Development of the man-machine fusion overhead traveling crane liquid tank carrier system in consideration of safety and workability
| Project/Area Number |
23560275
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Toyota National College of Technology |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
UEKI Satoshi 豊田工業高等専門学校, 機械工学科, 講師 (50467213)
MIYOSHI Takanori 豊橋技術科学大学, 工学研究科, 准教授 (10345952)
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| Project Period (FY) |
2011 – 2013
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2012: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2011: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | 天井クレーン / 液体タンク / 振動抑制 / 自律化 / 音源方向定位 / 障害物認識 / 障害物回避 / 経路計画 / 液体タンク搬送 |
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| Research Abstract |
Developed the transportation control system which restrained the liquid vibration in the obstacle avoidance path planning system which derived a path to evade an obstacle, and to convey to the sound source direction automatically and a tank conveying.
At first, the three-dimensional transportation mechanism of an overhead traveling crane was developed and the sloshing analysis was carried out. Furthermore,in order to improve the vibration suppression of the liquid, 2-degrees of freedom control system is constructed.
Then, in the development of the automatic path planning system using the sound source direction localization, the on-line obstacle avoidance path planning system which extended the obstacle avoidance path planning method of the autonomous mobile robot which Srinivas has proposed to the three-dimensional obstacle avoidance path planning system are developed. And the validity or usefulness of the proposed system was evaluated by simulations and experiments.
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Report
(4 results)
Research Products
(28 results)
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[Journal Article] Educational Joint Project Between NCT and TUT in Japan using Tele-Control System2011
Author(s)
Tran Quoc Trung, Takanori Miyoshi, Takashi Imamura, Makoto Honda, Masayuki Okabe, Shinya Oyama, Yuzuru Ohba, Tomoyasu Ichimura, Yoshihito Sawaguchi, YasunoriKawai, Akihiro Kaneshige,Hideo Kitagawa, Masakatsu Kawata, Eiji Nishiyama, Kazuhiko Terashima
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Journal Title
Proc. of the 18th IFAC World Congress
Pages: 5188-5194
Related Report
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