劣駆動系の非線形制御理論の新展開と体系化

• 研究課題/領域番号: 22560452
• 研究種目: 基盤研究(C)
• 配分区分: 補助金
• 応募区分: 一般
• 研究分野: 制御工学
• 研究機関: 岡山県立大学
• 研究代表者: 忻 欣 岡山県立大学, 情報工学部, 教授 (70293040)
• 研究期間 (年度): 2010-04-01 – 2014-03-31
• 研究課題ステータス: 完了 (2013年度)
• 配分額: 4,290千円 (直接経費: 3,300千円、間接経費: 990千円); 2013年度: 910千円 (直接経費: 700千円、間接経費: 210千円); 2012年度: 910千円 (直接経費: 700千円、間接経費: 210千円); 2011年度: 1,170千円 (直接経費: 900千円、間接経費: 270千円); 2010年度: 1,300千円 (直接経費: 1,000千円、間接経費: 300千円)
• キーワード: 劣駆動システム / ロボット / 非線形制御 / エネルギー制御法 / 振り上げ制御 / 安定性解析 / 運動解析 / 非線形制御劣駆 / 安定な制御器 / 安定化制御 / 安定解析 / エネルギー制御 / 多自由度システム

研究概要

本研究では、劣駆動系の制御系の設計・解析法に関して、劣駆動度（一般化座標数と制御入力数の差）１の系の目標軌道への追従制御、劣駆動度２の系の振り上げ・安定化制御、劣駆動系の安定な制御器による安定化などの中核的な問題に挑戦し、７つの２自由度および５つの３自由度以上の劣駆動系を対象とし、劣駆動系の物理的構造とその固有の非線形特性を用い、上記の中核問題を解決している。得られて成果は国内外の権威のある学術雑誌に11編、Springer社の専門書1冊、21編の査読付きの国際会議論文などに掲載されている。本研究は、劣駆動系に対する非線形制御理論の新展開に成功し、その体系化に貢献している。

研究成果

• [雑誌論文] Trajectory tracking control of variable length pendulum by partial energy shaping (2014)
  • 著者名/発表者名: X. Xin, Y. Liu
  • 雑誌名: Communications in Nonlinear Science and Numerical Simulation 巻: 19(SCI paper) ページ: 1544-1556
  • NAID: 130005025608
• [雑誌論文] Trajectory tracking control of variable length pendulum by partial energy shaping (2014)
  • 著者名/発表者名: Xin Xin, Yannian Liu
  • 雑誌名: Communications in Nonlinear Science and Numerical Simulation 巻: 19 号: 5 ページ: 1544-1556
  • DOI: 10.1016/j.cnsns.2013.09.011
  • NAID: 130005025608
  • 査読あり
• [雑誌論文] New analytical results of energy-based swing-up control for the Pendubot (2013)
  • 著者名/発表者名: X. Xin, S. Tanaka, J.H. She, T. Yamasaki
  • 雑誌名: International Journal of Non-Linear Mechanics 52 巻: (SCI paper) ページ: 110-118
• [雑誌論文] On simultaneous control of the energy and actuated variables of underactuated mechanical systems -example of the Acrobot with counterweight- (2013)
  • 著者名/発表者名: X. Xin
  • 雑誌名: Advanced Robotics 巻: 27(SCI paper) ページ: 959-969
• [雑誌論文] Reduced-order stable controllers for two-link underactuated planar robots (2013)
  • 著者名/発表者名: X. Xin, Y. Liu
  • 雑誌名: Automatica 49 巻: (SCI paper) ページ: 2176-2183
• [雑誌論文] A set-point control for a two-link underactuated robot with a flexible elbow joint (2013)
  • 著者名/発表者名: X. Xin, Y. Liu
  • 雑誌名: Transactions of the ASME -Journal of Dynamic Systems, Measurement, and Control 135 巻: (SCI paper) ページ: 10-10
• [雑誌論文] Simultaneous control of the energy and actuated variables of underactuated mechanical systems -example of the acrobot with counterweight- (2013)
  • 著者名/発表者名: Xin Xin
  • 雑誌名: Advanced Robotics 巻: 27 号: 12 ページ: 959-969
  • DOI: 10.1080/01691864.2013.797145
  • 査読あり
• [雑誌論文] Reduced-order stable controllers for two-link underactuated planar robots (2013)
  • 著者名/発表者名: Xin Xin, Yannian Liu
  • 雑誌名: Automatica 巻: 49 号: 7 ページ: 2176-2183
  • DOI: 10.1016/j.automatica.2013.03.027
  • 査読あり
• [雑誌論文] A set-point control for a two-link underactuated robot with a flexible elbow joint (2013)
  • 著者名/発表者名: Xin Xin, Yannian Liu
  • 雑誌名: Transactions of the ASME-Journal of Journal of Dynamic Systems, Measurement and Control 巻: 135
  • 査読あり
• [雑誌論文] New analytical results ofenergy-based swing-up control for the Pendubot (2013)
  • 著者名/発表者名: Xin X., Tanaka, S., She, J. Yamasaki, T.
  • 雑誌名: International Journal of Non-Linear Mechanics 巻: 52 ページ: 110-118
  • DOI: 10.1016/j.ijnonlinmec.2013.02.003
  • 査読あり
• [雑誌論文] A set-point control for a two-link underactuated robot with a flexible elbow joint (2013)
  • 著者名/発表者名: Xin, X., Liu, Y.,
  • 雑誌名: Journal of Dynamic Systems, Measurement and Control 巻: 135
  • 査読あり
• [雑誌論文] A unified solution to swing-up control for n-link planar robot with single passive joint based on virtual composite links and passivity (2012)
  • 著者名/発表者名: X. Xin, J.H. She, Y. Liu
  • 雑誌名: Nonlinear Dynamics 67 巻: (SCI paper) ページ: 909-923
• [雑誌論文] Energy-based swing-up control for a remotely driven acrobot : Theoretical and experimental results (2012)
  • 著者名/発表者名: X. Xin, T. Yamasaki
  • 雑誌名: IEEE Transactions on Control Systems Technology 20 巻: (SCI paper) ページ: 1048-1056
• [雑誌論文] Energy-based swing-up control for a remotely driven acrobot: Theoretical and experimental results (2012)
  • 著者名/発表者名: Xin, X., Yamasaki, T.
  • 雑誌名: IEEE Transactions on Control Technology 巻: 20 号: 4 ページ: 1048-1056
  • DOI: 10.1109/tcst.2011.2159220
  • 査読あり
• [雑誌論文] A unified solution to swing-up control for n-link planar robot with single passive joint based on virtual composite links and passivity (2012)
  • 著者名/発表者名: Xin Xin, Jinhua She, Yannian Liu
  • 雑誌名: Nonlinear Dynamics 巻: 67 号: 2 ページ: 909-923
  • DOI: 10.1007/s11071-011-0033-3
  • 査読あり
• [雑誌論文] Analysis of the energy-based swing-up control for the double pendulum on a cart (2011)
  • 著者名/発表者名: X. Xin
  • 雑誌名: International Journal of Robust and Nonlinear Control 21 巻: (SCI paper) ページ: 387-403
• [雑誌論文] New results of energy-based swing-up control for a rotational pendulum (2011)
  • 著者名/発表者名: S. Tanaka, X. Xin, T. Yamasaki
  • 雑誌名: SICE Journal of Control, Measurement, and System Integration 4 ページ: 394-400
• [雑誌論文] Analysis of the energy-based swing-up control for the double pendulum on a cart (2011)
  • 著者名/発表者名: Xin Xin(忻欣)
  • 雑誌名: International Journal of Robust and Nonlinear Control 巻: 21 号: 4 ページ: 387-403
  • DOI: 10.1002/rnc.1601
  • 査読あり
• [雑誌論文] Equivalent-input-disturbance approach---Analysis and application to disturbance rejection in dual-stage feed drive control system (2011)
  • 著者名/発表者名: Jinhua She, Xin Xin, Yaodong Pan
  • 雑誌名: IEEE/ASME Transactions on Mechatronics 巻: 16 号: 2 ページ: 330-340
  • DOI: 10.1109/tmech.2010.2043258
  • 査読あり
• [雑誌論文] Teaching sampled-data Hoo control theory using arm robot experiment system (2011)
  • 著者名/発表者名: Jinhua She, Xin Xin, Yasuhiro Ohyama
  • 雑誌名: IEEJ Transactions on Electrical and Electronics Engineering 巻: 6 号: 6 ページ: 585-593
  • DOI: 10.1002/tee.20699
  • 査読あり
• [雑誌論文] New Results of Energy-Based Swing-up Control for a Rotational Pendulum (2011)
  • 著者名/発表者名: Seiji Tanaka, Xin Xin, Taiga Yamasaki
  • 雑誌名: The SICE Journal of Control, Measurement, and System Integration (SICE JCMSI) 巻: 4 ページ: 394-400
  • 査読あり
• [雑誌論文] 1つの非駆動関節を有するn自由度ロボットの振り上げ制御:設計と解析 (2009)
  • 著者名/発表者名: 忻欣,余錦華,山崎大河
  • 雑誌名: 計測自動制御学会論文集45 ページ: 251-260
  • NAID: 10024758231
• [雑誌論文] Swing-up control based on virtual composite links for n-link underactuated robot with passive first joint (2009)
  • 著者名/発表者名: X. Xin, J.H. She, T. Yamasaki, Y. Liu
  • 雑誌名: Automatica 45 巻: (Regular paper) (SCI paper) ページ: 1986-1994
• [雑誌論文] A Unified Solution to Swing-up Control for n-Link Planar Robot with Single Passive Joint Based on Virtual Composite Links and Passivity
  • 著者名/発表者名: X.Xin, J.She, Y.Liu
  • 雑誌名: Nonlinear Dynamics 巻: (採録決定)
  • 査読あり
• [学会発表] On n-Link planar revolute robot : Motion equations and new properties (2014)
  • 著者名/発表者名: Yannian Liu, Xin Xin, Jinglong Wu
  • 学会等名: Proceedings of the 11th World Congress on Intelligent Control and Automation
  • 発表場所: Shenyang, China
• [学会発表] Simultaneous control of energy and actuated variable of 3-Link planar robot with underactuation degree two and its application (2014)
  • 著者名/発表者名: Y. Liu, X. Xin, M. Yamakita
  • 学会等名: Proceedings of the 33rd Chinese Control Conference
  • 発表場所: Nanjing, China
• [学会発表] D esign and analysis of energy-based controller for 3-Link robots with a single actuator (2014)
  • 著者名/発表者名: X. Xin, Y. Liu, C. Sun
  • 学会等名: Proceedings of the 19th IFAC World Congress
  • 発表場所: Cape Town, South Africa
• [学会発表] On n-Link Planar Revolute Robot: Motion Equations and New Properties (2014)
  • 著者名/発表者名: Yannian Liu, Xin Xin, Jinglong Wu
  • 学会等名: The 11th World Congress on Intelligent Control and Automation
  • 発表場所: Shenyang, China
• [学会発表] Simultaneous Control of Energy and Actuated Variable of 3-Link Planar Robot with Underactuation Degree Two and Its Application (2014)
  • 著者名/発表者名: Yannian Liu, Xin Xin, Masaki Yamakita
  • 学会等名: The 33rd Chinese Control Conference
  • 発表場所: Nanjing, China
• [学会発表] Design and Analysis of Energy-Based Controller for 3-Link Robots with a Single Actuator (2014)
  • 著者名/発表者名: Xin Xin, Yannian Liu, Changyin Sun
  • 学会等名: The 19th IFAC World Congress
  • 発表場所: Cape Town, South Africa
• [学会発表] Reduced-order stable stabilizing controllers for remotely driven acrobot : Existence and design method (2013)
  • 著者名/発表者名: X. Xin, Y. Liu
  • 学会等名: Proceedings of the 2013 10th IEEE International Conference on Control and Automation
  • 発表場所: Hangzhou, China(1627–1632)
• [学会発表] Global stabilization control for a two-link underactuated robot with a flexible elbow joint (2013)
  • 著者名/発表者名: X. Xin, Y. Liu, J. Wu
  • 学会等名: Proceedings of the 32nd Chinese Control Conference
  • 発表場所: Xi'an, China(1520-1525)
• [学会発表] Analysis of the simultaneous control of energy and actuated variable of TORA with pendulum (2013)
  • 著者名/発表者名: K. Sumida, X. Xin
  • 学会等名: Proceedings of 2013 IEEE International Conference on Mechatronics and Automation
  • 発表場所: Takamatsu, Japan(1267-1272)
• [学会発表] Studies on stable stabilizing controllers for a rotational pendulum (2013)
  • 著者名/発表者名: S.Tanaka, X. Xin, T. Yamasaki
  • 学会等名: Proceedings of the 15th IASTED International Conference on Control and Applications
  • 発表場所: Oahu, Hawaii, USA(85-91)
• [学会発表] Reduced-order stable stabilizing controllers for remotely driven acrobot: Existence and design method (2013)
  • 著者名/発表者名: Xin Xin, Yannian Liu
  • 学会等名: Proceedings of the 10th IEEE International Conference on Control and Automation
  • 発表場所: Hangzhou, China
• [学会発表] Global stabilization control for a two-link underactuated robot with a flexible elbow joint (2013)
  • 著者名/発表者名: Xin Xin, Yannian Liu, Jinglong Wu
  • 学会等名: The 32nd Chinese Control Conference
  • 発表場所: Xian, China
• [学会発表] Analysis of the simultaneous control of energy and actuated variable of TORA with pendulum (2013)
  • 著者名/発表者名: Kaoru Sumida, Xin Xin, Taiga Yamasaki
  • 学会等名: 2013 IEEE International Conference on Mechatronics and Automation
  • 発表場所: Takamatsu, Japan
• [学会発表] Studies on stable stabilizing controllers for a rotational pendulum (2013)
  • 著者名/発表者名: Seiji Tanaka, Xin Xin, Taiga Yamasaki
  • 学会等名: The 15th IASTED International Conference on Control and Applications
  • 発表場所: Honolulu, USA
• [学会発表] Existence and design of reduced-order stable stabilizing controllers for remotely driven Acrobot (2013)
  • 著者名/発表者名: Xin, X., Liu, Y.
  • 学会等名: the 10th IEEE International Conference on Control & Automation
  • 発表場所: Hangzhou, Chian
• [学会発表] Global stabilization control for a two-link underactuated robot with a flexible elbow ｊoint at the upright equilibrium point (2013)
  • 著者名/発表者名: Xin, X., Liu, Y., Wu, J.
  • 学会等名: the 32nd Chinese Control Conference
  • 発表場所: Xian, China
• [学会発表] Existence and design of strongly stabilizing controller for the Acrobot (2012)
  • 著者名/発表者名: X. Xin, K. Juuri
  • 学会等名: Proceedings of the 31st Chinese Control Conference
  • 発表場所: Hefei, China(1446-1451)
• [学会発表] Experimental verification of energy-based swing-up control for a rotational pendulum (2012)
  • 著者名/発表者名: S. Tanaka, X. Xin, T. Yamasaki
  • 学会等名: Proceedings of SICE Annul Conference 2012
  • 発表場所: Akita, Japan(534-539)
• [学会発表] Existence and design of a strongly stabilizing controller for the Pendubot (2012)
  • 著者名/発表者名: X. Xin, K. Juuri
  • 学会等名: Proceedings of SICE Annul Conference 2012
  • 発表場所: Akita, Japan(1598-1602)
• [学会発表] Existence and design of reduced-order stable controllers for two-link underactuated planar robots (2012)
  • 著者名/発表者名: X. Xin, K. Juuri, Y. Liu, C.Y. Sun
  • 学会等名: Proceedings of the 51st IEEE Conference on Decision and Control
  • 発表場所: Maui, USA(4971-4976)
• [学会発表] Existence and design of strongly stabilizing controller for the Acrobot (2012)
  • 著者名/発表者名: Xin, X., Jurri, K.
  • 学会等名: the 31st Chinese Control Conference
  • 発表場所: Hefei, China
• [学会発表] Experimental verification of energy‐based swing‐up control for a rotational pendulum (2012)
  • 著者名/発表者名: Tanaka, S., Xin, X., Yamasaki, T.,
  • 学会等名: SICE Annual Conference 2012 (SICE2012)
  • 発表場所: Akita, Japan
• [学会発表] Existence and design of a strongly stabilizing controller for the Pendubot (2012)
  • 著者名/発表者名: Xin, X., Jurri, K.
  • 学会等名: SICE Annual Conference 2012 (SICE2012)
  • 発表場所: Akita, Japan
• [学会発表] Existence and design of reduced-order stable controllers for two-link underactuated planar robots (2012)
  • 著者名/発表者名: Xin, X., Jurri, K., Liu, Y., Sun, C.,
  • 学会等名: the 51st IEEE Conference on Decision and Control
  • 発表場所: Maui, USA
• [学会発表] Swing-up control for a two-link underactuated robot with a fiexibie elbow joint : New results beyond the passive elbow joint (2011)
  • 著者名/発表者名: Xin Xin
  • 学会等名: Proceedings of the 50th IEEE Conference on Decision and Control
  • 発表場所: Orlando, USA
  • 年月日: 2011-12-13
• [学会発表] Acrobotの強安定化器の存在性と設計法 (2011)
  • 著者名/発表者名: 重里昂佑, 忻欣, 山崎大河
  • 学会等名: 第20回計測自動制御学会中国支部学術講演会論文集
  • 発表場所: 岡山市
  • 年月日: 2011-11-26
• [学会発表] 3リンク劣駆動ロボットのエネルギーと駆動関節の同時制御:劣駆動度2の場合 (2011)
  • 著者名/発表者名: 小田晋太郎, 忻欣, 山崎大河
  • 学会等名: 第20回計測自動制御学会中国支部学術講演会論文集
  • 発表場所: 岡山市
  • 年月日: 2011-11-26
• [学会発表] Set-point control for folded posture of 3-link underactuated gymnastic planar robot : Beyond the Swing-up control (2011)
  • 著者名/発表者名: Xin Xin, Yannian Liu, Jinhua She, Lei Guo
  • 学会等名: Proceedings of the 18th IFAC World Congress
  • 発表場所: Milano, Italy
  • 年月日: 2011-09-01
• [学会発表] Trajectory tracking control of pendulum with variable length by partial energy shaping (2011)
  • 著者名/発表者名: Xin Xin, Tatsuya Shinji, Taiga Yamasaki
  • 学会等名: Proceedings of the 18th IFAC World Congress
  • 発表場所: Milano, Italy
  • 年月日: 2011-09-01
• [学会発表] New Results of Energy-Based Swing-up Control for a Rotational Pendulum (2011)
  • 著者名/発表者名: Seiji Tanaka, Xin Xin, Taiga Yamasaki
  • 学会等名: Proceedings of the 18th IFAC World Congress
  • 発表場所: Milano, Italy
  • 年月日: 2011-09-01
• [学会発表] Swing-up and Stabilizing Control for two-link underactuated robot with flexible elbow joint (2011)
  • 著者名/発表者名: Xin Xin
  • 学会等名: Proceedings of the 30th Chinese Control Conference
  • 発表場所: Yantai, China
  • 年月日: 2011-07-22
• [学会発表] Swing-up and stabilizing control for two-link underactuated robot with flexible elbow joint (2011)
  • 著者名/発表者名: X. Xin
  • 学会等名: Proceedings of the 30th Chinese Control Conference
  • 発表場所: Yantai, China(6127-6132)
• [学会発表] New results of energy-based swing-up control for rotational pendulum (2011)
  • 著者名/発表者名: S. Tanaka, X. Xin, T. Yamasaki
  • 学会等名: Proceedings of the 18th IFAC World Congress
  • 発表場所: Milano, Italy(10673-10678)
• [学会発表] Trajectory tracking control of pendulum with variable length by partial energy shaping (2011)
  • 著者名/発表者名: X. Xin, T. Shinji, T. Yamasaki, C.Y. Sun
  • 学会等名: Proceedings of the 18th IFAC World Congress
  • 発表場所: Milano, Italy(10679-10684)
• [学会発表] Set-point control for folded posture of 3-link underactuated gymnastic planar robot : Beyond the swing-up control (2011)
  • 著者名/発表者名: X. Xin, Y. Liu, J. H. She, L. Guo
  • 学会等名: Proceedings of the 18th IFAC World Congress
  • 発表場所: Milano, Italy(11875-11880)
• [学会発表] Swing-up control for a two-link underactuated robot with a flexible elbow joint : New results beyond the passive elbow joint (2011)
  • 著者名/発表者名: X. Xin
  • 学会等名: Proceedings of 2011 50th IEEE Conference on Decision and Control and European Control Conference
  • 発表場所: Orlando, USA(2481-2486)
• [学会発表] 回転型アクチュエータを備えた並進振動システムの大域的な安定化制御 (2010)
  • 著者名/発表者名: 津田, 忻, 山崎
  • 学会等名: 第53回自動制御連合講演会
  • 発表場所: 高知
  • 年月日: 2010-10-04
• [学会発表] 部分エネルギー制御による可変長振子の軌道追従制御 (2010)
  • 著者名/発表者名: 新治, 忻, 山崎
  • 学会等名: 第53回自動制御連合講演会
  • 発表場所: 高知
  • 年月日: 2010-10-04
• [学会発表] Revisiting energy-based swing-up control for the Pendubot (2010)
  • 著者名/発表者名: X.Xin, S.Tanaka, J.She, T.Yamasaki
  • 学会等名: 2010 IEEE International Conference on Control Applications
  • 発表場所: Yokohama
  • 年月日: 2010-09-09
• [学会発表] A rewinding approach to motion planning for acrobat based on virtual friction (2010)
  • 著者名/発表者名: J.H. She, X.Z. Lai, X. Xin, L.L. Guo
  • 学会等名: Proceedings of 2010 IEEE International Conference on Industrial Technology
  • 発表場所: Viña del Mar, Chile(471-476)
• [学会発表] Revisiting energy-based swing-up control for the Pendubot (2010)
  • 著者名/発表者名: X. Xin, S. Tanaka, J.H. She, T. Yamasaki
  • 学会等名: Proceedings of 2010 IEEE International Conference on Control Applications
  • 発表場所: Yokohama, Japan(1576-1581)
• [学会発表] On the energy based control for underactuated mechanical systems (2009)
  • 著者名/発表者名: X. Xin
  • 学会等名: Proceedings of ICROS-SICE International Joint Conference 2009
  • 発表場所: Fukuoka, Japan(1465-1470)
• [学会発表] Can the energy and actuated variables of underactuated mechanical systems be controlled?–Example of the Acrobot with counterweight- (2009)
  • 著者名/発表者名: X. Xin, L. Guo
  • 学会等名: Proceedings of Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference
  • 発表場所: Shanghai, China(1962-1967)
• [学会発表] Swinging up multiple parallel pendulums on a cart via energy control (2009)
  • 著者名/発表者名: X. Xin
  • 学会等名: Proceedings of Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference
  • 発表場所: Shanghai, China(7351-7356)
• [図書] Control Design and Analysis for Underactuated Robotic Systems (2014)
  • 著者名/発表者名: X. Xin, Y. Liu
  • 総ページ数: 319
  • 出版者: Springer
• [図書] Control Design and Analysis for Underactuated Robotic Systems (2014)
  • 著者名/発表者名: Xin Xin, Yannian Liu
  • 総ページ数: 319
  • 出版者: Springer
• [図書] シミュレーション辞典(リアプノフ安定の頁を執筆する) (2012)
  • 著者名/発表者名: 日本シミュレーション学会
  • 総ページ数: 415
  • 出版者: コロナ
• [図書] Energy-based control for underactuated mechanical systems, A Chapter in Theory and Applications of Complex Systems and Robust Control (editors by J. Huang, K.Z. Liu, and Y. Ohta) (2010)
  • 著者名/発表者名: X. Xin
  • 出版者: Tsinghua University Press
• [図書] Robot Intelligence : An Advanced Knowledge Processing Approach(L.Guo, X.Y., X.Y.Wen, and X.Xinがその一章Hierarchical composite anti-disturbance control for robotic systems using robust disturbance observer, (pp.235-249)を執筆する) (2010)
  • 著者名/発表者名: H.Liu, et al.
  • 総ページ数: 301
  • 出版者: Springer
• [図書] Theory and Applications of Complex Systems and Robust Control(Xin Xinがその一章Energy-based control for underactuated mechanical Systems (pp.177-190)を執筆する) (2010)
  • 著者名/発表者名: J.Huang, et al.
  • 総ページ数: 285
  • 出版者: Tsinghua University Press
• [備考]
  • URL: http://cosmos.c.oka-pu.ac.jp/~xxin/
• [備考] 研究業績
  • URL: http://cosmos.c.oka-pu.ac.jp/~xxin/jpublications.html
• [備考]
  • URL: http://cosmos.c.oka-pu.ac.jp/~xxin/
• [備考]
  • URL: http://cosmos.c.oka-pu.ac.jp/~xxin/