A Study on High Performance Autonomous Aerial and Ground Robots for Prevention of Nuclear Disaster
| Project/Area Number |
25249021
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Chiba University |
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Principal Investigator |
NONAMI Kenzo 千葉大学, 事務局, 特別教授 (30143259)
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| Co-Investigator(Kenkyū-buntansha) |
OOTAKE Mihoko 千葉大学, 大学院工学研究科, 准教授 (10361544)
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥45,760,000 (Direct Cost: ¥35,200,000、Indirect Cost: ¥10,560,000)
Fiscal Year 2015: ¥7,410,000 (Direct Cost: ¥5,700,000、Indirect Cost: ¥1,710,000)
Fiscal Year 2014: ¥11,830,000 (Direct Cost: ¥9,100,000、Indirect Cost: ¥2,730,000)
Fiscal Year 2013: ¥26,520,000 (Direct Cost: ¥20,400,000、Indirect Cost: ¥6,120,000)
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| Keywords | 飛行ロボット / 自律制御 / 非GPS環境 / 地上移動ロボット / 協調制御 / SLAM / バッテリー自動交換ロボット / 屋内飛行 / 管制センター / FPV方式飛行 / 原発建屋内実証実験 / モーションキャプチャー |
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| Outline of Final Research Achievements |
In this study, an intelligent aerial robot of about 3Kg and mobile ground station equipped with robotic battery changer were developed to collect information in a collaborative effort for the purpose of supporting reconstruction after nuclear disasters.To accomplish the goal of autonomous nuclear power system failure safety determination, studies were carried out to develop a fault tolerant autonomous flight controller, as well as SLAM based three-dimensional mapping. Additionally, a UGV, equipped with automated landing support and battery exchanging station was developed for continuous operations.The effect of these innovative developments working in unison is a groundbreaking, ultra-advanced system for the safe exploration and reconstruction support of nuclear accident sites.
The resultant system was successfully applied to autonomously perform dosimetry within a nuclear power plant and accidental radiation disaster area.
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Report
(4 results)
Research Products
(40 results)
