■Faculty | Department of Informatics / Graduate School of Science and Engineering Research |

■Position | Professor |

■Degree | |

■Commentator Guide | https://www.kindai.ac.jp/meikan/439-tagawa-kiyoharu.html |

■URL | |

Last Updated :2020/09/30

- - 1991 , Kobe University
- - 1991 , Kobe University, Graduate School, Division of Engineering

- Manufacturing technology (mechanical, electrical/electronic, chemical engineering), Control and systems engineering
- Manufacturing technology (mechanical, electrical/electronic, chemical engineering), Control and systems engineering
- Informatics, Mathematical informatics

- Stochastic programming, Evolutionary computation, Differential evolution, Mathematical programming

- Chance constrained portfolio optimization using bank deposit and bank loan via adaptive differential evolution based method, Kiyoharu Tagawa, 12(2), 59 - 68, Jul. 2019 , Refereed
- Group-based adaptive differential evolution for chance constrained portfolio optimization using bank deposit and bank loan, Kiyoharu Tagawa, Proc. of IEEE CEC2019, Proc. of IEEE CEC2019, 1557 - 1564, Jun. 2019 , Refereed
- An approach to chance constrained problems using weighted empirical distribution and differential evolution with application to flood control planning, Kiyoharu Tagawa, Shun Miyanaga, Electronics and Communications in Japan, Electronics and Communications in Japan, 120(3), 45 - 55, Mar. 2019
- Truncated Halton sequence and adaptive differential evolution to solve joint chance constrained problems with application to flood control planning, Kiyoharu Tagawa, Proc. of 2nd European Conference on Electrical Engineering and Computer Science (EECS), Proc. of 2nd European Conference on Electrical Engineering and Computer Science (EECS), 438 - 444, Dec. 2018 , Refereed
- An approach to chance constrained problems using weighted empirical distribution and differential evolution with application to flood control planning, Kiyoharu Tagawa, Shun Miyanaga, IEEJ Transactions on Electronics, Information and Systems, IEEJ Transactions on Electronics, Information and Systems, 138(10), 1260 - 1268, Oct. 2018 , Refereed
- Critical fractile optimization method using truncated Halton sequence with application to SAW filter design, Kiyoharu Tagawa, 464 - 475, Sep. 2018 , Refereed
- Extension of weighted empirical distribution and group-based adaptive differential evolution for joint chance constrained problems, Kiyoharu Tagawa, GECCO2018, GECCO2018, 223 - 224, Jul. 2018 , Refereed
- Chebyshev inequality based approach to chance constrained portfolio optimization, Kiyoharu Tagawa, International Journal of Mathematical and Computational Methods, International Journal of Mathematical and Computational Methods, 2, 66 - 71, Sep. 2017 , Refereed
- Chebyshev inequality based approach to chance constrained optimization problems using differential evolution, Kiyoharu Tagawa, Proc. of ICSI2017, LNCS 10385, Proc. of ICSI2017, LNCS 10385, 440 - 448, Jul. 2017 , Refereed
- Weighted empirical distribution based approach to chance constrained optimization problems using differential evolution, Kiyoharu Tagawa, Proc. of IEEE CEC2017, Proc. of IEEE CEC2017, 97 - 104, Jun. 2017 , Refereed
- A stochastic optimization method using weighted empirical distribution function, Kiyoharu Tagawa, Proc. of 48th ISCIE SSS'16, Proc. of 48th ISCIE SSS'16, (4-5), 117 - 122, Nov. 2016 , Refereed
- A statistical sensitivity analysis method using weighted empirical distribution function, Kiyoharu Tagawa, ICISIP2016, ICISIP2016, 79 - 84, Sep. 2016 , Refereed
- Worst case optimization using Chebyshev inequality, BIOMA2016, BIOMA2016, 173 - 185, May 2016 , Refereed
- Worst case prediction-based differential evolution for multi-noisy-hard-objective optimization problems, Kiyoharu Tagawa, Shoichi Harada, IEEJ Transaction on Electronics, Information and Systems, IEEJ Transaction on Electronics, Information and Systems, 136(2), 189 - 198, Feb. 2016 , Refereed
- Memetic differential evolutions using adaptive golden section search and their concurrent implementation techniques, Kiyoharu Tagawa, Hirokazu Takeuchi, Atsushi Kodama, IEEE Congress on Evolutionary Computation, IEEE Congress on Evolutionary Computation, 2532 - 2539, May 2015 , Refereed
- Multi-noisy-hard-objective robust design of balanced surface acoustic wave filters based on prediction of worst-case performance, Kiyoharu Tagawa, Shoichi Harada, EvoApplications 2015, LNCS, EvoApplications 2015, LNCS, 9028, 616 - 628, Apr. 2015 , Refereed
- Fundamentals of differential evolution and concurrent programming, Kiyoharu Tagawa, Syatems, Control and Information, Syatems, Control and Information, 56(2), 47 - 52, 2015
- Multi-noisy-objective optimization based on prediction of worst-case performance, Kiyoharu Tagawa, Shoichi Harada, TPNC 2014, LNCS, TPNC 2014, LNCS, 8890, Dec. 2014 , Refereed
- Extended diffeential evolution algorithm for worst-case value minimization problems, Kiyoharu Tagawa, Taiki Suenaga, International Journal of Mathematical Models and Methods in Applied Science, International Journal of Mathematical Models and Methods in Applied Science, 8, 262 - 272, Jun. 2014 , Refereed
- The art of concurrent differential evolution for multi-core CPUs, Kiyoharu Tagawa, Hirokazu Takeuchi, Transaction of the Japanese Society for Evolutionary Computation, Transaction of the Japanese Society for Evolutionary Computation, 5(2), 16 - 31, Feb. 2014 , Refereed
- Many-hard-objective optimization using differential evolution based on two-stage constraint-handling, Kiyoharu Tagawa, Akihiro Imamura, Proceeding of 15th Annual Conference on Genetic and Evolutionary Computation Conference, Proceeding of 15th Annual Conference on Genetic and Evolutionary Computation Conference, 671 - 678, Jul. 2013 , Refereed
- Two-stage optimum design method for surface acoustic wave duplexers using differential evolution algorithms, Kiyoharu Tagawa, International Journal of Systems Applications, Engineering & Development, International Journal of Systems Applications, Engineering & Development, 2(7), 103 - 111, Jul. 2013 , Refereed
- Island-based differential evolution with panmictic migration for multi-core CPUs, Kiyoharu Tagawa, Kenichi Nakajima, IEEE Congress on Evolutionary Computation, IEEE Congress on Evolutionary Computation, 852 - 859, Jun. 2013 , Refereed
- Concurrent differential evolution based on generational model for multi-core CPU, Kiyoharu Tagawa, Proceeding of 9th International Conference, Simulated Evolution and Learning, LNCS 7673, Proceeding of 9th International Conference, Simulated Evolution and Learning, LNCS 7673, 12 - 21, Dec. 2012 , Refereed
- Exploration of SAW duplexer design space by modified differential evolution, Kiyoharu Tagawa, International Conference on Mathematical and Computational Methods in Science and Engineering, International Conference on Mathematical and Computational Methods in Science and Engineering, 79 - 84, Sep. 2012 , Refereed
- A statistical study of concurrent differential evolution on multi-core CPUs, Kiyoharu Tagawa, Italian Workshop on Artificial Life and Evolutionary Computation, Italian Workshop on Artificial Life and Evolutionary Computation, Feb. 2012 , Refereed
- Concurrent differential evolution for uncertain optimization problems, Kiyoharu Tagawa, Takashi Ishimizu, The Fifth International Conference on Advanced Engineering Computing and Applications in Sciences, The Fifth International Conference on Advanced Engineering Computing and Applications in Sciences, 48 - 53, Nov. 2011 , Refereed
- Alternative implementation techniques of parallelized differential evolution for multi-core processors, Kiyoharu Tagawa, IEEE International Conference on Uncertainty Reasoning and Knowledge Engineering, IEEE International Conference on Uncertainty Reasoning and Knowledge Engineering, 1 - 4, Aug. 2011 , Refereed
- A structured differential evolutions for various network topologies, Takashi Ishimizu, Kiyoharu Tagawa, International Journal of Computers and Communications, International Journal of Computers and Communications, 1(4), 1 - 8, Dec. 2010 , Refereed
- Multi-objective Optimum Design of SAW Filters Using Differential Evolution, TAGAWA Kiyoharu, SASAKI Yukinori, NAKAMURA Hiroyuki, IEEJ Transactions on Electronics, Information and Systems, IEEJ Transactions on Electronics, Information and Systems, 130(7), 1238 - 1246, Jul. 2010 , RefereedSummary:The structural design of Surface Acoustic Wave (SAW) filters is formulated as a constrained multi-objective optimization problem. Then three Evolutionary Multi-criterion Optimization (EMO) algorithms based on Differential Evolution (DE), namely, Multi-Objective DE (MODE), Non-dominated Sorting DE (NSDE), and Generalized DE 3 (GDE3), are applied to the three- and two-objective optimization problems of a balanced SAW filter. In order to compare the performances of the above EMO algorithms, several criteria including hypervolume are evaluated. As a result, it is shown that the performance of the EMO algorithm depends on the number of objective functions. Besides, in order to clarify the tradeoff relationship among the objective functions of the three-objective optimization problem, Principal Component Analysis (PCA) is employed.
- Optimum design of balanced SAW filters using multi-objective differential evolution, Kiyoharu Tagawa, Proceedings of 8th Int. Conf. on Simulated Evolution and Learning, Proceedings of 8th Int. Conf. on Simulated Evolution and Learning, 466 - 475, 2010 , Refereed
- A comparative study of distance dependent survival selections for sequential DE, Kiyoharu Tagawa, Takashi Ishimizu, Proceedings of IEEE Int. Conf. on Systems, Man and Cybernetics, Proceedings of IEEE Int. Conf. on Systems, Man and Cybernetics, 3493 - 3500, 2010 , Refereed
- Concurrent differential evolution based on MapReduce, Kiyoharu Tagawa, Takashi Ishimizu, International Journal of Computers, International Journal of Computers, 4(4), 161 - 168, 2010 , Refereed
- Concurrent implementation on differential evolutuon, Kiyoharu Tagawa, Takashi Ishimizu, Proceedings of 10th WSEAS Int. Conf. on Systems Theory and Scientific Computation, Proceedings of 10th WSEAS Int. Conf. on Systems Theory and Scientific Computation, 65 - 70, 2010 , Refereed
- Comparative study of extended sequeantial differential evolution, Kiyoharu Tagawa, Hiroshige Takada, Proceedings of the 9th WSEAS Int. Conf. on Applications of Computer Engineering, Proceedings of the 9th WSEAS Int. Conf. on Applications of Computer Engineering, 52 - 57, 2010 , Refereed
- Survival selection methods for the differential evolution based on continuous gemeration model, Kiyoharu Tagawa, Proceedings of the 9th Int. Symposium on Autonomous Decentralized Systems, Proceedings of the 9th Int. Symposium on Autonomous Decentralized Systems, 423 - 428, 2009 , Refereed
- A statistical study of the differential evolution based on continuous generation model, Kiyoharu Tagawa, Proceedings of IEEE World Congress on Computational Intelligence, Proceedings of IEEE World Congress on Computational Intelligence, 2614 - 2621, 2009 , Refereed
- Optimum design of balanced SAW filters using evolutionary multi-objective optimization, Kiyoharu Tagawa, Proceedings of the 9th WSEAS Int. Conf. on Applied Informatics and Communications, Proceedings of the 9th WSEAS Int. Conf. on Applied Informatics and Communications, 88 - 93, 2009 , Refereed
- Multi-objective optimum design of balanced SAW filters using generalized differential evolution, Kiyoharu Tagawa, WSEAS Transactions on Systems, WSEAS Transactions on Systems, 8(8), 923 - 932, 2009 , Refereed
- Evolutionary computation techniques for optimum design of balanced surface acoustic wave filters, Kiyoharu Tagawa, Proceedings of IEEE World Congress on Computational Intelligence, Proceedings of IEEE World Congress on Computational Intelligence, 299 - 304, 2008 , Refereed
- Implementation of Ubiquitous Q-learning Engine with Q-table Generation Mechanism by User's Instructions and Data Communication, OKADA RYOTA, TAGAWA KIYOHARU, TSUKAMOTO MASAHIKO, IPSJ journal, IPSJ journal, 48(7), 2362 - 2371, Jul. 2007 , RefereedSummary:Recently, various small devices have been developed for realizing ubiquitous computing environments. However, conventional small devices are not sufficiently support adaptation of their functions to the changes of environments and users' tastes. In this paper, a ubiquitous Q-learning engine is proposed as a small device that has a learning function. First of all, the requirements for a ubiquitous Q-learning engine are described. Then, a new learning algorithm is proposed for the ubiquitous Q-learning engine. The proposed learning algorithm is a revised version of the Q-learning, i.e., a typical reinforcement-learning algorithm, added some unique functions, namely the user's instruction function, the Q-table's exchange function with the network communication, and so on. Furthermore, we show our design and implementation of the ubiquitous Q-learning engine by using a microcontroller. Finally, the ubiquitous Q-learning engine is applied to the speed control of an air-conditioning fan fixed in clothes, and the usefulness of the ubiquitous Q-learning engine is verified through several experiments.
- Multi-Objective Optimum Design of SAW Filters Using Genetic Algorithm, KOJIMA Norihiko, TAGAWA Kiyoharu, Transactions of the Institute of Systems, Control and Information Engineers, Transactions of the Institute of Systems, Control and Information Engineers, 20(4), 174 - 176, Apr. 2007 , Refereed
- Simulation modeling and optimization technique for balanced surface acoustic wave filters, Kiyoharu Tagawa, Proceedings of the 7th WSEAS Int. Conf. on Simulation, Modelling and Optimization, Proceedings of the 7th WSEAS Int. Conf. on Simulation, Modelling and Optimization, 295 - 300, 2007 , Refereed
- Robust Optimum Design of Resonator-Type SAW Filters Using the Taguchi Method and a Genetic Local Search, TAGAWA Kiyoharu, MATSUOKA Mikiyasu, Transactions of the Institute of Systems, Control and Information Engineers, Transactions of the Institute of Systems, Control and Information Engineers, 19(11), 443 - 452, Nov. 15 2006 Summary:A robust optimum design technique for the structural design of resonator-type surface acoustic wave (SAW) filters is presented. For deciding desirable structures of SAW filters based on the computer simulation, the equivalent circuit model of interdigital transducer (IDT), which includes several uncertain constant parameters, is usually used. In order to cope well with the designing imperfections caused by the inevitable dispersion of these parameters, the quality engineering technique, or the Taguchi method, combined with a genetic local search (GLS) is employed. Besides the traditional Taguchi's two-step design maximizing the robustness of products before the realization of their specified functions, the concurrent design of robustness and functions is also described.
- Robust Optimum Design of SAW Filters By using Penalty Function Method, TAGAWA Kiyoharu, OHTANI Toru, IGAKI Tsutomu, SEKI Syunichi, INOUE Katsumi, IEEJ Transactions on Electronics, Information and Systems, IEEJ Transactions on Electronics, Information and Systems, 126(1), 1 - 7, Jan. 01 2006 Summary:In order to increase the reliability of Surface Acoustic Wave (SAW) filters, a robust optimum design technique is presented. The frequency response characteristics of SAW filters are governed primarily by their geometrical structures, i.e., the configurations of Interdigital Transducers (IDTs) and reflectors fabricated on piezoelectric substrates. For deciding desirable structures of SAW filters through the computer simulation, conventional design techniques utilize the equivalent circuit model of IDT. However, they have rarely considered the accuracy of the underlying model that may be spoiled by the dispersion of circuit parameters. In this paper, considering the errors of these parameters, the robust optimum design of SAW filters is formulated as a constrained optimization problem. Then, a penalty function method combined with an improved variable neighborhood search is proposed and applied to the problem. Computational experiments conducted on a practical design of a resonator type SAW filter demonstrate the usefulness of the proposed method.
- Approach to Artificial Skill from Affordance Theory -Memory and Embodiment-, TAGAWA Kiyoharu, KONISHI Kenta, INOUE Katsumi, Journal of the Robotics Society of Japan, Journal of the Robotics Society of Japan, 22(7), 892 - 900, Oct. 15 2004 Summary:From the viewpoint of the Affordance Theory advocated by J. J. Gibson, an ecological approach for realizing artificial skills is presented in contrast to the conventional paradigm of behavior-based robots known as "sense, think and act".A perception-driven robot demonstrates the usefulness of the ecological approach through the assembly task of mating several parts on a plane. Instead of action-rules based on sensory information, the proposed robot employs a kind of oscillator, Action Pattern Generator (APG), for taking active action before perception. The limitations of the simple robot, the actions of which are dominated by APG, are also discussed. Then, in order to compensate APG for lack of the rationality in choosing actions, two types of memories, namely Working Memory (WM) and Episodic Memory (EM), are introduced into the robot's brain. Consequently, the perception-driven robot has the abilities to distinguish the shapes of various parts, mount them in right places, and stop its motion automatically.
- Optimal Design of Three-IDT Type Saw Filter By using Variable Neighborhood Search, TAGAWA Kiyoharu, TOKUNAGA Kenji, HANEDA Hiromasa, IGAKI Tsutomu, SEKI Syunichi, IEEJ Transactions on Electronics, Information and Systems, IEEJ Transactions on Electronics, Information and Systems, 123C(3/407-413), 407 - 413, Mar. 01 2003 Summary:An optimal design approach for Surface Acoustic Wave (SAW) filters is presented. The frequency response characteristics of SAW filters are governed primarily by their geometrical structures, i.e., the configurations of respective interdigital transducers (IDTs) arranged on piezoelectric substrates. First of all, for realizing a desirable bandpass filter, the structural design of a three-IDT type SAW filter, which consists of three IDTs and two reflectors, is formulated as a combinatorial optimization problem. In order to simulate the frequency response of the SAW filter, the least equivalent circuit model of IDT is employed. Then, a variable neighborhood search based on the k-degree-neighborhood is proposed for solving the optimization problem. Changing the number of examined variables in the process of local search, it avoids being trapped in the first local optimal solution found. Computational experiments conducted on the practical design problem of the three-IDT type SAW filter demonstrate the usefulness of the proposed variable neighborhood search.
- Optimal Configuration Problem of Redundant Arms Considering Endpoint Compliance and Its Solution Using Interval Analysis, TAGAWA Kiyoharu, TAKAMI Hiroki, SHIRAKI Koichi, HANEDA Hiromasa, Transactions of the Society of Instrument and Control Engineers, Transactions of the Society of Instrument and Control Engineers, 37(10), 990 - 992, Oct. 31 2001
- An Imanishism-based Genetic Algorithm for Seeking Various Optimal Solutions of the Module Placement Problem, TAGAWA Kiyoharu, MIZUTANI Koji, INOUE Katsumi, HANEDA Hiromasa, Transactions of the Institute of Systems, Control and Information Engineers, Transactions of the Institute of Systems, Control and Information Engineers, 14(10), 467 - 474, Oct. 15 2001 Summary:In order to find the plural number of optimal solutions for the module placement problem, which is of particular significance in the design of VLSI, a new Genetic Algorithm (GA) based on Imanishi's evolutionary theory is proposed. First of all, a phenotypic distance between two solutions, or individuals, is defined as the shortest Hamming distance between sets of isomorphic genotypes. If the phenotypic distance between two individuals is shorter than a threshold value, they are regarded as the same species. Then, a new generation alternation model that is analogous to the habitat segregation is presented. Since each individual in the population represents an isolating species, the diversity of the population is maintained spontaneously. Even though the selection of individuals based on their fitness is not employed, excellent individuals are created effectively by using the harmonic crossover operation combined with a local optimization method.
- An Imanishism-based Genetic Algorithm for Sampling Various Pareto-optimal Solutions: An Application to The Multi-objective Resource Division Problem, TAGAWA Kiyoharu, WAKABAYASHI Noboru, HANEDA Hiromasa, INOUE Katsumi, The Transactions of the Institute of Electrical Engineers of Japan. C, The Transactions of the Institute of Electrical Engineers of Japan. C, 121(6), 992 - 1000, Jun. 01 2001
- Fast Interval Bisection Method for Finding All Solutions of Nonlinear Equations And Its Application to Inverse Kinematics for General Manipulators, TAGAWA Kiyoharu, OHARA Fumiya, HANESA Hiromasa, The Transactions of The Institute of Electrical Engineers of Japan, The Transactions of The Institute of Electrical Engineers of Japan, 120(4), 590 - 596, Apr. 01 2000
- A Design of Genetic Algorithm-Based Meta-Heuristic Method: An Application to the Graph Coloring Problem, TAGAWA Kiyoharu, KANESIGE Kenji, INOUE Katsumi, HANEDA Hiromasa, Transactions of the Society of Instrument and Control Engineers, Transactions of the Society of Instrument and Control Engineers, 35(11), 1355 - 1362, Nov. 30 1999
- Emergence of Intelligent Robot by using Genetic Algorithm and Affordance, TAGAWA Kiyoharu, KAWAGUCHI Shunsuke, INOUE Katsumi, HANEDA Hiromasa, Journal of the Robotics Society of Japan, Journal of the Robotics Society of Japan, 17(7), 1023 - 1030, Oct. 15 1999 Summary:An intelligent robot which distinguishes several different environments and completes the task demanded in each environment is described. Through the interaction with the surrounding environment, the robot recognizes not only current environment but also its own position successfully, whereas the robot has no map representing the world in which it is going to act. For the great work, the robot finds and uses the appropriate affordance lurking in the surrounding environment. The brain of the robot is defined by a Finite State Machine (FSM) and is evolved by using a Genetic Algorithm (GA) . In order to create the target FSM effectively, new genetic operations based on the Lamarckism are also proposed. Computational experiments show that the proposed genetic operations are superior to the conventional ones in both the quality of FSM and the velocity of evolution. Furthermore, observing the behavior of the intelligent robot, affordance is specified in each environment concretely.
- Distance Based Construction of Genetic Algorithm: Phenotypic Distance and Harmonic Crossover, TAGAWA Kiyoharu, KANZAKI Yasunobu, OKADA Daisuke, INOUE Katsumi, HANEDA Hiromasa, The Transactions of The Institute of Electrical Engineers of Japan, The Transactions of The Institute of Electrical Engineers of Japan, 118(12), 1778 - 1785, Dec. 01 1998
- Automatic Task-Generation Method for Parallel Processing of Robot-Arm Control Computation-Parallelization of Expressions by Algebraic Transformation-, TAGAWA Kiyoharu, NAMIKOSHI Takahiro, HANEDA Hiromasa, Transactions of the Society of Instrument and Control Engineers, Transactions of the Society of Instrument and Control Engineers, 34(3), Mar. 31 1998
- Design of PID Controller Satisfying Robust Performances, OHTA Yuzo, LI Jing, TAGAWA Kiyoharu, HANEDA Hiromasa, Transactions of the Institute of Systems, Control and Information Engineers, Transactions of the Institute of Systems, Control and Information Engineers, 11(1), 26 - 34, Jan. 15 1998 Summary:In this paper, a method to compute an almost correct region of PID parameters which guarantees robust stability and several robust performances for systems with real uncertain parameters is proposed. The proposed method can be compute the region in a short computing time by adopting the following idea and technique : The first one is the computational strategy to avoid the unnecessary small splitting of the parameter space of the PID controller. The second one is adopting the idea of computational geometry approach to reduce the time for executing the algorithm. The third one is to use the Non-convex Polygon Interval Arithmetic (NPIA) to compute the "good" estimate of value sets of transfer functions.
- Application of Genetic Algorithm to Scheduling Problem of Robot Control Comptation, TAGAWA Kiyoharu, FUKUI Tuyoshi, HANEDA Hiromasa, Transactions of the Institute of Systems, Control and Information Engineers, Transactions of the Institute of Systems, Control and Information Engineers, 10(6), 321 - 330, Jun. 15 1997 Summary:This paper presents a genetic algorithm (GA) for scheduling problem of a robot control computation. That is very difficult problem which belongs to the class of NP-hard problems. The authors have already proposed several algorithms, which are based on heuristic and branch-and-bound approaches, for the scheduling problem. The conventional algorithms, however, have the limits of their ability in quality of solutions and computational time. The scheduling problem is a typical partitioning problem : partitioning objects into a fixed number of groups to optimize an objective function. Consequently, this paper proposes a new crossover method named weighted-edge crossover which preserves both the structure and the characteristic of the feasible solution of partitioning problem. Furthermore, in order to improve the performance of GA, this paper defines a distance between feasible solutions and uses it in the adaptive control of crossover rate. To demonstrate the effectiveness of the proposed GA, comparative study of the GA with the conventional algorithms is carried out on several computational experiments.
- Optimization and Quasi-Optimization Algorithms for Parallel Processing of Robot-Arm Dynamic Control Computation, TAGAWA Kiyoharu, FUKUI Tuyoshi, KANKI Yoshihide, OHTA Yuzo, HANEDA Hiromasa, Journal of the Robotics Society of Japan, Journal of the Robotics Society of Japan, 14(6), 903 - 910, Sep. 15 1996 Summary:A parallel processing scheme is described for robot control computation on MIMD shared memory multi-processor model. Since dynamic control law of robot arm usually contains a large amount of operations compared with the number of available processors, it is important to consider not only the effect of parallel processing but also the efficiency of serial processing in each of the processors. In order to obtain such a desirable solution for the complex scheduling problem, optimization and quasi-optimization algorithms are proposed. The excellent optimization algorithm is based on a branch-and-bound method. On the other hand, the practical quasi-optimization algorithm is based on a partial enumeration method which effectively combines the optimization algorithm and the approximation algorithm (GCF/LPT) ; that was recently developed by authors. The proposed scheduling algorithms are applicable to parallel processing of any kinds of control laws represented by sum of products. The test results on the dynamic control computation of robot arms demonstrate the usefulness of the algorithms.
- Development of Robot Control Program with Optimizing Compiler, TAGAWA Kiyoharu, TSUDA Masahiko, NAMIKOSHI Takahiro, OHTA Yuzo, HANEDA Hiromasa, Journal of the Robotics Society of Japan, Journal of the Robotics Society of Japan, 13(8), 1199 - 1205, Nov. 15 1995 Summary:Dynamic control is one of the methods which enable quick and accurate motion of robot arms. However, this method has been rarely applied to industrial robots. One reason is that dynamic control has been difficult to be performed real time by using presently available processors since it requires huge amount of computation. Described in this paper is an optimizing compiler which can automatically generate an efficient program for dynamic control computation of robot arms. Source program, which can be developed with an algebraic computation system like REDUCE, is given as symbolic equations. The optimizing compiler transforms the equations into a set of statements which has a possible simple form of computation. The method is based on the factorization algorithms proposed by authors. After that, the optimized statements are encoded by C Language and arranged for an object program. The optimizing compiler is designed according to an object oriented approach. The effectiveness of the optimizing compiler is also shown through experiments.
- Branch and bound methods for multiobjective optimization problem on a multi-DSP system, TAGAWA Kiyoharu, AMANO Masayuki, OHTA Yuzo, HANEDA Hiromasa, The Transactions of The Institute of Electrical Engineers of Japan, The Transactions of The Institute of Electrical Engineers of Japan, 115(10), 1219 - 1220, Sep. 20 1995
- Computation of Gain Margin Using Polygon Interval Arithmetic, OHTA Yuzo, ISOGAI Akira, TAGAWA Kiyoharu, HANEDA Hiromasa, Transactions of the Institute of Systems, Control and Information Engineers, Transactions of the Institute of Systems, Control and Information Engineers, 8(5), 212 - 221, May 15 1995 Summary:In this paper, a method to compute almost exact gain margin of uncertain control systems using Polygon Interval Arithmetic (PIA) is proposed. The main problem here is to determine 0-exclusion property of the value set of the characteristic polynomial. By using PIA, we can compute the convex hull of the value set very fast. When we need a better estimate of the value set, we need to split a region of uncertain parameters : however, the method to decide which region should be split was not given, and it may require very large computing time to get a good estimate. In this paper, we confine ourselves to the case when an expression of characteristic polynomial which corresponds to a totally decomposable tree structure decomposition is given, and we propose a method to decide which region should be split. By adopting this method, we Can compute a good estimate in a short time.
- Optimization Algorithm for Scheduling Problem on a multi-DSP System, TAGAWA Kiyoharu, OHTA Yuzo, AMANO Masayuki, HANEDA Hiromasa, The Transactions of The Institute of Electrical Engineers of Japan, The Transactions of The Institute of Electrical Engineers of Japan, 115(4), 597 - 603, Mar. 20 1995
- Parallel Processing Scheme for Dynamic Control of Robot Arm and Realization by Using Object Oriented Approach, TAGAWA Kiyoharu, KANKI Yoshihide, OHTA Yuzo, HANEDA Hiromasa, Transactions of The Institute of Systems, Control and Information Engineers, Transactions of The Institute of Systems, Control and Information Engineers, 7(12), 505 - 511, Dec. 15 1994 Summary:A parallel processing scheme is described for dynamic control computation of a robot-arm on any number of parallel processors. The control law for dynamic control of the robot-arm is generally represented by the sum of products. Such a control law usually consists of a huge number of operations. However, some of these operations are redundant and may be reduced by factorization. This paper proposes a practical scheduling algorithm which assigns the operations of the control law to parallel processors considering how many of them could be reduced by factorization.<BR>Based on the proposed algorithm, a scheduling system is also developed by using an object oriented approach (<I>g</I>++). Then, a wonderful effect of the proposed algorithm is demonstrated through examples.
- An Optimizer for Inverse Dynamic Computation, TAGAWA Kiyoharu, OHTA Yuzo, FUJIWARA Masakazu, HANEDA Hiromasa, Transactions of The Society of Instrument and Control Engineers, Transactions of The Society of Instrument and Control Engineers, 29(2), 220 - 226, Feb. 28 1993
- A Multi-DSP Implementation of Digital Controller with Minimum Throughput Time, Tagawa Kiyoharu, Ohta Yuzo, Maki Hidetaka, Haneka Hiromasa, The Transactions of The Institute of Electrical Engineers of Japan, The Transactions of The Institute of Electrical Engineers of Japan, 113(1), 72 - 78, 1993 Summary:In this paper, we consider the implementation of real-time digital controller under multi-DSP's environment. Proposed is a new configuration of multi-DSP system and parallel processing scheme which possibly shorten the sampling period under minimum throughput time for the digital controller. We formulate the schenduling problem of the multi-DSP system to realize the given control law as a difference equation, and derive a reasonable solution of the problem. We also illustrate a concrete hardware configuration of the multi-DSP system. Then we show that the multi-DSP system successfully avoid data collision by using bus buffers and the suitable scheduling for DSPs. In the discussion of memory allocation and management, we propose the way to conserve the data struture without moving any data in the memory. Finally, we evaluate the proposed multi-DSP system compared wiht the other multi-DSP system in an application. The proposed methods can be applied to general DSPs, and examples are given for particular DSP, TMS 320 C 25.

- Evolutionary Computation, Optimum design of balanced surface acoustic wave filters using evolutionary computation, 共著, In-Teh, 2009

- Concurrent Differential Evolution For Uncertain Optimization Problems, 田川 聖治, 電気学会研究会資料. ST, 2011 12 03
- High-level Design of Face Display Using Timed Automata and Its Extension based on Gamunics Theory, 田川 聖治, 研究報告ヒューマンコンピュータインタラクション（HCI）, 2011 07 21 Summary:フェースディスプレイとは，人間とコンピュータのインタラクションを円滑にすることを目的として，様々なアプリケーションに 「顔」 を与えるものであり，アプリケーションの状態に応じた表情アニメーションをリアルタイムで実行する．本稿では，教育支援システム 「ロボット TA」 を対象として，時間オートマトンを用いたフェースディスプレイの上位設計法を紹介する．さらに，ゲームニクス理論に基づき，テレビゲームの技法を取り入れることで，フェースディスプレイの機能を拡張する．For achieving the smooth interaction between humans and computers, the face display gives a face to an arbitrary application. Exactly speaking, the face display performs the animation of human's faces synchronizing with various states of the application. This paper presents a face display designed for a computer-aided education system called robot TA. First of all, a high-level design method of the face display that uses timed automata is described. Then, in accordance with Gamunics theory, the function of the above face display is extended by importing some techniques from popular video games.
- Experiment Study of A Structured Differential Evolution with Mixed Strategies, World Congress on Nature and Biologocally Inspired Computing, 2010 12 , World Congress on Nature and Biologocally Inspired Computing
- An implementation of differential evolution for multi-core processors, 2010 10
- A Comparative Study of Structured Differential Evolutions, The 10th International Conference on APPLIED COMPUTER SCIENCE (ACS'10), 2010 10 , The 10th International Conference on APPLIED COMPUTER SCIENCE (ACS'10)
- Modelling and checking of face display based on timed automata, 2010 01
- A differential evolution using distance survival selection, The 19th Intelligent System Symposium (FAN2009), 2009 09 , The 19th Intelligent System Symposium (FAN2009)
- A generation alternation model based on habitat segregation for differential evolution, 2009 01
- A Comparative Study of the Differential Evolution based on Continouous Generation Model By using Analysis of Variance, TAGAWA Kiyoharu, IPSJ SIG Notes, 2008 09 11 Summary:Conventional Differentiation Evolution (DE) has been based on the discrete generation model in which the current generation's population is replaced by the next generation's population at a time. In this paper, a new DE based on the continuous generation model is presented. Then, by using the techniques of the analysis of variance, the effects of the two generation models on the performance of DE are compared statistically. As results, the advantage of the new DE based on the proposed continuous generation model is clarified.
- Continuous generation model of differential evolution and an evaluation using analysis of variance, 2008 05
- Multi-Objective Optimum Design of SAW Filters using Genetic Local Search, KOJIMA K, TAGAWA K, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 2007 01 29
- Adaptive Free&Freeze Method for the Large-scale Design Problem of DMS Filters, KIM Hoewon, TAGAWA Kiyoharu, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 2007 01 29
- 315 Robust Optimum Design of Surface Acoustic Wave Filter, TAGAWA Kiyoharu, OHTANI Toru, IGAKI Tsutomu, SEKI Syunichi, Dynamics & Design Conference, 2003 09 16 Summary:This paper proposes a robust optimum design technique for Surface Acoustic Wave (SAW) filters. The frequency characteristics of SAW filters are governed primarily by their geometrical structures, namely, both of the configurations and the arrangements of Interdigital Transducers (IDTs) fabricated on piezoelectric substrates. For deciding optimal structures of SAWfilters, traditional design techniques estimate their frequency characteristics based on the equivalent circuit mode of IDT. However, they have rarely considered the reliability of the equivalent circuit mode of IDT even though it may be spoiled by the scattering of parameters' values. In the robust optimum design of SAW filters, the proposed design technique employs a penalty function method combined with a variable neighborhood search and counts errors due to inaccuracy of the equivalent circuit mode of IDT. Computational experiments conducted on an optimum design of a practical three-IDT type SAW filter demonstrate the usefulness of the proposed design technique.
- Robust Optimum Design of Surface Acoustic Wave Filter, TAGAWA Kiyoharu, OHTANI Toru, IGAKI Tsutomu, SEKI Syunichi, Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D, 2003 09 15 Summary:This paper proposes a robust optimum design technique for Surface Acoustic Wave (SAW) filters. The frequency characteristics of SAW filters are governed primarily by their geometrical structures, namely, both of the configurations and the arrangements of Interdigital Transducers (IDTs) fabricated on piezoelectric substrates. For deciding optimal structures of SAW filters, traditional design techniques estimate their frequency characteristics based on the equivalent circuit mode of IDT. However, they have rarely considered the reliability of the equivalent circuit mode of IDT even though it may be spoiled by the scattering of parameters' values. In the robust optimum design of SAW filters, the proposed design technique employs a penalty function method combined with a variable neighborhood search and counts errors due to inaccuracy of the equivalent circuit mode of IDT. Computational experiments conducted on an optimum design of a practical three-IDT type SAW filter demonstrate the usefulness of the proposed design technique.
- Emergence of An Intelligent Robot Based on The Affordance Theory : Body Shape and Environment, ITO D, TAGAWA K, HANEDA H, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 2002 01 25
- Optimal Postures of Robotic Arms for Force Control and Global Optimization using Interval Analysis, TAKAMI Hiroki, TAGAWA Kiyoharu, HANEDA Hiromasa, 生体・生理工学シンポジウム論文集, 1999 10 06
- A Genetic Algorithm for the Traveling Salesman Problem : Phenotypic Distance and Harmonic Crossover, TAGAWA K, KANZAKI Y, OKADA D, INOUE K, HANEDA H, インテリジェントシステム・シンポジウム講演論文集 = FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 1997 11 10
- Weighted-Edge Crossover for Scheduling Problem of Robot Control Computation, TAGAWA Kiyoharu, FUKUI Tuyoshi, HANEDA Hiromasa, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 1996 10 18
- On the Implementation of Non-convex Polygon Interval Arithmetic, OHTA Yuzo, TAGAWA Kiyoharu, HANEDA Hiromasa, IPSJ SIG Notes, 1995 11 17 Summary:In this paper, a method to implement Non-convex Polygon Interval Arithmetic (NPIA) is presented. NPIA is an arithmetic defined on the set of all (non-convex) polygons in the complex plane. The operations (that is, addition, multiplication and inversion) gives a polygon contained an ε neighborhood of the value set of the corresponding operation. The main issue of this approach is to compute the outer boundary of the union of many polygons. An implementation method based on the computer geometry the geometric intersection algorithm is presented. NPIA can give an estimate region which is included an ε neighborhood of the value set of a given function f(s, q) which includes uncertain parameters q.
- SA-1-8 CAD of Robust Control Systems by Using PIA, Ohta Yuzo, Tagawa Kiyoharu, Haneda Hiromasa, 電子情報通信学会秋季大会講演論文集, 1994 09 05
- Evaluation of δ-form Exact Model Matching Control System using Hybrid Simulator, Tagawa Kiyoharu, Fujimoto Hajime, Ohta Yuzo, Haneda Hiromasa, Mem. Grad. School Sci. & Technol., Kobe Univ. B, 1993 03