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Household Raw Garbage Processing Robot using Biomass
Yoshihiko TAKAHASHI,Yudai AGATA,Taichi WATANABE 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
A processing robot has been developed that uses biomass to help turn kitchen waste into fertilizer, and spray it in fields. A four-wheel independent drive system using wide and soft tires was designed to enable stable movement. The direction of the robot is controlled by changing the rotation speed of the left and right tires. The tank containing the biomass was placed at the rear of the robot. It is equipped with a stirring mechanism to accelerate the reaction of the biomass and release it to the outside of the tank. The size of the robot is about 50cmx30cmx20cm, and the whole mechanical system is controlled by Raspberry Pi.
Fabrication of Simple Robot Face Regarding Experimental Results of Human Facial Expressions
Yoshihiko Takahashi,Masanori Hatakeyama 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
A new care taking system using a simplified robot face has been developed. Patients’health care data can be stored on a personal computer and the robotic system can take various actions depending on the stored data. For example, it can tell a patient when it is time to take his or her medication or alert them if they fail to take their medication at the appropriate time. The robotic system communicates with patients using facial expressions, a voice communication system and a computer monitor. A robotic face was designed using simple mechanisms in order to produce a low cost system. The facial impressions of the simplified robot have been categorized by surveying over 500 people. In this paper, experiments on human facial expressions are conducted in order to improve our simplified robot face used for the care taking system, and the simple robot face is fabricated according to the experimental results.
Running Experiments of Small Single-Operator Electric Vehicle Using 20W Hydrogen Fuel Cell
Yoshihiko Takahashi 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
We have developed a small, lightweight, single operator fuel cell vehicle with a 20 W fuel cell and a 5.8 L hydrogen gas tank for university education purposes, named the pico FCV. The frame for the vehicle was fabricated using thin rectangular aluminum rods. A 90 W DC motor and a reduction gear system were used to actuate the system. The control system was designed using a PIC microcomputer which controls the drive motor speed, the drive current, and purging of the non-active gas from the fuel cell. Students are able to study the design of mechanical systems, electrical circuits, and microcomputer programming during the development of their pico FCVs. There is also the added benefit of focusing student interest on environmental consciousness while working on this project. In this paper, we will discuss the designs of the pico FCV, and will provide the running experimental results with varied gear ratios.
Hybrid Robotic Wheelchair with Photovoltanic Solar Cell and Fuel Cell
Yoshihiko Takahashi,Shogo Matsuo,Kei Kawakami 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
A hybrid robotic wheelchair powered by three energy sources, a battery, a photovoltanic solar cell, and a hydrogen fuel cell is proposed in this paper. The advantage of using a photovoltanic solar cell (a solar panel) is that it produces power without requiring use of fossil fuels. The advantage of using a fuel cell is that a hydrogen tank may be changed quickly and easily. We also propose an energy control system which is able to select the energy source optimally according to the operating conditions. The control system ideally gives priority to the photovoltanic solar cells before the fuel cell. When conditions allow for abundant sun light, the photovoltanic solar cell is used. When solar energy is not available, the fuel cell is used. Finally, when the hydrogen is depleted, the battery is used. This paper explains the concept of the hybrid robotic wheelchair, the mechanical design, the energy control system, and the experimental results on the energy source selection.
Yoshihiko TAKAHASHI,Takeharu HAYASHI,Yasunori TAKEMURA,Keigo HARA,Satoru YAMAGUCHI 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
Many skills such as machine design, electronic circuit design, microcomputer programming are taught in mechatronics lectures at universities. Parts are given and students assemble the parts according to set examples. However, students cannot develop creativity simply by following fixed examples. In order to foster creativity, it is necessary to make mechatronic systems based on students’ own ideas. Students also need to study production costs, schedule management, team work etc. These skills are important when becoming engineers in companies after graduation. In order that students can use their own ideas, fabricate mechatronic systems, understand production costs, deal with deadlines and develop a team ethos, we have started a compact electric vehicle competition, named “pico-EV Eco Challenge”, and implemented it. In the competition, a one person small electric vehicle using only small rechargeable batteries (7.2V, 1000mAh in total) is fabricated and runs a 60m circuit. In this paper, the history, regulation and management of the competition, examples of participating vehicles, results and benefits of participation, etc. are discussed.
Mechanical Optimization of Series Hybrid Electric Vehicle with Plant Oil Electric generator
Yoshihiko Takahashi,Ryo Matsumoto,Hirotake Sasai 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
We propose a new hybrid electric vehicle which uses natural energy, consumes little fuel, and operates over a long distance. We are designing a series hybrid system, in which a diesel engine operating on plant oil rotates an electric generator, and runs the vehicle using the generated electricity. The generated electricity may also be stored in batteries, which are also able to power the electric vehicle. The general intention of the proposed system is to reduce the use of non-renewable fossil fuels, and to reduce overall costs. Plant oil is ecological, and allows for the creation of a carbon neutral system in its production. Some forms of plant oils, such as non-esterified straight vegetable oil (NE-SVO) and waste vegetable oil (NE-WVO), are promising alternatives used in order to reduce fuel costs. In this paper, we will explain the concept of the proposed series hybrid electric vehicle system using plant oil, and will provide some experimental results of mechanical optimization in the electric generation system and the vehicle drive system. Considering fuel efficiency and the drive torque, optimum reduction ratios were obtained in the experimental results.
Quadruped Walking Robot with Multi PIC microcomputer system
Yoshihiko Takahashi,Mitsuyasu Watanabe,Shingo Tsuchiya 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
We propose a multi PIC microcomputer system for a quadruped waking robot using eight degrees of freedom. The control system has a two-level hierarchy in which one PIC microcomputer is used as a master computer, and eight PIC microcomputers are used as slave computers. Three bits are used to communicate between the master and slave computers. We have verified from experiments that this multi PIC microcomputer system is functional.
Ultra-Small Electric Vehicle Competition Using Small Rechargeable Batteries
Yoshihiko Takahashi,Kazufumi Uda 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
An ultra-small electric vehicle competition using small rechargeable batteries was held at the Kanagawa Institute of Technology in Japan. The competition was called the pico-EV Eco Challenge 2012, and participants competed based on distance travelled within 30 minutes of operation using only six small rechargeable Ni-MH (nickel metal hydride) batteries (7.2V, 1900mAh). Eleven vehicles and about 60 people participated. The winning team was able to travel approximately 3km. This paper will present the administration and the results of the completion.