日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
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33 巻 , 8 号
選択された号の論文の16件中1~16を表示しています
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論文
  • 石原 敦, 百瀬 貴暁, 伊倉 良明, 中原 真也, 新井 健二
    33 巻 (2015) 8 号 p. 613-622
    公開日: 2015/11/15
    ジャーナル フリー
    In order to improve a student's individual skill and volition, teachers have to understand the personality of each student further, and find the time for students to face each other, cooperating with an organization outside of the school. However, it is difficult to conduct time-consuming experiments and trainings in a public junior high school due to extra costs, extra works other than a regular lesson and teaching, and so on, though almost teachers have high volition and consciousness for the education in a school. The aim of this study is the validation about the effectiveness and problems of the utilization of robots as a teaching material for science classes in a public junior high school collaborated with the university. As a result, the utilization of robots as a teaching material with the cooperation between a junior high school and a university was very effective not only in order to achieve the purpose of a science lesson, but also in order to evoke the interest to engineering and science. We gave and obtained the precious impression in 50 minutes class work, as shown in the comments in the questionnaire survey. Therefore we attached a subtitle ``The treasures of the 50 minutes''.
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  • 松田 啓明, 林 直宏, 工藤 俊亮, 末廣 尚士
    33 巻 (2015) 8 号 p. 623-629
    公開日: 2015/11/15
    ジャーナル フリー
    In this paper, we developed a teaching material, a shooting robot system, for students studying application development in robotics, and evaluated its effectivity. Since robots, in general, make some action on the outside world in robot applications, students need to learn to model the relationship between sensing and actuation. In this paper, we take a shooting robot as an example, and designed a teaching materials for studying development of robot systems with awareness of cooperation between external sensors and robots. We conducted a robot contest to evaluate the proposed material. Students were split into groups and developed robot systems implemented using RT-components. Through this activity, they practically learned elemental technology for developing robot applications. We analyzed the result of the contest and the questionnaire to confirm the effectiveness of the proposed material in understanding of elemental technology and improvement of motivation for learning.
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  • 藤本 敬介, 守屋 俊夫, 中山 泰一
    33 巻 (2015) 8 号 p. 630-641
    公開日: 2015/11/15
    ジャーナル フリー
    In this paper, we propose map-link algorithm for path planning of non-holonomic vehicle. This method searches a shortest path efficiently from its initial position to the goal position while satisfying the non-holonomic constraints. Previous path planning methods have to check collision between the vehicle and obstacles. However, collision checking takes large computational cost because many path candidates exist in the case of non-holonomic vehicle. Our method makes correspondences between each point on the map and all path candidates in advance. Then, by referring the correspondences and selecting collision-free paths, the feasible path that connects the initial and the goal can be obtained without collision checking of robot paths and obstacles. Experimental results show that our method is 11 times faster than the method which checks collision when searching feasible path in simulation environments.
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  • 山野 彰夫, 新谷 篤彦, 伊藤 智博, 中川 智皓
    33 巻 (2015) 8 号 p. 642-650
    公開日: 2015/11/15
    ジャーナル フリー
    Authors develop a flexible fish-like robot for use in a flow in narrow passage actuated by shape memory alloy (SMA) actuators, which realizes the downsizing and lightening of the moving body. Overheating of an SMA actuator, however, causes saturation of phase {transition,} and a consequent decrease in the fin vibration amplitude that leads to decrease of thrust force. This paper proposes a new driving method that utilizes a self-excited oscillator in order to solve this problem with simple implementation, which was named as the self-excited drive method. Moreover, we introduce coupling among actuators to obtain synchronization with a desired phase difference which generates traveling wave on the moving body. Experimental results showed that moving body with our proposed driving method realizes higher thrust performance in flow passage than that without control.
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  • ピョ ユンソク, 辻 徳生, 橋口 優香, 倉爪 亮
    33 巻 (2015) 8 号 p. 651-654
    公開日: 2015/11/15
    ジャーナル フリー
    This paper presents a new immersive interface connecting cyber and physical worlds for Cyber Physical System (CPS). Informationaly structured environment (ISE) in which environmental information is gathered by embedded sensor networks and stored in a database structurally is one of key technologies for developing a practical service robot. We have been developing a ISE architecture called ROS-TMS. In this paper, we introduce a new cyber-physical interface for ROS-TMS consisting of an immersive wearable display, a stereo camera, a tracking system, and an environmental simulator, Choreonoid.
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