| Project/Area Number |
25289055
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Partial Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokyo University of Agriculture and Technology |
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Principal Investigator |
Ishida Hiroshi 東京農工大学, 工学(系)研究科(研究院), 准教授 (80293041)
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| Co-Investigator(Kenkyū-buntansha) |
TOYAMA Shigeki 東京農工大学, 大学院工学研究院, 教授 (20143381)
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| Co-Investigator(Renkei-kenkyūsha) |
IWAMOTO Kaoru 東京農工大学, 大学院工学研究院, 准教授 (50408712)
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| Research Collaborator |
MATSUKURA Haruka 東京農工大学, 大学院生物システム応用科学府, 特任助教
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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 |
¥18,720,000 (Direct Cost: ¥14,400,000、Indirect Cost: ¥4,320,000)
Fiscal Year 2015: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2014: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2013: ¥7,280,000 (Direct Cost: ¥5,600,000、Indirect Cost: ¥1,680,000)
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| Keywords | 知能ロボティックス / マルチモーダルインターフェース / 数値流体力学 / 計測工学 / 能動センシング |
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| Outline of Final Research Achievements |
In this research project, new robotic gas source localization methods are proposed to attain rapid and reliable search for a gas source. Gas molecules released in the air are transported by the airflow and spread in the environment. Therefore, the search can be expedited if the airflow field in the environment is known a priori. To estimate the airflow field developed in a given environment, we propose to let the robot do computational fluid dynamics simulations with the help of a human operator. Experimental results have shown the feasibility of this method. Search for a gas source in a highly fluctuating environment is extremely challenging. To solve this problem, we propose to align slave robots equipped with fans in a given environment and actively generate a constant uniform airflow field. A master gas-source localization robot can easily find a gas source in the simplified airflow field. Experimental results have shown the effectiveness of this method.
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