Development of a Pendulum-Type Power Transmission Line Inspection Robot and Anomaly Detection Methods of Power Transmission Line

重心移動型フレームによる送電線点検ロボットおよび送電線の異常検出手法の開発

電気学会論文誌B (電力・エネルギー部門誌)


Research on Tilt-Rotor Type Water-Air Multicopter


APRIS Robot Challenge: Collaborative Online Interdisciplinary and International Learning for IoT/Robotics Systems

2024 IEEE Global Engineering Education Conference (EDUCON)


Point Cloud Estimation During Aerial-Aquatic Transition in Monocular Camera-Based Localization and Mapping


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


壁面吸着ドローンの開発と活用方法の提案

壁面吸着ドローンの開発と活用方法の提案


二重反転形ダクテッドファンに関する研究開発

二重反転形ダクテッドファンに関する研究開発


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

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


Compulsory Game based Robot Contest for Embedded System Development Education

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


Arbitrary Attitude Hovering Control of Quad Tilt Rotor Helicopter

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.


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

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.


Flight Characteristics of Quad Rotor Helicopter with Thrust Vectoring Equipment

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.


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

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.


Flight Characteristic of Quadrotor Hrlicopter Using Extra Deflecting Thrusters

The Journal of Instrumentation Automation and Systems


Flight Characteristic of Quad Rotor Helicopter with Tilting Rotor


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


Ducted Fan Flying Object with Normal and Reverse Ducted Fan Units

International Journal of Robotics and Mechatronics


Flight Characteristics of Quad Ducted Fan Helicopter with Thrust Vectoring Nozzles


Quad Rotor Helicopter Control with Humanoid Robot


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


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

Journal of the Korean Society of Marine Engineering


Attiude Control of Quad-Rotor Helicopter with COG Shift

Journal of the Japanese Society for Experimental Mechanics


Evaluation of Quad Ducted-fan Helicopter

International Journal of Intelligent Unmanned Systems


Development of Information Communication System Using LED Panel and Video Camera

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.

IEEJ Transactions on Electronics, Information and Systems


Control of Ducted Fan Flying Object Using Thrust Vectoring

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.


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

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)

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.

Transactions of The Japan Society of Mechanical Engineers, Series C

日本機械学会論文集(C編)


Oriented Mobile Constellation Learning Environment Using Gaze Pointing Real-World

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.

IEICE Transactions on Information and Systems


Formation of Patterned Electrode on Solid Polymer Electrolyte using Photolithography Technique

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

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.

Journal of the Japan Society for Precision Engineering


Inner Structure / Elastic Modulus Control of Micro Cantilever

Journal of the Japanese Society for Experimental Mechanics


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

IEEJ Transactions on Electrical and Electronic Engineering (TEEE)


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

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


Mechanical Property Evaluation of Micro Cantilever Fabricated Using Micro-Stereolithography

マイクロ光造形法で作製した構造物の機械的特性評価

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.

IEEJ Transactions on Sensors and Micromachines

電気学会論文誌E (センサ・マイクロマシン部門誌)


Two-photon lithography of nanorods in SU-8 photoresist


Evaluation of fluid dynamic bearing spindle by vibration base


Frequency characteristics of stiffness and damping effect of a ferrofluid bearing


Frequency characteristics of stiffness and damping effect of ferro fluid bearing


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．

Applied Physics. A, Materials Science & Processing


Femtosecond Laser-Assisted Three-Dimensional Microfabrication in Silica

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).

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．


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

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

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.

電気学会論文誌E (センサ・マイクロマシン部門誌)


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

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.

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．


Trapping of Microstructures by Laser Scanning Manipulation

The Transactions of The Institute of Electrical Engineers of Japan


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


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


Three-Dimensional Microstructures Created by Laser Microfabrication Technology

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．

Japanese Journal of Applied Physics, Part 2 (Letters)


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

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