記述言語：日本語   掲載種別：研究論文（学術雑誌）

<p>The UAV having hammering mechanics was developed and the applicability of hammering test was verified. The characteristics of UAV is that it can conduct hammering test continuously during movement control by traveling mechanics after touching it to target. In this paper, firstly, the applicability of hammering mechanics and evaluating methodology of sound parts as first screening to detect damaged parts were verified by using experimental specimen embedded imitated crack. Then, the method was applied to actual bridges which are a sound condition bridge and deteriorated bridge. As a result, it was confirmed that the hammering mechanics in the UAV and the proposed evaluation method of sound parts can conduct hammering test for actual bridges.</p>

DOI： 10.11532/structcivil.65A.607

CiNii Article

CiNii Research

その他リンク： https://ci.nii.ac.jp/naid/130007791195

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

© 2014 IEEE.We examined the stability of the ankle joint moment (AM) and M-wave amplitude evoked by electrical stimulation of the gastrocnemius and soleus muscle. The use of functional electrical stimulation (FES) is associated with some problems, including the fact that the muscle activity evoked by electrical stimulation decreases with muscle fatigue. Also, when electrical stimulation is delivered via surface electrodes, the stimulation reaching the muscle can vary according to the impedance between the electrode and the skin. In this paper, we performed experiments to (1) examine the relation between AM and stimulation intensity and between M-wave amplitude and stimulation intensity; (2) determine the change in this relation over a long duration; and (3) identify a strategy to allow the muscle to recover from fatigue. In the first experiment, M-wave amplitude and AM changed similarly with respect to the stimulation voltage. In the second experiment, the pattern of the M-wave and AM both showed downward. The pattern, however, was not similar at the soleus. In the third experiment, M-wave and AM remained almost constant compared with fatigued response in the second experiment. We showed that it is possible to generate a stable AM using electrical stimulation of the muscle. To ensure the stability of AM, it is necessary to consider the characteristics of the muscle (e.g., the proportion of fast and slow twitch fibers), the stimulation area, and the state of the muscles (e.g., fatigue).

DOI： 10.1109/IFESS.2014.7036745

Scopus

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記述言語：英語   掲載種別：研究論文（学術雑誌）

Path planning is necessary for an autonomous moving robot to achieve an effective indoor moving and this planning is conducted following the map of moving environment. To develop those maps, robot localization is very important. In this study, robot localization area is extended without depending on the natural features of the environment as conventional approaches. Here, the door positions in the environment are used as landmarks and robot position is measured according to them. The door positions and baseboards in a wall align on a straight line, therefore, long distance landmark positions can be detected following baseboards. These baseboards are detected by an on-robot camera and walls are also detected following them. On the other hand, an on-robot LRF measures the distance between walls and robot. In this paper, the measuring distance of LRF is extended by combining the detected baseboards by the camera. With this extension, long distance landmark detection can be conducted, as a result robot localization area could be extended. Experiments were conducted by operating a robot to confirm the door position detection, and then robot localization area extension was confirmed.

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

A radio-controlled (RC) helicopter can be used in the fields of aerial crop dusting, aerial photography, and many more. However, controlling a RC helicopter needs advanced techniques. Therefore, a flight instruction system that provides guidance on how to fly a RC helicopter is required. Examples that give flight instructions to an autonomous helicopter have been reported, but those had been designed and developed individually. To extend the application of an autonomous helicopter to an indoor environment, such as a factory, the systematization and standardization of flight instructions are required. From this, each flight instruction generative system that has been prepared for individual use can generate common flight instructions. Likewise, an autonomous helicopter can operate based on the common flight instructions designed for various purposes. In this paper, we have defined flight instruction codes based on the Numerical Control (NC) code system that has been used for a machine tool. In addition, we have systematized instruction codes. To verify such a system, an autonomous flight control system has been developed for indoor use and a flight experiment has been performed. As a result, we were able to confirm that the helicopter flew by executing the flight instructions that have been read. © 2012 ICROS.

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

In order to design an optimal controller for a feedback system with an unknown plant, it is a common way to identify the plant by performing plural experiments. On the contrary, certain methods used to design a controller using the data from one-time experiments have been proposed. Such methods include Virtual Reference Feedback Tuning (VRFT) and Noniterative Correlation-based Tuning (NCbT). These methods are expected to reduce the design cost. However, VRFT cannot be used to design an optimal controller from a data with noise and NCbT is limited in that there is no correlation of a reference signal with noise. An actual plant often has higher harmonics of an input signal as noise. Such noises are correlated with a reference signal. Therefore, a controller design must be able to deal with various kinds of noises. This paper proposes a method of applying spline fitting to VRFT. To verify the effectiveness of this technique, we compared the response of the proposed method with that of VRFT and NCbT on a simulator. Then, we designed each controller using VRFT, NCbT, and VRFT+SF, respectively, by providing white Gaussian noise and periodic noise. As a result, this paper shows that the proposed method surpasses the original VRFT and NCbT based on overall experimental results. © 2012 ICROS.

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Several methods have been proposed for designing a controller using experimental data directly without identifying a controlled plant. Among them, optimal controller design methods from one-time experimental data, such as Virtual Reference Feedback Tuning (VRFT), Fictitious Reference Iterative Tuning (FRIT), and Noniterative Correlation-based Tuning (NCbT), are especially expected to reduce the time and cost of designing a controller. VRFT and FRIT make a reference signal from experimental data. In contrast, NCbT is a method that removes noise influence by determining parameters for the controller so as not to have the interrelation of the correlation function between a reference signal and noise. However, VRFT and FRIT cannot deal with data that include noises. Although NCbT can be used to design an optimal controller from experimental data with noise, it is limited to cases where there is no interrelation between a reference signal and noise. In this paper, we show a summary of the conventional method and argue about a problem where there is noise. We also propose a data conversion method using linearity after applying spline fitting instead of using experimental data directly. In addition, we discuss the advantages of the conventional method and the proposed method. © 2012 ICROS.

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

ACC (Adaptive Cruise Control) system has been attracted much attention because it has a potential to reduce traffic accidents and drivers' stress. The system maintains a safe inter-vehicular distance and assists driving by keeping traffic lane automatically. Though the conventional ACC system can observe the preceding vehicles using a millimeter wave radar, it fails in following in case of a curved road because of the narrow detection angle. The present paper develops an ACC system to maintain the safe distance by using a monocular camera even though the tracking course is curved. The inter-vehicular distance and the steering angle is calculated by image processing of the acquired video image. By using the processed data, the proposed ACC system properly controls the vehicle velocity and the steering angle. The effectiveness of the proposed system has been evaluated through experiments using mobile robots instead of real cars. The experimental results reveal that the proposed system surely maintains the inter-vehicular distance to the preceding mobile robot. © 2011 ICROS.

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Windows-based PCs (Personal Computers) provide a powerful development environment for controller synthesis because it is easy to evaluate the control effect via installed multifunction I/O devices. These I/O devices are expensive due to handling a real-time processing while non-real-time I/O devices are constructed by inexpensive general-purpose ICs (Integrated Circuits.) The aim of this paper is to assemble an inexpensive I/O device with USB interface and to realize a software-based real-time processing. Since Windows does not allow application programs to access such devices, device drivers are required certainly. Device driver should be coded by fulfilling the device drivers' specification but it is so costly for beginners. The present paper relaxes the development cost by employing the KMDF (Kernel-Mode Driver Framework.) Then the authors develop an application program to command the I/O device periodically. In order to measure the elapsed time precisely, the paper utilizes the RDTSC (Read Time Stamp Counter) instruction. The authors tackle the stabilization problem of the rotational inverted pendulum to evaluate the usefulness of the developed system. ©ICROS.

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Frequency estimation is a useful technology for analyzing oscillatory phenomena. In these days, there is a demand for rapid and highly accurate frequency estimator. Though various frequency estimation methods have been proposed, most of them can not respond to the demand. An algebraic approach is succeeded in achieving the demand but it requires a lot of multiple integrations due to eliminating differential operations. The present paper proposes a frequency estimator of a sinusoidal signal based on the notion of distribution theory. Then the estimator is realized by single integrations. The proposed method relaxes the complexity of multiple integrations into single integrations but the integration is theoretically evaluated over the infinite interval (-∞, ∞). The paper firstly reduces the infinite interval to a finite observation interval [0, T ] and secondly approximates the integration by a numerical integration. The authors introduce Gaussian function as a test function and perform an error analysis to ensure the accuracy of the frequency estimator. As a result of the error analysis, the suitable conditions of the Gaussian function are clarified. Under the derived conditions, the authors confirmed that the proposed frequency estimator brings out enough the estimation performance. ©ICROS.

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

担当区分：責任著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）

担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）

担当区分：責任著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）

担当区分：責任著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）

担当区分：責任著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）

担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

担当区分：責任著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）

担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）