著者
加藤 裕基
出版者
宇部工業高等専門学校
雑誌
挑戦的萌芽研究
巻号頁・発行日
2014-04-01

一般の左固有組み合わせ的かつ単体的なモデル圏についてモティヴィック導来代数幾何学の理論を定式化した. それらを応用して無限圏を用いてモティヴィック・スキームおよびスタックを構成する理論を与えた. 例えばモティヴィックスキームのベクトル束やThom空間を表現するモティヴィック・スタックを無限圏を用いて構成することができる. これらはモティヴィック導来代数幾何学がモジュライ問題に応用できる可能性があることを示している. 研究は論文「Motivic model categories and motivic derived algebraic geometry」にまとめた.
著者
妻木 俊道 本田 瑛彦 加藤 裕基 藤岡 紘
出版者
一般社団法人 日本ロボット学会
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.34, no.7, pp.422-431, 2016 (Released:2016-10-01)
参考文献数
35
被引用文献数
3 2

On the moon, planets and volcanic area, it is difficult for the robots with wheels, crawlers, legs individually equipped to cross over the large rocks, high step and so on. For acquiring high cross-country ability, to pass the terrain with its body and the shape of its moving mechanisms transforming according to the shape of terrain, is effective. We have been researching and developing such a high performance cross-country robot. Here we introduce the concept and overview of the robot and the results of the test of the intermediate pilot model with 4 crawlers on mainly about the cross-country ability based on terramechanics.
著者
加藤 裕基 渡邊 恵佑 妻木 俊道 柳瀬 恵一 本田 瑛彦
出版者
一般社団法人 日本ロボット学会
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.34, no.5, pp.321-330, 2016
被引用文献数
2

<I>Jumping Scouter</I> is a rocket-powered robot for planetary exploration. The light-weighted robot traverses long distance, independent of terrain conditions. For example, it theoretically jumps 43[km] with only 290[g] of vehicle mass and 98[g] of black powder. It also acquires landscape imagery of wide areas during and after traversal jumps. This paper describes the robot's concept, system configuration and primary evaluation tests for jumping functionary.
著者
鈴木 悟史 吉井 正広 中西 洋喜 山隅 允裕 小田 光茂 上田 敦史 渡邊 恵佑 加藤 裕基 星 亜友美 西田 信一郎
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.81, no.824, pp.14-00298-14-00298, 2015 (Released:2015-04-25)
参考文献数
15
被引用文献数
2

Image processing is one of the methods used to measure position/attitude for robot control and there are hopes that it can be applied to space robot missions, including REX-J (Robot EXperiment on ISS/JEM). The REX-J mission involves space robot locomotive function experiments using tethers by JAXA. Measuring the robot's motion accurately is crucial to establishing the new locomotive technology using tethers. With conventional methods, a suitable illumination environment is configured for high-precision image processing and a characteristic marker is attached to the measurement object. However, the two challenges posed for image processing during the REX-J mission are: (1) the illumination of space changes significantly with orbital motion and (2) the robot lacks a characteristic marker. Accordingly, our purpose is to develop a marker less image processing method for the illumination environment of space and measure the robot's position/attitude of the REX-J mission by image processing. The proposed new image processing method involves creating virtual points are created at the intersection of the robot's edge in the image, which are then used as markers for image processing. This method is robust for changes in the illumination environment because it allows the creation of a virtual point, even if the edge is incomplete. The method is applied to the REX-J mission and the measurement accuracy of the robot's position/attitude in the illumination environment of space was confirmed as on the sub-pixel level. Subsequently, the position/attitude of the robot during movement by tethers was measured by image processing. In addition, the error in the robot's position/attitude, as estimated from the length of the tethers, was clarified by the image processing result. Based on these results, the robot's locomotive function by the REX-J mission was verified.