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Collision-Avoidance Algorithm for Human-Symbiotic Robot
Yuji Hosoda,Kenjirou Yamamoto,Ryouko Ichinose,Saku Egawa,Junichi Tamamoto,Kouji Tsubouchi,Shinichi Yuta 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
A real-time collision-avoidance algorithm for human-symbiotic robots that are required to avoid multiple pedestrians was developed. An algorithm to predict the likelihood of a collision with obstacles was based on the relative velocities between a moving robot and multiple obstacles. An algorithm that can generate the optimum path sequence to a goal in real time was also developed. The collision-avoidance path is generated by repeating an operation to select two tangent paths that connect a via-point on a path to a collision circle of each obstacle that exists in the relative space. A robot-called EMIEW”-using these algorithms with a system for avoiding collisions with many obstacles moves at a speed of 0.8 m/s in a cluster of five people walking at 1.2 m/s. The repeat period for generating a new avoidance path is 0.5s, and the processing time for the developed algorithm in the each period is a maximum of 4 ms.
Eri Kumai,Fuyumi Shimono,Manabu Tanaka,Takayuki Watanabe,Takeshi Hoshino,Satoshi Hosoda,Hiroshi Kanamori,Yuji Fujita 한국공업화학회 2022 Journal of Industrial and Engineering Chemistry Vol.107 No.-
Oxygen-deficient tungsten oxide is one of the promising materials for broad applications due to itsenhanced characteristics owing to the oxygen-deficiency. Development of a mass production process iscrucial in consideration of the increasing demand of this material in industrial purposes. A continuousscrew reactor was employed to the production of oxygen-deficient tungsten oxide. The effects of hydrogenconcentration and the reduction time on the composition of products were investigated. The maximumWO2.72 mole fraction of 0.95 was achieved by optimum hydrogen concentration and reductiontime. X-ray Photoelectron Spectroscopy (XPS) spectra of the products indicated the introduction ofoxygen-deficiency. Anisotropic crystal growth in the (010) direction is found in the cross-section observationby Scanning Electron Microscope (SEM). The displacing value from High-Resolution TransmissionElectron Microscope (HR-TEM) demonstrated the existence of WO2.72. The reaction kinetic was investigatedby thermogravimetric analysis. Estimated activation energy supported the results from the continuousprocess. This work suggests the promising process for the large-scale production of functionalmaterials.