著者

市川 麻理子 柴田 昌明

出版者

The Institute of Electrical Engineers of Japan

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.127, no.6, pp.651-652, 2007

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This paper proposes a visual servo control method for exploring motion of eye-in-hand robot to recognize a three-dimensional object. Optimal motion is based on the strategy in which the position estimation precision of the feature points gets improved when the feature points move widely, and the optimal robot motion provides the widest transitions of the feature points per unit robot motion, so that the robot should be controlled to purse such motion. In addition, this paper describes the way to reduce a large number of calculation efforts. The validity of our approach is confirmed in the several experimental results.

著者

鈴木 新 杉本 謙二

出版者

The Institute of Electrical Engineers of Japan

雑誌

電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society (ISSN:09136339)

巻号頁・発行日

vol.127, no.12, pp.1247-1248, 2007-12-01

被引用文献数

3 3

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This paper proposes a heat capacity identification method for cooking household appliances. Cooking household appliances select a cooking flow according to a cooking object capacity, hence the heat capacity identification is a very important function. However, a conventional heat capacity identification method has been based on one variable using "if-then rules", hence it gives a low accuracy. This paper proposes a new heat capacity identification method that uses Mahalanobis-Taguchi System which is similar to discriminant analysis, and the effectiveness of this method is confirmed by the experiment.

著者

奈良 俊介 高橋 悟

出版者

The Institute of Electrical Engineers of Japan

雑誌

電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society (ISSN:09136339)

巻号頁・発行日

vol.128, no.6, pp.733-741, 2008-06-01

被引用文献数

3 3

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This paper proposes an available method of obstacle avoidance control by using a single CCD camera and ultrasonic sensors mounted on the mobile robot. First, depending on the change of the brightness on the image that occurs from the moving of the mobile robot, we calculate the optical flow by the block matching method based on the normalized correlation and detect the obstacle area on the image. Further, in order to reduce the error of the detection area, by combining the distance information obtained by ultrasonic sensors on the image shown the obstacle area we decide the position of obstacle with high accuracy. Dealing with the position information, we make the reference points for generating the trajectory of the mobile robot. This trajectory is smooth and is generated by minimizing a certain cost function. Then, the mobile robot moves according to the trajectory while avoiding around the obstacle. Finally, usefulness of our proposed method is shown through some experiments.