著者

田中 幸悦 梶谷 誠 金森 哉吏 阿部 靖則

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.69, no.679, pp.676-682, 2003-03-25

被引用文献数

2

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We are developing positioning systems for mobile robots working at construction sites. In earlier work, we investigated the use of pillars as reference points at construction sites for a position recognition system, and reported on the performance of a prototype system. To further increase the flexibility of the robot system, we have developed a new self-position measurement system for the mobile marking robot. This new system is aimed at expansion of the work area of the marking robot. The system is composed of a prototype of a laserpointer robot and a marking robot with laser-spot detectors. The marking robot uses a point of laser light projected onto it by the laser-pointer robot, placed at a reference point, to determine its position. This report outlines the method for the self-position measurements and describes the performance of the system in a field test.

著者

後藤 陽一 細貝 英実 原 文雄 阿部 靖則 田中 祥夫

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.64, no.625, pp.3342-3347, 1998-09-25

被引用文献数

7

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In-pipe flaw causes a failure in air conditioning pipe system, and to prevent the failure, in-pipe flaw must be diagnosed regularly. For the diagnosis of it, the type and size of the flaw are important information, and a pulsereflection method is usually used, because of its simplicity, where the type and size of in-pipe flaw have an effect on an amplitude of its echo. In this paper, to judge the type and size of in-pipe flaws, we used the two kinds of the amplitude information about the echoes. One is the amplitude of the echo that is reflected from the inner surface of the pipe with the flaws. The other is the amplitude of the echo reflected from the normal surface of the pipe. We used wavelet analysis to obtain the amplitude information about the echoes in the ultrasonic pulse reflected. We showed the results of the in pipe flaw diagnosis by using a test pipe with the artificial flaws on its inner surface and classified the results of flaw diagnosis in three types. Finally, we proposed an estimation method of the size of the in pipe corrosion with some experimental results.