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      저자 : Takanori FUKAO (검색결과 2 건)
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      • Control Design Method of Semi-Active Suspensions with Actuators

        Takanori FUKAO,Takafumi SUZUKI,Hiroaki EGUCHI,Koichi OSUKA 한국자동차공학회 2005 한국자동차공학회 Workshop Vol.2005 No.-

        Semi-active suspension systems which adjust the damping coefficients of the shock absorbers have been widely researched to improve the ride quality. But the property of the actuator is almost ignored because the system becomes nonlinear and it is difficult to design a controller. In this research, a backstepping method is introduced to combine H∞, control for frequency shaping with nonlinear control for actuators, Furthermore, a velocity-dependent nonlinear weight on the control error in backstepping is proposed to improve the control property. The validity of the proposed method is confirmed by some simulation results.

      • Design and Installation of Waterproof Wireless Communication Device to Support Firefighting Activities

        Yasuaki Orita,Kiyotsugu Takaba,Takanori Fukao 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

        To enhance search and rescue activities, robots are being introduced at disaster sites. Robotic support also has the potential to contribute to improving work efficiency at fire scenes. Transmission of the on-site situation to a base station is also an important task for disaster response robots. To fill this role, robots need a network for data transfers. In this paper, we present the design and installation of a wireless communication device for use at fire scenes. The device consists of the communicator and the characteristic capsule, which protects a stored module. The protector is waterproof so that it can shelter the module and guarantee data exchange even during water spraying activities. The devices are automatically deployed from a dropping platform mounted on a crawler robot. Multiple devices establish a wireless multi-hop ad hoc network along the path of the robot. The network aims to monitor the position of a searching firefighter inside the site. Some verification studies were performed to examine the waterproof performance of the device. Furthermore, an experiment demonstrated a successful application using the proposed device.

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