label: url

en: Research on Tilt-Rotor Type Water-Air Multicopter

en: Journal of Robotics and Mechatronics

ja: Journal of Robotics and Mechatronics


en: Aerodynamic Drag of a Tilt-Rotor UAV During Forward Flight in Rotary-Wing Mode


en: Precision Flight Drones with RTK-GNSS

ja: Precision Flight Drones with RTK-GNSS


en: 二重反転形ダクテッドファンに関する研究開発

ja: 二重反転形ダクテッドファンに関する研究開発

en: Turbomachinery

ja: ターボ機械


en: Multidisciplinary skill assessment for embedded software development education via a robot contest

en: Proceedings of the 40th International Conference on Software Engineering: Companion Proceeedings


en: Compulsory Game based Robot Contest for Embedded System Development Education

en: Proceedings of the 2018 7th International Conference on Software and Computer Applications


en: Arbitrary Attitude Hovering Control of Quad Tilt Rotor Helicopter

en: The quad tilt rotor helicopter (QTRH), a tilt-rotor aircraft prototype, has fixed wings for long-range high-speed flight. Its rotor-tilt mechanism controls 4 rotor-tilt angles independently and controls its roll and pitch angles similarly to a multirotor helicopter. It controls yaw angle by thrust vectoring and moves forward and backward by tilting its rotors. Rotor-tilting maneuvers are the initial stage of flight-mode transition between helicopter and fixed-wing modes.


en: Effectiveness of Delayed Feedback Control Applied to a Small-Size Helicopter with a Suspended Load System

en: In this study, a cable-suspended transportation system using a small-size helicopter was investigated. For a secure flight, it is necessary to suppress the swing of the suspended load. For this purpose, a cable angle feedback system was adopted because it is easy to mount the corresponding measuring device on a helicopter. Delayed feedback control was applied for efficient swing damping. The control parameters were obtained using a simple planar double pendulum model that takes into consideration the coupled dynamics of the helicopter and the load. To build the model, the system parameters were identified through frequency response flight tests. In this paper, an appropriate design strategy is reported for a trade-off relationship between vibration damping and piloted handling qualities; the robustness of the control method against disturbances and signal noise was verified by comparing the delayed feedback control method with the real-time angular velocity feedback control method. The damping effect was verified by performing flight tests with three cable lengths.


en: Flight Characteristics of Quad Rotor Helicopter with Thrust Vectoring Equipment

en: A quad rotor helicopter (QRH) is a radio controlled (RC) aircraft that tilts its attitude to generate a horizontal force component to move in a certain direction. Using autonomous control, the attitude control system tilts the airframe against disturbances, such as wind. Thus, the attitude of a flying QRH is always slanted. In this study, three types of deflecting thruster were compared to maintain the position and horizontal attitude of the QRH. The extra thrusters are tilted to generate a thrust against disturbances without causing the airframe to incline. It is suitable for precise measurements for which the airframe posture should remain horizontal.


en: LED Panel Detection and Pattern Discrimination Using UAV's On-Board Camera for Autoflight Control

en: 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.


en: Flight Characteristic of Quadrotor Hrlicopter Using Extra Deflecting Thrusters

en: The Journal of Instrumentation Automation and Systems


en: Flight Characteristic of Quad Rotor Helicopter with Tilting Rotor

ja: The Journal of Instrumentation Automation and Systems


en: Direct Touch Operation Method for Flying Cargo System Based on Multi Rotor Helicopter

en: Journal of Unmanned System Technology

ja: Journal of Unmanned System Technology


en: Ducted Fan Flying Object with Normal and Reverse Ducted Fan Units

en: International Journal of Robotics and Mechatronics


en: Flight Characteristics of Quad Ducted Fan Helicopter with Thrust Vectoring Nozzles


en: Quad Rotor Helicopter Control with Humanoid Robot


en: Cable angle feedback control for helicopter slung load system using delayed feedback


en: An obstacle avoidance system of an unmanned aerial vehicle using a laser range finder

en: Journal of the Korean Society of Marine Engineering


en: Attiude Control of Quad-Rotor Helicopter with COG Shift

en: Journal of the Japanese Society for Experimental Mechanics

number: No.Special Issue (2013)


en: Evaluation of Quad Ducted-fan Helicopter

en: International Journal of Intelligent Unmanned Systems


en: Development of Information Communication System Using LED Panel and Video Camera

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.

en: IEEJ Transactions on Electronics, Information and Systems


en: Control of Ducted Fan Flying Object Using Thrust Vectoring

en: Recently, R/C helicopter is used in fields of aerial photography and aerial investigation. But helicopter rotor blades are not covered, and the thrust is generated by high rotational speed. Thus R/C helicopter has a high risk of damage. In this study, we developed a new flying object using ducted fans instead of rotor blades. At first, PD control was employed for pitch and roll attitude control, but it caused steady state error. Moreover, PI-D control was used instead of PD control, and it reduced the steady state error. We succeeded to achieve stable hovering by 3-axes (roll, pitch and yaw axis) attitude control.

en: Journal of System Design and Dynamics

ja: Journal of System Design and Dynamics


en: Study on Simple Vibration Control for Small-Size Helicopter with Slung Load System (Experiment Based Studies of the Vibration Control on Hovering)

ja: 小型ヘリコプタにおける吊り下げ物体の簡易振動制御に関する研究(ホバリング時の振動制御の実験的検討)

en: This paper describes a simple vibration suppression control method for a small-size helicopter with slung load system. The vibration suppression control for slung load is essential to improve stability of the flight because weight of a helicopter is relatively light. In past studies, the subject is analyzed by using the model which is a couple of rigid bodies containing a helicopter and a slung load, and controlled by state feedback combined with some sort of estimators. It requires accurate model and system parameters. However it is difficult for general users to build an appropriate model and to identify system parameters in terms of small-size helicopters. In this work we develop a simple control method which superposes vibration control of slung load on postural control of helicopter. By using delayed feedback, we can suppress the vibration without using state feedback in hovering situation. Furthermore, we will demonstrate a technique designing control parameters and verify the effectiveness by experiments.

en: Transactions of The Japan Society of Mechanical Engineers, Series C

ja: 日本機械学会論文集(C編)


en: Oriented Mobile Constellation Learning Environment Using Gaze Pointing Real-World

en: We developed a real-world oriented mobile constellation learning environment. Learners point at a target constellation by gazing through a cylinder with a gyro-sensor under the real starry sky. The system can display information related to the constellation. The system has original exercise functions which are not supported by existing systems or products by other research group or companies. Through experimentation, we evaluated the learning environment to assess its learning effects.

en: IEICE Transactions on Information and Systems


en: Formation of Patterned Electrode on Solid Polymer Electrolyte using Photolithography Technique

ja: フォトリソグラフィー技術を用いた固体高分子電解質膜へのパターン電極形成

en: An Ionic Polymer-Metal Composite (IPMC) consists of a thin ionomeric membrane with noble metal electrodes formed on both surfaces. IPMCs have a potential as soft robotic actuators and artificial muscles with several advantages such as flexibility, light weight, and low driving voltages. Highly durable IPMCs will be fabricated using an electroless chemical plating technique to form metal electrodes. In this study, a fabrication method for patterning electrodes with a size of several micrometers has been developed to realize IPMCs, which will be capable of a peristaltic movement. A selective electroless gold plating and an epoxy-resin based photoresist are applied for patterning electrodes. By using a photomask with a pattern-size of 50 μn, patterned electrodes are formed on an ionomer (Nafion) membrane, resulting in the size of 65 μm. This pattern size is much smaller than that in conventional patterning methods using a selective electroless plating technique and masking tapes or stencil masks. The sheet resistance of the fabricated electrodes is lower than 30 Ω/ , which is almost same order of magnitude as that of electrodes formed by the conventional electroless plating without photolithography.

en: Journal of the Japan Society for Precision Engineering

ja: 精密工学会誌


en: Inner Structure / Elastic Modulus Control of Micro Cantilever

en: Journal of the Japanese Society for Experimental Mechanics

number: No.Special Issue


en: Formation of Patterned Electrode in Ionic Polymer-Metal Composite using Dry Film Photoresist

en: IEEJ Transactions on Electrical and Electronic Engineering (TEEE)


en: マイクロ光造形法で作製した微小構造物の内部構造と縦弾性係数

ja: マイクロ光造形法で作製した微小構造物の内部構造と縦弾性係数

ja: 実験力学


en: Mechanical Property Evaluation of Micro Cantilever Fabricated Using Micro-Stereolithography

ja: マイクロ光造形法で作製した構造物の機械的特性評価

en: Dependence of elastic modulus of micro cantilever fabricated by micro-stereolithography (μSL) on irradiation laser power is investigated in this study. The samples are formed by changing the irradiation laser power of μSL system and postcure processing time. A device for measuring deflection of the micro cantilever and applied load is developed. Then, the elastic moduli of the samples are evaluated from the gradient of the measured load-deflection relation and the formula of the strength of materials. Results show that the elastic modulus of the micro cantilever made by μSL is depend on the irradiation laser power. That is, the mechanical property of micro structures can be controlled by the irradiation laser power and post cure process.

en: IEEJ Transactions on Sensors and Micromachines

ja: 電気学会論文誌E (センサ・マイクロマシン部門誌)


en: Two-photon lithography of nanorods in SU-8 photoresist

en: Nanotechnology

ja: Nanotechnology


en: Evaluation of fluid dynamic bearing spindle by vibration base

en: IEEE Transactions on Magnetics

ja: IEEE Transactions on Magnetics


en: Frequency characteristics of stiffness and damping effect of a ferrofluid bearing

en: Tribology Letters

ja: Tribology Letters


en: Frequency characteristics of stiffness and damping effect of ferro fluid bearing

en: Wear

ja: Wear


en: 集光フェムト秒パルスレーザーを光硬化性樹脂に照射し，多光子吸収により局所的な光固化反応を誘起して3次元微小構造物の作製に成功した．

en: Applied Physics. A, Materials Science & Processing


en: Femtosecond Laser-Assisted Three-Dimensional Microfabrication in Silica

en: We demonstrate direct three-dimensional (3-D) microfabrication inside a volume of silica glass. The whole fabrication process was carried out in two steps:(i) writing of the preprogrammed 3-D pattern inside silica glass by focused femtosecond (fs) laser pulses and (ii) etching of the written structure in a 5% aqueous solution of HF acid. This technique allows fabrication of 3-D channels as small as 10mum in diameter inside the volume with any angle of interconnection and a high aspect ratio (10mum -diameter channels in a 100mum -thick silica slab).

ja: シリカガラス中に集光フェムト秒レーザーを照射すると，照射部位の化学的特性が変化し，未照射部分に比べフッ酸に対するエッチング耐性が低くなることを見いだした．また，この現象を用いてガラス基板を貫通するマイクロチャンネルの作製にも成功した．

en: Optics Letters

ja: Optics Letters


en: Theoretical study on influence of impulity concentration on behavior of a semiconductor electrostatic actuator

ja: 半導体静電アクチュエータの動作に及ぼす不純物濃度の影響に関する理論的検討

en: Influence of impulity concentration on behavior of a semiconductor electrostatic actuator in low frequency drive voltage has been analyzed theoretically. The actuator has a p-type silicon movable electrode supported by cantilever beams and a metal fixed electrode opposing to the movable one. When gap width between the electrodes is fixed, capacitance between them changes depending on the drive voltage and rate of the change increases with decrease of the concentration Na (15% in Na=1014cm-3 and 0.3%in Na=1018cm-3). For Na<1016cm-3, pull-in voltage and release voltage of displacement-voltage curves increases with decrease of the concentration, especially when positive voltage is applied to the fixed electrode. For Na>1016cm-3, the impulity concentration has almost no influences on the behavior of the actuator independent of the polarity of the drive voltage.

ja: 電気学会論文誌E (センサ・マイクロマシン部門誌)


en: Real Three-dimensional Microstructures Fabricated by Photopolymerization of Resins through Two-photon Absorption

en: Effective energy windows for two-photon absorption (TPA) photopolymerization of resins were investigated and, with a properly selected laser pulse energy, exquisite three-dimensional (3D) microstructures with submicrometer spatial resolution were achieved. The results show the inherent utility of TPA in the fabrication of real 3D patterns. In particular, we propose and utilize a resin pre-exposure technique by which freely movable components affixed to an axle are built, demonstrating a new application of TPA in laser microfabrication.

ja: 光硬化性樹脂中に集光フェムト秒レーザーを照射し，焦点近傍にのみ2光子吸収により固化反応を誘起し，その現象を用いてマイクロメーターサイズの微小構造物を作製する方法論につて報告した．


en: Trapping of Microstructures by Laser Scanning Manipulation

en: The Transactions of The Institute of Electrical Engineers of Japan

ja: 電気学会論文誌


en: Drag of a laser trapped micropariticle

ja: Drag of a laser trapped micropariticle

en: Japanese Journal of Applied Physics, Part 1 (Regular Papers & Short Notes)


en: Transmission and Photoluminescence Images of Three-dimensional Memory in Vitreous Silica

en: Applied Physics Letters

ja: Applied Physics Letters


en: Three-Dimensional Microstructures Created by Laser Microfabrication Technology

en: ピコ秒パルスレーザーを光硬化性樹脂中に集光照射し，3次元的な微細構造を形成することに成功した．

en: Japanese Journal of Applied Physics, Part 2 (Letters)


en: 係留気球と無人航空機を活用した災害対応情報支援システムの構想

ja: 係留気球と無人航空機を活用した災害対応情報支援システムの構想

en: Theory and Applications of GIS

ja: GIS-理論と応用