2024/12/02【筑波大学生向け】研究室配属情報を公開しました

Kawai Group

Control and System Theory Laboratory (Tentative)

About

私たちの研究室では，「複雑化・多様化する様々なシステムにおいて，そのモデル化から制御系設計までを統合的に見通し良く実現する理論の構築」ことを目指して研究を行っています．近年，システムは複雑・多様化してきており，さらに，それらの解析や制御系設計にはディジタル機器の使用が前提となってきております．そのため，従来よりも広範なシステムを扱える柔軟なモデルとそれに基づく新たな解析や制御系設計，特に，与えられた対象・環境・機器の基で，最適な性能を得るためのディジタル機器を意識した手法の開発が望まれています．このような統合的な視野から，理論だけでなく実機による応用までを見据え，先駆的・独創的な学術研究の実施を目指しています．

システムと制御系の離散時間化/ディジタル制御

デルタ形式を用いることで連続時間系と離散時間系の相違だけでなく整合性にも着目し，「アナログ制御系のより良いディジタル化」や「アナログ感覚で設計できるディジタル制御」を実現できる理論の構築を目的として研究を行っています．種々の広範なシステムをモデル化しそれらをディジタル機器で適切に扱えるための基礎理論やアナログ制御系の安定性を始めとする様々な特性を保存したディジタル制御系の設計理論などについて，理論的研究を行い，シミュレーションと実験によりその有効性を実証しています．

最近の主な発表論文

“Discretization Accuracy of Mapping Models in Closed-Loop,“ T. Kubota, N. Hori, T. Nguyen-Van, S. Kawai, 2021.
“Generalized Discretization of Continuous-Time Distributions,“ S. Kawai and N. Hori, 2020.

偏微分方程式、微分代数方程式で表されるシステムの離散時間化

時間t以外の変数を多数含むとき，システムは偏微分方程式で表すことができます．偏微分方程式を離散時間/空間化するためには，初期条件と境界条件を設定し，解析解を導出する必要があります．微分代数方程式では，次数変化を表現可能としたシステムモデルとしてDescriptor Systemを研究対象としています．両者とも，サンプリング周期によって精度が左右されない離散手法の導出が目的です．また，偏微分方程式で表すシステムを次数変化に対応するようにDescriptor形式で表し，尚且つその離散化を実現するということも一つの課題です．

最近の主な発表論文

“Two Methods to Discretize the Wave Equation in Time and Space,“ T. Suzuki, Y. Tokutomi, N. Hori, T. Nguyen-Van, S. Kawai, 2022.
“On the Choice of a Proper Initial Condition for Derivative Controllers,“ S. Kawai and N. Hori, 2018.
“General Mapping Discrete-Time Models of a Descriptor System with an Arbitrary Initial Condition,“ S. Kawai and N. Hori, 2018.

アナログ・ディジタル領域におけるシステムの極・零の対応の解明

システムの周波数応答と時間応答は2つの視点からシステムの情報を反映したものです．連続時間領域では，システムの基本的な情報が極と零点によって表現されています．そして，離散時間化後のディジタルシステムでは，離散時間化手法とサンプリング周波数の選択によって，極と零点は離散時間領域の複素平面上で再配置され，システムの応答もそれに応じて変化します．極零点とそれに応じたシステムの応答特性を理解し，その得られた極と零点の視点に基づく，アナログ制御系の調整と優れた性能のディジタル制御系設計の研究を行っております．

最近の主な発表論文

“On the relationship between discrete-time Bode plots and actual system response,“ Y. Tokutomi, T. Nguyen-Van, S. Kawai, 2024.
“Matched Pole–Zero Model Independent of the Properness of Systems,“ S. Kawai, K. Yagi, 2023.
“A Study on Interpretation and Indices of Discrete-Time Bode Diagrams for Improving Transient Response of Digital Control Systems,“ Y. Tokutomi, T. Nguyen-Van, S. Kawai, 2022.

次数の異なる対象を扱う制御系の設計

制御系の設計には一般的に制御対象のモデルが必要ですが，その多くは固定次数で表現されます．そのため，モデルの低次元化などにより次数が変化する場合は新たな制御系の設計や解析が必要になります．そこで，伝達関数の分母多項式が非モニックで最高次の係数が変化する次数の異なる制御対象に対して制御系の設計を行うことで，次数変化を許容した制御器の枠組みを目指した研究を行っています．

最近の主な発表論文

“Structure Selecting and Design Method for Control Systems Considering Plant’s Order Change,“ T. Kubota, Y. Ochiai, N. Hori, T. Nguyen-Van, S. Kawai, 2024.
“PID Controller Design with Discrete-Time Reference Model based on Kitamori’s Partial Model Matching Method,“ Y. Ochiai, T. Nguyen-Van, S. Kawai, 2024.
“Interpretation of Kitamori's Partial-Model-Matching Method in a Descriptor-Form Expression,“ S. Kawai, N. Hori, 2020.

PIM法とその改良

PIM法は理論上，いかなるNon-Pathologicalなサンプル周期でも安定性を保証するアナログ制御系のプラント入力特性に注目したディジタル制御系設計法です．この設計法によって得られるディジタル制御系は，サンプル周期を小さくすると基のアナログ制御系と同様な特性を実現します．しかし実機にPIM法をそのまま適用しても，望みの性質を持つディジタルコントローラを設計することができない事例も一部存在するため，PIM法の改良も逐一進めております．現在では，積分制御を考慮したIA-PIM法やダブルループの制御構造としたMLPIM法，そして可変ゲインを用いた適応制御と組み合わせる事によって，より優れた性能のディジタル制御器の開発を行っております．

Members

河合新 (Shin Kawai)

Assistant Professor

🌐CV（個人ページ）

落合勇稀 (Yuki Ochiai)

今関光来 (Mitsuki Imaseki)

向後豪留 (Takeru Kogo)

遠野太一 (Taichi Tono)

岡﨑友平 (Yuhei Okazaki)

明神翔大 (Kakeru Myojin)

唐震宇 (TANG ZHENYU)

Research Student

修了生や就職先はディジタル制御研究室全体のAlumni ListやList of Companiesをご参照ください．

Papers

Journal Papers

2024

S. Kume, S. Kawai, H. Nobuhara, "Efficient Design of Coanda UAV Based on Surrogate Models," IEEE Access, vol. 12, pp. 118286–118294, 2024.
I. Firmansyah, Y. Yamaguchi, T. Maruyama, Y. Matsuura, Z. Heming, S. Kawai, H. Nobuhara, "FPGA-based stereo matching for crop height measurement using monocular camera," Microprocessors and Microsystems, Vol. 108, 2024.
T. Kubota, Y. Ochiai, N. Hori, T. Nguyen-Van, S. Kawai, "Structure Selecting and Design Method for Control Systems Considering Plant’s Order Change," IEEE Access, vol. 12, pp. 78423–78433, 2024.
R. Morishita, S. Kawai and H. Nobuhara, "Downwash Reduction Drone with Adaptive Rotors and Its 3d Aerodynamic Analysis and Stabilization Control," IEEE Access, vol. 12, pp. 22832–22840, 2024.

2020 - 2023

Y. Matsuura, H. Zhang, K. Nakao, C. Qiong, I. Firmansyah, S. Kawai, Y. Yamaguchi, T. Maruyama, H. Hayashi and H. Nobuhara, “High-precision plant height measurement by drone with RTK-GNSS and single camera for real-time processing,“ Scientific Reports, vol. 13, no. 6329, (2023). (PDF)
N. Ohta, S. Kawai and H. Nobuhara, “Capsule Network Extension Based on Metric Learning,” Journal of Advanced Computational Intelligence and Intelligent Informatics, vol. 27, no. 2, pp. 173–181, 2023. (PDF)
R. Sakata, S. Kawai and T. Nguyen-Van, “Equilibrium Space and a Pseudo Linearization of Nonlinear Systems,“ Scientific Reports, vol. 12, no. 21147, (2022). (PDF)
K. Fukuda, S. Kawai, and H. Nobuhara, “Attitude estimation of connected drones based on extended Kalman filter under real outdoor environments,“ Advanced Robotics, pp. 1-12, 2022. (Abstract)
S. Nagae, D. Kanda, S. Kawai and H. Nobuhara, “Automatic layer selection for transfer learning and quantitative evaluation of layer effectiveness,” Neurocomputing, vol. 469, no. 16, pp. 151–162, 2022. (Abstract)
T. Sasagawa, S. Kawai and H. Nobuhara, “Recommendation System Based on Generative Adversarial Network with Graph Convolutional Layers,” Journal of Advanced Computational Intelligence and Intelligent Informatics, vol. 25, no. 4, pp. 389–396, 2021. (PDF)
D. Isobe, N. Hori, S. Kawai, K. Yagi and T. Nguyen-Van, “Digital Control of a Stepping Motor for Eliminating Rotation Speed Fluctuations Using Adaptive Gains,” Electronics, vol. 10, no. 11, 1335, 2021. (PDF)
D. Kanda, S. Kawai and H. Nobuhara, “Visualization Method Corresponding to Regression Problems and Its Application to Deep Learning-Based Gaze Estimation Model,” Journal of Advanced Computational Intelligence and Intelligent Informatics, vol. 24, no. 5, pp. 676–684, 2020. (PDF)
S. Kawai and N. Hori, “Generalized Discretization of Continuous-Time Distributions,” The Journal of Engineering, vol. 2020, No. 7, p. 259-267, 2020. (PDF)
S. Imai, S. Kawai and H. Nobuhara, “Stepwise PathNet: a layer-by-layer knowledge-selection-based transfer learning algorithm,” Scientific Reports, vol. 10, no. 8132, (2020). (PDF)

Before 2019

H. Zhang, H. Li, N. Hironaka, S. Kawai and H. Nobuhara, “Improving Safety and Reducing Size in Multicopters by Adjusting Propeller Height and Its Applications to Remote Sensing,” Agricultural Information Research, vol. 28, no. 4, pp. 157–167, 2019. (in Japanese) (PDF)
Y. Gao, S. Kawai and H. Nobuhara, “Scalable Blockchain Protocol Based on Proof of Stake and Sharding,” Journal of Advanced Computational Intelligence and Intelligent Informatics, vol. 23, no. 5, pp. 856–863, 2019. (PDF)
S. Kawai and N. Hori, “General Mapping Discrete-Time Models of a Descriptor System with an Arbitrary Initial Condition,” Automatica, vol. 87, pp. 428–431, 2018. (Abstract)
S. Kawai and N. Hori, “Mapping Discrete-Time Models for Descriptor-Systems with Consistent Initial Conditions,” Transactions of the Canadian Society for Mechanical Engineering, vol. 40, no. 1, pp. 59–77, 2016. (PDF)

Papers Presented in International Conferences (peer reviewed)

2025

Y. Ochiai, T. Nguyen-Van, S. Kawai, “Given Data of System Requirements for Canonical Controller Design,” to be presented in SICE SII2025, Munich, Germany, January 21–24, 2025.

2024

N. Kinjo, S. Kawai, T. Nguyen-Van, “Stochastic Control for Stepper Motors using Gaussian Filter-based Disturbance and State Observer,” Proc. Annual Conference of the IEEE Industrial Electronics Society (IECON), 6 pages, Chicago, November 2024.
T. Tono, T. Nguyen-Van, S. Kawai, “Application of PID Control to Nonlinear Models of Quadcopters,” Proc. SICE Festival 2024 with Annual Conference, pp. 665–668, Kochi, August 2024.
M. Imaseki, T. Nguyen-Van, S. Kawai, “Crop Row Error Measurement Method for Tracking Control by Maximum Likelihood Using Normal Distribution Error Model,” Proc. SICE Festival 2024 with Annual Conference, pp. 1323–1326, Kochi, August 2024.
K. Iwaki, S. Kawai, T. Nguyen-Van, “Discrete-Time Calculation Methods for Fractional Calculus Using Delta Operator and Matrices,” Proc. SICE Festival 2024 with Annual Conference, pp. 1128–1133, Kochi, August 2024.
Y. Kotani, S. Kawai, T. Nguyen-Van, “A New Controller Design Method for Sampled-Data Systems in Canonical Form,” Proc. SICE Festival 2024 with Annual Conference, pp. 949–952, Kochi, August 2024.
Q. Yao, S. Kawai, T. Nguyen-Van, “Analysis of Input Voltage-Output Frequency Relationship in VCOs Using a Linear Time-Varying Model,” Proc. IEEE 10th International Conference on Communications and Electronics (IEEE ICCE), pp. 291–296, DaNang, August 2024. (Abstract)
T. Oshima, S. Kawai, T. Nguyen-Van, “A Discrete-Time Linearization Feedback Control for Nonlinear Continuous-Time Systems,” Proceedings of 2024 Australian & New Zealand Control Conference (ANZCC), pp. 253–258, Gold Coast, Australia, February 1–2, 2024.
Y. Tokutomi, T. Nguyen-Van, S. Kawai, “On the Relationship Between Discrete-Time Bode Plots and Actual System Response,” Proceedings of 2024 Australian & New Zealand Control Conference (ANZCC), pp. 186–191, Gold Coast, Australia, February 1–2, 2024.
Y. Ochiai, T. Nguyen-Van, S. Kawai, “PID Controller Design with Discrete-Time Reference Model Based on Kitamori’s Partial Model Matching Method,” Proceedings of 2024 Australian & New Zealand Control Conference (ANZCC), pp. 186–191, Gold Coast, Australia, February 1–2, 2024.

2020 - 2023

X. Chen, S. Kawai, T. Nguyen-Van, “Model Predictive Control for Stand-Alone Half-Bridge Inverter,” Proceedings of 2023 IEEE 12th Global Conference on Consumer Electronics (GCCE), pp. 1183–1187, Nara, Japan, October 10–13, 2023.
Q. Yao, S. Kawai, T. Nguyen-Van, “Output Frequency Calculation for VCO Based on Nonlinear State Space Model,” Proceedings of 2023 IEEE 12th Global Conference on Consumer Electronics (GCCE), pp. 1179–1182, Nara, Japan, October 10–13, 2023.
S. Kawai and K. Yagi, "Matched Pole-Zero Model for Multi-Input and Multi-Output Systems," Abstract Book of IUTAM Symposium on Nonlinear dynamics for design of mechanical systems across different length/time scales, pp. 214-215, Tsukuba, Japan, July 31-August 4, 2023.
Y. Tokutomi, T. Nguyen-Van and S. Kawai, "Interpretation of Frequency Transfer Functions Based on Discrete-Time Response,'' Abstract Book of IUTAM Symposium on Nonlinear dynamics for design of mechanical systems across different length/time scales, pp. 216-217, Tsukuba, Japan, July 31-August 4, 2023.
T. Oshima, S. Kawai and T. Nguyen-Van, "Discrete-Time State Feedback Control for Continuous-Time System Transformations,'' Abstract Book of IUTAM Symposium on Nonlinear dynamics for design of mechanical systems across different length/time scales, pp. 218-219, Tsukuba, Japan, July 31-August 4, 2023.
N. Kinjo, S. Kawai and T. Nguyen-Van, "State Estimation and Control Considering Nonlinear Characteristics of Stepper Motor with Noise,'' Abstract Book of IUTAM Symposium on Nonlinear dynamics for design of mechanical systems across different length/time scales, pp. 220-221, Tsukuba, Japan, July 31-August 4, 2023.
S. Kawai and K. Yagi, “Matched Pole-Zero Model Independent of the Properness of Systems,” IFAC World Congress 2023(IFAC 2023), Yokohama, Japan, July 09–14, 2023.
T. Suzuki, Y. Tokutomi, N. Hori, T. Nguyen-Van, and S. Kawai, “Two Methods to Discretize the Wave Equation in Time and Space,” Proceedings of The 10th International Conference on Control, Mechatronics and Automation (ICCMA 2022), pp. 148–153, Belval, Luxembourg, November 09–12, 2022. (Abstract)
N. Kinjo, S. Kawai and T. Nguyen-Van, “Disturbance Observer-based Nonlinear State Feedback Control for Microstepping Mode of Stepper Motors,” Proc. 2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE 2022), pp. 152-157, Kumamoto, Japan, September 06-09, 2022. (Abstract)
T. Oshima, S. Kawai and T. Nguyen-Van, “A Discrete-time Linearization Feedback Control for the Van der Pol Oscillator,” Proc. 2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE 2022), pp. 574-579, Kumamoto, Japan, September 06-09, 2022. (Abstract)
Y. Tokutomi, T. Nguyen-Van and S. Kawai, “A Study on Interpretation and Indices of Discrete-Time Bode Diagrams for Improving Transient Response of Digital Control Systems,” Proc. 2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE 2022), pp. 653-656, Kumamoto, Japan, September 06-09, 2022.
R. Sakata, S. Kawai and T. Nguyen-Van, “A Nonlinear Discrete-time Model for Controlled Moment Gyroscope,“ Proc. 2022 SICE International Symposium on Control Systems (SICE ISCS), pp. 95–101, Yokohama, Japan, March 08–10, 2022. (Abstract)
F. Iman, Y. Yamaguchi, T. Maruyama, Y. Matsuura, H. Zhang, S. Kawai and H. Nobuhara, “FPGA-based implementation of stereo disparity map using semi-global matching for crop height measurement,“ International Workshop on Machine Learning for Cyber-Agricultural Systems, Online, November 02–04, 2021.
T. Kubota, N. Hori, T. Nguyen-Van and S. Kawai, “Discretization Accuracy of Mapping Models in Closed-Loop,“ Proc. 2021 IEEE 10th Global Conference on Consumer Electronics (GCCE), pp. 885–889, Kyoto, Japan, October 12–15, 2021. (Abstract)
L. Shuyi, H. Zhang, S. Kawai and H. Nobuhara, “3D Point Cloud Reconstruction Based on Stereo Camera and RTK-GPS with High Accuracy under Sequential Correction,“ Proc. 2020 IEEE 9th Global Conference on Consumer Electronics (GCCE), pp. 90–93, Kobe, Japan, October 13–16, 2020. (Abstract)
Y. Matsuura, H. Zhang, S. Kawai and H. Nobuhara, “High-Precision/Throughput Growth Measurement of Crops by Drone with Stereo Matching Based on RTK-GNSS and Single Camera,“ Proc. 2020 IEEE 9th Global Conference on Consumer Electronics (GCCE), pp. 936–939, Kobe, Japan, October 13–16, 2020. (Abstract)
K. Fukuda, S. Kawai, and H. Nobuhara, “Attitude Estimation by Kalman Filter Based on the Integration of IMU and Multiple GPSs and Its Application to Connected Drones,“ Proc. 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE 2020), pp. 1286-1292, Chiang Mai, Thailand, September 23–26, 2020. (Abstract)
H. Zhang, S. Kawai, and H. Nobuhara, “Multi-Rotor Attitude Control Using Cascade-LADRC with Reduced Order LESO,“ Proc. 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE 2020), pp. 1422-1427, Chiang Mai, Thailand, September 23–26, 2020. (Abstract)
T. Kubota, N. Hori, T. Nguyen-Van, and S. Kawai, “Design of a Controller for Plants Undergoing Order Changes,“ Proc. 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE 2020), pp. 1729-1733, Chiang Mai, Thailand, September 23–26, 2020.
S. Kawai and N. Hori, “Interpretation of Kitamori’s Partial-Model-Matching Method in a Descriptor-Form Expression,” Proc. 2020 IEEE Conference on Control Technology and Applications (CCTA 2020), pp. 928-932, Montréal, Canada, August 24–26, 2020. (Abstract)
S. Nagae, S. Kawai, and H. Nobuhara, “Transfer Learning Layer Selection Using Genetic Algorithm,” IEEE WORLD CONGRESS ON COMPUTATIONAL INTELLIGENCE (WCCI) 2020, Glasgow, United Kingdom, July 19–24, 2020. (Abstract)
N. Ohta, S. Kawai, and H. Nobuhara, “Analysis and Learning of Capsule Networks Robust for Small Image Deformation,” IEEE WORLD CONGRESS ON COMPUTATIONAL INTELLIGENCE (WCCI) 2020, Glasgow, United Kingdom, July 19–24, 2020. (Abstract)

Before 2019

M. Sato, S. Kawai and H. Nobuhara, “Action-Triggering Recommenders: Uplift Optimization and Persuasive Explanation,” Proceedings of 2019 International Conference on Data Mining Workshops (ICDMW), pp. 1060–1069, Beijing, China, November 8–11, 2019. (Abstract)
D. Kanda, S. Kawai and H. Nobuhara, “Visualization technique for improving gaze estimation models based on deep learning,” the 6th International Workshop on Advanced Computational Intelligence and Intelligent Informatics (IWACIII2019), Chengdu, China, November 1–5, 2019.
K. Aikawa, S. Kawai and H. Nobuhara, “Multilingual Inappropriate Text Content Detection System Based on Doc2vec,” Proceedings of 2019 IEEE 8th Global Conference on Consumer Electronics (GCCE 2019), Osaka, Japan, October 15–18, 2019. (Abstract)
Y. Mikuni, S. Kawai and H. Nobuhara, “A Study on a Combination of Sparse Coding and Dictionay Learning Algorithms for Sparse Super-Resolution,” Proceedings of 2019 IEEE 8th Global Conference on Consumer Electronics (GCCE 2019), Osaka, Japan, October 15–18, 2019. (Abstract)
N. Hironaka, S. Kawai and H. Nobuhara, “Strawberry Observation Robot Using Rotation Overcoming Function and Examination of its Long-Term Operation,” the Second International Workshop on Machine Learning for Cyber-Agricultural Systems (MLCAS 2019), Iowa, USA, September 11–12, 2019.
S. Nagae, S. Kawai and H. Nobuhara, “Relationship Between Layer Selection and Model Performance in Transfer Learning,” the Second International Workshop on Machine Learning for Cyber-Agricultural Systems (MLCAS 2019), Iowa, USA, September 11–12, 2019.
S. Kawai and N. Hori, “On the Choice of a Proper Initial Condition for Derivative Controllers,” Proceedings of the 44th Annual Conference on IEEE Industrial Electronics Society (IECON 2018), pp. 2391–2396, Washington D.C., USA, October 21–23, 2018. (Abstract)
R. Shimomura, S. Kawai and H. Nobuhara, “Designing a Safe Drone with the Coanda Effect Based on a Self-Organizing Map,” Proceedings of 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp. 4171–4177, Miyazaki, Japan, October 7–10, 2018. (Abstract)
S. Kawai and N. Hori, “Exact Temporal/Spatial Discretization of a Parabolic Partial-Differential-Equation,” Proceedings of The 5th International Conference on Control, Mechatronics and Automation (ICCMA 2017), pp. 131–136, Edmonton, Canada, October 11–13, 2017. (Abstract)
S. Kawai and N. Hori, “A New Interpretation of Order-Changes in Terms of Mode-Shifts in a Descriptor System,” Proceedings of the 36th IASTED Conference on Modelling, Identification and Control (MIC 2017), pp. 63–68, Innsbruck, Austria, February 20–21, 2017. (Abstract)
S. Kawai and N. Hori, “On Initial Conditions for State-space Discrete-time Models,” Proceedings of the 35th IASTED Conference on Modelling, Identification and Control (MIC 2016), pp. 108–113, Innsbruck, Austria, February 15–16, 2016. (Abstract)
S. Kawai and N. Hori, “On Bi-Proper Mapping Discretization of a Regular Descriptor System,” Proceedings of the 38th Annual Conference on IEEE Industrial Electronics Society (IECON 2012), pp. 2366–2371, Montreal, Canada, October 25–28, 2012. (Abstract)
S. Kawai and N. Hori, “Linear Descriptor Systems and Their Exact Discrete-Time Model,” Proceedings of SICE Annual Conference 2011 (SICE 2011), pp. 2233–2236, Tokyo, Japan, September 13–18, 2011. (Abstract)

Papers Presented in Other Conferences

2024

金城紀昂，河合新，グエンヴァンチエト，"ガウシアンフィルタによるステッピングモータの外乱・状態推定" 第67回自動制御連合講演会，pp. 1673-1676，姫路，2024．
大島達也，河合新，グエンヴァンチエト，"線形化と離散化の可換性に基づく非線形サンプル値系の安定性解析" 第67回自動制御連合講演会，pp. 987-990，姫路，2024．

Before 2023

S. Kawai, “Progress of safety drones,” CREST International Symposium on Big Data Application, Tokyo, Japan, Jan. 13–14, 2020.
Y. Gao, S. Kawai and H. Nobuhara, “A study on High Scalable Blockchain,” 47th the Asia Pacific Advanced Network (APAN 47), Daejeon, Korea, February 18–22, 2019.

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