| Project/Area Number |
25420235
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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 |
Intelligent mechanics/Mechanical systems
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| Research Institution | Sasebo National College of Technology |
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Principal Investigator |
MABABE Hiroki 佐世保工業高等専門学校, 一般科目, 准教授 (10249881)
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| Co-Investigator(Renkei-kenkyūsha) |
MAEDA Takanobu 佐世保工業高等専門学校, 電子制御工学科, 准教授 (90290832)
NAGASHIMA Yutaka 佐世保工業高等専門学校, その他(地域共同テクノセンター), 特命教授 (70198323)
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| Project Period (FY) |
2013-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2015: ¥260,000 (Direct Cost: ¥200,000、Indirect Cost: ¥60,000)
Fiscal Year 2014: ¥260,000 (Direct Cost: ¥200,000、Indirect Cost: ¥60,000)
Fiscal Year 2013: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
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| Keywords | 洞窟 / ロボット / 探査 / 閉鎖空間 / 閉鎖水面環境 / 概形計測 / ソナー / レーザー / 水中ロボット |
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| Outline of Final Research Achievements |
This research aims at unmanned exploration of caves and underwater caves that explorers and scientists have challenged. In order to localization of the robot, shape measurement and environmental map preparation are indispensable. In this research, we apply LRF/sonar measurement systems mounted on robots to caves/underwater caves, and demonstrated effectiveness by creating 3 dimensional models. The merits of unmanned exploration are not only improvement of safety, efficiency, precision. Underground caverns are preserved at the bottom of many vertical holes found on the surfaces of the Moon and the Mars. Overhead environments are surely confirmed under the ice surfaces of the Europa and the Enceladus. In the future, they can be element technologies for unmanned exploration of them.
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