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Isaku Kanno,Hidetoshi Kotera,Kiyotaka Wasa,Ryouichi Takayama,Takeshi Kamada,Toshiyuki Matsunaga 한국물리학회 2003 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.42 No.IV
Compositional dependence of crystallographic structure of the epitaxial Pb(Zr,Ti)O3 (PZT) lms was investigated. The c-axis oriented PZT lms with Zr/Ti ratio ranging from 10/90 to 70/30 were epitaxially grown on (100)Pt/(100)MgO substrates using rf-sputtering. Four-circle x-ray diraction measurements revealed that the PZT lms exhibited anomalous crystalline structure which was considerably dierent from the phase diagram of bulk PZT. In particular, the PZT lms showed tetragonal structure even with the Zr/Ti composition above 53/47 and rhombohedral phase could not be identied even for the PZT lms of 70/30. The lattice constants of the PZT lms were independent of the lm thickness. The sputtering process accompanies non-thermal equilibrium reactions with the bombardment of the energetic sputtered particles to the growing lms and might induce isotropic internal stress across the lms. The anomalous crystalline characteristics are attributed to the sputter-induced stress of the PZT lms.
Underactuated Control for an X4.AUV Using Partial Linearization and Attitude Linearization
Keigo Watanabe,Satoru Takisawa,Isaku Nagai 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
An autonomous underwater vehicle with four thrusters is reexamined from the viewpoints of derivation of a time-varying model. First, a bilinear model can be derived without depending on a chained form transformation, instead depending on partial linearization in inputs and on linearization of partial attitudes. Next, it can be transformed into a timevarying system that includes partially discontinuous states, and then an exponentially stabilizing method can be applied to its model to solve a stabilization problem. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed method.
Study on Mobile Mechanism for a Stair Cleaning Robot
Takahisa Kakudou,Keigo Watanabe,Isaku Nagai 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. However, many of cleaning robots cannot clean and move on stairs, because they are not considered to move on places between floors. The proposed cleaning robot is equipped with L-shaped legs on the both sides of the body frame of a rectangular solid. The robot climbs down stairs by rotating the body so that the top and bottom sides of it may be reversed using L-shaped legs. In this paper, a mobile mechanism and a control method are described for climbing down and translational movement on stairs.
A Method for Measuring the Position of Quadrotors Using a Tether Winder
Nao Moritoki,Keigo Watanabe,Isaku Nagai 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
Use of a Quadrotor is considered as one of the methods to inspect infrastructures such as a tunnel or a bridge. In such a case, it needs to control the position of the airframe. Note, however, that it is difficult to realize the position control using GPS in environments, such as in a tunnel or under a bridge, because there is a problem, such as the weakness of the GPS signal or the incomplete reaching. Therefore, the present research is aimed at developing position control not using GPS, and proposes a method for detecting the airframe position of a tethered Quadrotor, from the length and tension of the tether. Especially, a tether winder is produced so that the length and tension of the tether are measured. This paper describes how to detect the position of a Quadrotor, and presents some operation experiments of the produced tether winder.
Development of a Blimp Robot Consisting of Four-divided Envelopes with Four Propellers
Keigo Watanabe,Naoto Okamura,Isaku Nagai 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
A new blimp robot is proposed to make a rise or downward movement easy, where four partial envelopes are arranged, centering on a gondola, and four propellers are attached around the gondola. After pointing out the structural problem of a conventional X4 blimp robot, the design and manufacture of a new type body to be developed is described in detail. In order to examine the usefulness of the structure of the blimp robot developed, some experiments are conducted to visually check a translational motion, pitch motion and yaw motion in open-loop control.
Takanori Nakatsuka,Keigo Watanabe,Isaku Nagai 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
The development of underwater robots has been required for biological research in the sea. Therefore, it needs biomimetic robots because they hardly affect the behavior of creatures. We have developed a Manta robot that has propulsion mechanisms with pectoral fins, mimicking the pectoral fin of the manta. The conventional Manta robot is influenced by a righting moment varies according to the distance between the center of gravity (c.g) and the center of buoyancy. The righting moment keeps an object in the water in a certain posture. If the righting moment is large, the diving ability is reduced, so that the Manta robot is expected to not follow the movement of any organism. On the other hand, if the righting moment is small, the stability of the posture is insufficient, so that it is difficult to acquire the camera image. Therefore, we improve the diving ability of the Manta robot as well as stabilizing the posture, by changing the righting moment due to adjusting c.g. In this paper we explain the mechanism for moving c.g, and the way to adjust c.g. Furthermore, several swimming experiments are conducted, using the Manta robot equipped with the mechanism for moving c.g.