| Project/Area Number |
05555262
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| Research Category |
Grant-in-Aid for Developmental Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Aerospace engineering
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| Research Institution | Osaka Prefecture University |
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Principal Investigator |
MUROTSU Yoshisada Osaka Prefecture University, College of Engineering, Dept.of Aerospace Engineering, Professor, 工学部, 教授 (50081386)
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| Co-Investigator(Kenkyū-buntansha) |
FUKUNAGA Kunio Osaka Prefecture University, College of Engineering, Dept.of Computer and System, 工学部, 教授 (60081296)
OSUKA Koichi Osaka Prefecture University, College of Engineering, Dept.of Mechanical Systems, 工学部, 助教授 (50191937)
SHIBATA Hiroshi Osaka Prefecture University, College of Engineering, Dept.of Computer and System, 工学部, 教授 (80094506)
OKUBO Hiroshi Osaka Prefecture University, College of Engineering, Dept.of Aerospace Engineeri, 工学部, 助教授 (40094502)
SENDA Kei Osaka Prefecture University, College of Engineering, Dept.of Aerospace Engineeri, 工学部, 助教授 (60206662)
竹内 康郎 新明和工業(株)航空機事業部, 部長
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| Project Period (FY) |
1993 – 1995
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| Project Status |
Completed (Fiscal Year 1995)
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| Budget Amount *help |
¥18,100,000 (Direct Cost: ¥18,100,000)
Fiscal Year 1995: ¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 1994: ¥7,100,000 (Direct Cost: ¥7,100,000)
Fiscal Year 1993: ¥9,000,000 (Direct Cost: ¥9,000,000)
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| Keywords | Intelligent Adaptive Structures / VGT (Variable Geometry Truss) / Docking / Autonomy / Micro-gravity / Redundant system / Dynamics / Hardware Experiment |
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| Research Abstract |
Concerning the autonomous docking system using the intelligent adaptive structures, the following results have been obtained.
1. Formulation of a planar docking system model and development of a numerical simulation program (1) Numerical simulation program formulated by Kane' s method (2) Efficient formulation of inverse dynamics by Lagrangian method
2. Position measurement and recognition of a target satellite using visual information : (1) Development of a real time position measurement system using a stereo vision (2) Corresponding method for stereo vision and studies of object recognition
3. Control of docking (1) Optimal posture of docking system based on virtual mass criteria (2) PD-impedance control (3) Impedance control for redundant systems
4. Hardware experiment (1) Construction of hardware model of target satellite and docking system -Planar VGT with six variable length members and end effector -Stereo vision system using visual processing system (2)Verification of hardware model
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