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A Discontinuous Control of VTOL Aerial Robots with Four Rotors Through a Chained Form Transformation
Keigo Watanabe,Kensaku Okamura,Kouki Tanaka,Kiyotaka Izumi 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
A new control strategy is presented for a VTOL aerial robot with four rotors. A kinematics control law is first derived using Astolfi’ discontinuous control, after introducing a chained form transformation with one generator and three chains to the original model. This was motivated by the fact that the discontinuous kinematic-model without using a chained form transformation assures only a local stability of the kinematic based control system, instead of guaranteeing a global stability of the control system. Finally, a computer simulation is given to demonstrate the effectiveness of our approach.
An Output Synchronization Control Design for Systems with Input Magnitude Constraints
Keigo Nishigami,Yoshihito Yasuda,Kenji Hirata 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes design procedures for output synchronization problems where each plantis subject to control magnitude constraints. To motivate the present control design problem, we first show that existing output synchronization control law, which modifies primal reference inputs to obtain better output synchronizations, provides adequate synchronization performance, however, it tends to be high gain controls and becomes difficult for practical implementations due to well known input saturation phenomena and resulting serius performance deterioration. To over come the problem, we propose output synchronization and Reference Governor combined control systems design procedures. Effectiveness of the proposed methods is validated through experimental evaluations.
Parallel Implementation of Saliency Maps for Real-Time Robot Vision
Keigo Shirai,Hirokazu Madokoro,Satoshi Takahashi,Kazuhito Sato 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper presents a parallel implementation model for real-time video image processing of saliency maps (SMs), which are a model to predict gaze directions based on human visual attention. It can extract high visual saliency regions that differ from surroundings in scene images. In computer vision, SMs are used for various applications because of the sparse feature representation. As an implementation device, we use IMAPCAR2, which is a single instruction multiple data (SIMD) processor with 64 processing elements (PEs). The features of IMAPCAR2 are high performance, low power consumption, and easy programming using one-dimensional C (1DC) of the ANSI-C compatible. We compared the performance of a sequential model and our parallel model for all steps. The processing speed of our model was 250 times higher than that of the sequential model. We compared our model with the existing parallel model. The processing speed of our model was 5.6 times higher than that of the existing model. For real-time video image processing, we implemented our model on an IMAPCAR2 evaluation board. The processing cost was 47.5 ms for the video images of 640 × 240 pixel resolution.
Development of a Blimp Robot Consisting of Four-divided Envelopes with Four Propellers
Keigo Watanabe,Naoto Okamura,Isaku Nagai 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
A new blimp robot is proposed to make a rise or downward movement easy, where four partial envelopes are arranged, centering on a gondola, and four propellers are attached around the gondola. After pointing out the structural problem of a conventional X4 blimp robot, the design and manufacture of a new type body to be developed is described in detail. In order to examine the usefulness of the structure of the blimp robot developed, some experiments are conducted to visually check a translational motion, pitch motion and yaw motion in open-loop control.
The Development of a 3D Position Measurement System for Indoor Aerial Robots
Keigo Watanabe,Yuya Yamada,Isaku Nagai 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
In this research, a position measurement system in an indoor 3D space is developed by using a stereo camera. Especially, in order to enable measurement in a dark place, the position measurement system is built by attaching an infrared LED marker to an object and using two cameras equipped with an infrared transmitting filter. The validity of such a system is clarified through a real system experiment by including it in the control system of an indoor aerial robot, and using it as a measurement system for position control in 3D space.
Keigo Enya 한국천문학회 2017 天文學論叢 Vol.32 No.1
This paper reviews the legacy of the SPCIA Coronagraph Instrument(SCI) of which the primary scientific objective is the characterizationof Jovian exoplanets by coronagraphic spectroscopy in the infrared. Studies on binary shaped pupil mask coronagraphs are described. Cryogenic active optics is discussed as another key technology. Then approaches to observing habitable zones in exoplanetary systemswith a passively-cooled space infrared telescope are discussed. The SCI was dropped in a drastic change of the SPICA mission. However, its legacy is useful for space-borne infrared telescopesdedicated for use in exoplanetary science in the future,especially for studies of biomarkers.
WIDEBAND SPECTRAL DISPERSER MADE OF ZnS FOR EXOPLANET CHARACTERIZATION USING SPACE-BORNE TELESCOPES
Keigo Enya,Naofumi Fujishiro 한국천문학회 2017 天文學論叢 Vol.32 No.1
We present the developmentof a spectral dispersion devicefor wideband spectroscopy for which the primary scientificobjective is the characterization of transiting exoplanets. The principle of the disperser is simple: a grating isfabricated on the surface of a prism. The direction of the spectral dispersion power of the prismis crossed with the grating. Thus, the prism separates the spectrum into individualorders while the grating produces a spectrum for each order. In this work, ZnS was selected as the materialfor the cross disperser, which was designed to coverthe wavelength region, λ = 0.6 -13 μm,with a spectral resolving power, R ≥ 50. A disperser was fabricated, and an evaluationof its surface was conducted. Two spectrometer designs, one adopting ZnS(λ = 0.6 -13 μm, R ≥ 300)and the other adopting CdZnTe( λ = 1 -23 μm, R ≥ 250), are presented. The spectrometers, each of which has no moving mechanical parts,consist simply of a disperser, a focusing mirror, and a detector.