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Drain Pipe Inspection Robot using Wireless Communication System
Dongmei Wu,Harutoshi Ogai,Yichun Yeh,Katsumi Hirai,Takahiko Abe,Gunkichi Sato 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Pipe lines of various materials need to be inspected after certain years. Therefore, it is necessary to develop a flexible pipe inspection robot using wireless communication system. In this research, wireless communication system istested, it is verified that the wireless communication system can steadily transmit image information at high speed. On the basis of wireless communication system, a new pipe inspection robot for drain pipe is developed. With this new system, movement of the robot can be controlled, defects or troubles inside pipe would be inspected and image inside pipe also can be transmitted in real time.
Design of compensator for Engine Intake system model with Turbocharger by Extended Kalman Filter
Masatoshi Ogawa,Harutoshi Ogai,Yasuaki Inoue,Naozumi Okuda,Akira Ohata 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In order to apply an engine intake air system model to engine control, it is necessary to calculate the intake air system model quickly and accurately under constraints of computational performance. Therefore, a study has been made on a method for calculating the intake air system model implemented by an analog LSI at short times. However, the problem is to include the model error in the intake air system model based on the analog LSI of present state. This paper reports a compensation of the intake air system model with error by Extended Kalman Filter (EKF).A basic model that reproduces model errors of analog LSI model is built, and a compensator based on EKF is designed. As a result, it is confirmed that the compensator reduces the model errors by half. Moreover, this paper reports the numeric solution in order to reduce the hunting phenomenon of the engine intake air system model.
Development of driving support system for electric vehicle by using image processing technology
Yuxiang Sun,Nan Wu,Shigeyuki Tateno,Harutoshi Ogai 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
Aiming to realize the safe driving for the elderly people and novice drivers, intelligent vehicle technologies are becoming an important research topic in recent years. While driving, sometimes they cannot handle the car in an emergency due to the poor concentration and reaction. In fact, there are a lot of car accidents caused by such people who occasionally step on the accelerator instead of the brake unexpectedly when intending to have an emergency stopping. This paper describes a recognition method for recognizing driving situation. For supporting driving by traffic situation recognition, real-time detection and robustness are increasingly required. In indoor experiments, the RoboCar was used to verify the recognition methods. The algorithm which determines the routes are able to run safety by the CCD camera was used to recognize the white line on both sides of the road. And the image matching algorithm was used to recognize the traffic signs on the routes. The experimental result with high accuracy was successfully obtained.
Dongmei Wu,Yang Xia,Masatoshi Ogawa,Yi-Chun Yeh,Harutoshi Ogai,Taketoshi Kawabe 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
As a basis of an intelligent driving assist system, an on-line calculation method calculating a desirable driving path based on information and prediction of surrounding traffic environment is developed. The problem is how to use information of traffic jam and signal. This paperreports an automobile optimal driving control system using information of traffic jam and signal based onthe model prediction control to support drivers. Moreover, physical models for information of traffic jam and signal are constructed.