著者

大平 俊男 縣 良英

出版者

環境技術学会

雑誌

環境技術 (ISSN:03889459)

巻号頁・発行日

vol.3, no.7, pp.463-473, 1974

著者

大平 俊男 縣 良英

出版者

環境技術学会

雑誌

環境技術 (ISSN:03889459)

巻号頁・発行日

vol.3, no.7, pp.463-473, 1974-07-18 (Released:2010-03-18)

参考文献数

6

著者

飯田 賢一 中田 佳孝 平 俊男 鎌野 琢也 鈴木 茂行

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌C(電子・情報・システム部門誌) (ISSN:03854221)

巻号頁・発行日

vol.123, no.10, pp.1806-1812, 2003 (Released:2004-05-28)

参考文献数

16

被引用文献数

1

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In this paper, an application of genetic algorithm for generation of evolutionary initial poses of a quadrupedal robot which reduced degrees of freedom is described. To reduce degree of freedom, each leg of the robot has a slider-crank mechanism and is driven by an actuator. Furthermore we introduced the forward movement mode and the rotating mode because the omnidirection movement should be made possible. To generate the suitable initial pose, the initial angle of four legs are coded under gray code and tuned by an estimation function in each mode with the genetic algorithm. As a result of generation, the cooperation of the legs is realized to move toward the omnidirection. The experimental results demonstrate that the proposed scheme is effective for generation of the suitable initial poses and the robot can walk smoothly with the generated patterns.

著者

平 俊男 辻 政範

出版者

奈良工業高等専門学校

雑誌

奈良工業高等専門学校研究紀要 (ISSN:03871150)

巻号頁・発行日

no.41, pp.15-20, 2005

著者

大平 俊男

出版者

Japan Society for Atmospheric Environment

雑誌

大気汚染研究 (ISSN:21863687)

巻号頁・発行日

vol.12, no.7, pp.425-430, 1977

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In an attemt to clarify air pollution conditions in the atmosphere over the southern Kanto area, the Tokyo Metropolitan Research Institute for Environmental Protection, using an aircraft, made a survey of the concentration of NO<SUB>x</SUB>, SO<SUB>2</SUB>, TSP, CH<SUB>4</SUB>, non CH<SUB>4</SUB>·HC and CO in the layer between the altitudes of 700 and 1, 800 meter in October, 1974. The results are as follows:<BR>(1) The average concentrations of NO and NO<SUB>2</SUB> were 0.24 pphm and 0.92 pphm respectively, the latter being about 1/3 to 1/5 of that on the ground.<BR>(2) No SO<SUB>2</SUB> was detected in most of the days, except on October 18 when its average concentration was 1.4 ppb, being approximately 1/10 of the ground concentration.<BR>(3) TSP average concentration measured by light scattering method was 1.6μg/m<SUP>3</SUP> over Takyo and 11μg/m<SUP>3</SUP> in the upper air of Sagami Bay. These were around 1/60 to 1/10 of the ground level concentsation in Tokyo. SO<SUB>4</SUB><SUP>--</SUP> and NO<SUB>3</SUB><SUP>-</SUP> concentration in the dust by high volume sampler were from not detectable value to 29 μg/m<SUP>3</SUP> and from 1 to 23 μg/m<SUP>3</SUP> respectively, both being a little lower than the surface values in Tokyo, but the differences did not seem to be great compared with other pollutants.<BR>(4) The concentration of CH<SUB>4</SUB> was about the same as that of surface level, ranging from 1.5 to 1.7 ppmC, while that of nonCH<SUB>4</SUB>·HC was mostly between 0.2 and 0.4 ppmC, being about 1/2 of the ground concentrations.<BR>(5) CO value was mostly 0.4 through 0.8 ppm, about 1/5 of the ground concentration.<BR>Recently, Dr. T. Kitagawa made a hypothesis that photochemical smog was produced by aircraft exhaust gas accumulated in an inversion layer, not by autmobile and factory exhaust gas. This hypothesis, however, not only raises doubt in several points, but also can not be supported at least in the light of the conditions of air pollutants in the layer between 700 and 1, 800 meter above the ground, especially of the measurements of precusors of photochemical smog such as NO<SUB>x</SUB> and nonCH<SUB>4</SUB>·HC.