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Ocean development has actively progressed in the sea near Japan. However, in marine research, it is impossible for people to work in deep sea because of low temperature, high pressure and so on. We have developed the underwater robot that mimics the quad-rotor helicopter in the past. This robot is capable of performing freely exercise of translation and rotation by controlling the rotational speed...
It is known that limitations of human accuracy in manual manipulation hinder the quality of work performed by human operators of manual control systems. Indeed, movements of operators are apt to cause undesirable vibrations in manual control systems. In this paper, we propose a new operator-support-control scheme for suppressing harmful oscillatory motions in such systems without disturbing human...
The unmanned aerial vehicles (UAVs) are the aircraft without a human operator on board. Since operators can control the aircraft without some danger, they are useful as an emergency aerial observation method. In this paper, as one of these UAVs, we focus on the flying wing which is a fixed-wing aircraft. In general, the fixed-wing-type UAV can fly longer time than the helicopter-type one because the...
Some inverted pendulum type personal mobility devices, including the Segway have already been invented. However, they cannot go over the obstacles such as stairs or curbs on the road. In order to resolve this problem, we have developed a portable personal vehicle. It looks like a skateboard or snowboard. It is light and small enough to carry in comparison with others. It is maneuvered by detecting...
This paper deals with a flying observation which are consist of a helium gas balloon and a tilt rotor helicopter. The helium gas balloon can make flight for a long time. The tilt rotor helicopter is stable in the wind and increase buoyant force. The observation system with the helium gas balloon and the tilt rotor gets the best of both worlds. In general, helium gas is released from a balloon in every...
The conventional screw propeller is widely used for ships and water vehicles. However, the screw propeller has safety problems that get entangled in the fish net or the algae. In addition, the propulsion by the screw consumes a lot of energy. The goal of our research is the development of an alternative propulsion method for the unmanned surface vehicle to the screw propeller. In this paper, we focus...
In this paper, we introduce a new support system using brainwaves data of an operator from an electroencephalograph in the operation of a multi-rotor helicopter. Multi-rotor helicopters are used in aerial photography such as disaster information gathering, group photograph, and structural deterioration investigation. However, skillful techniques are required for operations of the multi-rotor helicopter...
Recently, as a disaster information gathering tool, aerial photographing devices which gather photos and videos from the air get much attention. Especially, the aerial photographing method at low altitude below 15 meters is important to the disaster information gathering. As these devices, there are helium gas balloons, radio-controlled helicopters, and pole/crane vehicles. However, these devices...
An unmanned flying boat is an aircraft which is designed to take off and land on water. The unmanned flying boat is useful as an emergency aerial observation method. In previous researches, we have developed the small flying boat controlled by the human operator. In this paper, we consider automatic control for the flying boat. However, since the flying boat is used the gyro sensor, the sensor offset...
In disaster, it is important to photographs and video from the sky. Aerial photographing devices such as helium gas balloons and helicopters have ever been used for information gathering activities at that time. However, these devices have a high risk because they are strongly affected by air stream at low airspace. As the new photographing device improving the above problem, in this paper, we have...
In this paper, we consider an operator support system for a class of manual control systems that a human operator manually control a multi-rotor helicopter. The multi-rotor helicopter is used in environmental observations, pesticide applications, disaster damage tracking systems, and so on. However, skillful techniques are required for operations of the multi-rotor helicopter. In fact, serious accidents...
The gliding locomotion is defined as forward motion by the difference of friction between normal direction and tangential direction. Unlike conventional propulsion, the gliding locomotion method can move on low friction surface. Gliding locomotion robots have a simple mechanism, but it is difficult to control these robots. In previous researches, many gliding locomotion robots have been developed,...
We consider a local stabilization problem of an uncertain equilibrium point existed in a nonlinear continuous-time system by a state-derivative feedback controller. In previous researches, it is investigated that the uncertainty of the equilibrium point results in nonzero steady-state control input so that a different equilibrium point is stabilized. Then, a feedback controllers with steady-state...
We consider a stabilization problem of an inverted pendulum robot with a sensor drift by using a dynamic state feedback controller. The sensor drift occurs a bias in the steady-state, even if the inverted pendulum is stabilized. In previous research, it is investigated that steady-state blocking zeros of the stabilizing controller play an important role. Such a controller is called a washout controller...
We consider an attitude stabilization problem of a quadrotor helicopter with a sensor offset by using a dynamic state feedback controller. The sensor offset produces non-zero steady-state input and output, even if the quadrotor helicopter is stabilized. In previous research, it has been investigated that steady-state blocking zeros of the stabilizing controller play an important role. Such a controller...
We consider an attitude stabilization of a quadrotor helicopter with a sensor offset by a state-derivative feedback controller. The sensor offset produces non-zero steady-state input and output, even if the quadrotor helicopter is stabilized. In previous research, it has been investigated that steady-state blocking zeros of the stabilizing controller play an important role. In this paper, we develop...
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