| 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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