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Researchers
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HIGUCHI Takehiro
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【Published Thesis】 Singularity Problem of CMGs on Multi-rotor Vehicles 2018.04
【Published Thesis】 Optimal Trajectory of Powered Descending Phase with Coasting for Smart Lander for Investigating Moon 2018.03
【Published Thesis】 Experiment of Collision Avoidance Control Law with Information Amount Feedback 2013.01
【Published Thesis】 Semi-Optimal Control Using Shooting Method for Real Time Minimum-Time Maneuver of Satellite with VSCMG 2021.04
【Published Thesis】 Semi-Optimal Control for Minimum-Time Maneuver of Satellite with Variable Speed Pyramid Type SGCMGs 2021.01
【Published Thesis】 Singularity Problem of CMGs on Multi-rotor Vehicles 2018.04
【Published Thesis】 Optimal Trajectory of Powered Descending Phase with Coasting for Smart Lander for Investigating Moon 2018.03
【Published Thesis】 The Relative Speed Control of Super Multi-Link Space Manipulator to Capture Space Debris 2017.03
Yokohama National University Doctor Course Completed
Yokohama National University Master Course Completed
Yokohama National University Graduated
Doctor of Engineering - Yokohama National University
Master of Engineering - Yokohama National University
Duty Yokohama National UniversityFaculty of Environment and Information Sciences Division of Artificial Environment and Information Associate Professor
Duty Yokohama National UniversityFaculty of Environment and Information Sciences Division of Artificial Environment and Information Assistant Professor
Duty Yokohama National UniversityInterdisciplinary Research Center Specially Appointed Assistant Professor
Concurrently Yokohama National UniversityInterfaculty Graduate School of Innovative and Practical Studies Associate Professor
Concurrently Yokohama National UniversityGraduate school of Engineering Science Department of Mechanical Engineering, Materials Science and Ocean Engineering Associate Professor
Yamaguchi University Graduate School of Science and Engineering Assistant Professor
The Japan Society for Aeronautical and Space Science
American Institute of Aeronautics and Astronautics
The Japan Society of Mechanical Engineers
The Society for Instrument and Control Engineers
Frontier Technology (Aerospace Engineering, Marine and Maritime Engineering) / Aerospace engineering
Informatics / Mechanics and mechatronics
Periodic Optiomal Controller for Multi-Joint Space structure
Project Year：
Attitude Control of Satellites using CMGs
Project Year：
Automatic Flight Control of Indoor UAVs
The Other Research Programs
Project Year：
Automatic Flight Control of UAVs
Grant-in-Aid for Scientific Research
Project Year：
Controller Design for Super Multi-Joint Space structure
Project Year：
Advances in the Astronautical Sciences：Applications of Space Technology for Humanity
上野誠也（ Role： Joint author）
Univelt Inc.
Language：English Book type：Scholarly book
Numerical Analysis Theory and Application
J. Awrejcewicz, et. al.（ Role： Joint author）
InTech （ ISBN:9789533073897 ）
Language：English Book type：Scholarly book
Ａdvances in the Astronautical Sciences：Space Activities and Cooperation Contributing to All Pacific Basin Countries
上野誠也（ Role： Joint author）
Univelt Inc.
Language：English Book type：Scholarly book
Tsuchiya Mitsuyoshi, Higuchi Takehiro
AEROSPACE TECHNOLOGY JAPAN, THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES 20 ( 0 ) 9 - 18 2021.4
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES Joint Work
<p>This study explores the minimum-time attitude maneuver of satellites using Control Moment Gyros (CMG). The CMG system is able to generate high torque and run for longer term than other actuators. However, it is known that the singular input that cannot generate effective torque appears in the optimal control for the minimum-time maneuver of a rigid spacecraft with a pyramid type SGCMG system. In previous studies, a new system equipped with variable speed CMG (VSCMG) to the CMG where the singular input appeared has been proposed. It is shown that the new system can rotate faster than the normal pyramid type SGCMG system in the simulation based on the optimal control law. However, for applications in actual satellites, numerical optimization cannot be used due to the high calculation cost. The objective of this study is to make the new semi-optimal control law for the minimum time attitude maneuver of the satellite equipped with the VSCMG. The new control law is designed using a rule-based feedforward control combined with feedback control. The result by numerical simulation has shown that the proposed control law enables the satellite to achieve faster maneuver without iterative calculations. </p>
Other Link： https://ci.nii.ac.jp/naid/130008021251
Semi-Optimal Control for Minimum-Time Maneuver of Satellite with Variable Speed Pyramid Type SGCMGs
TSUCHIYA Mitsuyoshi, HIGUCHI Takehiro
TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN 19 ( 1 ) 24 - 33 2021.1
Language：English Publishing type：Research paper (scientific journal) Publisher：一般社団法人 日本航空宇宙学会 Joint Work
<p>This study explores the minimum-time attitude maneuver of satellites using Control Moment Gyros (CMG). The CMG system is able to generate high torque and run for longer term than other actuators. However, it is known that the singular input that cannot generate effective torque appears in the optimal control for the minimum-time maneuver of a rigid spacecraft with a pyramid type SGCMG system. In previous studies, a new system equipped with variable speed CMG (VSCMG) to the CMG where the singular input appeared has been proposed. It is shown that the new system can rotate faster than the normal pyramid type SGCMG system in the simulation based on the optimal control law. However, for applications in actual satellites, numerical optimization cannot be used due to the high calculation cost. The objective of this study is to make the new semi-optimal control law for the minimum time attitude maneuver of the satellite equipped with the SGCMG with the variable speed wheel. The new control law is designed using a rule-based feedforward control combined with feedback control. The result by numerical simulation has shown that the proposed control law enables the satellite to achieve faster maneuver without any initial assumptions.</p>
Other Link： https://ci.nii.ac.jp/naid/130007965802
AR マーカによる画像ベースモデル推定を用いたスケーラ ブルなマルチロータ機システムの開発
⻘⽊ ⼤地, 樋⼝ 丈浩,長瀬 駿之介, 南原 光晴, 上野 誠也
第58回⾶⾏機シンポジウム講演論文集 2020.11
Language：Japanese Publishing type：Research paper (research society, symposium materials, etc.) Joint Work
ピラミッド型VSCMG搭載衛星の最短時間姿勢変更
及川 航平,樋⼝ 丈浩,⼟屋 光慶,上野 誠也
第63回宇宙科学技術連合講演会講演集 2020.10
Language：Japanese Publishing type：Research paper (research society, symposium materials, etc.) Joint Work
Synchronizing Motion Control for Tumbling Space Debris Using Robotic Arm
Takehiro Higuchi, Tomoaki Fujihara
2020.9
Language：English Publishing type：Research paper (international conference proceedings) Joint Work
SICE-ICASE International Joint Conference 2006 Young Author Award
2006.10
ISTS Student Session JSASS President Award
2002
Developement of High Torque Pyramid Type Micro VS-CMG Applying Singular Input
2020.4
Grant-in-Aid for Scientific Research Grant-in-Aid for Scientific Research(C)
Investigator(s)：Takehiro Higuchi
Grant type：Competitive
Experiment on Control Conflict of Avoidance Manuvoer of Small UAV
2007.4 - 2009.3
Grant-in-Aid for Scientific Research Grant-in-Aid for Young Scientists(B)
Grant type：Competitive
SLIMプロジェクト
Offer organization: JAXA/ISAS Cooperative Research within Japan
Project Year： 2010.2 -
UZUMEプロジェクト
Offer organization: JAXA/ISAS Cooperative Research within Japan
Project Year： 2020.12 -
2021 海洋宇宙システム工学演習B
Graduate school of Engineering Science
2021 海洋宇宙システム工学演習A
Graduate school of Engineering Science
2021 航空宇宙利用工学
Graduate school of Engineering Science
2021 空間利用工学
Graduate School of Environment and Information Sciences
2021 飛行ロボティクス設計
College of Engineering Science
計測自動制御学会 航法誘導制御技術研究会 主査
2019.1
Committee type：Academic society
日本航空宇宙学会論文集 論文編集委員
2017.4 - 2018.3
Committee type：Academic society
計測自動制御学会 アドバンスト航法誘導制御技術研究会 幹事
2016.12 - 2018.12
Committee type：Academic society
