{"created":"2023-06-19T10:29:39.898989+00:00","id":9625,"links":{},"metadata":{"_buckets":{"deposit":"1c307d4b-c44d-41b4-b9f4-f7fbedc36923"},"_deposit":{"created_by":18,"id":"9625","owners":[18],"pid":{"revision_id":0,"type":"depid","value":"9625"},"status":"published"},"_oai":{"id":"oai:muroran-it.repo.nii.ac.jp:00009625","sets":["216:440","46"]},"author_link":["55030"],"item_79_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2016","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"20","bibliographicPageStart":"17","bibliographicVolumeNumber":"22","bibliographic_titles":[{"bibliographic_title":"交通流と自己駆動粒子系シンポジウム論文集","bibliographic_titleLang":"ja"},{"bibliographic_title":"Proceedings of the Symposium on Traffic Flow and Self-driven Particles","bibliographic_titleLang":"en"}]}]},"item_79_description_23":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_79_description_7":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"４回転翼型の小型飛行ロボットに，物体の色からその位置とサイズを識別できるカメラと地上までの距離を測定できる超音波センサーを搭載し，完全自律飛行実験を行った．物体位置の認識速度は，飛行ロボットの姿勢安定のための制御レートの約８分の１と低速である．また，超音波センサーによる正確な測距のための速度は姿勢制御レートの約１０分の１以下とさらに低速である．そのため，これらを直接姿勢制御アルゴリズムに組込み，軌道制御を行うと，姿勢制御の速度低下を招き飛行自体が不安定化するという問題が有る．本研究では，それぞれの制御のための感覚運動写像を独立させ，プロセス間通信をもちいて，物体と相互作用しながら飛行可能な完全自律飛行ロボットを実現した．","subitem_description_language":"ja","subitem_description_type":"Abstract"},{"subitem_description":"We carried out experiments of a completely autonomous flight by a flying robot with a camera which recognizes an object position and its size and with ultrasonic sensor which mesures distance from the ground. The recoginition rate is about 1/8 and the mesurment rate is less than 1/10 of atitude-control rate. Therefore a direct implement of these information into the atitude control brings unstability of the flying robot. In this study, it is found that a completely autonomous flight is possible by combining independent sensory-motor mappings by use of communications between each process.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_79_link_5":{"attribute_name":"室蘭工業大学研究者データベースへのリンク","attribute_value_mlt":[{"subitem_link_text":"本田 泰（HONDA Yasushi）","subitem_link_url":"http://rdsoran.muroran-it.ac.jp/html/100000104_ja.html"}]},"item_79_publisher_11":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"交通流数理研究会","subitem_publisher_language":"ja"}]},"item_79_relation_22":{"attribute_name":"主となる版","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"http://traffic.phys.cs.is.nagoya-u.ac.jp/~mstf/pdf/mstf2016-05.pdf","subitem_relation_type_select":"URI"}}]},"item_79_rights_19":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"本シンポジウムの投稿論文の著作権は著者にあり","subitem_rights_language":"ja"}]},"item_79_subject_9":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"548.3","subitem_subject_scheme":"NDC"}]},"item_79_version_type_21":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[{}],"affiliationNames":[{},{}]}],"creatorNames":[{"creatorName":"本田, 泰","creatorNameLang":"ja"},{"creatorName":"HONDA, Yasushi","creatorNameLang":"en"},{"creatorName":"ホンダ, ヤスシ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2018-03-02"}],"displaytype":"detail","filename":"PSTFST_22_17_20.pdf","filesize":[{"value":"588.0 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"PSTFST_22_17_20","objectType":"fulltext","url":"https://muroran-it.repo.nii.ac.jp/record/9625/files/PSTFST_22_17_20.pdf"},"version_id":"e3ef3e7c-ba32-454a-83c1-2c2ff0c02f6b"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"完全自律飛行ロボットによる物体との相互作用飛行","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"完全自律飛行ロボットによる物体との相互作用飛行","subitem_title_language":"ja"},{"subitem_title":"Completely autonomous flying robot interacting with an object","subitem_title_language":"en"}]},"item_type_id":"79","owner":"18","path":["46","440"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2018-03-02"},"publish_date":"2018-03-02","publish_status":"0","recid":"9625","relation_version_is_last":true,"title":["完全自律飛行ロボットによる物体との相互作用飛行"],"weko_creator_id":"18","weko_shared_id":-1},"updated":"2023-10-24T09:02:32.493099+00:00"}