著者

片本 隆二 村上 剛司

出版者

日本デザイン学会

雑誌

日本デザイン学会研究発表大会概要集

巻号頁・発行日

vol.60, 2013

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手指に不自由のある方の把持を目的に、携帯可能な簡易ジャミンググリッパーを考案した。対象物にグリッパーを押し当てると輪郭に沿った形に変形し、その状態で内部を吸引すると固定される。本考案は吸引にプラスチックシリンジを用いたことで、廉価・軽量・コンパクトである。また少量生産性と所有感から紙バンドを用いた点が特徴である。ネックストラップを付ければ常に携帯でき、咄嗟に利用可能となる。<br>本報告では著者によるグリッパーの研究内容を報告し、それを事例にエンジニアの興味を、医療スタッフと共有するための課題と対策を明らかにする。

著者

倉爪 亮 戸畑 享大 村上 剛司 長谷川 勉

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.25, no.8, pp.1234-1242, 2007-11-15 (Released:2010-08-25)

参考文献数

15

被引用文献数

15 11

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In order to construct three-dimensional shape models of large-scale architectural structures using a laser range finder, a number of range images are normally taken from various viewpoints, and these images are aligned using post-processing procedures such as the ICP algorithm. However, in general, before applying the ICP algorithm, these range images must be registered to roughly correct positions by a human operator in order to converge to precise positions. In addition, range images must be made to sufficiently overlap each other by taking dense images from close viewpoints. On the other hand, if the positions of the laser range finder at viewpoints can be identified pre-cisely, local range images can be directly converted to the global coordinate system through a simple transformation calculation. The present paper proposes a new measurement system for large-scale architectural structures using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by a highly precise positioning technique called Cooperative Positioning System (CPS), which utilizes the characteristics of the multiple-robot system. The proposed system can construct 3D shapes of large-scale architectural structures without any post-processing procedure such as the ICP algorithm or dense range measurements. Measurement experiments in unknown and large indoor/outdoor environments are successfully carried out using the newly developed measurement system consisting of three mobile robots named CPS-V.

著者

上 剛司 山田 浩之 小笠原 永久

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.83, no.856, pp.17-00261-17-00261, 2017 (Released:2017-12-25)

参考文献数

37

被引用文献数

1

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Indentation tests are used to determine the local mechanical properties of materials. Previously, the indentation strain rate was correlated with the strain rate in uniaxial tests based on the hardness, which was the obtained load divided by the cross-sectional area. However, the hardness can be influenced by pile-up of material after indentation. The purpose of this study was to relate the indentation strain rate with the uniaxial strain rate through serration behavior. The material used in this study was 5082 aluminum alloy, whose main alloying elements are aluminum and magnesium, and which is known to exhibit serration at certain temperatures and strain rates. Quasi-static uniaxial tensile tests were performed at strain rates from 10-4 to 10-1 s-1 at room temperature. Micro-indentation using a Berkovich indenter was performed at constant loading rates from 0.7 to 350 mN/s. The loading curvature, which was defined as the load divided by the square of the displacement, was used instead of the hardness to avoid the pile-up effect. As a result, the serrated loading curvature in the indentation tests was obtained as the decreasing loading rate. The effective strain rate, which was defined as the derivative of the load with respect to time divided by two times the applied load, decreased with increasing displacement. The serrated loading curvature changed its behavior as the effective strain rate decreased. It behaved similarly to the serration observed in uniaxial tensile tests. It was found that the indentation strain rate is correlated with the strain rate in uniaxial tensile tests through the serration behavior.

著者

木室 義彦 荒屋 亮 有田 大作 家永 貴史 村上 剛司 楊 智梅

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.27, no.8, pp.868-876, 2009-10-15

被引用文献数

2 2

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This paper proposes the concept of R-GIS, which is a geographic information system (GIS) for providing robots with environmental information. A GIS is capturing, storing, managing and presenting geographic information, and is used for various applications such as urban planning, agriculture, emergency response. In order to use a GIS for with robots, R-GIS is designed from two viewpoints. The first one is how to manage and present environmental information for robot planning. The second one is how to capture and store environmental information sensed by robots and sensors in the environment. In addition, we briefly show the system configuration of R-GIS, trends around GIS in Japan and an experimental field for R-GIS.