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2017/10/01現在
 
 

金 岡秀

キム カンスー/Kangsoo Kim
 

所属部署 :海洋利用水中技術系 AUV開発研究グループ
役職   :グループ長
専門分野 :動力学、制御、誘導、航法、最適化、自律システム、AUV、USV、UAV、
      水中音響、multibody dynamics


  

研究テーマ

AUV誘導・制御・航法、AUV複数運用手法、遭難者救助支援UAV、AUV最適形状設計、FOGベース国産慣性航法装置


  

表彰等(受賞歴)

Selected Paper Award, ACMD 2006 


  

論文

i.学術誌
  • 1. Kangsoo Kim and Tamaki Ura, "Navigation strategies of a cruising AUV for near-bottom survey of a steep terrain," IFAC-PapersOnline, Internationl Federation of Automatic Control (IFAC), vol.49, issue 15, pp.75-80, Aug. 2016. https://www.sciencedirect.com/science/article/pii/S2405896316309880
  • 2. Kangsoo Kim and Tamaki Ura, " Longitudinal motion instability of a cruising AUV flying over a steep terrain," IFAC-PapersOnline, Internationl Federation of Automatic Control (IFAC), vol.48, issue 2, pp.56-63, Sep. 2015. https://www.sciencedirect.com/science/article/pii/S2405896315002499
  • 3. Chie Honsho, Tamaki Ura, Kangsoo Kim, and Akira Asada, "Postcaldera volcanism and hydrothermal activity revealed by autonomous underwater vehicle surveys in Myojin Knoll caldera, Izu-Ogasawara arc," Journal of Geophysical Research: Solid Earth, American Geophysical Union (AGU), Vol. 121, Issue 6, pp. 4085-4102, DOI: 10.1002/2016JB012971, Jun. 2016. (impact factor: 3.318) http://onlinelibrary.wiley.com/doi/10.1002/2016JB012971/full
  • 4. Chie Honsho, Tamaki Ura, Akira Asada, Kangsoo Kim, and Kenji Nagahashi, "High-resolution acoustic mapping to understand the ore deposit in the Bayonnaise knoll caldera, Izu-Ogasawara arc," Journal of Geophysical Research: Solid Earth, American Geophysical Union (AGU), Vol.120, pp.2070-2092, DOI: 10.1002/2014JB011569, Apr. 2015. (impact factor: 3.318) http://onlinelibrary.wiley.com/doi/10.1002/2014JB011569/full
  • 5. Kangsoo Kim and Tamaki Ura, "A Cruising AUV r2D4: Intelligent Multirole Platform for Deep-Sea Survey," Journal of Robotics and Mechatronics, The Robotics Society of Japan, Vol.26, No.2, pp.262-263, Apr. 2014. https://www.fujipress.jp/jrm/rb/robot002600020262/
  • 6. Chie Honsho, Tamaki Ura, Kangsoo Kim, "Deep-sea magnetic vector anomalies over the Hakurei hydrothermal field and the Bayonnaise knoll caldera, Izu-Ogasawara arc, Japan," Journal of Geophysical Research: Solid Earth, American Geophysical Union (AGU), Vol.118, pp.1-18, DOI: 10.1002/jgrb.50382, Oct. 2013. (impact factor: 3.318) http://onlinelibrary.wiley.com/doi/10.1002/jgrb.50382/full
  • 7. Kangsoo Kim, Tamaki Ura, Makio Kashino and Hiroaki Gomi, "A Perioral Dynamic Model for investigating Human Speech Articulation," Multibody System Dynamics, Springer, Vol.26, No.2, pp. 107-134, DOI: 10.1007/s11044-011-9253-z, Aug. 2011 (impact factor: 2.023) http://www.springerlink.com/content/95k6756kw2557947/
  • 8. Kangsoo Kim and Tamaki Ura, "Applied Model-based Analysis and Synthesis for the Dynamics, Guidance, and Control of an Autonomous Undersea Vehicle," Mathematical Problems in Engineering - Special Issue on Models, Methods, and Applications of Dynamical and Control in Engineering Sciences: State of the Art, Hindawi, Vol.2010, Article ID 149385, doi:10.1155/2010 /149385, Jan. 2010 (impact factor: 1.383) http://www.hindawi.com/journals/mpe/2010/149385/
  • 9. Kangsoo Kim and Tamaki Ura, "Optimal guidance for AUV Navigation within Undersea Area of Current Disturbances," Advanced Robotics, Brill, Vol.23, No.5, pp.601-628, Apr. 2009 (impact factor: 0.653) http://www.tandfonline.com/doi/abs/10.1163/156855309X420093
  • 10. 金 岡秀, 五味 裕章,“逆動力学的手法による人間調音運動の制御,” 日本機械学会論文集(C編)73巻733号, pp.111-118,2007年9月 http://ci.nii.ac.jp/naid/110006403943/
  • 11. Kangsoo Kim and Hiroaki Gomi, "Model-Based Investigation of Control and Dynamics in Human Articulatory Motion," Journal of System Design and Dynamics, Vol.1, No.3, pp.558-569, Aug. 2007 http://www.jstage.jst.go.jp/browse/jsdd/1/3/_contents
  • 12. 金 岡秀, 浦 環,“自律型海中ビークルの流れ外乱中における最適誘導及び追従制御,” 日本機械学会論文集(C編) 70巻699号,pp.184-191,2004年11月 http://ci.nii.ac.jp/naid/110006264132/
ii. 著書
iii. 国際会議論文
1) 査読付論文
  • 1. Kangsoo Kim and Tamaki Ura, "Optimal and Quasi-Optimal Navigations of an AUV in Current Disturbances," IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems (IROS 2008), IEEE/RSJ, Nice, Sep. 2008, CD-ROM, pp.3661-3667. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4650690&tag=1
  • 2. Kangsoo Kim and Hiroaki Gomi, "Human Perioral Dynamics Model for Labial Interaction in Speech Articulation and its Motor Control," Proc. 7th International Seminar on Speech Production (ISSP '06), Ubatuba, Dec. 2006, pp.67-74.
  • 3. Kangsoo Kim and Tamaki Ura, "Fuel-Optimal Guidance and Tracking Control of AUV under Current Interaction," Proc. 13th International Offshore and Polar Engineering Conference, ISOPE-2003, Honolulu, May 2003, Vol.2, pp.191-196. http://www.isope.org/publications/proceedings/ISOPE/ISOPE%202003/volume2/
    2028p191.pdf
  • 4. Kangsoo Kim and Tamaki Ura, "3-Dimensional Trajectory Tracking Control of an AUV "R-One Robot" Considering Current Interaction," Proc. 12th International Offshore and Polar Engineering Conference, ISOPE-2002, Kita-Kyushu, May 2002, Vol.2, pp.277-283. http://www.isope.org/publications/proceedings/ISOPE/ISOPE%202002/Volume2/
    2040p277.pdf
2) 査読のない論文
  • 1. Kangsoo Kim and Kenkichi Tamura, "The Zipangu of the Sea Project Overview: Focusing on the R&D for Simultaneous Deployment and Operation of Multiple AUVs," Proc of the Offshore Technology Conference Asia 2016 (OTC Asia 2016), Kuala Lumpur, Mar. 2016, OTC-26702-MS.
  • 2. Yuya Nishida, Junichi Kojima, Yodo Ito, Kenkichi Tamura, Harumi Sugimatsu, Kangsoo Kim, Taku Sudo, and Tamaki Ura, "Development of an autonomous buoy system for AUV, " Proc of OCEANS 2015 MTS/IEEE, Genova, May. 2015, pp.1-6.
  • 3. Kangsoo Kim and Tamaki Ura, "Terrain-adaptive optimal guidance for near-bottom survey by an autonomous underwater vehicle," Proc of International Symposium on Underwater Technology 2013, Tokyo, Mar. 2013, UT2013-1059.
  • 4. Kangsoo Kim, Tamaki Ura, Kenji Nagahashi, Takayuki Asanuma, Takatoshi Matsuzawa, Kenji Nakane, Tadamasa Obata, Hisashi Koyama, Yuuji Ooyabu, and Ryuichi Nagata, "Towards AUV-based iceberg profiling and gouging survey in Arctic Sea: The first Japanese under-ice AUV deployment in Okhotsk Sea," Proc of International Symposium on Underwater Technology 2013, Tokyo, Mar. 2013, UT2013-1088.
  • 5. Chie Honsho, Tamaki Ura, and Kangsoo Kim, "Magnetic structure of Bayonnaise knoll caldera including Hakurei hydrothermal site obtained from near-bottom magnetic vector field mapping by autonomous underwater vehicle," Proc of AGU Fall Meeting 2012, San Francisco, Dec. 2012, T43D-2702
  • 6. Kangsoo Kim, Tamaki Ura, "Towards a New Strategy for AUV Navigation in Sea Currents: A Quasi-Optimal Approach," Underwater Technology (UT), 2011 IEEE Symposium on and 2011 Workshop on Scientific Use of Submarine Cables and Related Technologies (SSC), IEEE, Tokyo, Apr. 2011, CD-ROM, pp.1-10, DOI: 10.1109/UT.2011.5774158.
  • 7. Kangsoo Kim and Hiroaki Gomi, "Investigation of Control and Dynamics in Human Articulatory Motion," Proc of the 3rd Asian Conference on Multibody Dynamics (ACMD2006), Tokyo, Aug. 2006, CD-ROM, Lecture No. 802. (優秀論文賞)
  • 8. Kenji Nagahashi, Tamaki Ura, Akira Asada, Takashi Obara, Takashi Sakamaki, Kangsoo Kim, and Kei Okamura, "Underwater Volcano Observation by Autonomous Underwater Vehicle "r2D4"," Proc of OCEANS2005-Europe, Brest, Jun. 2005, CD-ROM, pp.557-562.
  • 9. Tamaki Ura and Kangsoo Kim, "On-Site INS Update of an AUV "r2D4" by SSBL based Position Estimation," Proc of MTS/IEEE OCEANS'04 / Techno-Ocean'04, MTS/IEEE, Kobe, Nov. 2004, CD-ROM, pp.840-845.
  • 10. Tamaki Ura, Takashi Obara, Kenji Nagahashi, Kangsoo Kim, Yuji Oyabu, Takashi Sakamaki, Akira Asada, and Hisashi Koyama, "Introduction to an AUV "r2D4" and its Kuroshima Knoll Survey Mission," MTS/IEEE OCEANS'04 / Techno-Ocean'04, MTS/IEEE, Kobe, Nov. 2004, CD-ROM, pp.1606-1611.
  • 11. Kangsoo Kim and Tamaki Ura, "Fuel-Optimally Guided Navigation and Tracking Control of AUV under Current Interaction," MTS/IEEE OCEANS2003, MTS/IEEE, San Diego, Sep. 2003, CD-ROM, pp.663-670.
  • 12. Kangsoo Kim, Taku Sutoh, Tamaki Ura, and Takashi Obara, "Route Keeping Control of AUV under Current Interaction by using Dynamics Model via CFD Analysis," Proc of MTS/IEEE OCEANS2001, MTS/IEEE, Honolulu, Nov. 2001, vol.1, pp.417-422.
  • 13. Kang S. Kim, et al., "Analysis of the Waterjet-Propelled Ship Flow by a Higher-Order Boundary Element Method," Proc. International Conference on Ship and Marine Research (NAV 94), Rome, Oct. 1994, Vol.1, Session 3 (CFD/ Dynamic Loads), no pages.
iv. 国内会議論文
  • 1. Tamaki Ura, Kangsoo Kim, Takayuki Asanuma, Takatoshi Matsuzawa, Kenji Nakane, Tadamasa Obata, Yuji Oyabu, Hisashi Koyama, Kenji Nagahashi, and Ryuichi Nagata, "Deployment of an autonomous underwater vehicle in ice-covered Sea of Okhotsk : The first Japanese challenge," 第3回極域科学シンポジウム講演集, J42_P, Nov. 2012.
  • 2. 金 岡秀,浦 環,“潮流外乱中における自律型水中ビークルの最適及び準最適航行,” 第8回最適化シンポジウム2008 (OPTIS2008)講演論文集,pp.43-46, 2008年11月.
  • 3. 金 岡秀,五味 裕章,“調音運動系の逆動力学制御,” 第8回最適化シンポジウム2008 (OPTIS2008)講演論文集,pp.247-250, 2008年11月
  • 4. 金 岡秀,五味 裕章,“調音動力学系モデルの表現と制御方法に関する考察,” 電子情報通信学会技術研究報告(信学技報) NC2005-169,2006年3月,vol.105, No.659, pp.107-112.
  • 5. 金 岡秀,浦 環,“自律型海中航行ビークルの環境外乱中における燃料最適誘導及び追従制御,”日本造船学会講演会論文集第2号,2003年11月,vol.2, pp.153-154.
  • 6. 金 岡秀,浦 環,“自律型海中航行ビークルの環境外乱中における燃料最適誘導及び運動制御,” 機械力学・計測制御講演 (Dynamics and Design Conference'03) CD-ROM論文集,2003年9月,論文番号143.
  • 7. 金 岡秀,浦 環,“自律型海中ロボットの潮流中における燃料最適誘導航法,” ロボティクス・メカトロニクス講演会'03 (ROBOMEC'03) 講演論文集(CD-ROM),2003年5月,論文番号2A1-2F-A7.
  • 8. 金 岡秀,浦 環,“自律型海中航行ビークル"R-Oneロボット"の潮流中における3次元経路追従制御,” 第7回日本計算工学講演会論文集,2002年5月,vol.7, pp.781-784.
  • 9. 金 岡秀ほか,“高次境界要素法による3次元スロッシング現象の数値解析,” 大韓造船学会春季学術大会論文集,1997年4月,pp.212-218. (韓国語)
  • 10. 金 岡秀ほか,“ウォータージェット吸込み流れ場の数値解析,” 第2回超高速船Workshop論文集,1995年9月,vol.1.(韓国語)
v. 紀要・解説

  

学位

博士(工学)


  

学歴と職歴

<学歴>
ソウル大学校工科大学造船海洋工学科卒業 (1992)
ソウル大学校工科大学大学院修士課程(造船海洋工学専攻)修了、工学修士 (1994)
東京大学大学院工学系研究科博士課程(環境海洋工学専攻)修了、工学博士 (2003)
<職歴>
1994-1997 Hyundai-Samho Heavy Industries Co., Ltd.
1997-2000 Daewoo Engineering Company
2003-2005 東京大学大学院工学系研究科
2005-2010 NTTコミュニケーション科学基礎研究所、日本電信電話株式会社
2010-2014 東京大学生産技術研究所
2014-現在 海上技術安全研究所

活動概要

 

その他