| Project/Area Number |
20KK0086
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| Research Category |
Fund for the Promotion of Joint International Research (Fostering Joint International Research (B))
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| Allocation Type | Multi-year Fund |
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| Review Section |
Medium-sized Section 20:Mechanical dynamics, robotics, and related fields
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| Research Institution | Osaka University |
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Principal Investigator |
ラサミー ポチャラ 大阪大学, サイバーメディアセンター, 招へい教員 (50772448)
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| Co-Investigator(Kenkyū-buntansha) |
浦西 友樹 大阪大学, サイバーメディアセンター, 准教授 (00533738)
ORLOSKY JASON 大阪大学, サイバーメディアセンター, 特任准教授(常勤) (10815111)
三輪 昌史 徳島大学, 大学院社会産業理工学研究部(理工学域), 准教授 (40283957)
竹村 治雄 大阪大学, サイバーメディアセンター, 教授 (60263430)
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| Project Period (FY) |
2020-10-27 – 2025-03-31
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| Project Status |
Granted (Fiscal Year 2023)
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| Budget Amount *help |
¥18,720,000 (Direct Cost: ¥14,400,000、Indirect Cost: ¥4,320,000)
Fiscal Year 2022: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2021: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Fiscal Year 2020: ¥14,560,000 (Direct Cost: ¥11,200,000、Indirect Cost: ¥3,360,000)
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| Keywords | ATA robot / aerial robot / aquatic robot / mapping / plannning / ATA mapping / point cloud estimation / panoptic / transition / ATA mechanic / docking station / releasing mechanism / fire blanket / seamless transition / multi-legged robot / ATA / Aerial / Terrestrial / Aquatic |
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| Outline of Research at the Start |
We propose Aerial-Terrestrial-Aquatic Robots (ATA-Robots) that are capable of search and rescue in an ATA Extreme Environment (specifically a flooded cave) extreme conditions such as zero visibility, strong disturbances from water/wind flow and strong waves at the water’s surface.
We will develop new concept of ATA Control, ATA Sensing and ATA Interface concept to enable robot to have seamless aerial-terrestrial-aquatic transition. The dataset will be collected at several cave in the world for training testing and optimization.
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| Outline of Annual Research Achievements |
We conducted 10 cave and tunnel experiments across Japan and Thailand, leading to a publication on point cloud estimation during transitions in the Journal of Robotics and Mechatronics. Additionally, we're integrating thermal cameras to visualize heat spots in caves and tunnels, enabling the rapid identification of danger zones.
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
I believe the process is going smoothly since we've completed several cave mapping projects and have also started a new research topic on multi-ATA robot planning.
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| Strategy for Future Research Activity |
In the final year of this research, we'll gather additional data at a larger cave in Thailand in August and February. We'll also continue integrating thermal data into the 3D point cloud, enabling the rapid identification of danger zones. For multi-ATA robot exploration, we will focus on solving the task allocation problem under uncertainty and propose a replan strategy. Additionally, we'll develop an underwater drone for dam inspection, which will have the ability to adhere to wall surfaces.
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