著者

野波 健蔵

出版者

国立研究開発法人 科学技術振興機構

雑誌

情報管理 (ISSN:00217298)

巻号頁・発行日

vol.59, no.11, pp.755-763, 2017-02-01 (Released:2017-02-01)

参考文献数

6

被引用文献数

5

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本稿では,ドローン産業が高揚期に入ってきたことを述べた後,現状の技術的課題に触れ,量産型国産ドローンであるミニサーベイヤーの最新モデルを紹介する。また同機に登載された非GPS環境下での自律飛行が可能なSLAM技術について紹介していく。そして,完全自律制御飛行のコアとなる3技術(GNC:ガイダンス・ナビゲーション・制御)を説明し,ガイダンスのないナビゲーションと制御のみで飛行している問題点も指摘する。さらに農業,インフラ点検,測量,警備,災害対応の5つの分野で先行してドローンが利活用され,物流分野から始まる空の産業革命など,ビジネスの最前線について述べる。最後に,既存の千葉市ドローン宅配プロジェクトの現状と課題について言及する。

著者

鈴木 智 田原 誠 中澤 大輔 野波 健蔵

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.26, no.6, pp.626-634, 2008-09-15 (Released:2010-08-25)

参考文献数

14

被引用文献数

11 16

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In this paper, we propose the attitude estimation algorithm under the dynamic acceleration environment. Generally, an attitude sensor has biaxial or triaxial accelerometer in order to measure the direction of gravity. In this configration, the attitude sensor has serious error under the dynamic acceleration environment, because of the measurement error of gravity that is caused by the dynamic acceleration. When we put the attitude sensor on a movable body like an UAV (Unmanned Aerial Vehicle), this kind of error is fatal for the sensor. So, we apply the extended kalman filter algorithm to reduce the estimation error. Firstly, we derive the process model for the kalman filter which is based on quaternion kinematics. Secondly, we design the extended kalman filter by using the process model. Lastly, we show the simulation and experiment result of the estimation algorithm.

著者

田原 誠 野波 健蔵

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C編 (ISSN:18848354)

巻号頁・発行日

vol.78, no.787, pp.872-882, 2012 (Released:2012-03-25)

参考文献数

18

被引用文献数

1 3

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Recently, Quad-rotor type helicopters which are representative of Multi-rotor type helicopters have been extensively developed over the world. The Multi-rotors are expected to replace Single-rotor type helicopters as an industrial helicopter because of their simplicity of the structure and good maintainability. In this paper, we focused on the operation problems of previous industrial helicopters and applied the Multi-rotors by a generalized design method. The generalization of the design method is performed considering variation of requirements of airframe specifications. In addition, we considered using commercial components rather than customized components in each process, so we achieved cost reduction compared with previous study. At first, we introduce the required specifications of a small pesticide application in this study and present the airframe design method. And then, we tuned parameters with presented simulation model and implement a multi-rotor type helicopter following the design method. Finally, we show the flight result and present the effectiveness of the design method.

著者

田原 誠 鈴木 智 野波 健蔵

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C編 (ISSN:18848354)

巻号頁・発行日

vol.77, no.781, pp.3386-3397, 2011 (Released:2011-09-25)

参考文献数

19

被引用文献数

1

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The attitude sensor mounted on unmanned systems is required high accuracy attitude under the dynamic acceleration environment for the autonomous attitude control. In order to estimate attitude by using a quaternion based on extended Kalman filter (EKF) , the attitude sensor detects a direction of the gravity by using a tri-axis accelerometer. However, accelerometers are usually sensitive to both the gravity and dynamic accelerations. In this paper, the dynamic accelerations are dealt with explicitly, and two types of algorithms are proposed. In the first approach, measured accelerations are filtered, and divided into the gravity and dynamic accelerations. Using only the gravity, EKF estimates high accuracy of attitude. This algorithm can be realized with relatively small amount of computation, and have a good effect under the short dynamic acceleration environment. The second approach demonstrates adequate performance with EKF which includes the dynamical model of accelerations. This paper shows a critical comparison of attitude estimation algorithms under the dynamic acceleration environment for the autonomous control of unmanned systems.

著者

宮沢 修 野波 健蔵

出版者

一般社団法人日本機械学会

雑誌

日本機械学會誌 (ISSN:00214728)

巻号頁・発行日

vol.108, no.1042, pp.698-699, 2005-09-05

被引用文献数

3

著者

五十嵐 一弘 羽沢 健作 辛 振玉 藤原 大悟 野波 健蔵

出版者

The Japan Joint Automatic Control Conference

雑誌

自動制御連合講演会講演論文集

巻号頁・発行日

vol.47, pp.259-259, 2004

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小型無人ヘリコプタは、その優れた運動性能を生かし、様々な局面や分野に柔軟に適用することができる。例えば、エンジントラブルが起きても、風からエネルギーを取り出し、ローターを自転させることにより、安全に着陸することができる。この飛行法をオートローテーションと呼ぶ。本研究ではオートローテーションを自律化することを目標とし、制御器の設計と実験を行った。

著者

唐 東豪 野波 健蔵 平田 光男 小川 秀明 谷口 義弘

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.66, no.649, pp.2981-2987, 2000-09-25

被引用文献数

2

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This paper is concerned with a study of the high performance realization of electronic engrave technology. Using actual piezo actuator for ultra-high speed electronic engrave machine, we designed several control systems to realize a good performance, after the system identification and modeling. The designed control strategies consist of (i) LQI servo control, (ii) Two-degree-of-freedom control system, (iii) Sliding mode control with observer, (iv) Sliding mode control with output feedback. Incidentally, we also find out the compulational speed limit of DSP system via the experiments. We realized the good performance using the two-degree-of-freedom control and the sliding mode control with observer. The most important contribution of this study is that the experimental results can be directly used to commercial machine.

著者

辛 振玉 藤原 大悟 羽沢 健作 野波 健蔵

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.68, no.675, pp.3284-3291, 2002-11-25

被引用文献数

17

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This paper proposes the model based control system design for autonomous flight and guidance control of Radio-Controlled Helicopter. RC Helicoper has been studied with fuzzy and neural network approach, but it is so difficult for unmodel based control to stabilize it. The system identification techniques and model tuning approach are applied for RC helicopter system to obtain the mathmetical model. In order to realize the full automatic controlled RC helicopter, we have designed the attitude controller and altitude controller with LQG based Kalman filter and trajectory controller with SMC (Sliding Mode Control) for RC helicopter. It has been clarified that the proposed scheme for attitude control, altitude control and hovering control are very useful by way of the simulations and experiments.

著者

任 之家 堀田 良和 鈴木 智 野波 健蔵 安田 憲太 平林 大輔 古屋 光啓

出版者

自動制御連合講演会

雑誌

自動制御連合講演会講演論文集 第50回自動制御連合講演会

巻号頁・発行日

pp.92, 2007 (Released:2008-12-11)

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QTWは科学観測等での利用を目的として開発中の無人航空機で、プロペラ付翼のティルト角を変更することにより、ヘリコプタモードからエアプレンモードへと連続的に飛行することが可能である。ヘリコプタモードの姿勢ダイナミクスをシステム同定手法により分析し、LQIコントローラを設計した。また、任意のティルト角でのマニュアル飛行を可能にする装置(PFCS)と自律制御器を組み合わせ、オペレータ支援用自律制御システムを設計し、有効性を検討した。

著者

野波 健蔵

出版者

日本測量協会

雑誌

測量 = The journal of survey : 地理空間情報の科学と技術 (ISSN:02857790)

巻号頁・発行日

vol.64, no.5, pp.10-15, 2014-05

著者

木崎 昂裕 並木 明夫 脇屋 慎一 石川 正俊 野波 健蔵

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.30, no.9, pp.924-931, 2012 (Released:2012-12-15)

参考文献数

12

被引用文献数

1

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Humans can perform fast and skillful manipulations using various parts of the body by effectively utilizing the dynamics of the targets. Visual sensation is the most important human sense used for such manipulations. It is obviously preferable that robot can perform various tasks using same end effectors like a human hand and using visual information. Juggling is one such example involving skillful and dynamic manipulations, and visual information is essential for it to be successful. Previously, there have been several studies about robotic juggling. However, none of these studies have considered cases in which a human-like multifingered hand-arm is used for the robotic juggling. The purpose of this study is to achieve two-ball juggling using our robotic hand-arm, which has three general purpose fingers, and stereo vision. The trajectory of the robotic hand-arm is generated based on the ball's estimated dropping position and moment, and the robot catches the ball. The juggling motion is achieved by repeating this cycle.

著者

田原 誠 野波 健蔵

出版者

The Japan Society of Mechanical Engineers

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.78, no.787, pp.872-882, 2012

被引用文献数

3

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Recently, Quad-rotor type helicopters which are representative of Multi-rotor type helicopters have been extensively developed over the world. The Multi-rotors are expected to replace Single-rotor type helicopters as an industrial helicopter because of their simplicity of the structure and good maintainability. In this paper, we focused on the operation problems of previous industrial helicopters and applied the Multi-rotors by a generalized design method. The generalization of the design method is performed considering variation of requirements of airframe specifications. In addition, we considered using commercial components rather than customized components in each process, so we achieved cost reduction compared with previous study. At first, we introduce the required specifications of a small pesticide application in this study and present the airframe design method. And then, we tuned parameters with presented simulation model and implement a multi-rotor type helicopter following the design method. Finally, we show the flight result and present the effectiveness of the design method.

著者

鈴木 智 野波 健蔵 酒井 悟

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.72, no.721, pp.2795-2802, 2006-09-25

被引用文献数

2

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In this paper, we design a trajectory following controller by using model following based sliding mode control for small-scale unmanned helicopter. Firstly, we derive reference model that shows an ideal response. This reference model follows continuous trajectory like a circular trajectory without delay. Secondly, we design the model following based sliding mode controller that makes the response of real system follow the response of reference model. Lastly, we show the validity of the controller by the simulation and experiment.

著者

岩倉 大輔 王 偉 野波 健蔵 HALEY Mark

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.76, no.761, pp.61-68, 2010-01-25

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The accuracy of small and low cost GPS is insufficient for precise landing of MAV. This study aims to land on an MAV size landing target by using outer sensors. This paper describes about proposed movable outer sensor system for measuring outer environment and an algorithm of position measurement. A movable outer sensor system consists of four IR rangefinders, four servo motors and one ultrasonic rangefinder. In order to measure the MAV position, sensor system vertically swings each IR rangefinders using servo motors and detects edge of landing target. And this sensor system calculates the position from measured edge direction and ultrasonic altitude. Additionally, an experiment of autonomous hovering over the 52cm×52cm table and autonomous landing was carried out in indoor environment by using proposed sensor system. As a result of the experiment, it has been successful that our MAV could fly keeping horizontal position within 17.9cm radius circle, and landed on the table from 50cm height.

著者

野波 健蔵 富成 襄 戸谷 隆美

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.50, no.449, pp.115-124, 1984-01-25

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方形波の分散によるひずみ波形をフーリエ級数展開近似による方法で計算し、方形波の分散波に関する特徴的形状をまず提示した。ついで、片持ばりに方形波を入力した場合について、有限要素法による数値解と実験から分散波に近い結果を得、現実に波形ひずみが生じていることを明らかにした。さらに、固有モードの形成過程を考察し、高い振動数ほど速く形成されることを明らかにした。