- 1999 - 2002 Professor,
- 1997 - 2002 Hokkaido University Graduate School of Engineering
- 1982 - 1997 Hokkaido University School of Engineering
- 1982 - 1997 Professor, Dept. Precision Eng.,
- 1970 - 1982 Kyoto University Faculty of Engineering
- 1970 - 1982 Associate Professor,
- 1975 - 1976 IRIA 客員研究員
- 1975 - 1976 Inuited Researcher, IRIA (25 present, INRIA),
- 1968 - 1970 Osaka University School of Engineering Science Direct Affiliates
- 1968 - 1970 Assistant Professor, Dept. of control eng.,
- Hokkaido University
- Graduate School of Engineering,
- Division of Systems and Information Engineering,
- France
- Faculty of Eng., Hokkaido University
- Faculty of Eng., Kyoto University
- Dept. Applied Mathematics and Physics,
- Osaka University
- Faculty of Engineering Science,