Development of Tethered Flying Robot utilizing Wind Power for Wind Power Generator and Observation System

• Project/Area Number: 24650118
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Sensitivity informatics/Soft computing
• Research Institution: University of Fukui
• Principal Investigator: TAKAHASHI Yasutake 福井大学, 工学(系)研究科(研究院), 准教授 (90324798)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Project Status: Completed (Fiscal Year 2014)
• Budget Amount: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000); Fiscal Year 2014: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2013: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000); Fiscal Year 2012: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
• Keywords: 飛行ロボット / テザー係留型飛行ロボット / カイト / 係留型飛行ロボット / 国際情報交換

Outline of Final Research Achievements

We have proposed a kite-based tethered flying robot based on a kite that flies with wind power as one of the natural power sources. It is supposed to be an information gathering system that compliments other ones based on a balloon or an airplane and has advantages of short setup time and long-term observation.
The flight unit of the robot is controlled with one tether line connected to a line-winding machine on the ground by winding or releasing the line. The robot has sensors that measure wind speeds around the flight unit, its body posture and location in the air. Real robot experiments and computational simulation are conducted to confirm that the Fuzzy-based controller takes the kite off from the ground autonomously and keeps it stationary in the air.

Research Products

• [Journal Article] Fuzzy Control for a Kite-based Tethered Flying Robot (2015)
  • Author(s): Yasutake Takahashi, Tohru Ishii, Chiaki Todoroki, Yoichiro Maeda, and Takayuki Nakamura
  • Journal Title: Journal of Advanced Computational Intelligence and Intelligent Informatics Volume: 19
  • NAID: 130007673309
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Presentation] Acquisition of Human Operation Characteristics for Kite-based Tethered Flying Robot using Human Operation Data (2015)
  • Author(s): Chiaki Todoroki, Yasutake Takahashi and Takayuki Nakamura
  • Organizer: IEEE International Conference on Fuzzy Systems
  • Place of Presentation: トルコ
  • Year and Date: 2015-08-02 – 2015-08-05
• [Presentation] Learning Fuzzy Control Parameters for Kite-based Tethered Flying Robot using Human Operation Data (2014)
  • Author(s): Chiaki Todoroki, Yasutake Takahashi, and Takayuki Nakamura
  • Organizer: Joint 7th International Conference on Soft Computing and Intelligent Systems and 15th International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2014)
  • Place of Presentation: 北九州
  • Year and Date: 2014-12-03 – 2014-12-06
• [Presentation] 人の操作データに基づくテザー係留型飛行ロボットのためのファジィ制御パラメータの学習 (2014)
  • Author(s): 轟千明，高橋泰岳，中村恭之
  • Organizer: 第32回日本ロボット学会学術講演会
  • Place of Presentation: 福岡県
  • Year and Date: 2014-09-04 – 2014-09-06
• [Presentation] テザー係留型飛行ロボットの開発と自律飛行制御 (2014)
  • Author(s): 石井徹，轟千明，高橋泰岳，前田陽一郎，中村恭之
  • Organizer: ロボティクス・メカトロニクス講演会2014
  • Place of Presentation: 富山県
  • Year and Date: 2014-05-25 – 2014-05-29
• [Presentation] Fuzzy Control for Kite-based Tethered Flying Robot (2014)
  • Author(s): Tohru Ishii, Yasutake Takahashi, Yoichiro Maeda, and Takayuki Nakamura
  • Organizer: 2014 IEEE World Congress on Computational Intelligence
  • Place of Presentation: 北京，中国
• [Presentation] Tethered Flying Robot for Information Gathering System (2013)
  • Author(s): Tohru Ishii, Yasutake Takahashi, Yoichiro Maeda and Takayuki Nakamura
  • Organizer: IROS'13 Workshop on Robots and Sensors integration in future rescue INformation system (ROSIN'13)
  • Place of Presentation: 東京
• [Presentation] テザー係留型飛行ロボットのシミュレータ開発 (2013)
  • Author(s): 轟千明，高橋泰岳，中村恭之
  • Organizer: 日本知能情報ファジィ学会第22回北信越支部シンポジウム
  • Place of Presentation: 長岡技術科学大学
• [Presentation] テザー係留型飛行ロボットの自律飛行制御 (2012)
  • Author(s): 石井徹, 高橋泰岳, 前田陽一郎, 中村恭之
  • Organizer: 日本ロボット学会第30回記念学術講演会
  • Place of Presentation: 札幌コンベンションセンター
• [Remarks] インタラクティブ・ロボティクス研究室/テザー係留型飛行ロボット
  • URL: https://sites.google.com/site/irhisufukuiacjp/yan-jiu-gai-yao/teza-xi-liu-xing-fei-xingrobotto