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The UAV flight control method we propose uses LED panels and a video camera on the UAV. Specifically, the LED panel displays patterns related to the UAV commands and blinking patterns for panel detection. A panel detection process based in UAV video camera images uses the frequency of green blinking as a cue for panel detection, then command patterns are distinguished and the UAV performs tasks based on this pattern (command). In experiments we performed for panel detection and discrimination using the UAV, we confirm the effectiveness of the proposed method for autoflight control.
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This is a robot manufacturing class for elementary and junior-high school students. The university students are managed this club. They are also planned the theme of every class and prepare the prototype model of robot. Here, we show the organization of our club and describe the activities of this club since 2006. After that, we show its educational effectiveness for both the children and the university students.","ja":"本論文では,徳島ロボットプログラミングクラブについて紹介する.このクラブは小・中学生向けのロボット製作教室で,大学生がこのクラブを管理している.大学生らは全てのクラスのテーマを計画し,ロボットの試作品を準備し,当日の講義や演習も実施している.本稿では,クラブの組織と2006年以来のクラブの活動を説明し,さらに小・中学生の教育効果と大学生の教育効果を示す."},"publication_date":"2015-04-15","publication_name":{"en":"Journal of the Robotics Society of Japan","ja":"日本ロボット学会誌"},"volume":"Vol.33","number":"No.3","starting_page":"22","ending_page":"31","languages":["jpn"],"referee":true,"identifiers":{"doi":["10.7210/jrsj.33.154"],"issn":["0289-1824"]},"published_paper_type":"scientific_journal"},"priority":"input_data"} {"insert":{"user_id":"1000201361","type":"published_papers","id":"35652485"},"force":{"see_also":[{"@id":"http://id.ndl.go.jp/bib/024233126","label":"url"},{"@id":"https://cir.nii.ac.jp/crid/1390001204609375872/","label":"url"},{"@id":"https://web.db.tokushima-u.ac.jp/cgi-bin/edb_browse?EID=259735","label":"url"}],"paper_title":{"en":"Development of Information Communication System Using LED Panel and Video Camera","ja":"Development of Information Communication System Using LED Panel and Video Camera"},"authors":{"en":[{"name":"Ukida Hiroyuki"},{"name":"Miwa Masafumi"}],"ja":[{"name":"浮田 浩行"},{"name":"三輪 昌史"}]},"description":{"en":"This study proposes an information transmission device constructed by a LED panel and a video camera. The LED panel displays various patterns of AR markers, QR and micro QR codes. Then, from images taken by the video camera, some information and 3D position and pose of the camera from the LED panel are extracted. We are planning to apply this system for a communication between moving objects. In this paper, we propose a method to distinguish AR markers, QR and micro QR codes, and show results of discrimination rates and the altitude estimation accuracy in the experiment.","ja":"This study proposes an information transmission device constructed by a LED panel and a video camera. The LED panel displays various patterns of AR markers, QR and micro QR codes. Then, from images taken by the video camera, some information and 3D position and pose of the camera from the LED panel are extracted. We are planning to apply this system for a communication between moving objects. In this paper, we propose a method to distinguish AR markers, QR and micro QR codes, and show results of discrimination rates and the altitude estimation accuracy in the experiment."},"publication_date":"2013-01-01","publication_name":{"en":"IEEJ Transactions on Electronics, Information and Systems","ja":"IEEJ Transactions on Electronics, Information and Systems"},"volume":"Vol.133","number":"No.1","starting_page":"8","ending_page":"17","languages":["eng"],"referee":true,"identifiers":{"doi":["10.1541/ieejeiss.133.8"],"issn":["0385-4221"]},"published_paper_type":"scientific_journal"},"priority":"input_data"} {"insert":{"user_id":"1000201361","type":"published_papers","id":"35652486"},"force":{"see_also":[{"@id":"https://web.db.tokushima-u.ac.jp/cgi-bin/edb_browse?EID=244670","label":"url"}],"paper_title":{"en":"Image measurement of body position during side-approach transfer motion","ja":"Image measurement of body position during side-approach transfer motion"},"authors":{"en":[{"name":"Tanimoto Yoshio"},{"name":"Nanba Kuniharu"},{"name":"Tokuhiro Akihiro"},{"name":"Ukida Hiroyuki"},{"name":"Yamamoto Hideki"}],"ja":[{"name":"谷本 義雄"},{"name":"難波 邦治"},{"name":"徳弘 昭博"},{"name":"浮田 浩行"},{"name":"山本 秀樹"}]},"publication_date":"2011-08","publication_name":{"en":"IET Image Processing","ja":"IET Image Processing"},"volume":"Vol.5","number":"No.5","starting_page":"402","ending_page":"409","languages":["eng"],"referee":true,"identifiers":{"doi":["10.1049/iet-ipr.2009.0248"],"issn":["1751-9659"]},"published_paper_type":"scientific_journal"},"priority":"input_data"} {"insert":{"user_id":"1000201361","type":"published_papers","id":"35652487"},"force":{"see_also":[{"@id":"http://ci.nii.ac.jp/naid/10027980617/","label":"url"},{"@id":"https://cir.nii.ac.jp/crid/1390001204658486912/","label":"url"},{"@id":"https://web.db.tokushima-u.ac.jp/cgi-bin/edb_browse?EID=230415","label":"url"}],"paper_title":{"en":"Estimation of 3D Shape, Color, and Specular Parameters Using Image Scanner with Multiple Light Sources","ja":"複数光源イメージスキャナによる形状,色および光沢の推定"},"authors":{"en":[{"name":"Ukida Hiroyuki"}],"ja":[{"name":"浮田 浩行"}]},"description":{"en":"This paper proposes a method for estimating the 3D shape, color, and specular reflections of an object on the basis of images recorded with an image scanner equipped with multiple light sources. The proposed method is based on the photometric stereo method and it involves several steps. First, we carry out height estimation using four scanned images. Using linear light sources, we can determine the height between the scanning plane and the object surface, regardless of the amount of specular reflection. Next, we estimate the surface normal vectors and object color using the scanned images recorded by light sources located along a circular path. Then, we estimate the specular components using the same scanned images. We perform experiments for object reconstruction using synthetic images and for identifying the optimal arrangement of the light sources for the estimation. Finally, we confirm that the estimated color and specular components have some errors, but the object shape can be estimated accurately.","ja":"This paper proposes a method for estimating the 3D shape, color, and specular reflections of an object on the basis of images recorded with an image scanner equipped with multiple light sources. The proposed method is based on the photometric stereo method and it involves several steps. First, we carry out height estimation using four scanned images. Using linear light sources, we can determine the height between the scanning plane and the object surface, regardless of the amount of specular reflection. Next, we estimate the surface normal vectors and object color using the scanned images recorded by light sources located along a circular path. Then, we estimate the specular components using the same scanned images. We perform experiments for object reconstruction using synthetic images and for identifying the optimal arrangement of the light sources for the estimation. Finally, we confirm that the estimated color and specular components have some errors, but the object shape can be estimated accurately."},"publication_date":"2011-04-01","publication_name":{"en":"IEEJ Transactions on Industry Applications","ja":"電気学会論文誌D (産業応用部門誌)"},"volume":"Vol.131","number":"No.4","starting_page":"572","ending_page":"585","languages":["jpn"],"referee":true,"identifiers":{"doi":["10.1541/ieejias.131.572"],"issn":["0913-6339"]},"published_paper_type":"scientific_journal"},"priority":"input_data"} {"insert":{"user_id":"1000201361","type":"published_papers","id":"35652488"},"force":{"see_also":[{"@id":"https://www.scopus.com/record/display.url?eid=2-s2.0-78650783824&origin=inward","label":"url"},{"@id":"https://web.db.tokushima-u.ac.jp/cgi-bin/edb_browse?EID=222903","label":"url"}],"paper_title":{"en":"Object Tracking System by Pan-Tilt Cameras and Arm Robot Using Particle Filter","ja":"Object Tracking System by Pan-Tilt Cameras and Arm Robot Using Particle 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秀樹"}]},"publication_date":"2005-08","publication_name":{"en":"International Scientific Journal of Computing","ja":"International Scientific Journal of Computing"},"volume":"Vol.4","number":"No.1","starting_page":"60","ending_page":"67","languages":["eng"],"referee":true,"published_paper_type":"scientific_journal"},"priority":"input_data"} {"insert":{"user_id":"1000201361","type":"published_papers","id":"35652495"},"force":{"see_also":[{"@id":"http://ci.nii.ac.jp/naid/10013560736/","label":"url"},{"@id":"https://cir.nii.ac.jp/crid/1390282679470481024/","label":"url"},{"@id":"https://web.db.tokushima-u.ac.jp/cgi-bin/edb_browse?EID=117389","label":"url"}],"paper_title":{"en":"A new approach towards team working education in 3D CAD exercise class","ja":"チームワーク教育を指向した3次元CAD教育の試み"},"authors":{"en":[{"name":"Ito Teruaki"},{"name":"Yonekura Daisuke"},{"name":"Ukida Hiroyuki"}],"ja":[{"name":"伊藤 照明"},{"name":"米倉 大介"},{"name":"浮田 浩行"}]},"description":{"en":"本論文では機械工学科における設計製図教育全体の概要を紹介し,その中でのCAD演習授業の位置づけを明らかにする.そして,2002年末にカリキュラムの改定を行い,2003年度から実施を開始した授業内容の紹介と授業の結果を報告し,今回の改定により著しく高められた教育的効果について議論する.","ja":"本論文では機械工学科における設計製図教育全体の概要を紹介し,その中でのCAD演習授業の位置づけを明らかにする.そして,2002年末にカリキュラムの改定を行い,2003年度から実施を開始した授業内容の紹介と授業の結果を報告し,今回の改定により著しく高められた教育的効果について議論する."},"publication_date":"2004-09-20","publication_name":{"en":"Journal of Japanese Society for Engineering Education","ja":"工学教育"},"volume":"Vol.52","number":"No.5","starting_page":"33","ending_page":"36","referee":true,"identifiers":{"doi":["10.4307/jsee.52.5_33"],"issn":["1341-2167"]},"published_paper_type":"scientific_journal"},"priority":"input_data"} {"insert":{"user_id":"1000201361","type":"published_papers","id":"35652496"},"force":{"see_also":[{"@id":"http://ci.nii.ac.jp/naid/10009987329/","label":"url"},{"@id":"https://cir.nii.ac.jp/crid/1390282679469482624/","label":"url"},{"@id":"https://web.db.tokushima-u.ac.jp/cgi-bin/edb_browse?EID=25836","label":"url"}],"paper_title":{"en":"Evaluation of Technique to Improve Pre-Design Ability and Presentation Skills","ja":"創造基礎能力とプレゼンテーション技術を高めるための教育方法"},"authors":{"en":[{"name":"Kusaka Kazuya"},{"name":"Ukida Hiroyuki"},{"name":"Matsuo Shigeki"}],"ja":[{"name":"日下 一也"},{"name":"浮田 浩行"},{"name":"松尾 繁樹"}]},"description":{"en":"This paper repots on a technique for improving presentation skills during the education of the pre-design process to first year students. Each student was asked to investigate roots of interesting invention in mechanical engineering in a group with two other students. Each student was able to learn the process of invention and design through this investigation. It was expected that use of this technique would improve the pre-design, team working, report writing and presentation skills of each student. The results showed that presentation skills were significantly improved by the introduction of the new evaluation method.","ja":"1年生を対象とした導入教育である創造演習において,平成12年度および平成13年度に実施した課題「ルーツを探れ!」の成果について報告する.この課題は,機械工学分野のある事項に対してそのルーツを調査し,その事項がどのような背景で起こり,どのような発展経緯をとって現在に至っているかを3人のグループでまとめあげる作業を行う.この作業を通して発見や創造の過程を学ぶことができる.最終的にこの実習では,学生の創造基礎能力,グループ活動能力,報告書作成能力およびプレゼンテーション能力の向上が期待できる.とくに,プレゼンテーション能力は,学生参加型評価の導入により大きな向上が確認された."},"publication_date":"2002-05-01","publication_name":{"en":"Journal of Japanese Society for Engineering Education","ja":"工学教育"},"volume":"Vol.50","number":"No.3","starting_page":"98","ending_page":"103","languages":["jpn"],"referee":true,"identifiers":{"doi":["10.4307/jsee.50.3_98"],"issn":["1341-2167"]},"published_paper_type":"scientific_journal"},"priority":"input_data"} {"insert":{"user_id":"1000201361","type":"published_papers","id":"35652497"},"force":{"see_also":[{"@id":"http://ci.nii.ac.jp/naid/10008212798/","label":"url"},{"@id":"https://cir.nii.ac.jp/crid/1390282679703955584/","label":"url"},{"@id":"https://web.db.tokushima-u.ac.jp/cgi-bin/edb_browse?EID=22776","label":"url"}],"paper_title":{"en":"位置近似法を用いたフレキシブルアームの軌道制御","ja":"位置近似法を用いたフレキシブルアームの軌道制御"},"authors":{"en":[{"name":"Konishi Katsunobu"},{"name":"Ukida Hiroyuki"},{"name":"Araki Toshitaka"}],"ja":[{"name":"小西 克信"},{"name":"浮田 浩行"},{"name":"荒木 俊貴"}]},"description":{"en":"この論文は,フレキシブルアームの軌道制御について述べている.制御法の要点は次のようになる.(1)フレキシブルアームの運動方程式の導出,(2)軌道制御をする点Aを指定する,(3)アームが剛体であると仮定して,点Aに対応する点Bを求める,(4)AとBの適当な内分点をCとする.点Cは,これを計算トルク法で軌道制御したときに,系内の任意の点の自由振動が安定となるように選ぶ,(5)A点に対して与えられた目標軌道をC点用に修正する,(6)制御入力を軌道追従入力と安定化入力の和とする,(7)LQ法で安定化入力を決定する.数値例では,提案した方法で安定で高精度の軌道追従が可能であることを示している.","ja":"この論文は,フレキシブルアームの軌道制御について述べている.制御法の要点は次のようになる.(1)フレキシブルアームの運動方程式の導出,(2)軌道制御をする点Aを指定する,(3)アームが剛体であると仮定して,点Aに対応する点Bを求める,(4)AとBの適当な内分点をCとする.点Cは,これを計算トルク法で軌道制御したときに,系内の任意の点の自由振動が安定となるように選ぶ,(5)A点に対して与えられた目標軌道をC点用に修正する,(6)制御入力を軌道追従入力と安定化入力の和とする,(7)LQ法で安定化入力を決定する.数値例では,提案した方法で安定で高精度の軌道追従が可能であることを示している."},"publication_date":"2002-01-15","publication_name":{"en":"Journal of the Robotics Society of Japan","ja":"日本ロボット学会誌"},"volume":"Vol.20","number":"No.1","starting_page":"65","ending_page":"76","referee":true,"identifiers":{"doi":["10.7210/jrsj.20.65"],"issn":["0289-1824"]},"published_paper_type":"scientific_journal"},"priority":"input_data"} {"insert":{"user_id":"1000201361","type":"published_papers","id":"35652498"},"force":{"see_also":[{"@id":"https://web.db.tokushima-u.ac.jp/cgi-bin/edb_browse?EID=120133","label":"url"}],"paper_title":{"en":"高所作業車のモデリングと振動制御に関する研究 --- 第1報,起伏動作の場合","ja":"高所作業車のモデリングと振動制御に関する研究 --- 第1報,起伏動作の場合"},"authors":{"en":[{"name":"内原 勇"},{"name":"Konishi Katsunobu"},{"name":"Ukida Hiroyuki"},{"name":"小林 弘之"}],"ja":[{"name":"内原 勇"},{"name":"小西 克信"},{"name":"浮田 浩行"},{"name":"小林 弘之"}]},"description":{"en":"本論文は高所作業車の起伏動作のモデリングと振動制御について述べている.高所作業車は柔軟構造物の一種であり,振動制御に当たっては高次モードの発振に特に注意する必要がある.そこで,クレーンの モデルを改良して高次振動モードが正確に評価できるモデルを作成した.振動制御では,外乱オブザーバ及び位相遅れ回路を導入して,高次モードを励起しない平滑な入力を発生するようにしている.提案した 防振制御法の妥当性は,起伏角の変更および風力外乱を用いてシミュレーションで検討している.","ja":"本論文は高所作業車の起伏動作のモデリングと振動制御について述べている.高所作業車は柔軟構造物の一種であり,振動制御に当たっては高次モードの発振に特に注意する必要がある.そこで,クレーンの モデルを改良して高次振動モードが正確に評価できるモデルを作成した.振動制御では,外乱オブザーバ及び位相遅れ回路を導入して,高次モードを励起しない平滑な入力を発生するようにしている.提案した 防振制御法の妥当性は,起伏角の変更および風力外乱を用いてシミュレーションで検討している."},"publication_date":"1998-09","publication_name":{"en":"Transactions of The Japan Society of Mechanical Engineers, Series C","ja":"日本機械学会論文集(C編)"},"volume":"Vol.64","number":"No.625","starting_page":"3405","ending_page":"3413","languages":["jpn"],"referee":true,"identifiers":{"issn":["0387-5024"]},"published_paper_type":"scientific_journal"},"priority":"input_data"} {"insert":{"user_id":"1000201361","type":"published_papers","id":"35652499"},"force":{"see_also":[{"@id":"https://web.db.tokushima-u.ac.jp/cgi-bin/edb_browse?EID=14066","label":"url"}],"paper_title":{"en":"Shape from Shading with Interreflections under a Proximal Light Source --- Distortion-Free Copying of an Unfolded Book","ja":"Shape from Shading with Interreflections under a Proximal Light Source --- Distortion-Free Copying of an Unfolded Book"},"authors":{"en":[{"name":"Wada Toshikazu"},{"name":"Ukida Hiroyuki"},{"name":"Matsuyama Takashi"}],"ja":[{"name":"和田 俊和"},{"name":"浮田 浩行"},{"name":"松山 隆司"}]},"description":{"en":"本論文では,スキャナ画像中の陰影情報から開いた書籍の3次元形状を復元する問題について扱う.これは現実世界における shape-from-shading 問題である.そして,近接かつ移動する光源,相互反射,正反射成分および不均一な反射率分布を考慮する必要があるため,非常に困難な問題となっている.我々は,これら全ての要因を考慮した反復的かつ非線形な最適化問題として,この問題を定式化する.また,3次元形状および反射率分布について,区分的な多項式モデルを導入することで,実際の形状を高精度かつ安定に計算する方法を提案する.そして,復元された3次元形状を用いて歪みのあるスキャナ画像を補正する方法についても提案する.実際の書籍を用いた画像復元実験では,提案手法によって,幾何学的·光学的歪みが取り除かれたことを示す.","ja":"本論文では,スキャナ画像中の陰影情報から開いた書籍の3次元形状を復元する問題について扱う.これは現実世界における shape-from-shading 問題である.そして,近接かつ移動する光源,相互反射,正反射成分および不均一な反射率分布を考慮する必要があるため,非常に困難な問題となっている.我々は,これら全ての要因を考慮した反復的かつ非線形な最適化問題として,この問題を定式化する.また,3次元形状および反射率分布について,区分的な多項式モデルを導入することで,実際の形状を高精度かつ安定に計算する方法を提案する.そして,復元された3次元形状を用いて歪みのあるスキャナ画像を補正する方法についても提案する.実際の書籍を用いた画像復元実験では,提案手法によって,幾何学的·光学的歪みが取り除かれたことを示す."},"publication_date":"1997-09-01","publication_name":{"en":"International Journal of Computer Vision","ja":"International Journal of Computer Vision"},"volume":"Vol.24","number":"No.2","starting_page":"125","ending_page":"135","referee":true,"published_paper_type":"scientific_journal"},"priority":"input_data"} {"insert":{"user_id":"1000201361","type":"published_papers","id":"35652500"},"force":{"see_also":[{"@id":"https://web.db.tokushima-u.ac.jp/cgi-bin/edb_browse?EID=120095","label":"url"}],"paper_title":{"en":"圧電素子を動力源とする油圧式アクチュエータに関する研究 --- 第4報,シミュレーションモデルの作成","ja":"圧電素子を動力源とする油圧式アクチュエータに関する研究 --- 第4報,シミュレーションモデルの作成"},"authors":{"en":[{"name":"Konishi Katsunobu"},{"name":"Ukida Hiroyuki"},{"name":"小谷 隆博"}],"ja":[{"name":"小西 克信"},{"name":"浮田 浩行"},{"name":"小谷 隆博"}]},"description":{"en":"本論文は,第2報で報告した圧電ポンプおよび第3法で報告した圧電アクチュエータの小型化を目的として,それらの数学モデルについて述べたものである.時間遅れを含むポンプ弁,ダイアフラム,共振管,非線形特性を有する圧電素子,制御弁,乾性摩擦を含むシリンダのそれぞれの方程式が示され,実験結果と一致するシミュレーション結果が得られている.","ja":"本論文は,第2報で報告した圧電ポンプおよび第3法で報告した圧電アクチュエータの小型化を目的として,それらの数学モデルについて述べたものである.時間遅れを含むポンプ弁,ダイアフラム,共振管,非線形特性を有する圧電素子,制御弁,乾性摩擦を含むシリンダのそれぞれの方程式が示され,実験結果と一致するシミュレーション結果が得られている."},"publication_date":"1997-01","publication_name":{"en":"Transactions of The Japan Society of Mechanical Engineers, Series C","ja":"日本機械学会論文集(C編)"},"volume":"Vol.63","number":"No.605","starting_page":"158","ending_page":"165","languages":["jpn"],"referee":true,"identifiers":{"issn":["0387-5024"]},"published_paper_type":"scientific_journal"},"priority":"input_data"}