研究者詳細 - 相良　慎一

論文 - 相良　慎一

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Experiments on resolved acceleration control of a 3-link dual-arm underwater robot with model error compensator （共著）査読有り国際誌

Nishio R., Hanazawa Y., Sagara S., Bin Ambar R.

Artificial Life and Robotics 11 pages 2025年06月

記述言語：英語掲載種別：研究論文（学術雑誌）

Underwater environments provide significant challenges for humans, thus researchers have focused on controlling underwater robots equipped with manipulators known as Underwater Vehicle-Manipulator System (UVMS) that perform underwater tasks instead of humans. To achieve high-precision control of UVMS, an accurate mathematical model must be developed. However, there are modeling errors between the UVMS model used for control system and the fluid forces that actually act on the robot. In conventional studies, control methods based on joint space have been used as a compensation controller for disturbances, including modeling errors. This paper proposes a Resolved Acceleration Control (RAC) method for UVMS that incorporates a Model Error Compensator (MEC), a control method based on task space, designed to minimize these model errors. The proposed method aims to achieve robust trajectory tracking control for UVMS by suppressing the uncertainties in modeling of fluid forces and the effects of disturbances. Furthermore, unlike many prior studies that demonstrate the effectiveness of their methods through simulations, this study validates the proposed method through position control experiments of a robot under wave disturbances. The experimental results confirm the robustness of the control system against modeling errors and wave disturbances, demonstrating the usefulness of the proposed method.

DOI： 10.1007/s10015-025-01032-2

Scopus

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Position control of a 3-link dual-arm underwater robot using model error compensator -Considering the difference in response speed between a vehicle and manipulators-（共著）査読有り国際誌

Reo Nishio, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 30th and ISBC (Bio Complexity) 10th 1405 - 1410 2025年01月

Coronal Plane Control of Biped Robots Using Nonlinear Model Predictive Control for Realizing Quasi-Limit Cycle Walking （共著）査読有り国際誌

Yuhi Uchino, Yuta Hanazawa, Shinichi Sagara

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 30th and ISBC (Bio Complexity) 10th 1417 - 1422 2025年01月

Force control experiment of a 3-link dual-arm underwater robot with model error compensator （共著）査読有り国際誌

Kensho Osugi, Reo Nishio, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 30th and ISBC (Bio Complexity) 10th 1411 - 1416 2025年01月

Design of a Model-Based Impedance Controller for the Manipulator Mounted on an Autonomous Surface Vehicle（共著）査読有り国際誌

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 29th, ISBC (Bio Complexity) 9th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 7th 1268 - 1273 2024年01月

Manipulation of a floating object by two underwater robots with arms（共著）査読有り国際誌

Kyoka Takeda, Reo Nishio, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 29th, ISBC (Bio Complexity) 9th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 7th 1285 - 1289 2024年01月

Resolved acceleration control of 3-link dual-arm underwater robot with model error compensator（共著）査読有り国際誌

Reo Nishio, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 29th, ISBC (Bio Complexity) 9th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 7th 1280 - 1284 2024年01月

Development of a rimless wheel robot with telescopic legs for step adaptability （共著）査読有り国際誌

Hanazawa Y., Uchino Y., Sagara S.

Artificial Life and Robotics 29 ( 2 ) 349 - 357 2024年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

In this study, we developed a rimless wheel robot with elastic telescopic legs that can overcome steps. Numerical studies have shown that a rimless wheel robot with elastic telescopic legs has high adaptability to steps. However, rimless wheel robots that can walk in environments with steps have not yet been developed. To develop a rimless wheel robot that could overcome the steps, we initially developed a three-dimensional model of the robot through Unity software and simulated its walking on level ground and surfaces with steps. Then, we determined the optimal elasticity of the elastic telescopic legs through numerical simulation and constructed a model with optimized parameters. Finally, we conducted the walking experiments employing the developed robot. The robot can walk on level ground and surfaces with steps.

DOI： 10.1007/s10015-024-00943-w

Scopus

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Energy-efficient limit cycle walking in disturbance based on nonlinear model predictive control (共著) 査読有り国際誌

Hanazawa Y., Nishinami H., Sagara S.

Robotica 42 ( 2 ) 435 - 456 22 pages 2023年11月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

In this study, we present a novel approach to generate limit cycle walking using nonlinear model predictive control (NMPC). Output-zeroing control is now widely used as a control method to limit cycle walking. This control offers strong feedback to the desired trajectory and the generation of energy-efficient and robust limit cycle walking. However, we observed that this method disables the natural dynamics of the robot, leading to problems regarding energy efficiency during walking. This study demonstrates that the energy consumption of walking using the output-zeroing control increases significantly in a disturbed environment. To overcome this limitation, the proposed approach leverages the robot's dynamics using NMPC to achieve energy-efficient walking even in a disturbed environment. We demonstrate the practicality of the proposed method using two different simulation environments.

DOI： 10.1017/S0263574723001522

Scopus

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Impedance control based on error feedback for the manipulator of an underwater vehicle-manipulator system （共著）査読有り国際誌

Taira Y., Sagara S., Oya M.

Artificial Life and Robotics 28 ( 4 ) 830 - 849 2023年11月

記述言語：英語掲載種別：研究論文（学術雑誌）

This paper deals with the design of a motion and force control scheme for underwater vehicles, each of which has a manipulator. For a subsea operation that requires a contact between the manipulator’s tip (e.g., the hand) and various types of environments, it is desirable that the mechanical impedance of the manipulator is adjusted according to the contact surface. From this point of view, the paper focuses on the design of an impedance control scheme. Several impedance controllers have been developed. Most of them were designed on the assumption that the control capability of the vehicle is the same as that of the manipulator. However, it has been pointed out in the literature that for a real underwater robot, its vehicle control is more challenging than its manipulator control, because the vehicle has much larger inertia, and many more inaccurate position sensors and actuators than the manipulator. In view of this fact, we develop an impedance control scheme for the manipulator under the condition that the vehicle is independently controlled by a motion controller with poor performance. Moreover, we provide the results of simulations for comparing an existing controller with the proposed one.

DOI： 10.1007/s10015-023-00896-6

Scopus

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Force control of a floating underwater robot equipped with two 3-link manipulators（共著）査読有り国際誌

Shinichiro Fukuda, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar, Yuichiro Taira

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 28th, ISBC (Bio Complexity) 8th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 6th 1134 - 1139 2023年01月

Experimental comparison of UVMS position control method with and without constraints on one hand of a dual-arm robot（共著）査読有り国際誌

Kenta Yamamoto, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 28th, ISBC (Bio Complexity) 8th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 6th 1128 - 1133 2023年01月

Attitude measurement for underwater robot using inclinometer considering dynamic characteristics and gyroscope（共著）査読有り国際誌

Yuka Daiguji, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 28th, ISBC (Bio Complexity) 8th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 6th 1123 - 1127 2023年01月

Design of a Motion and Force Controller with Impedance Error for an Underwater Vehicle-Manipulator System with a Differently-Controlled Vehicle（共著）査読有り国際誌

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 28th, ISBC (Bio Complexity) 8th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 6th 1117 - 1122 2023年01月

3D Walking of Telescopic Legged Rimless Wheel Robot on Floor with Steps（共著）査読有り国際誌

Yuta Hanazawa, Yuhi Uchino, Shinichi Sagara

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 28th, ISBC (Bio Complexity) 8th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 6th 1463 - 1468 2023年01月

Motion and force control with a linear force error filter for the manipulator of an underwater vehicle-manipulator system （共著）査読有り国際誌

Taira Y., Sagara S., Oya M.

Artificial Life and Robotics 27 ( 1 ) 90 - 106 2022年02月

記述言語：英語掲載種別：研究論文（学術雑誌）

This paper deals with a motion and force control scheme for underwater robots, each of which is equipped with a manipulator. Several motion and force controllers for this type of underwater robot have been developed. Most of them were designed under the assumption that the control capability of each robot body is the same as that of each manipulator. However, it has been pointed out in the literature that for a real underwater robot, its robot body control is more challenging than its manipulator control, because the robot body has much larger inertia, and many more inaccurate position sensors and actuators than the manipulator. Therefore, even if an advanced control law with good performance is implemented in the vehicle controller of each control system, its original control performance may not be achieved. In this paper, we develop a motion and force controller for the manipulator under the condition that the robot body is independently controlled by a motion controller with poor performance. Its features are (1) to be designed in consideration of the dynamics of the robot body including its actuators (i.e., marine thrusters), (2) to ensure the stability properties in the presence of bounded disturbances, and (3) to include a linear force error filter, which can facilitate the stability analysis in comparison with existing nonlinear force error filters. Furthermore, the theoretical results were supported by those obtained in numerical simulations.

DOI： 10.1007/s10015-021-00708-9

Scopus

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Development of Small and Lightweight Rimless Wheel Robot（共著）査読有り国際誌

Yuta Hanazawa, Haruka Nishinami, Shinichi Sagara

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 27th, ISBC (Bio Complexity) 7th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 5th 1699 - 1704 2022年01月

Modeling and Control of an Underwater Robotic System Composed of Two Different Types of Autonomous Vehicles（共著）査読有り国際誌

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 27th, ISBC (Bio Complexity) 7th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 5th 1460 - 1465 2022年01月

Experimental comparison of position control methods for UVMS using a dual-arm underwater robot (共著) 査読有り国際誌

Yuu Matsuo, Kenta Yamamoto, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 27th, ISBC (Bio Complexity) 7th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 5th 1454 - 1459 2022年01月

Impedance control experiments of a dual-arm underwater robot（共著）査読有り国際誌

Ryouma Mizoguchi, Yuta Hanazawa, Shinichi Sagara, Yuichiro Taira, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 27th, ISBC (Bio Complexity) 7th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 5th 1449 - 1453 2022年01月

Walking experiments of small and lightweight rimless wheel robot（共著）査読有り国際誌

Hanazawa Y., Nishinami H., Sagara S.

Artificial Life and Robotics 27 ( 4 ) 706 - 713 2022年01月

記述言語：英語掲載種別：研究論文（学術雑誌）

In this study, we show how to build and test a novel rimless wheel robot. We investigated rimless wheel robots, which consist of a rimless wheel and a torso. We needed a rimless wheel robot that can be developed quickly and easily and is easy to use for experiment to assess the walking performance of the robots. As a result, we have created a smaller and lighter rimless wheel robot than the robots of previous studies with straightforward construction. We demonstrate some of the most crucial features of the robot’s design. Furthermore, we undertook walking experiments to demonstrate that our robot can walk on level ground and level terrain with a step.

DOI： 10.1007/s10015-022-00784-5

Scopus

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Comparison of position control methods for UVMS using a dual-arm 3-link underwater robot (共著) 査読有り国際誌

Yuki Takazaki, Shinichi Sagara, Yuta Hanazawa, Radzi Ambar

Proceedings of The 26th International Symposium on Artificial Life and Robotics 613 - 618 2021年01月

Design of Rimless Wheel Walking Robots for 3D Printing (共著) 査読有り国際誌

Yuta Hanazawa, Shinichi Sagara

Proceedings of The 26th International Symposium on Artificial Life and Robotics 630 - 633 2021年01月

Design of an impedance controller for an underwater vehicle-manipulator system with a differently-controlled vehicle (共著) 査読有り国際誌

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of The 26th International Symposium on Artificial Life and Robotics 624 - 629 2021年01月

Force control of a floating underwater robot equipped with 3-link manipulator (共著) 査読有り国際誌

Taiga Yamasaki, Ryouma Mizoguchi, Yuta Hanazawa, Shinichi Sagara, Yuichiro Taira, Radzi Ambar

Proceedings of The 26th International Symposium on Artificial Life and Robotics 619 - 623 2021年01月

Cooperative manipulation of a floating object by two underwater robots with arms（共著）査読有り国際誌

Sagara S., Takahashi T., Ambar R.

2021 IEEE/SICE International Symposium on System Integration, SII 2021 250 - 255 2021年01月

担当区分：筆頭著者,　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）

日本 Iwaki (Online) 2021年01月11日 - 2021年01月14日

In future ocean development, it is considered that many tasks will be achieved by cooperative motions of several underwater robots. However, no research has been studied on the cooperative work of underwater robots. We have proposed a cooperative control method for space robots. In this paper, as the first step of development of cooperative control methods for underwater robots, our proposed resolved acceleration control method for underwater vehicle-manipulator system is applied to cooperative manipulations of a floating object by underwater robots. To validate the control method, computer simulations are done. The simulation results show the effectiveness of the control method.

DOI： 10.1109/IEEECONF49454.2021.9382631

Scopus

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Development of autonomous underwater vehicle equipped with object recognition and tracking system（共著）査読有り国際誌

Abu Mangshor M.H., Ambar R., Kadir H.A., Isa K., Amran I.Y., Kadir A.A.A., Ibrahim N.S., Choon C.C., Sagara S.

Lecture Notes in Electrical Engineering 666 37 - 56 2021年01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）

The development and design of autonomous underwater vehicle (AUVs) provides unmanned, self-propelled vehicles that are typically deployed from a surface vessel, and can operate independently for periods of a few hours to several days. This project discusses the development of an AUV equipped with object recognition and tracking system. In this project, the motion of AUV is controlled by two thrusters for horizontal motions and two thrusters for vertical motions. A Pixy CMUcam5 is used as a vision sensor for the AUV that is utilized to recognize an object through its specific color signatures. The camera recognizes an object through colour-based filtering algorithm by calculating the colour (hue) and saturations of each red, green and blue (RGB) pixel derived from built-in image sensor. When the camera recognizes an object, the AUV will automatically track the object without any operator. Preliminary underwater experiments have been carried out to test its ability to stay submerge underwater as well as its functionality to navigate and recognize object underwater. Experiments also have been carried out to verify the effectiveness of Pixy CMUcam5 to recognize a single and multiple objects underwater, then tracks the recognize object. This work reports the findings that demonstrate the usefulness of PixyCMUcam5 in the development of the AUV.

DOI： 10.1007/978-981-15-5281-6_4

Scopus

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Model-based motion control for underwater vehicle-manipulator systems with one of the three types of servo subsystems (共著) 査読有り国際誌

Taira Y., Sagara S., Oya M.

Artificial Life and Robotics 25 ( 1 ) 133 - 148 2020年02月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2019, International Society of Artificial Life and Robotics (ISAROB). This paper deals with a motion control scheme for underwater robots equipped with manipulators. In general, for each robot, its manipulator is directly driven by electric motors with position sensors such as encoders, whereas its robot body is propelled by marine thrusters with position sensors such as inertial measurement units. It has been pointed out in the literature that for this type of underwater robots, its robot body control is more challenging than its manipulator control, because the robot body has much larger inertia, and many more inaccurate position sensors and actuators than the manipulator. Therefore, it may be practically difficult to accurately control the motion of the robot body, even if an advanced control scheme with good performance is implemented in the controller of the robot body. In this paper, we develop a model-based motion controller for the manipulator under the condition that the robot body is independently controlled by a motion controller with poor performance. Its features are to design the manipulator controller in consideration of the dynamics of the robot body including the marine thrusters as well as those of the manipulator, and to be applicable to underwater robots equipped with one of the three types of servo systems (i.e., a voltage-controlled, a torque-controlled, and a velocity-controlled servo system). Some stability properties of the control system were theoretically ensured in the stability analysis. Furthermore, these results were supported by those obtained in numerical simulations.

DOI： 10.1007/s10015-019-00564-8

Scopus

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Position based impedance control of 3-link dual arm underwater robot using resolved acceleration control method for UVMS (共著) 査読有り

Taiga Yamasaki, Shinichi Sagara, Yuichiro Taira, Radzi Ambar

Proceedings of The 25th International Symposium on Artificial Life and Robotics 1020 - 1024 2020年01月

Performance comparison of control methods using a dual-arm underwater robot-Computed torque based control and resolved acceleration control for UVMS- (共著) 査読有り国際誌

Sagara S., Ambar R.

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 1094 - 1099 2020年01月

担当区分：筆頭著者,　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）

アメリカ合衆国 Honolulu 2020年01月12日 - 2020年01月15日

© 2020 IEEE. Most of control methods for Underwater Vehicle-Manipulator Systems (UVMS) have been proposed based on the configuration space consisting of vehicle position and orientation and manipulator joint displacement. Since the vehicle that is the base of the manipulator moves, it is considered that the steady-state error of the manipulator's end-tip remains. The authors have proposed a resolved acceleration control method for UVMS based on the task space consisting of the position and orientation of both the vehicle and end-tip. In this paper, through simulations using a dual -arm underwater robot, we compare our proposed method with a computed torque based control method, which is one of the control methods in the configuration space.

DOI： 10.1109/SII46433.2020.9026221

Scopus

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Resolved acceleration control and sliding mode control of a dual arm underwater vehicle-manipulator system (共著) 査読有り

Hikari Nakano, Shinichi Sagara, Radzi Ambar

Proceedings of The 24th International Symposium on Artificial Life and Robotics 1026 - 1031 2019年01月

Design of two types of kinematic control for an underwater vehicle-manipulator system with a differently-controlled vehicle (共著) 査読有り

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of The 24th International Symposium on Artificial Life and Robotics 1015 - 1020 2019年01月

Force control of a dual arm underwater vehicle-manipulator system (共著) 査読有り

Yutaka Seki, Yuichiro Taira, Shinichi Sagara, Radzi Ambar

Proceedings of The 24th International Symposium on Artificial Life and Robotics 1032 - 1037 2019年01月

Design of a Motion Controller for an Underwater Vehicle-Manipulator System with a Differently-Controlled Vehicle (共著) 査読有り国際誌

Taira Y., Sagara S., Oya M.

2018 International Conference on Information and Communication Technology Robotics, ICT-ROBOT 2018 FA1.2 (6 pages) 2018年09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）

Korea Busan 2018年09月06日 - 2018年09月08日

© 2018 IEEE. This paper deals with a motion control scheme for autonomous underwater robots equipped with manipulators. It is pointed out in the literature on underwater robotics that the robot body propelled by marine thrusters generally has a considerably slower time response than the manipulator driven by electric motors. Moreover, for a real system, it is generally difficult to precisely control the position of a vehicle floating in water by means of hydrodynamic effects produced by the rotations of thrusters' propellers. In this paper, we develop a motion controller for the manipulator in consideration of the thruster dynamics including a control input of the vehicle under the condition that the vehicle is differently controlled by a motion controller that can achieve not a precise control performance but a motion stability in the presence of disturbances such as water waves or a water current.

DOI： 10.1109/ICT-ROBOT.2018.8549894

Scopus

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Resolved Acceleration Control (RAC) of Dual-Arm 3-Link Underwater Robot : Comparison of Control Performance between RAC Method and Computed Torque Method (共著) 査読有り国際誌

Nakano H., Sagara S., Ambar R.

2018 International Conference on Information and Communication Technology Robotics, ICT-ROBOT 2018 FA1.6 (4 pages) 2018年09月

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）

Korea Busan 2018年09月06日 - 2018年09月08日

© 2018 IEEE. We have proposed a resolved acceleration control method for underwater vehicle-manipulator systems and the effectiveness of the control method have been shown by experiments. In this paper, we compare our proposed method with a computed torque method. Simulation results show that the control performance of our proposed method is better than the conventional computed torque method.

DOI： 10.1109/ICT-ROBOT.2018.8549909

Scopus

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Impedance Control of Dual-Arm 3-link Underwater Robot : In the Case of Grasping a Fixed Object Lightly with One Hand (共著) 査読有り国際誌

Seki Y., Sagara S., Ambar R.

2018 International Conference on Information and Communication Technology Robotics, ICT-ROBOT 2018 FA1.1 (4 pages) 2018年09月

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）

Korea Busan 2018年09月06日 - 2018年09月08日

© 2018 IEEE. Force control system plays a crucial role in tasks involving Underwater Vehicle-Manipulator System (UVMS) such as object manipulation and interaction with the unstructured underwater environment using robotic manipulators. Force control is necessary to increase the adaptability of UVMS and for reducing unexpected instabilities of the vehicle due to interaction with environment. In previous work, we have developed an impedance-based force control method for a floating UVMS that shows despite the instability of the robot body due to the force exerted on the right manipulator's end-tip, good position control performance was obtained for the left manipulator's end-tip. In this work, we demonstrate the effectiveness of the proposed impedance control method through simulation in the case where the left manipulator of the UVMS is grasping a fixed object lightly, while the right manipulator makes contact with the environment such as a wall. The proposed impedance control is implemented on the right manipulator's end-tip, while the right manipulator's end-tip and robot body are controlled using Resolved Acceleration Control (RAC) method. The simulation results show the effectiveness of the proposed impedance-based force control method.

DOI： 10.1109/ICT-ROBOT.2018.8549882

Scopus

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Motion and force control with a nonlinear force error filter for underwater vehicle-manipulator systems (共著) 査読有り国際誌

Y. Taira, S. Sagara, M. Oya

Artificial Life and Robotics 23 ( 1 ) 103 - 117 2018年03月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2017, ISAROB. This paper deals with a control scheme for autonomous underwater robots equipped with manipulators. Several motion and force controllers have been developed. Most of them were designed in disregard of the dynamics of marine thrusters to develop a controller with a simple structure. However, the robot body propelled by thrusters generally has a considerably slower time response than the manipulator driven by electrical motors. Therefore, it may be difficult to construct a high-gain feedback control system to achieve a good control performance, because the high gain may excite the slow thruster dynamics ignored in the controller design, and the excitation will degrade the control performance. In this paper, we develop a motion and force controller for mathematical models with the dynamics of thrusters. It includes a nonlinear force error filter which allows us to construct a stable motion and force control system. To investigate its control performance, we conducted numerical simulations for comparing the proposed control scheme with an existing control scheme designed in disregard of the thruster dynamics. Simulation results demonstrate the usefulness of the proposed controller.

DOI： 10.1007/s10015-017-0400-3

Scopus

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Impedance control of a 3-link manipulator mounted on position-controlled floating underwater robot by resolved acceleration control method (共著) 査読有り

Yutaka Seki, Yuichiro Taira, Shinichi Sagara, Radzi Ambar

Proceedings of The 23rd International Symposium on Artificial Life and Robotics 648 - 652 2018年01月

Resolved acceleration control of a 3-link dual-arm underwater robot - Simulation for underwater robot gripping fixed underwater object with one hand - (共著) 査読有り

Shingo Yamamoto, Takayuki Kawaguchi, Shinichi Sagara, Radzi Ambar

Proceedings of The 23rd International Symposium on Artificial Life and Robotics 643 - 647 2018年01月

Development of an altitude-keeping system for underwater robots using laser beams（共著）査読有り国際誌

F. Takemura, R. Taba, K. Hirayama, S. Tansuriyavong, K. Kawabata, S. Sagara, K. Ogasawara

Artificial Life and Robotics, Springer 22 ( 4 ) 405 - 411 2017年12月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2017, ISAROB. Distribution map of the degree of coral has been developing by Manta method to use coral conservation activities. The manta method is a survey method that divers investigate the degree of coral and whitening states while being towed to a boat. The manta method makes great physical burden. Therefore, the authors think that this task can substitute an underwater robot. This underwater robot is desirable to be able to keep altitude above the seabed. Hence, the authors have been developing the altitude (its distance above the sea floor) keeping system for an underwater robot. Visual recognition of distant underwater objects is possible in the water with high transparency, for example, in the coastal sea area of Okinawa Prefecture, Japan. Therefore, the authors have been adopting the image-processing-based distance measurement method using the two laser beams and a monocular camera. It realizes to keep altitude of an underwater robot using such devices. The evaluation experiments of the altitude-keeping system are carried out in the pool.

DOI： 10.1007/s10015-017-0377-y

Scopus

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Improved adaptive lane-keeping control for four-wheel steering vehicles without lateral velocity measurements (共著) 査読有り国際誌

Shu P., Sagara S., Wang Q., Oya M.

International Journal of Robust and Nonlinear Control 27 ( 17 ) 4154 - 4168 2017年11月

記述言語：英語掲載種別：研究論文（学術雑誌）

Copyright © 2017 John Wiley & Sons, Ltd. Previously, we developed an adaptive lane-keeping controller for vehicles without using lateral velocity measurements. However, the construction of the controller is very complex and not suitable for practical applications. To overcome this problem, we propose an improved adaptive lane-keeping controller that is much simpler than the conventional controller. To obtain the improved controller, we propose an improved vehicle dynamic expression. In this dynamic expression, fewer elements are estimated adaptively as containing unknown vehicle parameters compared with the conventional expression. Moreover, a control performance improvement method is described theoretically. Finally, we report numerous simulations that validated the effectiveness of the improved controller. Copyright © 2017 John Wiley & Sons, Ltd.

DOI： 10.1002/rnc.3824

Scopus

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An adaptive observer for a spacecraft–manipulator system using a camera mounted on its spacecraft (共著) 査読有り国際誌

Taira Y., Sagara S., Oya M.

Artificial Life and Robotics 22 ( 2 ) 247 - 258 2017年06月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2016, ISAROB. This paper deals with a motion control system for a space robot with a manipulator. Many motion controllers require the positions of the robot body and the manipulator hand with respect to an inertial coordinate system. In order to measure them, a visual sensor using a camera is frequently used. However, there are two difficulties in measuring them by means of a camera. The first one is that a camera is mounted on the robot body, and hence it is difficult to directly measure the position of the robot body by means of it. The second one is that the sampling period of a vision system with a general-purpose camera is much longer than that of a general servo system. In this paper, we develop an adaptive state observer that overcomes the two difficulties. In order to investigate its performance, we design a motion control system that is constructed by combining the observer with a PD control input, and then conduct numerical simulations for the control system. Simulation results demonstrate the effectiveness of the proposed observer.

DOI： 10.1007/s10015-016-0340-3

Scopus

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Design of a motion and force controller for underwater vehicle-manipulator systems including thruster dynamics (共著) 査読有り

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of The 22nd International Symposium on Artificial Life and Robotics 872 - 877 2017年01月

Gain adjustment of vehicle controller for a semi-autonomous UVMS (共著) 査読有り

Masataka Urabe, Shinichi Sagara, Radzi Bin Ambar

Proceedings of The 22nd International Symposium on Artificial Life and Robotics 866 - 871 2017年01月

Symmetric bilateral control of a 3-link arm equipped to underwater robot (共著)

Masataka Urabe, Rinya Yukawa, Shinichi Sagara, Radzi Bin Ambar

Proceedings of International Conference on Information and Communication Technology Robotics ThBT1.5 (4 pages) 2016年09月

Object capturing experiment of a semi-autonomous underwater robot with dual arm (共著)

Kazunori Kakumu, Shinichi Sagara, Radzi Bin Ambar

Proceedings of International Conference on Information and Communication Technology Robotics ThBT1.4 (4 pages) 2016年09月

Development of an automatic detection method for crown-of-thorns starfish using contour information (共著) 査読有り

Masahiro Suganuma, Shinichi Sagara

Proceedings of The 21st International Symposium on Artificial Life and Robotics 400 - 404 2016年01月

Development of an altitude maintenance system for underwater robots using laser beams (共著) 査読有り

R. Taba, K. Hirayama, F. Takemura, S. Tansuriyavong, K. Kawabata, S. Sagara, K. Ogasawara

Proceedings of The 21st International Symposium on Artificial Life and Robotics 395 - 399 2016年01月

Observer-based tracking control of a spacecraft-manipulator system using a camera mounted on its spacecraft (共著) 査読有り

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of The 21st International Symposium on Artificial Life and Robotics 389 - 394 2016年01月

Development of a master controller for a 3-link dual-arm underwater robot (共著) 査読有り

Radzi Bin Ambar, Shinichi Sagara

Artificial Life and Robotics, Springer 20 ( 4 ) 327 - 335 2015年12月

Robust controller with a fixed compensator for underwater vehicle-manipulator systems including thruster dynamics (共著) 査読有り

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

International Journal of Advanced Mechatronic Systems 6 ( 6 ) 258 - 268 2015年12月

Accuracy Verification of the Image-Based an Underwater Object Position Measurement (共著) 査読有り

Kazuma Noha, Fumiaki Takemura, Kuniaki Kawabata, Satoru Takahashi, Norimitsu Sakagami, Shinichi Sagara

Proceedings of 2015 International Conference on Intelligent Informatics and BioMedical Sciences 457 - 462 2015年11月

A Basic Experiment for Image-Based Position Measurement of Objects at Sea (共著) 査読有り

Fumiaki Takemura, Natsuki Uechi, Kazuma Noha, Norimitsu Sakagami, Kuniaki Kawabata, Satoru Takahashi, Shinichi Sagara, Rintaro Ono, Chiaki Katagiri, Yumiko Nakanishi

Proc. of 41st Annual Conference of the IEEE Industrial Electronics Society (IECON 2015) 1394 - 1399 2015年11月

Development of an acetic acid injection device for crown-of-thorns starfish controlled by a remotely operated underwater robot (共著) 査読有り国際誌

Takemura F., Kobashigawa S., Hirayama K., Kawabata K., Sagara S., Yamashiro H., Kuraya E.

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 27 ( 5 ) 571 - 578 2015年10月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2015, Fuji Technology Press. All rights reserved. We have been studying and developing an underwater robot for coral reef conservation. This paper describes the development of an acetic acid injection device mounted on an underwater robot for use in exterminating crown-of-thorns starfish that damage corals. First, we outlined the ecology and morphology of the crown-of-thorns starfish to identify requirements for the acetic acid injection device. Based on the requirements identified, we designed and prototyped an acetic acid injection device to be installed on an underwater robot. Next, we installed the developed injection device on a remotely operated vehicle and injected acetic acid into crown-of-thorns starfish under water. We describe the effectiveness of this acetic acid injection device for exterminating crown-of-thorns starfish. The experimental results prove that the developed acetic acid injection device can inject acetic acid into crown-of-thorns starfish just as intended, and that an underwater robot installed with such device can be used effectively to aid in the extermination of crown-of-thorns starfish.

DOI： 10.20965/jrm.2015.p0571

Scopus

CiNii Article

CiNii Research

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Coordinated motion control of a 3-link dual-arm underwater vehicle-manipulator system using resolved acceleration control method (共著) 査読有り

Bin Ambar R., Sagara S., Takemura F.

Proceedings of the International Offshore and Polar Engineering Conference 2015-January 598 - 605 2015年06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）

USA Waikoloa 2015年06月21日 - 2015年06月26日

Copyright © 2015 by the International Society of Offshore and Polar Engineers (ISOPE). This paper presents a digital resolved acceleration control method for coordinated motion control of an underwater vehicle equipped with manipulators. Using this method, in spite of large position and attitude errors of the underwater vehicle, good control performances of the end-tips of the manipulators to follow a pre-planned trajectory can be achieved. In this work, theoretical work of the proposed method is described. Then, the effectiveness of the proposed method is demonstrated through experimental work using a 3-link dual-arm underwater robot in actual underwater environment.

Scopus

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Experiment on a dual-arm underwater robot using resolved acceleration control method (共著) 査読有り

Radzi Bin Ambar, Shinichi Sagara, Kenichi Imaike

Artificial Life and Robotics, Springer 20 ( 1 ) 34 - 41 8 pages 2015年02月

Design of an adaptive controller for free-flying spacecraft-manipulator systems including spacecraft actuator dynamics (共著) 査読有り

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of The 20th International Symposium on Artificial Life and Robotics 684 - 689 2015年01月

Development of a master controller for a dual-arm underwater robot (共著) 査読有り

Radzi Bin Ambar, Shinichi Sagara

Proceedings of The 20th International Symposium on Artificial Life and Robotics 678 - 683 2015年01月

A Robust Controller with Integral Action for Underwater Vehicle-Manipulator Systems Including Thruster Dynamics (共著) 査読有り

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of the 2014 International Conference on Advanced Mechatronic Systems 415 - 420 2014年08月

Digital resolved acceleration control of underwater robot with multiple manipulators (共著) 査読有り

Sagara S., Ambar R.

International Conference on Advanced Mechatronic Systems, ICAMechS 232 - 237 2014年08月

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

日本 Kumamoto 2014年08月10日 - 2014年08月12日

© 2014 IEEE. Since Underwater Vehicle-Manipulator Systems (UVMS) are expected to make important roles in ocean exploration, many studies about control of single arm UVMSs have been reported. We have also been proposed digital Resolved Acceleration Control (RAC) methods for a single arm UVMS. In this paper, we propose a discrete time RAC method for multiple arms UVMS. Simulation results show the effectiveness of the proposed control method.

DOI： 10.1109/ICAMechS.2014.6911656

Scopus

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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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Digital RAC with a disturbance observer for underwater vehicle-manipulator systems (共著) 査読有り

Shinichi Sagara,Takashi Yatoh,Tomoaki Shimozawa

Artificial Life and Robotics, Springer 15 ( 3 ) 270 - 274 2010年10月

An Adaptive Controller for Underwater Vehicle-Manipulator Systems Including Thruster Dynamics (共著) 査読有り

Yuichiro Taira,Masahiro Oya,Shinichi Sagara

Proceedings of the 2010 International Conference on Modelling, Identification and Control 185 - 190 2010年07月

Digital adaptive control of a winged rocket in wide range flight conditions (共著) 査読有り

Shimozawa T., Sagara S.

2010 International Conference on Modelling, Identification and Control, ICMIC 2010 197 - 202 2010年07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）

Okayama 2010年07月17日 - 2010年07月19日

Since spaceplanes have wide range flight conditions, the values of parameters of the dynamic equation are not constant. Then some adaptive control methods for the spaceplanes have been proposed and digital control systems are suited for digital computers. The mathematical model of spaceplanes considering actuator dynamics become non-minimum phase system depending on values of discretizing zeros. In this paper, for a winged rocket an adaptive flight control system considering non-minimum phase characteristic is designed and the simulations are performed to verify the effectiveness of the control system.

Scopus

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Launch campaign of KIT student's experimental rocket "Ninja-10" and "Sakura" in France (共著) 査読有り

Shintaro M., Keita F., Koichiro A., Hiroshi K., Hirotaka G., Ken N., Akihito S., Susumu F., Shinichi S., Koichi Y.

Proceedings of 2010 Asia-Pacific International Symposium on Aerospace Technology, APISAT 2010 58 - 61 2010年01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）

Small experimental rockets have been developed by the student group of Kyushu Institute of Technology for the rocket launch campaign held in France since 2006. This paper introduces the newest design of two rockets. One of the rockets, which is designated Ninja-10, aims at point tracing using by parafoil during the recovery gliding flight. After ignition, the rocket reaches to an altitude of about 635m in 12 seconds. During the coasting flight up to the apogee, the roll is controlled by ailerons to maintain the doors of ejection system bay upward. At the apogee, the door of ejection system bay opens, and a drogue chute is ejected to deploy parafoil. When the rocket begins to perform a steady gliding flight and the onboard microcomputer establishes signal processing from GPS satellites, the navigation calculation starts to guide the rocket to an aiming point. Another rocket, which is designated Sakura, aims at supersonic flight. After ignition, the rocket reaches the speed of sound in 4 sec. The location, acceleration and velocity of rocket are measured using GPS receiver, accelerometer and 1-hole pitot tube in order to study transonic aerodynamic characteristics flying from subsonic to supersonic speed. The measured data is recorded onboard and transmitted by telemetry system to ground.

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