensate these problems. Experimental data reveals that the proposed method is valid and effective for hi-speed remote vehicle control.

    CiNii

  • 1A1-N-082 A Study of Autonomous Mobile System in Outdoor Environment : Accurate Mobile Positioning Method by Tightly Coupled GPS/DR/IR camera(Three Dimension Measurement/Sensor Fusion 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Liv

    KAJIWARA Naoyuki, MEGURO Jun-ichi, TAKIGUCHI Jun-ichi, HASHIZUME Takumi, AMANO Yoshiharu

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2005 ( 0 )  2005

    CiNii

  • 1P1-N-082 A Study of Autonomous Mobile System in Outdoor Environment : Part 36 Improvement of Range Estimation Accuracy by Baseline Optimization in Motion Stereo Using GPS/INS/ODV(Three Dimension Measurement/Sensor Fusion 2,Mega-Integration in Robotics an

    Ando Shingo, Hukuyasu Tetsuya, Meguro Jun-ichi, Takiguchi Jun-ichi, Amano Yoshiharu, Hashizume Takumi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2005 ( 0 )  2005

    CiNii

  • 1P1-N-084 A Study of Autonomous Mobile System in Outdoor Environment : Part 35 Moving-obstacle Avoidance using RTK-GPS/INS/ODV(Three Dimension Measurement/Sensor Fusion 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Fukuyasu Tetsuya, Meguro Jun-ichi, Takiguchi Jun-ichi, Amano Yoshiharu, Hashizume Takumi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2005 ( 0 )  2005

    CiNii

  • 1P2-N-083 A Study of Autonomous Mobile System in Outdoor Environment : Part 34 Multipath and Diffraction Mitigation by Removing Invisible Satellites Data based on GPS Hardware Simulator having 3-D GIS Information(Three Dimension Measurement/Sensor Fusion

    Nishimura Hidetoshi, Ichinose Atsushi, Meguro Jun-ichi, Takiguchi Jun-ichi, Amano Yoshiharu, Hashizume Takumi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2005 ( 0 )  2005

    CiNii

  • 屋外環境下で用いる自律移動システムに関する研究 (第42報モービルマッピングシステムによる被災地の状況把握)

    大西尭, 石川貴一朗, 目黒淳一, 畑山満則, 瀧口純一, 天野嘉春, 橋詰匠

    計測自動制御学会システムインテグレーション部門学術講演会SICE SI2005 講演論文集    2005

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Industrial Property Rights

  • 地熱発電プラントの坑井特性推定システム、及びその坑井特性推定方法並びに坑井特性推定プログラム、地熱発電プラント

    福田 憲弘, 齊藤 象二郎, 辻井 一記, 天野 嘉春, 川副 聖規, 大里 和己

    Patent

    J-GLOBAL

  • コリオリ質量流量計

    特許第6504594号

    吉野 晶紀, 小山 弘, 角口 開道, 渡邉 敦, 天野 嘉春

    Patent

    J-GLOBAL

  • 発電・冷凍システム

    4465439

    橋詰 匠, 天野 嘉春, 秋葉 雅史

    Patent

    J-GLOBAL

  • 非共沸混合蒸気タービン装置ならびにその利用装置

    天野 嘉春, 秋葉 雅史, 五個野 武利

    Patent

    J-GLOBAL

Awards

  • SICE Annual Conference International Award

    2021.09   The Society of Instrument and Control Engineers   Device Data Utilization Use Case Analysis for FDT Technology in Industrial Control System

    Winner: Ito, Akio, Chan, Sin Wai, Takeuchi, Tetsuo, Amano, Yoshiharu

  • ECOS 2015 Best Paper Award Second Place

    2016.06   ECOS 2015   Economic Evaluations of Residential Energy Systems Based on Prediction-Operational Planning- Control Method using Time-of-Use Prices

    Winner: Ryohei Ogata, Akira Yoshida, Yu Fujimoto, Noboru Murata, Shinji Wakao, Shin-ichi Tanabe, Yoshiharu Amano

  • Certificate of Merit for Excellent Paper

    2012.05   JSME   3D Terrain Reconstruction by Small Unmanned Aerial Vehicle Using SIFT-Based Monocular SLAM

  • Certificate of Merit for ROBOMECH Journal Best Paper

    2011.05   JSME  

  • IEEE-ICRA 2011 Best Automation Paper Award - Finalist

    2011.05  

  • Best Paper Award (TOMODA Award)

    2006.10   SICE  

  • Certificate of Merit for Thermal Engineering Best Paper

    2005.03   JSME  

  • Technical Innovations Award

    2005.03   The Robotics Society of Japan  

  • IJPGC Best Paper Award/ASME

    1997   AMSE  

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Research Projects

  • IoT-AI technology development for maintaining the sustainability of geothermal power generation

    Geothermal power generation introduction expansion research and development

    Project Year :

    2021.06
    -
    2023.03
     

  • Optimisation of District Energy Distribution and Storage System by CO2 Network

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)

    Project Year :

    2019.04
    -
    2022.03
     

  • 協調エネルギー管理システム実現手法の創出とその汎用的な実証および評価の基盤体系構築

    科学技術振興機構  戦略的創造研究推進事業

    Project Year :

    2012.04
    -
    2021.03
     

  • Technological development related to advanced management of operations, etc. in geothermal power generation systems

    New Energy and Industrial Technology Development Organization  Geothermal power generation advanced utilization technology development

    Project Year :

    2018.06
    -
    2021.02
     

  • 次世代エネルギーシステムの最適更新計画

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(基盤研究(C))

    Project Year :

    2012
    -
    2014
     

     View Summary

    最適更新計画問題において初期システム構成が,更新計画に対して重大な影響を及ぼすことが予想される.実在する病院用エネルギー供給システムを元に,具体的なシステム構成候補をほぼ網羅的に想定してスーパーストラクチャを構築し,更新計画問題を混合整数計画問題として定式化して調査した結果を日本機械学会論文として投稿していたが,本年度発行された.当該論文では,機器性能値(効率,特に経年劣化に伴う機器性能劣化や新規技術開発による将来の性能向上の度合い)を考慮したモデルおよびパラメータを具体的に提示し,「初期コストが高いが,高性能な機器」や「初期コストは低いが,性能劣化の影響が強い機器」などとの組み合わせが,実際どの程度の経済性に影響するか,評価期間を機器の法廷耐用年数と同じく15年と設定し,評価して整理した.その結果,現在市場にある製品を元に想定した場合には,「初期コストが高いが,高性能な機器」が最適なシステ

  • 高含水バイオマス省エネルギー蒸発脱水技術の研究開発

    Project Year :

    2005
    -
    2007
     

  • アドバンスト発電システムに関する研究

    文部科学省 

    Project Year :

    2002
    -
    2006
     

  • Development of recording and multi dimensional analysis system for track & field

    Project Year :

    2003
    -
    2004
     

     View Summary

    The purpose of this study is propose proper training menu for middle-distance-runner, through build running model and quantitative database, using ODV (Omni Directional Vision system). ODV is constructed with two cone-shaped mirror and one CCD camera. In this system, incoming light is reflected two times to enter CCD, what's more, gets all directional vision in real time. Before we had started this project, effectiveness of whole system is confirmed with two tests. One is whole track analysis with ODV, another is minute motion analysis with normal camera.
    In last year, a new device is designed and produced to be used at 400m track as standardized field. The device is constructed with two optics and one high-speed camera. Two optics are omni-directional optics as ODV, and specific area enlarge optics as zoom lens. The former records all around of track in real time to know relation between time and position of runner. The latter analyze motion of runner minutely. Thanks to ODV vision, we can focus zoom lens on runner.
    In this year, we evaluate the device created last year. In omni-directional optics, image was sharp enough to recognize runner with no distortion. In specific area enl

  • アドバンスト発電システムに関する研究

    文部科学省 

    Project Year :

    1997
    -
    2001
     

  • アンモニア・水混合媒体吸収器および凝縮器に使用する直接接触式熱交換器の研究

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(奨励研究(A))

    Project Year :

    1998
    -
    1999
     

     View Summary

    本年度までに明らかにした事項は次の2点である。
    1) アンモニア・水混合媒体の熱力学的物性推算式は、Tillner-Roth等の推奨するHelmholtz Free Energyを基礎とした状態方程式による方法が、現状では最も信頼が置ける。しかしながら、この方法は、物性値推算において2次の微分項を含む演算があり、たとえばIbrahim等の推奨する提案する状態方程式を元にした方法に比べて、収束演算時間がかかることが不利な点として残る。また、修正SRK方程式を元にした方法で推算すると、特に密度からアンモニア濃度を算定する際に、他の上記方式に比べて大きくその値がずれることが確認された。現状では、系内のアンモニア濃度をオンライン計測する方法としては、密度計による液相部濃度の推算が唯一であることから、注意すべき点である。
    2) 直接接触熱交換プロセスの基礎的な特性を定常特性実験により評価した。シェル内に流入した水蒸気に、冷却水を液柱(動作点によっては液滴)状に熱交換器上

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Presentations

  • Impact of Utilizing PV Surplus Power on CO2 Emission of Residential Energy System

    Toshiyuki Nagai, Akira Yoshida, Yoshiharu Amano

    Presentation date: 2016.06

  • Impact of Forecasting Accuracy of Demand Profile on Energy Consumption Characteristics of Residential PEM-FC CGS

    Yoshiharu Amano

    2016 JST-NSF-DFG-RCN Workshop on Distributed Energy Management Systems  (Heidelberg)  DFG

    Presentation date: 2016.05

  • Precise Vehicle Positioning by Integration of Single-Frequency RTK-GNSS and INS

    Yusuke Takahashi, Taro Suzuki, Yoshiharu Amano

    The Institute of Positioning, Navigation and Timing of Japan

    Presentation date: 2016.04

  • Analysis for Operation Performance of a Home Energy Management System upon PV Suppression

    Ryohei Ogata, Akira Yoshida, Shin-ich Tanabe, Yoshiharu Amano

    Presentation date: 2016.02

  • Impact of Demand Prediction on Operational Result of Home Energy Management System

    Jun Yoshikawa, Akira Yoshida, Shin-ichi Tanabe, Yoshiharu Amano

    (Tokyo) 

    Presentation date: 2016.02

  • Characterization of Fuel Cell Cogeneration System Based on Experiment

    Akira YOSHIDA, Takumi FURUICHI, Yoshiharu AMANO

    (Sapporo) 

    Presentation date: 2015.09

  • Effect of Demand Prediction Accuracy on Energy Saving Characteristic of PEFC-CGS for Residential Use

    Jun YOSHIKAWA, Akira YOSHIDA, Yoshiharu AMANO

    JSME

    Presentation date: 2015.09

  • Investigation of Absorption Heat Pump Cycle Driven by Low Temperature Waste Heat

    Haruka MATSUMOTO, Tatsuya HYODO, Yoshiharu AMANO

    (Sapporo)  JSME

    Presentation date: 2015.09

  • アンテナを用いた マルチコプタの高精度姿勢推定手法の検討

    鈴木太郎, 明比建, 増渕拓馬, 天野嘉春

    第33回日本ロボット学会学術講演会  (東京)  日本ロボット学会

    Presentation date: 2015.09

  • Localization of planetary rover based on camera pose considered skyline matching

    Takeshi AKEHI, Mitsunori KITAMURA, Kyohei Otsu, Masatsugu Otsuki, Yoshiharu AMANO

    Presentation date: 2015.06

  • Attack and Retreat Judgment System Referring the Lesson from Fukushima Daiichi Nuclear Power Plant

    Takaya TSUKAGOSHI, Masanao, KOBAYASHI, Yoshiharu AMANO, Kiichiro ISHIKAWA, Yoshihiro YAMAGUCHI, Katsuaki KUBOTA

    2015 JSME Conference on Robotics and Mechatronics  (Kyoto)  JSME

    Presentation date: 2015.05

  • Development of NLOS satellites detection method using 3D map and a fish-eye camera for improving GNSS positioning accuracy in urban area

    Shodai KATO, Ken WATANABE, Mitsunori KITAMURA, Yoshiharu AMANO

    2015 JSME Conference on Robotics and Mechatronics  (Kyoto)  JSME

    Presentation date: 2015.05

  • 予測・運用計画・制御手法に基づく家庭用エネルギーシステム の時間帯別料金を考慮した経済性評価

    第31回エネルギーシステム・経済・環境コンファレンス 

    Presentation date: 2015.01

  • 快適性を考慮した家庭用エネルギーシステムの最適運用方策の検討

    日本機械学会2014年度年次大会 

    Presentation date: 2014.09

  • 発電冷凍ハイブリッドサイクルの理論最適サイクルによる評価

    日本機械学会2014年度年次大会 

    Presentation date: 2014.09

  • 家庭用PEFCシステムにおける級長需要予測誤差が省エネルギー性に及ぼす影響の評価

    第19回動力・エネルギーシンポジウム 

    Presentation date: 2014.06

  • 確率計画法を用いたエネルギー需要シナリオに対する家庭用PEFCシステムの最適運用方策の検討

    第19回動力・エネルギーシンポジウム 

    Presentation date: 2014.06

  • An integration of a granulating-drying system and Vapor Compression-Condensation process.

    Presentation date: 2014.06

  • スカイラインマッチングによる方位角推定を用いた惑星探査ローバの自己位置補正

    2014 JSME Conference on Robotics and Mechatronics 

    Presentation date: 2014.05

  • 準天頂衛星を利用した都市部環境下における マルチ GNSS 複合測位の利用性向上に関する研究

    2014 JSME Conference on Robotics and Mechatronics 

    Presentation date: 2014.05

  • GPS 不可視衛星棄却のための可視光魚眼カメラ画像を用いた障害物抽出

    2014 JSME Conference on Robotics and Mechatronics 

    Presentation date: 2014.04

  • Improving availability and accuracy of Multi-GNSS in Urban Environment

    Presentation date: 2014.04

  • DEVELOPMENT OF A PYROELECTRIC X-RAY GENERATOR FOR X-RAY FLUORESCENCE ANALYSIS ON FUTURE LUNAR AND PLANETARY LANDING MISSIONS

    ISRS 

    Presentation date: 2014.04

  • EXPERIMENTAL AND NUMERICAL STUDIES ON X-RAY FLUORESCENCE ANALYSIS FOR ACTIVE X-RAY SPECTROMETER ON SELENE-2

    ISRS2014 

    Presentation date: 2014.04

  • ベイジアンネットワークを適用した 機器使用傾向学習型 HEMS の開発

    平成26年電気学会全国大会 

    Presentation date: 2014.03

  • ベイジアンネットワークを適用した機器使用傾向学習型HEMSの開発

    平成26年電気学会全国大会 

    Presentation date: 2014.03

  • 地域別エネルギー需要特性に対する家庭用PEFCシステムの運用方策の検討

    第30回エネルギーシステム・経済・環境コンファレンス 

    Presentation date: 2014.01

  • 早稲田大学 天野研究室 つくばチャレンジ2013における自律移動ロボットの開発

    つくばチャレンジシンポジウム2013 

    Presentation date: 2014.01

  • つくばチャレンジ2013における自律移動ロボットの開発

    SI2013 

    Presentation date: 2013.12

  • アクティブサスペンションによるフロート型水上飛行機の耐波性向上に関する検討

    日本船舶海洋工学会平成25年秋季講演会 

    Presentation date: 2013.11

  • 典型的需要パターンが及ぼすエネルギー供給システムへの影響分析手法の検討

    計測自動制御学会 システム・情報部門 学術講演会2013(SSI2013) 

    Presentation date: 2013.11

  • コリオリ質量流量計における測定管の減肉診断減肉模擬およびシミュレーションによる診断指標の評価

    計測自動制御学会 産業応用部門・流体計測制御部会 

    Presentation date: 2013.10

  • Mobile Mappingデータにおける大規模三次元点群からの道路周辺地物の認識(第5報) -柱状物体の位置関係を用いた空中架線の抽出-

    2013年度精密工学会秋季大会学術講演会 

    Presentation date: 2013.09

  • アンモニア・水混合媒体による発電冷凍ハイブリッドサイクルの多目的最適化

    日本機械学会 2013年度年次大会� 

    Presentation date: 2013.09

  • Basic studies on x-ray fluorescence analysis for active x-ray spectrometer on SELENE-2

    SPIE 2013 

    Presentation date: 2013.09

  • 稜線画像と数値標高モデルを用いたスカイラインマッチングによるローバの自己位置同定手法

    日本機械学会第13回「運動と振動の制御」シンポジウム 

    Presentation date: 2013.08

  • Optimal operation of a residential photovoltaic/fuel-cell energy system using scenario-based stochastic programming

    ECOS2013, 

    Presentation date: 2013.07

  • Lunar Surface Investigation using an Active X-ray Spectrometer for the SELENE-2 Rover

    AOGS2013 

    Presentation date: 2013.06

  • 水蒸気圧縮機における気液二相圧縮過程の解析と実験

    日本機械学会 第18回動力・エネルギー技術シンポジウム 

    Presentation date: 2013.06

  • 家庭用PVシステムと併用する蓄電池の劣化特性を考慮した検討

    日本機械学会,第18回動力・エネルギー技術シンポジウム 

    Presentation date: 2013.06

  • Development of a Pyroelectric X-ray Generator for Active X-ray Spectrometer of SELENE-2

    ISTS 2013 

    Presentation date: 2013.06

  • An Active X-Ray Spectrometer for the SELENE-2 Rover

    ISTS 2013 

    Presentation date: 2013.06

  • 屋内外で利用可能な可搬型三次元計測装置の開発

    日本ロボット学会ロボティクス・メカトロニクス講演会2013講演論文集 

    Presentation date: 2013.05

  • MMS の計測経路計画のリアルタイム更新

    日本ロボット学会ロボティクス・メカトロニクス講演会2013講演論文集 

    Presentation date: 2013.05

  • 小型UAVにおけるGPSジャイロ/IMU複合を用いた姿勢計測手法の構築�

    日本ロボット学会ロボティクス・メカトロニクス講演会2013講演論文集 

    Presentation date: 2013.05

  • 樹木隣接環境下におけるGPSマルチパス誤差調査に関する研究

    日本ロボット学会ロボティクス・メカトロニクス講演会2013講演論文集 

    Presentation date: 2013.05

  • 準天頂衛星LEX信号を用いたタイトカップリング型GNSS/IMU複合航法の構築

    日本ロボット学会ロボティクス・メカトロニクス講演会2013講演論文集 

    Presentation date: 2013.05

  • PYROELECTRIC X-RAY GENERATOR FOR ACTIVE X-RAY FLUORESCENCE SPECTROMETER ON THE ROVER OF SELENE-2

    ISRS 2013 

    Presentation date: 2013.05

  • Mobile Mappingデータにおける大規模三次元点群からの道路周辺地物の認識(第4報) -Mobile Mappingデータにより作成した識別器の他システムにおける性能評価-

    2013年度精密工学会春季大会学術講演会 

    Presentation date: 2013.03

  • 太陽光発電導入各種エネルギー供給システムの経済性・省エネルギー性比較分析

    第29回エネルギーシステム・経済・環境コンファレンス 

    Presentation date: 2013.01

  • SELENE-2用月面探査車搭載に向けた化学分析装置AXSの開発

    宇宙科学シンポジウム 

    Presentation date: 2013.01

  • つくばチャレンジ2012における自律移動ロボットの開発

    つくばチャレンジ2012シンポジウム 

    Presentation date: 2013.01

  • Recognition of Road Objects from 3D Mobile Mapping Data

    Asian Conference on Design and Digital Engineering 

    Presentation date: 2012.12

  • AN ACTIVE X-RAY SPECTROMETER PROPOSED FOR THE SELENE-2 ROVER

    IPM2012 

    Presentation date: 2012.10

  • Mobile Mappingデータにおける大規模三次元点群からの道路周辺地物の認識(第3報)-局所領域の点群孤立度に着目した柱状物体の認識-

    2012年度精密工学会秋季大会学術講演会 

    Presentation date: 2012.09

  • アンモニア・水混合媒体を用いた発電・冷凍ハイブリッドサイクルのエクセ ルギー評価

    日本機械学会 2012 年度年次大会 

    Presentation date: 2012.09

  • An Active X-Ray Spectrometer (AXS) for the Rover of the SELENE-2

    ipm2012 

    Presentation date: 2012.08

  • A Comparison of Optimal Operation of Residential Energy Systems Using Clustered Demand Patterns Based on Kullback-Leibler Divergence

    Proc. ECOS2012 

    Presentation date: 2012.06

  • 水蒸気圧縮過程における水噴霧効果の解析

    第十七回動力・エネルギー技術シンポジウム 

    Presentation date: 2012.06

  • 理論最適サイクルに基づく発電・冷凍ハイブリッドサイクルの評価法

    第十七回動力・エネルギー技術シンポジウム 

    Presentation date: 2012.06

  • 複数の一周波GPS受信機を用いた小型UAVの高精度姿勢計測

    ロボティクス・メカトロニクス講演会2012講演論文集 

    Presentation date: 2012.05

  • 大規模三次元点群からの機械学習による柱状物体の認識

    ロボティクス・メカトロニクス講演会2012講演論文集 

    Presentation date: 2012.05

  • Mobile Mapping Systemによる道路視点からの 東日本大震災被災地域調査 —時系列三次元点群比較による道路周辺環境の変化域抽出—

    ロボティクス・メカトロニクス講演会2012講演論文集 

    Presentation date: 2012.05

  • GPSとGLONASS複合による移動体測位の 信頼性の向上に関する研究

    ロボティクス・メカトロニクス講演会2012講演論文集 

    Presentation date: 2012.05

  • 小型自律飛行ロボットを用いた機械学習による植生分類図作成

    ロボティクス・メカトロニクス講演会2012講演論文集 

    Presentation date: 2012.05

  • GNSSの可視性を考慮したMobile Mapping Systemの計測経路計画

    ロボティクス・メカトロニクス講演会2012講演論文集 

    Presentation date: 2012.05

  • 準天頂衛星と可視衛星数地図を用いた自律移動システムの経路計画

    ロボティクス・メカトロニクス講演会2012講演論文集 

    Presentation date: 2012.05

  • AN ACTIVE X-RAY SPECTROMETER (AXS) FOR THE ROVER OF THE JAPANESE SELENE-2 MISSION FOR CHEMICAL IN-SITU CHARACTERIZATION OF LUNAR MATERIAL

    Europian Lunar Symposium, DLR Berlin 

    Presentation date: 2012.04

  • PRELIMINARY EXPERIMENTS WITH A PYROELECTRIC X-RAY-SOURCE FOR THE DEVELOPMENT OF AXS FOR THE SCIENTIFIC PAYLOAD OF THE SELENE-2 MISSION

    43rd Lunar and Planetary Science Conference (2012) 

    Presentation date: 2012.03

  • INTRODUCTION TO THE SCIENTIFIC INVESTIGATIONS OF AN ACTIVE X-RAY SPECTROMETER FOR THE SELENE-2 ROVER

    43rd Lunar and Planetary Science Conference (2012) 

    Presentation date: 2012.03

  • SVM機械学習による大規模三次元点群からの道路周辺地物の認識

    2012年度精密工学会春季大会学術講演会 

    Presentation date: 2012.03

  • 未利用低温廃熱に適した小型発電システムの評価

    関東学生会第51回学生員卒業研究発表会講演前刷集 

    Presentation date: 2012.03

  • INTRODUCTION TO THE SCIENTIFIC INVESTIGATIONS OF AN ACTIVE X-RAY SPECTROMETER FOR THE SELENE-2 ROVER

    The 6th KAGUYA (SELENE) Science Working Team Meeting 

    Presentation date: 2012.01

  • Development of Active X-ray Spectrometer for in-situ measurement on Lunar Surface

    Presentation date: 2012.01

  • 実測データに基づく1kW級PEFCシステムの特性分析

    第28回エネルギーシステム・経済・環境コンファレンス講演論文集 

    Presentation date: 2012.01

  • SELENE-2 搭載に向けたその場元素分析のための能動型蛍光X 線分光計AXS の開発

    第33回 太陽系科学シンポジウム 

    Presentation date: 2011.11

  • Mobile Mapping Systemによる広域環境モニタリングの実証研究

    地理情報システム学会・第20回研究発表大会 

    Presentation date: 2011.10

  • Estimation of space weathering effects by the major element compositions of the Apollo samples

    Presentation date: 2011.09

  • Mobile Mapping Systemの災害復興への活用に関する研究

    2011年度精密工学会秋季大会学術講演会 

    Presentation date: 2011.09

  • Mobile Mapping Systemの三次元点群処理に関する研究

    2011年度精密工学会秋季大会学術講演会 

    Presentation date: 2011.09

  • 時間拡張2Dグリッドマップを用いた小型自律移動クローラシステムの開発

    ロボティクス・メカトロニクス講演会2011 

    Presentation date: 2011.09

  • Mobile Mapping System における広域三次元計測のためのレーザスキャナを利用したカメラ外部パラメータの推定

    ロボティクス・メカトロニクス講演会2011 講演論文 

    Presentation date: 2011.09

  • マルチパス判別を複合したタイトカップリングGPS/INS複合航法による移動体位置推定

    第29回日本ロボット学会学術講演会 講演予稿集 

    Presentation date: 2011.09

  • 700W級PEFCシステムのCO2排出量分析

    日本機械学会2011年度年次大会 

    Presentation date: 2011.09

  • Comparative evaluation of residential energy systems to reduce CO2 emission

    Proc. World Engineers Convention 2011 

    Presentation date: 2011.09

  • Multipath Mitigation Using Omnidirectional Infrared Camera for Tightly Coupled GPS/INS Integration in Urban Environment

    Proc. of ION GNSS 2011 

    Presentation date: 2011.09

  • Development of a SIFT based Monocular SLAM Algorithm for a Small Unmanned Aerial Vehicle

    Proc. of SICE Annual Conference 2011 

    Presentation date: 2011.09

  • Evaluation of A Positioning Correction Method in GPS Blockage Condition

    Proc. of SICE Annual Conference 2011 

    Presentation date: 2011.09

  • Comparative Study on Renewal Planning of Alternative Energy Supply Systems for a Hospital

    Proc. ECOS2011. 

    Presentation date: 2011.07

  • 1000W級PEFCシステムのCO2排出量分析

    第30回エネルギー資源学会研究発表会 

    Presentation date: 2011.06

  • 三次元地図を用いたGNSS反射マルチパス識別による都市環境での測位手法の検討

    ロボティクス・メカトロニクス講演会2011 

    Presentation date: 2011.05

  • GPS衛星不可視環境下における位置標定の高精度化に関する研究

    ロボティクス・メカトロニクス講演会2011 講演論文集 

    Presentation date: 2011.05

  • High-Accuracy GPS and GLONASS Positioning by Multipath Mitigation using Omnidirectional Infrared Camera

    Proc. of 2011 IEEE International Conference on Robotics and Automation 

    Presentation date: 2011.05

  • ECONOMIC AND ENVIRONMENTAL EVALUATION OF CO2 HEAT PUMP SYSTEMS TO SUPPLY HOT WATER FOR A HOSPITAL

    Proc. 10th IEA Heat Pump Conference 

    Presentation date: 2011.05

  • ANALYSIS OF ENERGY SYSTEMS SUPPLYING HOT WATER AND ELECTRICITY FOR RESIDENTIAL USE

    Proc. 10th IEA Heat Pump Conference 

    Presentation date: 2011.05

  • 三次元地図と赤外全周カメラを用いた屋外環境における車両の三次元位置姿勢推定

    第16回ロボティクスシンポジア予稿集 

    Presentation date: 2011.03

  • GNSSマルチパス波判別を複合した精密単独測位による屋外移動ロボットの位置推定

    第16回ロボティクスシンポジア予稿集 

    Presentation date: 2011.03

  • 6-DOF Localization for a Mobile Robot using Outdoor 3D Voxel Maps

    IEEE/RSJ International Conference on Intelligent Robots and Systems 

    Presentation date: 2010.10

  • Mobile Mapping Systemの三次元点群に活用に関する研究

    2010年度精密工学会秋春季大会学術講演会 

    Presentation date: 2010.09

  • Mobile Mapping System による三次元点群 と時系列画像を用いた道路面補完に関する研究

    第28回日本ロボット学会学術講演会 

    Presentation date: 2010.09

  • 環境の三次元地図と赤外全周カメラを用いたパーティクルフィルタによる屋外位置推定

    第28回日本ロボット学会学術講演会 

    Presentation date: 2010.09

  • Vision Based Localization of a Small UAV for Generating a Large Mosaic Iamge

    SICE Annual Conference 2010 

    Presentation date: 2010.08

  • 家庭用PEFCシステムの省エネルギー性・環境性・経済性評価

    第29回エネルギー・資源学会研究発表会 

    Presentation date: 2010.06

  • 戸建住宅における電力・給湯需要に対する各種エネルギー供給システムの比較分析

    第15回動力・エネルギーシンポジウム講演論文集 

    Presentation date: 2010.06

  • 小型UAVによるSIFT特徴を用いた単眼カメラSLAMアルゴリズム構築

    ロボティクス・メカトロニクス講演会2010 講演論文集 

    Presentation date: 2010.06

  • 屋外環境下で用いる自律移動システムに関する研究−第57報 GPS衛星不可視環境下における道路地物の測量値を用いた位置補正手法の評価−

    ロボティクス・メカトロニクス講演会2010 講演論文集 

    Presentation date: 2010.06

  • 屋外環境下で用いる自律移動システムに関する研究—第56 報 低周波数無線による通信遅延を考慮した屋外遠隔運転—

    ロボティクス・メカトロニクス講演会2010 講演論文集 

    Presentation date: 2010.06

  • A Multi-Stage Optimal Renewal Planning of an Energy Supply System for Office Building from Economic Viewpoint

    ECOS 2010 

    Presentation date: 2010.06

  • GPS 時刻同期と環境の三次元地図情報を用いた屋外遠隔運転システムの開発

    第15回ロボティクスシンポジア予稿集 

    Presentation date: 2010.03

  • 蒸発脱水プロセスの超省エネルギー化を可能とするVCC技術の研究開発

    26回エネルギーシステム・経済・環境コンファレンス 

    Presentation date: 2010.01

  • 下水汚泥のVCC蒸発脱水プロセスによるエネルギー資源化の可能性

    第26回エネルギーシステム・経済・環境コンファレンス 

    Presentation date: 2010.01

  • 屋外環境下で用いる自律移動システムに関する研究 第54報 GPS時刻同期を用いた車両の遠隔運転システムに関する研究

    第10回 計測自動制御学会 システムインテグレーション部門講演会(SI2009) 講演論文集 

    Presentation date: 2009.12

  • モービルマッピングシステムを用いた次世代道路地図作成システムに関する研究

    第10回 計測自動制御学会 システムインテグレーション部門講演会(SI2009) 講演論文集 

    Presentation date: 2009.12

  • A Multi-Stage Optimal Renewal Planning for an Energy Supply System from Economic Viewpoint

    International Conference on Power Engineering-09 (ICOPE-09) 

    Presentation date: 2009.11

  • Aerial Cable Localization and Management Using a Mobile Mapping System

    Proc. of ICROS-SICE International Joint Conference 2009 

    Presentation date: 2009.08

  • Development of Low-Cost and Flexible Vegetation Monitoring System Using Small Unmanned Aerial Vehicle

    ICROS-SICE International Joint Conference 2009 

    Presentation date: 2009.08

  • 家庭用ガスエンジン・コージェネレーションシステムの省エネルギー性最大ポテンシャルの分析

    第28回エネルギー・資源学会研究発表会講演論文集 

    Presentation date: 2009.05

  • 小型自律飛行機による可視・近赤外画像を利用した植生評価システムの構築

    ロボティクス・メカトロニクス講演会2009 講演論文集 

    Presentation date: 2009.05

  • 屋外環境下で用いる自律移動システムに関する研究 第52報 環境の三次元地図情報を用いた車両の運転支援に関する研究

    ロボティクス・メカトロニクス講演会2009 講演論文集 

    Presentation date: 2009.05

  • モービルマッピングシステムと小型自律飛行機を用いた堤防の三次元復元に関する研究

    ロボティクス・メカトロニクス講演会2009 講演論文集 

    Presentation date: 2009.05

  • 屋外環境下で用いる自律移動システムに関する研究 第53報 環境の三次元点群情報を用いた位置推定手法の検討

    ロボティクス・メカトロニクス講演会2009 講演論文集 

    Presentation date: 2009.05

  • モービルマッピングシステムを用いた次世代道路地図作成システムに関する研究

    ロボティクス・メカトロニクス講演会2009 講演論文集 

    Presentation date: 2009.05

  • モービルマッピングシステムを用いた道路オルソモザイク生成に関する研究

    ロボティクス・メカトロニクス講演会2009 講演論文集 

    Presentation date: 2009.05

  • モービルマッピングシステムによる高分解能DEMを用いた路面形状の管理に関する研究

    ロボティクス・メカトロニクス講演会2009 講演論文集 

    Presentation date: 2009.05

  • 道路地物の測量値とGPS/IMUを複合した自己位置標定手法の研究

    ロボティクス・メカトロニクス講演会2009 講演論文集 

    Presentation date: 2009.05

  • 屋外環境下で用いる自律移動システムに関する研究 (第51報 環境の三次元点群情報を用いた車両の遠隔運転に関する研究)

    第9回 計測自動制御学会 システムインテグレーション部門講演会 

    Presentation date: 2008.12

  • 小型自律飛行機による植生観測手法の構築

    第9回 計測自動制御学会 システムインテグレーション部門講演会 

    Presentation date: 2008.12

  • A MOBILE MAPPING SYSTEM FOR ROAD MANAGEMENT SYST

    ITS World Congress 2008 

    Presentation date: 2008.11

  • モービルマッピングシステムを用いた道路周辺三次元空間モデリングシステム

    日本バーチャルリアリティ学会第13回大会 

    Presentation date: 2008.09

  • 小型自律飛行ロボットを用いた災害時における情報収集システムの構築

    日本ロボット学会誌 

    Presentation date: 2008.09

  • 家庭用ガスエンジン・コージェネレーションシステムの省エネルギー性分析

    第25回空気調和・衛生工学会大会学術講演論文集 

    Presentation date: 2008.08

  • 小型自律飛行機を用いた災害時のための実時間情報収集システムの構築

    日本機械学会ロボティクス・メカトロニクス講演会2008 

    Presentation date: 2008.06

  • モービルマッピングシステムを用いた架空線・電柱位置管理に関する研究

    ロボティクスメカトロニクス講演会2008 

    Presentation date: 2008.06

  • アンモニア吸収式冷凍機における冷媒採取測定方法に関する実験

    日本機械学会2008年度全国大会講演会論文集 

    Presentation date: 2008.06

  • Multi-Objective Optimal Renewal Planning of Energy Supply Systems for Buildings from Economic and Environmental Viewpoints

    21st International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems (ECOS’08) 

    Presentation date: 2008.06

  • Impact Analysis of Carbon Tax on the Renewal Planning of Energy Supply System for an Office Building

    21st International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems (ECOS’08) 

    Presentation date: 2008.06

  • モービルマッピングシステムを用いたトンネル断面形状管理に関する研究

    ロボティクスメカトロニクス講演会2008 長野 

    Presentation date: 2008.06

  • 小型自律飛行機を用いた災害時のための実時間情報収集システムの構築

    ロボティクスメカトロニクス講演会2008 長野 

    Presentation date: 2008.06

  • 小型自律飛行ロボットを用いた情報収集・計測による防災システムの構築

    第13回ロボティクスシンポジア 

    Presentation date: 2008.03

  • 小型自律飛行ロボットを用いた情報収集・計測による防災システムの構築

    第13回ロボティクスシンポジア,香川 

    Presentation date: 2008.03

  • 家庭用ガスエンジン・コージェネレーションシステムにおける発電効率向上の影響分析

    ネルギー・資源学会論文集:第24回エネルギーシステム・経済・環境コンファレンス研究発表 

    Presentation date: 2008.01

  • Development of Positioning Technique using Omni-directional IR Camera and Aerial Survey Data

    2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics 

    Presentation date: 2007.09

  • アンモニアを作動流体とする温泉熱温度差発電に関する研究 第2報

    日本機械学会2007年度年次大会講演論文集 

    Presentation date: 2007.09

  • 排ガス駆動アンモニア水混合媒体発電・冷凍ハイブリッドサイクルの特性

    JSME第12回動力・エネルギー 技術シンポジウム講演論文集 

    Presentation date: 2007.06

  • 小型自律飛行機を用いた高精度三次元計測

    ロボティクス・メカトロニクス 講演会(秋田) 

    Presentation date: 2007.06

  • Energy Saving Characteristics of Gas Engine Home Cogeneration Systems

    ECOS 2007 

    Presentation date: 2007.06

  • 熱源状態変動に対するアンモニア・水混合媒体タービンシステムの特性調査

    日本機械学会九州支部第60期総会・講演会論文集 

    Presentation date: 2007.03

  • 機器部分負荷および外気温特性を考慮したヒートポンプとガス吸収式冷温水機の経済性評価

    日本機械学会東北学生会卒業研究発表講演論文集 

    Presentation date: 2007.03

  • 最適化に基づく家庭用ガスエンジン・コージェネレーションシステムの省エネルギー性分析

    第23回 エネルギーシステム・経済・環境コンファレンス 講演論文集 

    Presentation date: 2007.01

  • 屋外環境下で用いる自律移動システムに関する研究 (第47報 赤外線全周カメラを用いたマルチパス除去による測位の高精度化)

    計測自動制御学会 システムインテグレーション部門 講演会 

    Presentation date: 2006.12

  • 小型自律飛行機と時空間GISを用いた高解像度モザイク画像

    計測自動制御学会 システムインテグレーション部門 講演会 

    Presentation date: 2006.12

  • 赤外線全周カメラを用いたGPS測位の高精度化

    GPS/GNSSシンポジウム2006 

    Presentation date: 2006.11

  • アンモニア吸収式冷凍機の起動時における溶液ポンプ異常抑制に関する研究−冷媒蒸気発生タイミングの影響−

    2006年度日本冷凍空調学会年次大会講演論文集,福岡 

    Presentation date: 2006.10

  • キャピラリーチューブを用いた中規模ヒートポンプシステムに関する研究

    2006年度日本冷凍空調学会年次会 講演論文集 

    Presentation date: 2006.10

  • 3D Reconstruction by a Mobile Robot using Multi-Baseline Omni-Directional Motion Stereo based on GPS/DR Compound Navigation System

    IEEE International Conference on Control Applications, Munich, Germany 

    Presentation date: 2006.10

  • 高含水廃棄物を対象としたヒートポンプ式蒸発脱水システムの基礎特性

    日本機械学会 2006年度年次大会 講演論文集 

    Presentation date: 2006.09

  • 温泉熱温度差発電システムにおける作動流体としての自然系媒体の評価

    日本機械学会東北支部第42期秋季講演会 

    Presentation date: 2006.09

  • アンモニアを作動流体とする温泉熱温度差発電に関する研究

    日本機械学会東北支部第42期秋季講演会 

    Presentation date: 2006.09

  • 家庭用ガスエンジン・コージェネレーションシステムの特性分析

    第25回 エネルギー資源学会研究発表会 講演論文集 

    Presentation date: 2006.06

  • 屋外環境下で用いる自律移動システムに関する研究 (第43報 モービルマッピングシステムによる道路三次元モデルを用いた白線位置計測)

    日本機械学会 ロボティクス・メカトロニクス講演会 

    Presentation date: 2006.06

  • 屋外環境下で用いる自律移動システムに関する研究 (第44報 全周赤外カメラと航空測量レーザデータを用いた測位)

    日本機械学会 ロボティクス・メカトロニクス講演会 

    Presentation date: 2006.06

  • 屋外環境下で用いる自律移動システムに関する研究 (第45報 自動計測システムを用いた継続的な被災情報の収集)

    日本機械学会 ロボティクス・メカトロニクス講演会 

    Presentation date: 2006.06

  • 屋外環境下で用いる自律移動システムに関する研究 (第46報 屋外自律移動監視システムでの環境地図の使用による遠隔操縦機能の付加)

    日本機械学会 ロボティクス・メカトロニクス講演会 

    Presentation date: 2006.06

  • DEMONSTRATION OF A HYBRID POWER AND REFRIGERATION AMMONIA-WATER CYCLE

    Proc. GT2006, ASME TURBO EXPO 2006/ASME 

    Presentation date: 2006.05

  • 複数の基線長を利用したGPS/DR複合型全周モーションステレオによる屋外三次元環境復元

    第11回ロボティクス・シンポジア箱根 (査読付) 2006.3 

    Presentation date: 2006.03

  • 屋外環境下で用いる自律移動システムに関する研究 (第41報 航空測量データと全方位視覚センサ画像のマッチングによる移動体の位置・姿勢角推定)

    第6回 (社)計測自動制御学会 システムインテグレーション部門 講演会 

    Presentation date: 2005.12

  • 屋外環境下で用いる自律移動システムに関する研究(第42報 モービルマッピングシステムによる被災地の状況把握)

    第6回 (社)計測自動制御学会 システムインテグレーション部門 講演会 

    Presentation date: 2005.12

  • GPS自律移動監視システム

    日本ロボット学会誌23巻8号(12月号) 

    Presentation date: 2005.12

  • ロボットと時空間GISの連携による段階的な震災データ収集システムの開発

    計測自動制御学会論文集 

    Presentation date: 2005.12

  • Experimental Investigation of Oscillatory Fluctuation in an Ammonia-Water Mixture Turbine System

    Proc. IMECE 2005 

    Presentation date: 2005.11

  • 全周視覚センサと航空測量データを用いた都市部での高精度測位に関する研究

    GPS/GNSSシンポジウム2005 ビギナーズセッション 

    Presentation date: 2005.11

  • 屋外環境下で用いる自律移動システムに関する研究 (第40報 RTK-GPS/INS/高分解能ODVを用いたマルチベースラインモーションステレオ)

    第6回 (社)計測自動制御学会 システムインテグレーション部門 講演会 

    Presentation date: 2005.11

  • 屋外環境下で用いる自律移動システムに関する研究 (第39報構内自律移動監視システムにおける高速遠隔手動操縦の実現)

    日本機械学会年次大会2005 

    Presentation date: 2005.09

  • アンモニア−水系発電・冷凍ハイブリッドサイクルの実証試験

    日本機械学会 第15回環境工学シンポジウム講演論文集 

    Presentation date: 2005.07

  • アンモニア・水混合媒体を用いた縦型流下液膜式吸収・凝縮器の特性調査

    日本機械学会 第15回環境工学シンポジウム講演論文集 

    Presentation date: 2005.07

  • アンモニア吸収式冷凍機の冷媒濃度低下時におけるサイクル内の各状態量調査

    日本機械学会 第15回環境工学シンポジウム講演論文集 

    Presentation date: 2005.07

  • キャピラリーチューブを用いたCO2ヒートポンプシステムに関する研究(第1報 キャピラリーチューブの定常特性)

    日本機械学会 第10回動力・エネルギー技術シンポジウム講演論文集 

    Presentation date: 2005.06

  • キャピラリーチューブを用いたCO2ヒートポンプシステムに関する研究(第2報 実機システムの運転性能評価)

    日本機械学会 第10回動力・エネルギー技術シンポジウム講演論文集 

    Presentation date: 2005.06

  • Creating Spatial Temporal Database by Autonomous Mobile Surveillance

    IEEE Int. Workshop on Safety,Security, and Rescue Robotics (SSRR), Kobe, 

    Presentation date: 2005.06

  • Parking-vehicles Recognition using Spatial Temporal Data (A Study of

    IEEE Int. Workshop on Safety,Security, and Rescue Robotics (SSRR), Kobe, 

    Presentation date: 2005.06

  • 屋外環境下で用いる自律移動システムに関する研究 (第34報 3次元GISを用いたGPS衛星遮蔽を考慮した棄却処理によるマルチパス対策)

    ロボティクス・メカトロニクス講演会'05 神戸 

    Presentation date: 2005.06

  • 屋外環境下で用いる自律移動システムに関する研究 (第37報マルチベースラインOMSVによる距離推定精度の向上)

    ロボティクス・メカトロニクス講演会'05 神戸 

    Presentation date: 2005.06

  • Comparison of Hybrid Configurations of Power Generation and Refrigeration Cycles Using Ammonia-Water Mixture

    PWR2005/ ASME Power, ICOPE05/ASME,JSME 

    Presentation date: 2005.04

  • Study on Optimal Operational Planning of Advanced Cogeneration System in Cosideration of Annual Demand Analysis

    Proc. PWR2005/ASME POWER, ICOPE05/ASME,JSME 

    Presentation date: 2005.04

  • Performance Improvement of an Ammonia-Water Mixture Turbine Cycle with Ejector

    Proc. PWR2005/ASME POWER,ICOPE05/ASME,JSME 

    Presentation date: 2005.04

  • Omni-directional Motion Stereo Vision based on Accurate GPS/INS Navigation System

    2nd Workshop on Integration of Vision and Inertial Sensors 

    Presentation date: 2005.04

  • アンモニア吸収式冷凍機の吸収器内における過渡的な状態変化とポンプ異常発生との関連

    日本機械学会 年次大会講演論文集 

    Presentation date: 2004.09

  • アドバンスト・コージェネレーションシステムに関する研究(第9報 年間運転計画例)

    日本機械学会 年次大会講演論文集 

    Presentation date: 2004.09

  • 熱源温度から見たアンモニア・水混合媒体タービンシステムの特性調査

    日本機械学会 年次大会講演論文集 

    Presentation date: 2004.09

  • エジェクタつきアンモニア・水混合媒体タービンシステムの特性調査

    日本機械学会 年次大会講演論文集 

    Presentation date: 2004.09

  • アンモニア・水混合媒体発電・冷凍ハイブリッドシステムの接続形態による性能比較

    日本機械学会 年次大会講演論文集 

    Presentation date: 2004.09

  • Experimental Results of an Ammonia-Water Mixture Turbine System (Effectiveness with a low temperature heat source)

    ASME Turbo Expo 2004/ASME 

    Presentation date: 2004.06

  • アンモニア吸収式冷凍機の起動特性実験(システムの小型化にともなう起動時の諸問題について)

    熱工学コンファレンス講演論文集/日本機械学会 

    Presentation date: 2003.11

  • アンモニアを作動媒体とする冷凍機

    設計工学/日本設計工学会 

    Presentation date: 2003.11

  • Measurement Method of Refrigerant Mass Fraction in Ammonia Absorption Refrigerator

    ICOPE03/JSME, ASME, CSPE 

    Presentation date: 2003.11

  • Availability of Ice Storage System in the Operational Planning of ACGS Based on Modeling Components with Delay

    ICOPE03/JSME, ASME, CSPE 

    Presentation date: 2003.11

  • アンモニア・水混合媒体吸収器・凝縮器の特性調査(実運用化での基本性能調査)

    日本冷凍空調学会学術講演会論文集/日本冷凍空調学会 

    Presentation date: 2003.10

  • アドバンスト・コージェネレーションシステムに関する研究(第8報 典型的な需要例)

    日本機械学会年次大会論文集/日本機械学会 

    Presentation date: 2003.08

  • FLEXIBLE HEAT-TO-POWER RATIO CO-GENERATION SYSTEM WITH AMMONIA-WATER MIXTURE CYCLES AT BOTTOMING

    IJPGC03:2003 International Joint Power Conference Atlanta, Georgia, USA/ASME 

    Presentation date: 2003.06

  • アンモニア吸収式冷凍機の冷媒濃度推定法および冷媒採取実験について

    関東支部総会講演会/日本機械学会 

    Presentation date: 2003.03

  • アンモニア・水混合媒体を用いた発電・冷凍ハイブリッドサイクルのある熱源条件における最適な接続形態

    熱工学講演会/日本機械学会 

    Presentation date: 2002.11

  • Hybrid Configuration of Power Cycle and Absorption Refrigeration Cycle with Ammonia-Water Mixture

    Zero Leakage-Minimum Charge/IIR,The Royal Institute of Technology(Sweden) 

    Presentation date: 2002.08

  • Experimental Results of An Ammonia-Water Mixture Turbine System (Part 2: Effect of the Ammonia Mass Fraction)

    JPGC02/ASME 

    Presentation date: 2002.06

  • アンモニア・水混合媒体タービンシステムの定常特性実験(第2報 アンモニア濃度がシステムに及ぼす影響)

    九州支部第55期総会講演会/日本機械学会 

    Presentation date: 2002.03

  • アドバンスト・コージェネレーションシステムに関する研究(第7報 機器の遅れを考慮した最適運用計画)

    関東支部第8期 総会講演会/日本機械学会 

    Presentation date: 2002.03

  • あるCGSに付帯する冷凍システムの最適運用における氷蓄熱機能の効果

    関東学生会第41回学生員卒業研究発表講演会/日本機械学会 

    Presentation date: 2002.03

  • Experimental Study of Advanced Co-Generation System with Ammonia-Water Mixture Cycles at Bottoming

    Presentation date: 2001.12

  • Modeling of the Main Component of the Bottoming Stage in an Advanced Co-Generation System on the Operating Planning

    Presentation date: 2001.10

  • アンモニア吸収式冷凍機の制御性能に関する実験検討

    第35回空気調和・冷凍連合講演会講演論文集 

    Presentation date: 2001.06

  • Experimental Results of an Ammonia-Water Mixture Turbine System

    Presentation date: 2001.06

  • 研究用アンモニア-水系吸収冷凍機の実施例の紹介

    関東支部第7期総会講演会/日本機械学会 

    Presentation date: 2001.03

  • アンモニア・水混合媒体タービンシステムの定常特性実験

    関東支部第7期総会講演会/日本機械学会 

    Presentation date: 2001.03

  • アドバンスト・コージェネレーションシステムに関する研究(第6報 ボトミングステージの構成機器のモデル化と運用計画に関する研究)

    関東支部第7期総会講演会/日本機械学会 

    Presentation date: 2001.03

  • 800KW/100USRTアドバンスト・コージェネレーションシステムに関する研究(第2報)

    関東支部第7期総会講演会/日本機械学会 

    Presentation date: 2001.03

  • プレート式熱交換器を用いたコンパクトなアンモニア吸収式冷凍機の特性

    第17回エネルギーシステム・経済・環境コンファレンス/エネルギー・資源学会 

    Presentation date: 2001.01

  • Dynamic Behavior of a Directly Combined Binary Turbine System Using a Mixture (R134a/R123)

    ASME Advanced Energy System Division (ASME 2000) 

    Presentation date: 2000.11

  • アドバンスト・コージェネレーションシステムに関する研究(第5報 氷蓄熱糟の非線形性を考慮した最適運用計画)

    日本機械学会関東支部/日本機械学会 

    Presentation date: 2000.10

  • STUDY ON ADVANCED CO-GENERATION SYSTEM; OPERATIONAL PLANNING OF ICE STORAGE SYSTEM WITH SEVERAL PATTERNS OF COOLING DEMAND

    The 4th JSME-KSME Thermal Engineering Conference 

    Presentation date: 2000.10

  • 800KW/100USRTアドバンスト・コージェネレーションシステムに関する研究(第1報 システム構成と試運転結果)

    日本機械学会関東支部/日本機械学会 

    Presentation date: 2000.10

  • A Hybrid Power Generation and Refrigeration Cycle with Ammonia-Water Mixture

    The 2000 IJPGC / ASME 

    Presentation date: 2000.07

  • アドバンストコージェネレーションシステムに関する研究(第4報 構成機器の体格と氷蓄熱の運用計画に関する考察)

    北陸信越支部 第37期総会講演会論文集/日本機械学会 

    Presentation date: 2000.03

  • アンモニア・水混合媒体による発電サイクルと冷凍サイクルの接続について

    第9回設計工学・システム部門講演会/日本機械学会 

    Presentation date: 1999.11

  • アドバンストコージェネレーションシステムに関する研究(第3報 種々の冷熱需要に応じた氷蓄熱の運用計画)

    第9回設計工学・システム部門講演会/日本機械学会 

    Presentation date: 1999.11

  • 早稲田大学におけるアドバンスト・コージェネレーションシステムでのアンモニア/水系サイクルの構築

    講習会「分散利用型燃料電池・アンモニア/水系エネルギーシステムの展望」/日本機械学会 

    Presentation date: 1999.10

  • ある直接接触式熱交換器の定常特性について

    日本機械学会 山梨地方講演会 

    Presentation date: 1999.10

  • アドバンストコージェネレーションシステムに関する研究(第2報 種々の氷蓄熱の特性に応じた運用計画)

    1999年度年次大会講演論文集/日本機械学会 

    Presentation date: 1999.07

  • Effectiveness of an Ammonia-Water Mixture Turbine System to Hot Water Heat Source

    The 1999 IJPGC-ICOPE / ASME,JSME 

    Presentation date: 1999.07

  • MODELING AND EXPERIMENTAL INVESTIGATION OF DYNAMICS OF A DIRECTLY COMBINED BINARY TURBINE SYSTEM USING A MIXTURE (R134a/R123)

    Renewable and Advanced Energy Systems for the 21st Century /ASME 

    Presentation date: 1999.04

  • アンモニア・水混合媒体を用いた発電・冷凍システムのハイブリッド化に関する研究

    九州支部第52期総会講演会論文集/日本機械学会 

    Presentation date: 1999.03

  • アドバンスト・コージェネレーションシステムに関する研究?第1報 氷蓄熱の運用計画

    九州支部第52期総会講演会論文集/日本機械学会 

    Presentation date: 1999.03

  • 2基の熱交換器を並列および直列に接続する系の動特性に関する考察

    日本機会学会論文集/日本機械学会 

    Presentation date: 1999.02

  • 潜熱性熱源に対するアンモニア・水混合媒体タービンシステムについて

    第8回設計工学・システム部門講演会論文集/日本機械学会 

    Presentation date: 1998.11

  • MODELING AND EXPERIMENTAL INVESTIGATION OF DYNAMICS OF A DIRECTLY COMBINED BINARY TURBINE SYSTEM USING STEAM AND R123

    IMEC/E/ASME 

    Presentation date: 1998.11

  • Investigation of Condensing Process from the Viewpoint of the Network Theory

    1997IJPGC/ASME 

    Presentation date: 1997.11

  • 混合媒体サイクルの運転動作点に関する調査

    第6回日本エネルギー学会大会講演要旨集/日本エネルギー学会 

    Presentation date: 1997.07

  • 回路論的視点から見た熱交換器の動特性

    第6回日本エネルギー学会大会講演要旨集/日本エネルギー学会 

    Presentation date: 1997.07

  • Dynamics of Two-Heat-Exchanger Network

    ICOPE97/JSME-CSPE-ASME 

    Presentation date: 1997.07

▼display all

Specific Research

  • 次世代EMSにおける再生可能エネルギーの急変検知と階層的最適予測制御の検討

    2016  

     View Summary

    再生可能エネルギーの急変検知:太陽光発電システム(PV)の導入がより進むにつれて,PV 出力の急激な減少(主に雲により引き起こされる)は配電系統の電圧・周波数の安定性に悪影響を与え,電力品質や変動電源の価格にも直接的に影響を与える.この問題の解決策として,PV出力が急激に減少することをあらかじめ検知し,宅内の蓄電機能を持つ機器より電力変動幅が小さくなるよう調整し,電力需要の変動幅を一定範囲内にすることで配電系統側の負担を抑える方法などが想定されている.そのためには予め日射量が急激に落ちる時間と変動幅を予測する必要がある.2016年度は,天空画像の歪み補正,k-means クラスタリングを用いた雲領域の抽出,太陽位置からの距離に応じた快晴領域と雲領域の割合(晴天指標)の抽出,PV発電量の高周波数成分の除去,各特徴量と太陽光発電量の間の相関調査を実施した.その結果をまとめると以下の通り.・天空画像から RBR値・S値を元に閾値処理を施した結果得られた雲画像から,天空画像内の太陽位置からの距離に応じた晴天指標を定義し,算出したところ,太陽が雲に覆われる場合には値が小さくあり,天空画像内に湿る雲領域の割合傾向を反映することを確かめた.・晴天指標の時間変化によりPV 発電量の時間変動を評価できる.・天空画像全体の彩度の平均値を用いることで,PV 発電量を推定可能である.課題として,薄曇に覆われる場合には,PV 発電量が大きいにも関わらず晴天指標の値が小さくなり,正確にPV発電量を反映していないことも確認した.研究成果は,2017年度 第22回 動力・エネルギー技術シンポジウムにて講演にて公表する.階層的最適予測制御の検討:家庭用固体高分子型燃料電池コージェネレーションシステムを対象に,翌日の電力,給湯不可を予測し,最適運用計画を導出するフレームワークを対象に,計画階層的な制御システムを提案して,この効果を評価するシステムを構築した.まず,詳細な負荷特性実験装置によって機器特性モデルのパラメータを同定し,サンプリング間隔1 min間隔での詳細な入出力特性(95%以上の確度でエネルギー消費量を再現)を導出した.これにより,家庭用エネルギーシステムのマネジメントシステムを構築・評価するため,高い確度でシミュレーション評価が可能な環境を構築できた.

  • 次世代エネルギーシステムの最適更新計画

    2011  

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     プロセス制御システムの分野では,末端機器同士における双方向ディジタル通信規格が普及し始めている.フィールド機器が通信機能を装備することによって,プロセス系の制御は新たな制御目的をターゲットとしてとらえることが出来るようになってきた.通信は,単なる物理量の信号のやり取りだけではなく,機器状態や通信データの信頼度を含むステータス情報など,さまざまな種類の,大量の情報をやり取りすることによって,新たなプラント情報を抽出可能にしつつある. このような背景のもと,動力システムおよびプロセス制御の分野では,「スマートプラント」と呼ばれる新たな研究トピックが国際会議のテーマとして取り上げられ始めている.従来の,一方向的な物理量信号のやり取りを基盤とした制御はもちろん,より広範な種類の情報を通信によって獲得することで,従来は不可能であった特定のプロセスの状態のより詳細な状態や,物理量信号の信頼度情報を利用した,モード遷移によるイベント駆動型の制御が様々なプラントで稼働している.そしてプロセスの状態量を計測,あるいは操作する機器内部の状態診断,また,それらを元にした新しいアセットマネージメントが可能になりつつある.しかし,現状,フィールドバスを用いた診断に関する研究は,バルブポジショナや伝送器一部の機器について取り上げられ,いくつかのベンダーを中心に研究されているが,それをシステム制御およびシステム計画に対してどのように取り込むべきか,有効な手法は提起されていない状況にある.これまでの製品品質コスト最小化を目的としたプロセス制御から,プラントのライフサイクル全体に亘ってのより広い意味での経済性すなわち,プラントのライフサイクルコスト最小化を目的としたプラント制御計画問題が,「スマートプラント」のための最適計画問題として今後ますます注目されると思われる.本研究は再生可能電源導入住宅エネルギーシステム構成を対象に,その有効性を試算した.その結果,蓄電池などのバッファ要素の追加がシステム運用成績へ与える影響を明らかにし,コージェネと蓄電池やEVの組み合わせなど,様々なモデルケースを想定して解析するためのフレームワークを完成した.2012年度第1四半期にかけて,実運用データを収集し,蓄電池系などの構成要素のモデルパラメータを精緻化するための作業を継続している.一方,家庭用コージェネレーションシステムの実需要に対応する最適運用については,特に実運用データを反映した最新型PEFCコージェネレーションシステムを対象に,エネルギー需要パターンとシステムとの整合性を整理した.需要データのクラスタリングよる省エネルギー性評価手法は本研究における研究者との共同研究成果の一つであり,2012年度6月に国際会議にて発表する.そのほか,ユーザにとって最適な現在市販されている家庭用エネルギーシステムの導入指針を与え,システム運用の重要性を提示した.

  • 蒸発プロセスの超省エネルギー化を可能にする水蒸気圧縮技術の研究開発

    2010   日野俊之

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    本研究は,湿潤バイオマスのエネルギー資源化あるいは,汚染土壌の土壌改良前処理プロセスなどに適用可能な,ヒートポンプ式蒸発脱水システムの高性能化と,そのプロセス評価手法を明らかにすることを目的としている.また,エネルギーシステム一般の最適化手法を駆使して,プロセスシステムの提案を行うためのフレームワークを提示することを最終目標としている.■システムの高性能化:ヒートポンプ式蒸発脱水システムの主要機器である圧縮機について,熱力学的に詳細な検討を加え,圧縮仕事における損失低減の可能性を調査した.特に,水噴霧による圧縮行程の温度上昇を低減することによる効果を説明する熱力学モデルを提示した.これにより,凝縮後のドレン水を回収することで,5%程度の圧縮仕事の低減が図れることを理論的に明らかにした.また,具体的な水噴霧における液滴直径などを試算したところ,現在市場に存在する噴霧機構を利用することで,必要な仕様を満足することを確認した.2011年度には,引き続き,これを検証するための実験装置を構築し,理論を検証したい.■プロセス評価:バイオマスのエネルギー資源化に係わる研究が活発に行われているが,従来処理システムでは,バイオマスのうち多くを占める湿潤バイオマスの運搬,乾燥において,問題を抱えている.このため,エネルギー回収については,比較的水分率の低いバイオマスに焦点を当てた処理システムの検討がなされている.湿潤バイオマスからのエネルギー回収のための前処理として,亜臨界水処理による有機物の加水分解反応により水溶性物質に変換した後,高速高消化率メタン発酵プロセスなどが提案されているが,依然として乾燥過程でのエネルギー多消費は改善されていない.筆者等の提案しているヒートポンプ式蒸発脱水システムを組み込むことによって,このような各種前処理,エネルギー変換処理プロセスのエネルギー回収性が改善されるが,本研究室で開発した,具体的な処理システム形態のエネルギー利得を評価するプロセス評価モデルのアップデートを継続している.■エネルギーシステムの最適化:エネルギー変換プロセスは様々なプロセス要素の接続によって実現されている.詳細なプラントレベルの実証データを逐次収集し,エネルギー利得が可能なシステム構成の探索を継続している.

  • 再生可能エネルギー利活用のためのシステムインテグレーションによる最適化

    2009  

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    本研究室で開発に取り組んでいるVapor Compression and Condensation (VCC)技術を脱水・蒸発プロセスに組み込むことで,脱水・蒸発過程で消費されるエネルギーを格段に減少させることができ,固形燃料としてエネルギー利得が得られることを明らかにした.これまでWetバイオマス系の処理方法には嫌気性消化によるガス化プロセスが活発に研究開発されてきたが,これを上回る有望な処理システムの構築が見込めることを明らかにした.一方,エネルギーシステムを適切に評価するに当たり,対象規模に応じて,家庭レベルから大規模な事業所レベルまでの最適運用計画・設計問題として定式化し,システムのポテンシャル比較の枠組をより多くの実データを取り込む事に成功した.具体的には,日本国内の典型的な事務所ビルにおけるエネルギー供給システムの更新計画問題を取り上げ,これを0-1混合整数計画問題として定式化し,炭素税が導入された場合の,システム更新計画に与える影響を評価した.その結果,環境省案(655 円/t-CO2)は,直接システム更新に与える影響はほとんどなく,13倍程度の税率になって初めて,システム更新に高効率機器が導入されるインセンティブを与えられるようになることを明らかにした.この結果は,従来のトップダウンアプローチによる評価結果とほぼ整合し,本研究のボトムアップ方式による評価方法の有効性を示唆するものと成った.

  • 低温熱源利用が可能な低温アンモニア吸収冷凍機に用いる改良型精留器の実証試験

    2005  

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    吸収式冷凍機,ヒートポンプは,排熱駆動が可能であるため,熱のカスケード利用におけるボトミング機器として注目されている.吸収式冷凍機には,冷媒にアンモニア,吸収剤に水を用いるいわゆるアンモニア吸収式と,冷媒に水を,吸収剤に臭化リチウム水溶液を用いる臭化リチウムとがある.一般に,臭化リチウム式が市場に多く出回っている.これは,装置が比較的小さく,かつ,成績係数がアンモニア式に比べて若干勝るためである.しかし,臭化リチウムは水を冷媒とするため,零度以下の冷熱を発生させることが一般できには困難である.そのため,空調用の冷温水発生機として開発,利用されている. 一方で,アンモニア式はアンモニアを冷媒とするためマイナス60℃付近までの低温冷熱を出力することが可能であるが,装置が大型化する傾向にあり,産業用,業務用のプラント技術として発展してきた.ところが,低温度の冷熱を出力するためには熱力学的には高温度の熱源を必要とするが,サイクル内の濃度バランスを適切に調節することで,もっとも大きな構成要素である精留器を小型化し,リフラックス制御による冷媒濃度調整なしにシステムを運転することができることを,現有の実稼働設備(100USRT)を用いて予備実験を行った.その結果,サイクル内での濃度バランスを,ブリード量を適切に調整し,溶液サイクルバランスを適切に保つことで,精留器内での精留に必要な熱量の削減が確認できた.この結果,成績係数が若干低下するも,これまで常識とされてきたほど高濃度に精留しないことで,システムを簡素に,かつ小型化が可能であることが示された.

  • 年間COPを考慮した低温熱源利用可能な高性能アンモニア吸収冷凍機の研究

    2004   武居 俊孝, 竹下 恵介

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     排熱駆動可能な冷熱源機器として、吸収式の冷凍機がある。主に空調用には3~7[°C]程度までの冷水を出力可能な臭化リチウム式が一般的に広く普及している。しかし、臭化リチウムによる吸収式冷凍機は冷媒を水とすることにより、一般には氷点下以下の出力を得ることはできないため、氷蓄熱などの用途には適用できない欠点がある。一方、アンモニアを冷媒とし水を吸収剤とするアンモニア吸収式冷凍機は、-60[°C]程度の低温を出力可能である利点を持つが、一部10[kW]程度の小型機も空調用として発売されてはいるものの、大部分は大型の冷凍装置としての需要に対応した製品として開発されてきた。また、低温を出力するために、熱力学的な意味での代償として、駆動熱源の温度を低下させることが困難であった。特に、冷媒濃度を高めることが効率向上に不可欠であるとする常識的なとらえ方から離れて、あえて冷媒のアンモニア純度をある程度犠牲にしても、ブリードサイクルの容量アップや乾式の蒸発器を採用することにより、溶液サイクルにおける濃度幅(濃溶液と希溶液とのアンモニア濃度差)の低下を極力抑えて精留熱を大幅に低下させ、これにより精留機能を実現する精留塔の大幅な小型化とリフラックスサイクルの削除を可能にするサイクルを提案した。 提案サイクルの実現可能性を調査するために、現有のアンモニア吸収式冷凍機を用いて、蒸発温度を操作して冷媒濃度を変更し、サイクル内各部における状態量変化の詳細な調査をおこなった。その結果、乾式の蒸発器を採用し、蒸発器周りの構成要素を変更することで提案サイクルによって再生器出口における熱源温度を設計点より10[°C]程度低下させても運転が十分可能であることを確認した。同時に、乾式の蒸発器を採用する利点と、冷媒濃度変化が凝縮圧力に及ぼす影響を、プレート式熱交換器を使用した場合について、実験によって整理した。 また、サイクル内の過渡的な状態量変化の調査を、吸収器周りについて詳細に行った結果、起動時にみられる吸収器内での溶液濃度の過渡的な変化に起因するポンプ異常のメカニズムを解明した。

  • 水蒸気圧縮による高含水廃棄物の省エネルギー蒸発脱水技術研究

    2004   日野俊之

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    バイオマスは本質的に高含水である場合が多い。たとえば汚水、下水汚泥、家畜糞尿などの高含水廃棄物では含有する有機物の割合が相対的に少なくエネルギー密度も小さい上、分離、貯蔵、運搬等の処理全体に高含水であるが故、ハンドリングコストが高くついてしまう欠点がある。その結果、これらのバイオマスは十分に再生、リサイクルされにくい。しかしながら社会全体からの排出量は膨大で、我が国では年間数億トンにも及ぶ。有機性高含水廃棄物は発生した場所、その地域で脱水処理することで、有用物質の分離、運搬、貯蔵における負荷を大幅に削減できる。しかし、濃縮、乾燥などの水分蒸発操作は、水の蒸発潜熱が約2.3[MJ/kg]と大きいことに起因して、典型的なエネルギー多消費プロセスとなっている。さらに、乾燥過程で化石燃料を燃焼させる方法を採用してしまうと、バイオマスを利用、再生するメリットが相殺されてしまう。 そこで、本研究では蒸発脱水プロセスを省エネルギー化するための手法として、蒸発させた水蒸気を再圧縮し、昇温、昇圧下後、蒸気の潜熱を高含水廃棄物の蒸発へ再生利用する水蒸気再圧縮プロセスを用いて、溶液の濃縮、蒸発脱水における既成の省エネルギー技術の数倍の効率向上を目指す。具体的な想定開発対象として、数kW~数十kWクラスの分散型蒸発脱水装置への適用を意図して、高含水物質を蒸発脱水するプロセスにおいて化石燃料燃焼を代替し、CO2排出量を大幅に低下させるため技術開発の基礎研究として取り組んだ。いったん発生した蒸気を圧縮して加熱源として再生利用する手法は、化学工学プラントなどの大型装置で利用されている技術として知られている。この蒸気再圧縮プロセスをベースに基本的な実現可能性評価を行った後、基本的なサイクルの構成要素の特性と、それぞれの構成機器がサイクル特性へ与える影響度を評価した。 まず、現在知られている脱水乾燥技術と性能を比較した。具体的には重油だきの熱伝導式乾燥機、高温燃焼ガスとの直接接触による乾燥機、マイクロウエーブによる電磁加熱蒸発器とを比較した。既存技術のうちもっとも一次エネルギー換算で高効率な重油だき熱伝導式乾燥機の約16倍の効率向上が見込めることを確認した。ここで、評価指標には、投入エネルギー(一次換算)に対する脱水に必要な交換熱量を成績係数COPとして定義し、用いた。 また、実際に蒸発脱水処理量約100[kg/h]の実験装置を設置し、バッチ運転における基礎的な装置の特性データを収集、解析した。その結果、COP=10.5~7.0程度で動作することを確認した。また構成要素のエクセルギー評価を行った結果、コンプレッサーにおける圧縮仕事と熱交換器における熱交換プロセスに起因する不可逆損失がほぼ同程度で、もっとも大きなエクセルギー損失要素であることを確認し、具体的な要素開発課題を明らかにした。

  • 混合媒体の呼吸作用を利用した発電・冷凍システムの研究

    2002  

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     アンモニア・水混合媒体(AWM: Ammonia-Water Mixture)を作動媒体とし、吸収作用を利用することで電気動力を必要としない、排熱駆動型の熱源機器として、アンモニア吸収式冷凍機が古くから利用されてきた。サイクル論的には、この吸収冷凍サイクルと逆である、発電サイクルの一つにカリーナサイクルは1980年代後期から注目され、様々な研究が行われてきたが、実際の運用を意識した詳細な研究開発は世界的にも数例しか報告されていない。本学では、環境に優しい自然系冷媒であるアンモニアと水を用いた、発電・冷凍サイクルの実証研究を行うための研究設備として、喜久井町キャンパスに「喜久井町キャンパス発電所」を設置した。このコージェネレーションプラントは、ガスタービンをトッピングに持ち、その排熱を蒸気タービンで動力回収するだけでなく、さらにその排出蒸気を駆動源とする、AWMを作動媒体とする吸収式冷凍機とAWMタービンシステムとを並列に設置したユニークなものである。コージェネレーションシステムの出力である熱と動力(電気)とを負荷の状況に対応してバランスよく運用できるよう意図したシステム構成となっている。本研究は、このボトミングに位置するAWMを作動媒体とする吸収冷凍サイクルと発電サイクルとを、対象に、それらをハイブリッド化することで、単独で運転する場合に比べて約10%以上高効率に運転可能であることを実証するための基礎研究である。現在までに、ハイブリッド化するための基礎条件を明らかにすべく、発電サイクルと冷凍サイクルを個別に特性評価を行い、基本特性をシミュレートするモデルを構築した。 これらの発電サイクル、冷凍サイクルはともに、吸収作用を利用することを特徴とするが、吸収器の性能が非常にシステムの全体性能に大きく影響する。したがって、特にそれぞれの熱交換特性の評価と制御性の評価を行った。実験結果から、発電サイクル側の吸収作用を伴う凝縮器での性能低下が著しいことを確認し、この性能低下を防ぐための循環系統の設置が有効であることを確認した。

  • 混合媒体を用いた発電システムのサイクル論的研究

    2000  

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     独自に考案したアンモニア・水混合媒体を用いるタービンシステムの60KW実験装置を完成した。これを対象に基礎データ取得のための実験検討を行った。 これにより、これまで一般に用いられてきた水やアンモニアなどの単体媒体を用いるランキンサイクルや、濃度調整機構のない混合媒体サイクルであるローレンツサイクルよりもさらに高効率で動力を回収するカリーナサイクルを基本とした、独自のサイクル形態を有す本システムの有効性を確認した。調整運転を経てシステムの運転操作方法を確立し、設計点より若干低濃度域でのシステムの静的特性データを得た。これにより、システムの起動、停止方法の確立およびそれにかかる時間短縮への指針を明らかにした。このほかにR123/R134aの混合媒体サイクルについてのシステムを対象としたダイナミクスを検討、報告した。 具体的には、タービンへの媒体ソースとしての蒸発器系サブシステムと、タービン排気側媒体シンクとしての凝縮・再生系サブシステムの二つのサブシステムに注目してそれらの特性評価を行うことで、システムの動力抽出性に関する具体的な効果を明らかにした。すなわち、蒸発器系を特性評価した結果からは、システムへの流入熱源の変化に応じたシステム内のAWM流量制御が動力抽出性に対して支配的であることを明らかにした。また、凝縮・再生器系の機能については、つぎの2点に注目して評価した。すなわち、凝縮機能の回復機構としての循環系の効果と濃度分配機能を大きく左右するセパレータ入口温度の影響度である。これらはどちらもサイクルパターンによって最適な値が存在すること、またその影響度は同程度でシステムの最大定格出力に対して約20%程度であったことを明らかにした。 これらの結果から、システムを運転制御する上で、これら2つのサブシステムをそれぞれ最適になるよう制御して運転することが動力抽出性から重要であり、それぞれの制御系がほぼ独立して操作可能であることからこのようなシステムの運転制御系の構築指針とその運転指針を明らかにした。 また、カリーナサイクルと同様な吸収過程を有するアンモニア吸収式冷凍機についても制御性、構成要素の特性評価をまとめ、コンパクト化への指針を示した。

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Overseas Activities

  • エネルギーシステムの最適化に関する研究

    2008.04
    -
    2009.03

    スイス   連邦工科大学ローザンヌ校

 

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