研究者詳細 - 相良　慎一

論文 - 相良　慎一

分割表示147 件中 61 - 80 件目／全件表示 >>

Quaternion-based adaptive attitude control for a winged rocket (共著) 査読有り

Ueno K., Bin Ambar R., Sagara S.

MOVIC 2014 - 12th International Conference on Motion and Vibration Control 2B35 (12 pages) 2014年08月

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）

Japan Sapporo 2014年08月03日 - 2014年08月07日

Reusable Launch Vehicles (RLVs) are expected to become important transportation systems in future space exploration. RLVs are vehicles which have the ability to be launched into space, carry a payload to orbit and finally landing back on earth without using any expendable rockets. Due to this reason, RLVs are capable to reduce rocket launch operation expenses for space exploration. However, RLVs travel from earth's surface to space in uncertain environments causing the values of the parameters for the RLVs dynamic equations to be inconsistent. Therefore, various researchers have proposed several adaptive control methods to counter this problem. Quaternion is often being used in attitude control system of space vehicles such as rockets and satellites because quaternion has no singular point when the pitch angle approaches ±90[deg], which is a problem for Euler Angles. In this paper, we propose a digital adaptive feedback linearization control method using Quaternion for controlling the attitude of a winged rocket, a type of RLV. The proposed control method is implemented into the control system of a propulsion engine model. The effectiveness of the control system is demonstrated through computer simulations under the condition that the rocket's pitch angle during lift-off is in singularity of Euler angles. Simulation results show that the winged rocket is able to be launched from a vertically upward launch phase, flying into ascending phase and subsequently making a transition into a gliding phase successfully. The simulation results demonstrated the effectiveness of the proposed method in controlling a winged rocket.

Scopus

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Design of an observer-based adaptive controller for underwater vehicle-manipulator systems using radial basis function networks (共著) 査読有り

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of The 19th International Symposium on Artificial Life and Robotics 629 - 632 2014年01月

State estimation and control of a mobile robot using Kalman filter and particle filter (共著) 査読有り

Takeshi Nishida, Sozo Inoue, Shinichi Sagara

Proceedings of The 19th International Symposium on Artificial Life and Robotics 633 - 636 2014年01月

Development of a dual-shaft propeller thruster equipped with rotational speed sensor for UVMS control (共著) 査読有り

Radzi Bin Ambar, Shinichi Sagara, Takuya Yamaguchi

Artificial Life and Robotics, Springer 18 241 - 247 2013年12月

State estimation of mobile robot using GPS signal that includes reflected and diffracted waves (共著) 査読有り

Takeshi Nishida, Sozo Inoue, Shinichi Sagara

Artificial Life and Robotics, Springer 18 178 - 186 2013年12月

Basic Experiments of Position Measurement for an Underwater Mobile Object using the Particle Filter 査読有り

Fumiaki Takemura, Natsuki Uechi, Kuniaki Kawabata, Shinichi Sagara, Shiro Tamaki

Proceedings of the ISCIE International Symposium on Stochastic Systems Theory and its Applications 395 - 399 2013年11月

A stereo vision system for underwater vehicle-manipulator systems - Proposal of a novel concept using Pan-Tilt-Slide cameras 査読有り国際誌

Sagara S., Ambar R., Takemura F.

Journal of Robotics and Mechatronics ( Fuji Technology Press ) 25 ( 5 ) 785 - 794 2013年10月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）

Underwater Vehicle-Manipulator Systems (UVMS) are expected to be used in various tasks in underwater environments. The manipulators of the UVMS are designed to execute tasks such as handling and catching objects. It is therefore necessary to equip UVMS with sensors that observe and measure the position of target objects. Stereo vision systems are one type of such sensors. We propose a stereo vision system for UVMS consisting of 2 mobile cameras that pan, tilt and slide individually using motors. This vision system is installed inside a waterproof cylindrical container that enables it to track a target object in underwater environments. Stereo vision system concept and mechanism are proposed, and the effectiveness of the proposed system is shown by experiments using a vision system prototype.

DOI： 10.20965/jrm.2013.p0785

Scopus

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Experimental verification of lifting force of underwater robot with thrusters using passive posture maintenance (共著) 査読有り

Takemura F., Futenma S., Kawabata K., Sagara S.

Journal of Robotics and Mechatronics 25 ( 5 ) 812 - 819 2013年10月

記述言語：英語掲載種別：研究論文（学術雑誌）

An underwater robot is developed that can be used for environmental protection work in the sea near Okinawa (e.g., removing crown-of-thorns starfish). When a submerged object is raised with the aid of an underwater robot, the conventional method of using fixed thrusters presents difficulties in raising the object straight upward because of the change in the robot's attitude. Therefore, we propose "thrusters that employ a passive posture maintenance mechanism." By using this mechanism, the vertical thrusters are able to maintain an upward posture, and the underwater robot is able to raise a submerged object straight upward relatively easily. Moreover, the attitude stability of an underwater robot and the work efficiency of its thrusters are important in water. Hence, we examine the attitude stability and the efficiency of the lifting force of an underwater robot using our proposed passive fixed mechanism for thrusters. We describe the design and fabrication of the proposed mechanism and experimentally verify the effectiveness of our proposed mechanism.

Scopus

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Development of easy-removable underwater manipulator unit with built-in controller (共著) 査読有り国際誌

Takemura F., Shiroku R., Kawabata K., Sagara S.

Journal of Robotics and Mechatronics 25 ( 5 ) 778 - 784 2013年10月

記述言語：英語掲載種別：研究論文（学術雑誌）

In recent years, coral cover has been decreased by the impact of bleaching due to high water temperature, red-soil runoff, water pollution, and coral-eating starfish outbreak. It is necessary to appropriately measure, observe, and sample seawater. To succeed in these tasks, underwater robots should have a function of responds flexibly in solving problems. Underwater tasks are summarized as follows: (1) acquiring images and environmental information using cameras and sensors, (2) collecting objects and other necessary work using robot hands. Manipulator should be attached quickly to underwater robots as needed. So we have been developing "an easy-removable underwater manipulator." The manipulators is easy to maintain because all electric components - DC motors, motor controllers, etc. - are in a pressure-resistant vessel, the manipulator has only one cable, and the manipulator is easy to attach and detach. In this paper, we illustrate the manipulator design and performance test results.

Scopus

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Experiment Verification of Position Measurement for Underwater Mobile Robot Using Monocular Camera (共著) 査読有り

Natsuki Uechi, Fumiaki Takemura, Kuniaki Kawabata, Shinichi Sagara

Information Technology Convergence, Lecture Notes in Electrical Engineering 253 873 - 879 2013年07月

パーティクルフィルタによる海底生物の追跡 (共著) 査読有り

西田健, 相良慎一, 武村史朗

電気学会論文誌Ｄ（産業応用部門誌） 133 ( 2 ) 116 - 125 2013年02月

Control of a dual arm underwater robot (共著) 査読有り

Shinichi Sagara, Radzi Bin Ambar, Kenichi Imaike

Proceedings of The 18th International Symposium on Artificial Life and Robotics 172 - 175 2013年01月

Adaptive control of underwater vehicle-manipulator systems using radial basis function networks (共著) 査読有り

Taira Y., Oya M., Sagara S.

Artificial Life and Robotics 17 ( 1 ) 123 - 129 2012年10月

記述言語：英語掲載種別：研究論文（学術雑誌）

© ISAROB 2012. This paper deals with a control scheme for underwater vehicle-manipulator systems with the dynamics of thrusters in the presence of uncertainties in system parameters. We have developed two controllers that overcome thruster nonlinearities, which cause an uncontrollable system: one is a regressor-based adaptive controller and the other is a robust controller. However, the structure of the adaptive controller is very complex due to the feedforward terms including the regressors of dynamic system models, and the error feedback gains of the robust controller with a good control performance are excessively high due to the lack of feedforward terms. In this paper we develop an adaptive controller that uses radial basis function networks instead of the feedforward terms. The replacement leads to a moderately high gain controller whose structure is simpler than that of the regressor-based adaptive controller.

DOI： 10.1007/s10015-012-0023-7

Scopus

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Digital adaptive control of winged rocket using unscented Kalman filter (共著) 査読有り国際誌

Shimozawa T., Narumi T., Sagara S., Yonemoto K.

ICIC Express Letters 6 ( 5 ) 1139 - 1146 2012年05月

記述言語：英語掲載種別：研究論文（学術雑誌）

Since reusable launch vehicles (RLVs) operate in a wide range of flight conditions, the values of the parameters of the dynamic equations are not constant. Therefore, some adaptive control methods for RLVs have been proposed. However, the control performance decreases when the nonlinearity strengthens, although linear adaptive control gives an excellent performance when the nonlinearity of the control system can be disregarded. In this paper, we propose a digital adaptive feedback linearization control method with time-scale separation to a winged rocket. The simulation results show the effectiveness of the proposed control systems.

Scopus

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A master-slave control system for semi-autonomous underwater vehicle-manipulator system (共著) 査読有り

K. Kawano,T. Shimozawa,S. Sagara

Artificial Life and Robotics, Springer 16 ( 4 ) 465 - 468 2012年02月

Flight guidance and control of a winged rocket (共著) 査読有り

T. Shimozawa, S. Sagara, T. Narumi, K. Yonemoto

Proceedings of The 17th International Symposium on Artificial Life and Robotics 65 - 68 2012年01月

Position and attitude control of underwater vehicle-manipulator systems using a stereovision system (共著) 査読有り

A. Shigetomi, S. Sagara, T. Shimozawa

Proceedings of The 17th International Symposium on Artificial Life and Robotics 69 - 72 2012年01月

Digital Adaptive Control of a Winged Rocket Applicable to Abort Flight (共著) 査読有り

T. Shimozawa,S. Sagara

Artificial Life and Robotics, Springer 16 ( 3 ) 348 - 351 2011年12月

Design, development and flight experiment of a small reusable rocket that glides using two-stage parachute (共著) 査読有り国際誌

Itakura K., Kobayashi T., Sasaki G., Ishibashi K., Shigeoka S., Sugii M., Ueta N., Nakachi Y., Nakayama Y., Inai S., Narumi T., Matsumoto T., Sagara S., Akahoshi Y., Kanemoto T., Yonemoto K.

2011 IEEE/SICE International Symposium on System Integration, SII 2011 991 - 996 2011年12月

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）

日本 Kyoto 2011年12月20日 - 2011年12月22日

This paper introduces the design, development and flight result of a small reusable rocket that glides using parafoil. The mission is autonomous guidance using parafoil, because the rocket must be recovered safely at target point. In order to avoid tangling of parafoil strings, roll control using aileron is employed to keep the ejection door upward. The rocket was launched at an annual rocket launch campaign held in France. The launch and roll control were successful, however the guidance was failed because parafoil strings tangled with rocket due to opening shock. The rocket landed at 480 meters from the target point. © 2011 IEEE.

DOI： 10.1109/SII.2011.6147584

Scopus

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An adaptive controller for underwater vehicle-manipulator systems including thruster dynamics (共著) 査読有り国際誌

Taira Y., Oya M., Sagara S.

2010 International Conference on Modelling, Identification and Control, ICMIC 2010 185 - 190 2010年10月

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）

2010年07月17日 - 2010年07月19日

In this paper we develop a controller for underwater vehicle-manipulator systems. The main feature is to take into account the dynamics of thrusters in the design of the controller. In order to struggle with the nonlinearities of thrusters, we propose a new error representation for thrusters, and then we develop the robust adaptive tracking controller.

Scopus

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