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Dynamic Obstacle Avoidance of Multi-rotor UAV using Chance Constrained MPC
Takumi Wakabayashi,Yuma Nunoya,Satoshi Suzuki 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
Recently, in order to carry out tasks efficiently such as infrastructure inspection and goods transportation, operations using multi-rotor Unmanned Aerial Vehicles (UAVs) in formation flight are often considered. One of the main issues in motion planning among multiple UAVs is collision avoidance. Model Predictive Control (MPC) is characterized by its ability to consider collision avoidance in the framework of constrained optimization. For this reason, there have been many studies on collision avoidance using MPC, but few studies take into account the uncertainty that occurs in real environments. On the other hand, Chance constrained MPC (CCMPC) is considered to be more robust in collision avoidance due to the consideration of uncertainty. However, the structure of the collision probability constraint equation to be introduced into the evaluation function of MPC has not been sufficiently studied. In this study, the structure of equations for incorporating probability constraints into the evaluation function is examined. Moreover, by quantitatively comparing the equations with the same structure with deterministic constraints introduced into the evaluation function, the difference in collision avoidance is clarified.
Response of a Plate-type Thermoluminescence Dosimeter to a Therapeutic Carbon Beam
Yusuke Koba,Shigekazu Fukuda,Kiyomitsu Shinsho,Genichiro Wakabayashi,Satoshi Tamatsu 한국물리학회 2013 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.63 No.7
In order to measure the three-dimensional dose distribution in X-ray radiotherapy, we developeda plate-type thermoluminescence dosimeter (TLD) using the TL phosphor Li3B7O12:Cu, which hasZeff = 7.42 and a density of 1.01 gcm−3. This detector was expected on useful application inadvanced X-ray radiotherapies such as intensity-modulated ratiation therapy (IMRT) etc., becauseit can obtain 3D dose measurements simply and quickly with a single exposure. In this paper, wereport the response of this plate-type TLD to a therapeutic carbon beam at the Heavy Ion MedicalAccelerator in Chiba (HIMAC). Using a plate heater and charge coupled device (CCD) camera, wecaptured thermoluminescence images of plate-type TLDs irradiated by a therapeutic carbon beam. The TL intensity was measured at each water equivalent depth and compared with output of theionization chamber. The relative TL efficiency of this TLD as 60Co gamma-ray equivalent decreasedgradually with increasing dose-averaged linear-energy-transfer (LET), reaching about 20% at theBragg peak of 290 MeV/u carbon ions.