著者

高田 洋吾 荒木 良介 野々垣 元博 海老田 一章 石井 利長 脇坂 知行

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 B編 (ISSN:03875016)

巻号頁・発行日

vol.76, no.764, pp.650-659, 2010-04-25 (Released:2017-06-09)

参考文献数

20

被引用文献数

3 2

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Polymer electrolyte fuel cell (PEFC) is expected to applications for various usages such as a power source for small robots and personal computers because PEFC has high energy density and can generate electric power under low temperature environment. As the application, swimming fish robots with PEFC are useful for various usages such as ecological investigation in water etc. In the case that rechargeable batteries are used for supplying electricity to robots, they are not able to continue swimming for a long time because of low energy density of the batteries. Therefore, a small and ultra-light passive-type polymer electrolyte fuel cell called "Power Tube" has been developed. On the basis of this fuel cell technology, the authors have created low energy consumption small fish robots powered by Power Tubes on a float or a buoy. The fish robot with a float swims for approximately 50 minutes by only Power Tubes with a voltage booster and the other fish robot with a submersible system can also swim for about 50 minutes by a hybrid system of a lithium polymer battery and Power Tubes.

著者

田尻 智紀 高田 洋吾 川合 忠雄

出版者

農業食料工学会

雑誌

農業機械学会誌 (ISSN:02852543)

巻号頁・発行日

vol.75, no.3, pp.175-180, 2013-05-01 (Released:2014-12-03)

参考文献数

9

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本論文では,車輪型移動機構を持つロボットが移動できるような出発地点から目的地点までを結ぶ移動経路の作成を試みた。車輪型機構を持つ農作業用ロボットは,その機構的な要因から段差に進入することができない。そこで,地面の勾配を考慮した経路作成を行った。Q 学習は経路作成によく利用される手法のひとつである。Q 学習を用いて,ロボットに勾配の小さい最適な経路を学習させる。実際のロボットを用いて,段差やスロープのある実環境下で実験を行い,本手法の有効性を調べた。実験結果から,本手法の有効性が確認できた。

著者

脇坂 知行 藤本 英史 松川 洋介 高田 洋吾

出版者

公益社団法人 日本マリンエンジニアリング学会

雑誌

マリンエンジニアリング (ISSN:13461427)

巻号頁・発行日

vol.43, no.6, pp.971-976, 2008-11-01 (Released:2010-05-31)

参考文献数

10

被引用文献数

2

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The purpose of this study is to establish a practical method based on a chemical kinetic model for three-dimensional numerical analysis of the combustion process in direct-injection diesel engines. For saving computational time, a reduced elementary reaction scheme for diesel fuel was constructed. The basis was the Golovitchev detailed elementary reaction scheme. Using an original engine combustion simulation code GTT-CHEM along with the reduced elementary reaction scheme, the combustion process was three-dimensionally analyzed in a direct-injection diesel engine with high-EGR ratios.As a result, the combustion process and NO emission were quantitatively predicted by estimating the initial gas state and the initial composition appropriately. The emission tendency of soot was reasonably assessed by means of φ-T maps.

著者

高田 洋吾 中村 毅志 小山 圭介 田尻 智紀

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.792, pp.2924-2934, 2012 (Released:2012-08-25)

参考文献数

21

被引用文献数

2 5

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It is necessary for a small aqua robot to search for a target in order to investigate creatures such as fishes in a river or lake. However, control signals by electric wave from outside do not reach a robot easily in water. Therefore, aqua robots must search the target autonomously without signals from outside. It is important for a robot to gaze forward and recognize the target in water. In this study, we have used a fish robot named FOCUS which can swim in water by using the tail fin. This robot has some micro CMOS cameras and a FPGA circuit board for data processing. A red object is detected with the CMOS camera. In addition, FPGA calculates where the red object is located in the image. This robot controls the tail fin mechanism and submersible system in order to decide the course of the robot in response to the calculated positional coordinates. We have confirmed that this robot can recognize a color target and follow the target in water.

著者

吉原 大佑 金 尚奎 松本 敦孝 伊藤 和真 高田 洋吾 脇坂 知行

出版者

一般社団法人日本機械学会

雑誌

関西支部講演会講演論文集

巻号頁・発行日

vol.2006, no.81, pp."1-24", 2006-03-17