| Project/Area Number |
01460207
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| Research Category |
Grant-in-Aid for General Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
資源開発工学
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| Research Institution | Akita University |
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Principal Investigator |
TAKAHASHI Yoshio Akita University, Department of Mechanical Engineering for Production, Professor, 鉱山学部, 教授 (10006661)
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| Co-Investigator(Kenkyū-buntansha) |
NAKAMURA Tomio Akita University, Department of Mechanical Engineering for Production, Research, 鉱山学部, 助手 (10217870)
SHIBUYA Yotugi Akita University, Department of Mechanical Engineering for Production, Lecturer, 鉱山学部, 講師 (00154261)
OBINATA Goro Akita University, Department of Mechanical Engineering for Production, Professor, 鉱山学部, 教授 (50111315)
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| Project Period (FY) |
1989 – 1990
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| Project Status |
Completed (Fiscal Year 1990)
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| Budget Amount *help |
¥6,400,000 (Direct Cost: ¥6,400,000)
Fiscal Year 1990: ¥2,900,000 (Direct Cost: ¥2,900,000)
Fiscal Year 1989: ¥3,500,000 (Direct Cost: ¥3,500,000)
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| Keywords | Robot / Ultrasonic Transducer / Pattern Recognition / Computer / Hydraulic Breaker / Drilling / Automation / Image Processing |
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| Research Abstract |
The purpose of this research project is to develope robots for finishing inside surfaces of tunnels. First, several issues of driving tunnels have been clarified from the references. Based on the issues, we define the points for evaluating the robot systems.
Second, we carried out several experiments using a robot manipulator with a ultrasonic transducer. We developed a control algorithm for the system to measure the distance between the hand of the robot and points on the surface. After some image processing, high accurate informations on the shape of the surface can be obtained automatically from the robot system. We can identify most types of three-dimensional shapes in tunnels. The accuracy of distance is within 10mm. It is sufficient for informations of finishing inside surfaces of actual tunnels. This robot system is useful because of the low price and the robustness to varying environment.
Finally, the hydraulic beaker for shaping surfaces of tunnels was designed. So as to finish the srfaces with appropriate accuracy, it is necessary to control the generated force of the breaker. Two types of the schemes for controlling the force were tested. One is to tune the supply pressure, and the other is to tune the supply flow rate. It was shown from experiments that the latter scheme was better than the former.
Basic design method for finishing surfaces of tunnels has been established in this research project. Systematic approaches on problems of driving tunnels will be required for further researches.
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