| Project/Area Number |
20560241
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Shibaura Institute of Technology |
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Principal Investigator |
UCHIMURA Yutaka Shibaura Institute of Technology, 工学部, 教授 (00416710)
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| Co-Investigator(Renkei-kenkyūsha) |
OHNISHI Kouhei 慶應義塾大学, 理工学部, 教授 (80137984)
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| Project Period (FY) |
2008 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2010: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2009: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2008: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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| Keywords | 無線通信 / ネットワークベース制御 / 遠隔操作 / 自律移動 / 移動ロボット / レスキューロボット / 通信遅延 / Lyapnov-Krasovskii / Voronoi分割 / 無線中継 |
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| Research Abstract |
This research aims at development of the system operated by remote control via wireless network, which is applicable for the remote medical activity or the recue activity at disaster field. In the research, a control method that is robust against time-varying delay in wireless network is developed, and relay robots that relay wireless transmission are developed and tested in the field. Additionally, a real-time relay structure was developed, which attenuates the adverse effect for control performance when transmitting video data and control data simultaneously.
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