著者

増田 殊大 杉松 治美 小島 淳一 西田 祐也 巻 俊宏

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2021 (ISSN:24243124)

巻号頁・発行日

pp.1A1-B03, 2021 (Released:2021-12-25)

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Most of the conventional hydrophones (underwater microphones) use PZT ceramic as the material, and there are problems such as variation in sensitivity, the necessity of high-magnitude amplification and high cost.We developed and evaluated a low-cost, easy-to-use MEMS hydrophone that is waterproof and pressure-resistant while maintaining the bandwidth of a commercially available MEMS microphone.

著者

松野 隆幸 西田 祐也 米森 健太 李 想 向田 直樹 加藤 直輝 Myo MYINT 山田 大喜 Nwe Lwin KHIN 見浪 護

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.84, no.858, pp.17-00242-17-00242, 2018 (Released:2018-02-25)

参考文献数

24

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A variety of robots has been studied and developed for undersea exploration. One of the applications for undersea exploration is mining of undersea resources such as methane hydrate and rare metal by Autonomous Underwater Vehicle (AUV). To extend active duration time of the robot in the sea, a system through which the AUVs recharge autonomously batteries is a key technology. Our reseach group has confirmed in a pool environment the dual-eye visual servoing system made a pole attached to the vehicle dock into a hole. This experiment simulates situation where the vehicle approaches recharging station under deep sea. But previous studies were conducted with ROV (Remotely Operated Vehicle) that is controlled by remote computer instead of human operator. In those experiments, power cables affected performance of control accuracy. Therefore the performance of visual feedback with AUV named Tuna-Sand2 that is compeletely indepent from cables or wires and has a general structure of modernized AUV system, has been verified to confirm the practicability of dual-eye dockig system.

著者

西田 祐也 園田 隆 石井 和男

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2010, pp."2A1-B03(1)"-"2A1-B03(3)", 2010

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Locusts and grasshoppers have powerful hind-legs which are adapted to produce jumps and kicks. It is reported that the desert locust (Schistocerca gregaria) which is about 50mm long can jump to the height of about 250mm at the peak. Hind-legs of locusts have special cuticle called "semi-lunar process" same as the spring. Locusts charge jumping force in semi-lunar process using own muscle before jumping. And, they can jump by instantaneously releasing the force. So, locusts obtain high jumping performance which is impossible by only own muscle, using semi-lunar process. The aim in this research is to develop high power joint mechanism by mimic jumping system of locusts. This paper reports how to produce high power in the mechanism.