Updated on 2024/03/19

写真a

 
TAKADA Yogo
 
Organization
Graduate School of Engineering Division of Mechanical Engineering Professor
School of Engineering Department of Mechanical Engineering
Title
Professor
Affiliation
Institute of Engineering

Position

  • Graduate School of Engineering Division of Mechanical Engineering 

    Professor  2022.04 - Now

  • School of Engineering Department of Mechanical Engineering 

    Professor  2022.04 - Now

Degree

  • Doctor of Engineering ( Osaka City University )

  • Master of Engineering ( Osaka City University )

Research Areas

  • Informatics / Mechanics and mechatronics

  • Informatics / Robotics and intelligent system

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Thermal engineering  / Internal combustion engine

Research Interests

  • Robot

  • Computer Simulation

  • Shooting machine to Aid Archery Athletes

  • Robotic Fish

  • Bridge Inspection Robot

Research subject summary

  • We are researching and developing various robots such as small submersible mobile robotic fish and bridge inspection robots to investigate underwater creatures or to inspect the surface of structures such as bridge. In addition, we analyze a robot and fluid around the robot with a Computational Fluid Dynamics (CFD) and are studying ways to improve robot's performance.

Research Career

  • Study for achivement of fish robot for investigation

    Aqua robot, Fish, Swim mechanism  Individual

    2005.04 - Now 

  • 橋梁検査ロボットの開発

    ロボット工学  Joint Research in Organization

    2010.04 - Now 

  • ミミズ型検査用移動ロボット

    2021.04 - Now 

  • Development research about shooting machine

    robot, support for athletes  Joint Research in Organization

    2018.04 - 2022.03 

  • Blood flow simulation

    Blood flow, CFD, Biofunction  Joint Research in Japan

    2008.04 - 2017.03 

Professional Memberships

  • The Japan Society of mechanical Engineers

      Domestic

  • Society of automotive engineers of Japan

      Domestic

  • 農業食料工学会

      Domestic

  • The Electrochemical Society of Japan

      Domestic

  • ライフサポート学会

      Domestic

  • 日本船舶海洋工学会

      Domestic

  • 日本水中ロボネット

      Domestic

  • エアロ・アクアバイオメカニズム学会

      Domestic

  • 日本マリンエンジニアリング学会

      Domestic

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Committee Memberships (off-campus)

  • 幹事   エアロ・アクアバイオメカニズム学会  

    2015.10 - Now 

  • 関西支部 編集委員会委員   自動車技術会  

    2012.04 - Now 

Awards

  • 優秀テキスト賞

    高田洋吾

    2018.11   大阪市立大学教育後援会   入門 ロボット工学

  • ISABMEC 2018 Student Award

    Takuya Aritani

    2018.09   Development of Small Robotic Fish Equipped with FPGA and CMOS Camera for Tracking Live Fish

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    Country:Japan

  • Oceans / Techno-Ocean 2018 水中ロボット競技会フリースタイル部門 第2位 (川﨑直樹君、有谷拓也君)

    2018.05  

  • 日本機械学会関西支部第92期定時総会講演会 若手優秀講演フェロー賞 受賞(都倉悠平君)

    都倉悠平

    2017.04   日本機械学会  

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    Country:Japan

  • '12 水中ロボットコンベンション in JAMSTEC 優勝

    小山圭介,中村毅志,福崎昇,落合利紀,高田洋吾

    2012.03   水中ロボコン推進会議   魚ロボットFOCUS

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    Country:Japan

  • 日本マリンエンジニアリング学会賞 (論文賞)

    高瀬秀樹,吉原大祐, 高田洋吾,脇坂知行

    2009   公益社団法人 日本マリンエンジニアリング学会   DME噴霧着火バイオガス・都市ガス混合燃料エンジンにおける化学動力学に基づく3次元燃焼解析のための素反応スキームの構築

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    Country:Japan

  • 日本マリンエンジニアリング学会賞 (論文賞)

    脇坂知之,藤本英史,松川洋介,高田洋吾

    2008   公益社団法人 日本マリンエンジニアリング学会   高EGR直接噴射式ディーゼル機関における燃焼過程の化学動力学モデルに基づく3次元数値解析

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    Country:Japan

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Job Career (off-campus)

  • フジテック株式会社   研究開発本部   正社員

    1995.04 - 1997.03

Education

  • Osaka City University   Master's Course   Graduated/Completed

    - 1995

  • Osaka City University    

    - 1993

Papers

  • Study of Magnetic Wheels with Planetary Gears which Make Running on Flange Paths Easy for Magnetic Wheeled Robots Reviewed

    42 ( 1 )   64 - 73   2024.01( ISSN:1884-7145

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    Authorship:Last author, Corresponding author   Publishing type:Research paper (scientific journal)   International / domestic magazine:Domestic journal  

    DOI: https://doi.org/10.7210/jrsj.42.64

  • Development of a shooting machine for the selection of arrows Reviewed International coauthorship

    Masashi OHARA, Naoki KAWASAKI, Hyunwoo SONG, Ayane SHINOJIMA, Yuma NAKA, Yogo TAKADA, Hitoshi WATANABE

    Journal of Sports Engineering and Technology, SAGE journals   2023.12( ISSN:1754-3371

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    Authorship:Corresponding author   Publishing type:Research paper (scientific journal)   International / domestic magazine:International journal  

    DOI: https://doi.org/10.1177/17543371221141779

    Repository URL: http://hdl.handle.net/10466/0002000060

  • Development of a Small Robotic Fish with a Function to Tag Mackerel Reviewed

    Ayane SHINOJIMA, Yuma NAKA, Naoki KAWASAKI, Masashi OHARA, Yogo TAKADA

    Journal of Aero Aqua Bio-mechanisms   10 ( 1 )   40 - 47   2023.12( ISSN:2185-1522

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    Publishing type:Research paper (scientific journal)   International / domestic magazine:International journal  

    DOI: https://doi.org/10.5226/jabmech.10.40

  • Study on a Shooting Device to Support a Wire-Driven Bridge Inspection Robot Reviewed International coauthorship

    Masashi OHARA, Hyunwoo SONG and Yogo TAKADA

    Transactions of the JSME   88 ( 916 )   1 - 18   2022.12( ISSN:2187-9761

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    Authorship:Corresponding author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

    DOI: https://doi.org/10.1299/transjsme.22-00081

    DOI: https://doi.org/10.1299/transjsme.22-00081

    Other URL: https://www.jstage.jst.go.jp/article/transjsme/88/916/88_22-00081/_article/-char/ja

    Repository URL: http://hdl.handle.net/10466/0002000059

  • Effects on Trajectory of a Spear Using Movement of Robotic Fish Equipped with Spear Shooting Mechanism Reviewed

    Naoki kawasaki, Kazuki Tonomura, Masashi Ohara, Ayane Shinojima, Yogo Takada

    Robotics   11 ( 14 )   1 - 17   2022.01

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    Publishing type:Research paper (scientific journal)   Kind of work:Single Work  

  • Autonomous Driving System with a Planar LiDAR-based Localization Method for a Magnetic Wheeled-type Bridge Inspection Robot BIREM-IV-P Reviewed

    Hyunwoo Song, Ryota Hatanaka, Masaru Tanida, Yogo Takada

    Automation, Control and Intelligent Systems   9 ( 4 )   111 - 121   2021.12

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    Publishing type:Research paper (scientific journal)   Kind of work:Single Work  

  • ローリング運動を起こす魚追従ロボットにおける撮影回転画像のリアルタイム補正 Reviewed

    川﨑直樹,有谷拓也,高田洋吾

    日本機械学会論文集   87 ( 901 )   1 - 15   2021.09

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    Publishing type:Research paper (scientific journal)   Kind of work:Single Work  

  • Localization Method Based on Image Processing for Autonomous Driving of Mobile Robot in the Linear Infrastructure Reviewed

    Hyunwoo Song, Jun Nakahama, Yogo Takada

    Automation, Control and Intelligent Systems   9 ( 1 )   34 - 45   2021.04

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

  • 橋梁点検を支援する移動ロボットの平面 LiDAR を用いた位置推定法 Reviewed

    宋 炫雨,中濱 純,高田 洋吾

    日本機械学会論文集   87 ( 896 )   1 - 15   2021.04

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

  • Effects of Centroid Position on Running Performance of Bridge Inspection Robot BIREM-IV Reviewed

    Hyunwoo Song, Ryota Hatanaka, Yogo Takada

    IOSR Journal of Mechanical and Civil Engineering   18 ( 2 )   41 - 49   2021.04

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    Publishing type:Research paper (scientific journal)   Kind of work:Single Work  

  • Investigation of Rotors Imitating Bird Wings to Reduce Electricity Consumption of HORNET Reviewed

    Yogo Takada, Tatsuki Kanada, Takahiro Tanaka, Yodai Matsumura

    Journal of Aero Aqua Bio-mechanisms   8 ( 1 )   48 - 53   2019.08( ISSN:2185-1522

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

    橋や建物の劣化に対処するために、建物の壁を検査するロボットHORNETを開発した。走行時間を延長するため、ローターの断面形状を、遺伝的アルゴリズムにリンクした2次元数値解析を使用して消費電力を削減する形に設計した。さらに、鳥を模した数種類のローターを製作し、電力消費を削減するための理想的な形状を決めるための実験を行った。さらに、ローターをHORNETに取り付けたときのシミュレーションモデル作成と性能評価実験を実施した。結果、HORNETに本研究で得た最良のローターを取り付けて走行時間が長くなることを示した。ロボット工学、流体力学、数値解析、機械学習に関連する。

    DOI: 10.5226/jabmech.8.48

  • Small Robotic Fish with Two Magnetic Actuators for Autonomous Tracking of a Goldfish Reviewed

    Takuya Aritani, Naoki Kawasaki, Yogo Takada

    Journal of Aero Aqua Bio-mechanisms   8 ( 1 )   69 - 74   2019.08( ISSN:2185-1522

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    Authorship:Corresponding author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

    魚ロボットは、水棲生物にあまり警戒されないため、生態調査に適している。本研究では金魚を自動追跡する手のひらサイズの小型魚ロボットを開発した。ロボットによる生きた魚の自動追尾は、カメラで金魚を認識し、金魚に向かって泳ぐ方向を制御することで行う。金魚の機敏な動きに追尾するために、ロボットは2関節で作成して旋回能力を高くしている。実験の結果、このロボットが金魚を追尾できることを確認した。ロボット工学、メカトロニクス、制御工学、画像処理、電子情報学に関連する。

    DOI: 10.5226/jabmech.8.69

  • Development of a Compact Wall-Climbing Robot Capable of Transitioning among Floor, Vertical Wall and Ceiling Reviewed

    Yodai Matsumura, Koyo Kawamoto, Yogo Takada

    37 ( 6 )   514 - 522   2019.07( ISSN:1884-7145

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    Authorship:Corresponding author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

    DOI: 10.7210/jrsj.37.514

  • Development of Magnetic Bridge Inspection Robot Aimed at Carrying Heavy Loads Invited Reviewed

    Yodai Matsumura, Takehiro Shiba, Satoshi Ito, Yuya Kawase, Yogo Takada

    International Journal of Robotic Engineering   3 ( 2 )   1 - 10   2018.09( ISSN:2631-5106

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    Authorship:Corresponding author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:International journal  

    鋼製ヨークとネオジム磁石で構成される駆動輪を左右に配置した橋梁検査ロボットを開発した。車輪が鋼板に接触すると、磁気回路を形成し、強い力を生成するため、ロボットは重い物体を搭載したまま移動できる。ただし、吸着力が強すぎて車輪が立体内側直角部でロボットは移動できなくなる。強い磁力を排除するため、ロボットに押し出し機構を装備した。このロボットが重量物を載せたまま立体直角部を含む様々な経路を走行できる能力があることを示した。ロボット工学、制御工学、電気工学、メカトロニクスに関連する。

    DOI: 10.35840/2631-5106/4110

  • Wall Inspection Robot with Maneuvering Assist Control System Against Crosswind Reviewed

    Takada Yogo, Tokura Yuhei, Matsumura Yodai, Tanaka Takahiro, Kanada Tatsuki

    富士技術出版株式会社 Journal of Robotics and Mechatronics   30 ( 3 )   416 - 425   2018.06( ISSN:0915-3942

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:International journal  

    コンクリート橋や建物の壁を自由に移動するロボットHORNETを開発した。このロボットは、2つのローターで壁に沿って走行できる。ただし、プロペラの揚力で移動するロボットは、強風にさらされると壁から落下する可能性がある。本研究ではロボットにジャイロセンサを取り付けて、ロボットの姿勢を安定化させる操縦支援制御を構築した。結果、横風に対してHORNETの耐性が向上することが示された。ロボット工学、制御工学、メカトロニクスに関連する。

    DOI: 10.20965/jrm.2018.p0416

    CiNii Article

  • Development of a Bridge Inspection Robot Capable of Traveling on Splicing Parts Invited Reviewed

    Yogo Takada, Satoshi Ito, Naoto Imajo

    Inventions   2 ( 22 )   1 - 13   2017.08

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:International journal  

    橋梁の各箇所には、添接部と呼ばれるボルトが数多く並ぶ部分があり、橋梁検査ロボットには、立体直角路以外にも添接部を通過する能力も求められている。この研究では、ロボットは、スプライシング部分のボルトを避ける構造としてロボットを製作した。ロボットの性能実験を行い、ロボットが実際の橋の箱桁部の内側直角路を走破できることを示した。また、添接部を手動で制御することは非常に困難なため、カメラと高輝度発光ダイオードをロボットに取り付けて、自律制御系を構築し所定の結果を得た。ロボット工学、メカトロニクス、制御工学、通信技術、画像処理に関連する。

    DOI: 10.3390/inventions2030022

  • Making a three-dimensional map in complicated environment by using a bridge inspection robot with a laser range finder Reviewed

    IMAJO Naoto, TAJIRI Tomoki, KASHINOKI Mikiji, TAKADA Yogo

    The Japan Society of Mechanical Engineers, TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A   82 ( 833 )   1 - 12   2016.12( ISSN:2187-9761

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    Authorship:Corresponding author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

    Many infrastructures such as bridges and tunnels had been constructed in various parts of Japan during the high economic growth period. They need periodic inspection because they are aging. Inspecting them by inspector is both costly and time-consuming. There is a strong demand for practical bridge inspection robots to reduce the costs and times. The inspection robot running autonomously on the bridge needs to determine moving route and to estimate self-position. The robot must have a three dimensional map of the bridge to take these actions. This paper proposes a method of making a three-dimensional occupancy grid map of the large scale infrastructure where the inspector cannot go easily such as an underside of the bridge. A bridge inspection robot equipped with magnets had been developed in present study. We attached a measuring device which consists of a small 2D laser range finder and a servo motor. Experiments were conducted to make the 3D map by using the robot. The robot climbed to target position on the wall without falling although it was equipped with the measuring device which is heavy. Moreover, the robot can make the 3D occupancy grid map and the map can be useful to inspect bridges.

    DOI: 10.1299/transjsme.15-00443

    CiNii Article

  • In vivo visualization method by absolute blood flow velocity based on speckle and fringe pattern using two-beam multipoint laser Doppler velocimetry Reviewed

    Kyoden Tomoaki, Naruki Shoji, Akiguchi Shunsuke, Ishida Hiroki, Andoh Tsugunobu, Takada Yogo, Momose Noboru, Homae Tomotaka, Hachiga Tadashi

    JOURNAL OF APPLIED PHYSICS   120 ( 8 )   1 - 8   2016.08( ISSN:0021-8979

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:International journal  

    2ビーム多点レーザードップラー速度計(2ビームMLDV)は、2次元血流の画像を提供できる非侵襲的可視化技術であり、癌を観察できる可能性がある。深度位置を選択できることが、2ビームMLDVの利点であり、この手法を使用して、血管の位置を3次元空間で特定できる。皮膚の血流速度を測定すると、2つのレーザービームの交差領域にスペックルパターンが形成される。生成されたスペックルパターンにより強度が増した信号により、2ビームMLDVは、皮膚の血流速度を測定できることが示された。計測工学、電子工学に関連する。

    DOI: 10.1063/1.4961611

  • Examining the Relationship Between Blood Flow Velocity and Movement of Erythrocytes in a Capillary Using Laser Doppler Velocimetry Reviewed

    Akiguchi Shunsuke, Ishida Hiroki, Takada Yogo, Teranishi Tsunenobu, Andoh Tsugunobu, Hachiga Tadashi

    IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING   11 ( 4 )   451 - 456   2016.07( ISSN:1931-4973

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    Publishing type:Research paper (scientific journal)   International / domestic magazine:International journal  

    多くの流速計は、流体中に存在するトレーサー粒子の動きを追跡することにより、流体の速度を測定する。レーザードップラー速度計では、適切な密度と径のトレーサー粒子が測定対象の流体に加えるが、これは生体内測定では不可能です。そこで、赤血球をトレーサー粒子として使用した。マウスの耳の血管と蛇行流路にトレーサー粒子を加えた場合の流速分布測定の結果を比較し、動いている赤血球の速度が血液の速度と正確には一致しないことが示された。これは皮膚の下の縞模様の変化によるもので、赤血球速度データを調べる際に考慮すべきこととして示した。計測工学、電気情報学、流体力学に関連する。

    DOI: 10.1002/tee.22262

  • Practical Applications of HORNET to Inspect Walls of Structures Reviewed

    Tokura Yuhei, Toba Kohei, Takada Yogo

    JOURNAL OF ROBOTICS AND MECHATRONICS   28 ( 3 )   320 - 327   2016.06( ISSN:0915-3942

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    Authorship:Corresponding author   Publishing type:Research paper (scientific journal)   International / domestic magazine:International journal  

    日本の高度経済成長期には、社会インフラの建設が促進され、多数の橋や建物が増えたが、 現在、これらの橋や建物の壁は劣化しており、点検員が定期的に検査している。この人的検査のプロセスは費用と時間を要し、さらに点検員は落下等の危険にさらされている。本研究では、低コストで安全な検査を可能にするために、壁からの距離を保ちながら壁を安定して移動するロボットを開発し、このロボットの種々の特性を測定し、実用可能性を測定結果に基づいて評価した。ロボット工学、メカトロニクスに関連する。

    DOI: 10.20965/jrm.2016.p0320

  • Strategy for lowering electric power consumption concerning vertical wall inspection robot HORNET Reviewed

    TOKURA Yuhei, TAKADA Yogo

    The Japan Society of Mechanical Engineers, Transactions of the JSME (in Japanese)   82 ( 835 )   1 - 12   2016.03( ISSN:2187-9761

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    Authorship:Corresponding author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

    Many structures such as bridges, buildings, tunnels and dams had been constructed during the high economic growth period in Japan. The deterioration of these structures has become a big social problem. The maintenance method which finds the minor damages on the structures is important for the life extension of many structures before the progress of deterioration advances. When the inspections become frequent, the huge cost is needed. Robots are said to be useful for the management and maintenance of many old structures because the conventional method will intensify the strains on economy. In this study, we have created a flying robot HORNET with tilt-rotors and two wheels. HORNET can move on a vertical wall keeping a constant distance between the robot and a wall. Then, it is very easy and safe to control the robot manually. In addition, the electric power consumption of HORNET can be smaller than hovering robot like drones because HORNET can hang on wall with claws of the wheels. We have examined the effects of the state of wall surface and the tilt angle of rotor surface on the electric power consumption of HORNET. According to the experimental results, it has been confirmed that the electric power consumption is reduced when the state of wall surface is rougher and the tilt angle of rotors is more parallel to the ground. It is possible to become a practicable wall inspection robot by adding the improvement to HORNET.

    DOI: 10.1299/transjsme.15-00422

    CiNii Article

  • Performance of Very Small Robotic Fish Equipped with CMOS Camera Reviewed International coauthorship

    Zhao Yang, Fukuhara Masaaki, Usami Takahiro, Takada Yogo

    ROBOTICS   4 ( 4 )   421 - 434   2015.12( ISSN:2218-6581

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    Authorship:Corresponding author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:International journal  

    生きた魚を調査するには、魚に追従する能力が必要になるため、推進システムの性能を改善する必要がある。本研究では、小型魚ロボット(SAPPA)を製作し、その推進性能、例えば、最大遊泳速度、回転半径、消費電力を測定した。また、SAPPAがCMOSカメラを使用して金魚を認識し、その画像を得ることを示すことができた。ロボット工学、メカトロニクス、画像処理に関連する。

    DOI: 10.3390/robotics4040421

  • High-resolution in-situ LDV monitoring system for measuring velocity distribution in blood vessel Reviewed

    Kyoden Tomoaki, Abe Shotaro, Ishida Hiroki, Akiguchi Shunsuke, Andoh Tsugunobu, Takada Yogo, Teranishi Tsunenobu, Hachiga Tadashi

    OPTICS COMMUNICATIONS   353   122 - 132   2015.10( ISSN:0030-4018

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    Publishing type:Research paper (scientific journal)   International / domestic magazine:International journal  

    線形MLDV(L-MLDV)は、レーザー光により生きたマウスの頸動脈の速度分布を計測できる。さらに、L-MLDVで使用されている光学部品と信号処理装置をアップグレードし、2次元(2D)流速を高速測定できる断面多点レーザードップラー速度計CS-MLDVを開発した。このCS-MLDVの妥当性は、数値流体力学の結果との比較を通じて検証した。また、手術でCS-MLDVが使用できる可能性を示すために、マウスの腸間膜血管で生体内測定を実施した。数値解析、計測工学に関連する。

    DOI: 10.1016/j.optcom.2015.04.075

  • Development and Evaluation of Compact Robot Imitating a Hermit Crab for Inspecting the Outer Surface of Pipes Invited Reviewed

    Naoto IMAJO, Yogo TAKADA, and Mikiji KASHINOKI

    Journal of Robotics   2015   1 - 7   2015.05

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:International journal  

    DOI: 10.1155/2015/312780

  • Multi-channel laser Doppler velocimetry using a two-dimensional optical fiber array for obtaining instantaneous velocity distribution characteristics Reviewed

    T. Kyoden, Y. Yasue, H. Ishida, S. Akiguchi, T. Andoh, Y. Takada, T. Teranishi , T. Hachiga

    IOP science, Japanese Journal of Applied Physics   54 ( 1 )   1 - 6   2015.03

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    DOI: 10.7567/JJAP.54.012501

  • Position Estimation of Small Robotic Fish Based on Camera Information and Gyro Sensors Invited Reviewed

    Y. Takada, K. Koyama, T. Usami

    Robotics   3 ( 2 )   149 - 162   2014.04

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    DOI: 10.3390/robotics3020149

  • A milliliter-scale yeast-based fuel cell with high performance Reviewed

    Kaneshiro Hiroyuki, Takano Kosuke, Takada Yogo, Wakisaka Tomoyuki, Tachibana Taro, Azuma Masayuki

    BIOCHEMICAL ENGINEERING JOURNAL   83   90 - 96   2014.02( ISSN:1369-703X

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    DOI: 10.1016/j.bej.2013.12.011

  • Creation of a Three - dimensional Occupancy Grid Map on the Off - road to Guide the Visually Impaired People Reviewed

    Tajiri Tomoki, Takada Yogo, Kawai Tadao

    The Society of Life Support Engineering, Journal of Life Support Technology   25 ( 4 )   116 - 123   2013.12( ISSN:1341-9455

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    It is very important to develop a guide robot for the visually impaired people with the hope of welfare reform. Lest the visually impaired people fall down by the step or have a collision with a street tree, the guide robot must guide them safely. A 3-dimensional map where various obstacles and steps have been recorded is necessary for the guide robot. In this study, 3-dimensional occupancy gird map concerning the unleveled ground was made with a measuring device composed of a servo motor and a laser range finder. Small stones, grass, and a tree branch and so on were expressible on the 3-dimensional map. The standard deviation value on the map, i.e. the void ratio above the uneven ground, can indicate whether the guide robot for the visually impaired people can go into the measured place. Even if the each measured area is small, the maps can combine to create the wide field map. We have been able to make 3-dimensional occupancy grid maps which are useful to guide the visually impaired people.

    DOI: 10.5136/lifesupport.25.116

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  • Development of a Bridge Inspection Robot Working in Three-Dimensional Environment (Evaluation of Driving Performance of a Moving Mechanism with Permanent Magnets) Reviewed

    TAKADA Yogo, KIRIMOTO Kousuke, TAJIRI Tomoki, KAWAI Tadao

    The Japan Society of Mechanical Engineers, TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A   79 ( 805 )   3135 - 3146   2013.09( ISSN:0387-5024

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    As for social infrastructures such as a lot of bridges and tunnels that have been constructed in various places since the high economic growth age of postwar days, deterioration is serious. Taking action to the deterioration of infrastructures is desirable. In this study, we aim to develop the robot that can inspect cracks and corrosion in steel bridge substructures. A four-wheel driving robot for trial purposes has been created with the aid of analysis using software DYMOLA. The robot can climb vertically on a steel wall. Strong permanent magnets are installed on the edge parts in the wheels. This robot does not fall by gravitation when it climbs a steel wall or runs along the ceiling upside down. The running performance of the robot is examined by the experiment.

    DOI: 10.1299/kikaic.79.3135

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  • Application to Biomedical Measurement Using a Micro Multipoint LDV (For In-Vivo Evaluation in Early-Stage Blood Flow Velocity Images of Malignant Melanoma) Reviewed

    TAKADA Yogo, TERANISHI Tunenobu, ISHIDA Hiroki, AKIGUCHI Shunsuke, ANDOH Tsugunobu, HACHIGA Tadashi

    The Japan Society of Mechanical Engineers, Transactions of the Japan Society of Mechanical Engineers Series C   79 ( 802 )   1095 - 1105   2013.06( ISSN:0387-5016

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    We intend to develop a laser Doppler velocimetry (LDV) system for in-vivo imaging that can measure blood flow velocity, that can generate tomograph of blood vessels with information in the depth direction and that has a high spatial resolution to enable individual microvessels. The present system evolved from a multipoint LDV (MLDV) that we developed for performing simultaneous multipoint measurements of water flow in transparent artificial flow channels. In this paper, we suggest an optical component of advanced MLDV for in-vivo and a method to determine the blood flow velocity from the sampling data. We measured microvessels of an experimental mouse, and succeeded in imaging the blood flow velocity in microvessels as 2 or 3 dimensional images. Finally, we demonstrate that using MLDV of blood vessels is useful for diagnosing malignant melanomas by comparison with visual diagnosis by dermoscopy.

    DOI: 10.1299/kikaib.79.1095

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  • Path Planning for Autonomous Work for Agricultural Mobile Robots with Wheels Reviewed

    TAJIRI Tomoki, TAKADA Yogo, KAWAI Tadao

    The Japanese Society of Agricultural Machinery and Food Engineers, Journal of JSAM   75 ( 3 )   175 - 180   2013.05( ISSN:02852543

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    In this paper, we attempted generating a moveable path from the start to goal positions with mobile robots with wheels. Because agricultural mobile robots with wheels cannot move onto a step due to mechanical factors, we have devised a path planning method which considers the gradient on the ground. Q-learning is one of the methods which is often used for path planning. Using Q-learning, we made a robot learn the optimum path with the smallest gradient on the ground. We performed an experiment using a real robot in an actual environment with steps and slopes, and investigated the effectiveness of this method. The effectiveness of this method was verified from the experiment results.

    DOI: 10.11357/jsam.75.175

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  • Analysis of Flow around Robotic Fish by Three-dimensional Fluid-structure Interaction Simulation and Evaluation of Propulsive Performance Reviewed

    Y. Takada, T. Ochiai, N. Fukuzaki, T. Tajiri, T. Wakisaka

    Journal of Aero Aqua Bio-mechanisms   3 ( 1 )   57 - 64   2013.03

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    DOI: 10.5226/jabmech.3.57

  • Evaluation of Artificial Caudal Fin for Fish Robot with Two Joints by Using Three-Dimensional Fluid-Structure Simulation Reviewed

    Takada Yogo, Fukuzaki Noboru, Ochiai Toshinori, Tajiri Tomoki, Wakisaka Tomoyuki

    ADVANCES IN MECHANICAL ENGINEERING   ( 5 )   1 - 9   2013.01( ISSN:1687-8132

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    実用化に向けて魚ロボットの高速度化が必要である。様々な条件の下で、3次元流体構造連成解析のシミュレーションプログラムを用いて、高速化する因子を見つけ出すことを目的とする。なお、数値解析の結果をPIV測定結果と比較して、両者がよく一致していることを確認している。数値解析の結果、2つの関節を持つ魚ロボットのパフォーマンスは、1つの関節を持つ魚ロボットのパフォーマンスよりも優れていること、尾ひれの柔軟性に関して硬さに分布を持たせることで性能が上がることを確認した。ロボット工学、数値解析に関連する。

    DOI: 10.1155/2013/310432

  • Target Following and Self-position Estimation of Small Fish Robot FOCUS Reviewed

    TAKADA Yogo, NAKAMURA Tsuyoshi, KOYAMA Keisuke, FUKUZAKI Noboru, TAJIRI Tomoki, WAKISAKA Tomoyuki

    The Japan Institute of Marine Engineering, JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN   47 ( 5 )   742 - 747   2012.09( ISSN:13461427

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     Autonomous small fish robots are ideal for surveys of fish resources and underwater structural inspections where electric wires hinder the movement of the robot or where radio signals, such as GPS, cannot be received. For practical usage such as taking pictures of fishes in the sea, the fish robot needs to follow the target fish and estimate its self-position to swim autonomously in water. The authors have developed a small fish robot named FPGA Offline Control Underwater Searcher (FOCUS) which has some micro CMOS cameras and an FPGA circuit board for data processing. Red objects can be detected with the CMOS camera. Using visual information from images taken from the bottom facing camera, self-position estimation becomes possible. The self-position estimation has been tested utilizing a real-time digital image correlation method using an FPGA. Development of a VHDL program for the FPGA and the mounting of FPGA on a circuit board have been conducted for target following and self-position estimation. This FPGA board executes both the control of the swimming fish robot and image processing at the same time. Results confirm that the small fish robot can follow the target and can measure simultaneously its self-position.

    DOI: 10.5988/jime.47.742

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  • Target Following Control of Small Fish Robot FOCUS Based on Color Information Reviewed

    Yogo Takada, Tsuyoshi Nakamura, Keisuke Koyama, Tomoki Tajiri

    Vol.78 ( No.792 )   205 - 215   2012.08( ISSN:1884-8354

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    DOI: 10.1299/kikaic.78.2924

  • Self-position Estimation of Small Fish Robot Based on Visual Information from Camera Reviewed

    TAKADA Yogo, NAKAMURA Tsuyoshi, KOYAMA Keisuke, WAKISAKA Tomoyuki

    The Japan Institute of Marine Engineering, JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN   47 ( 3 )   437 - 443   2012.05( ISSN:13461427

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     Autonomously working small fish robots are ideal for surveys of fish resources and underwater structural inspections where electric wires hinder the movement of the robot or where radio signals, such as GPS, cannot be received. For practical usage, the fish robot needs to estimate its self-position to swim autonomously in water. Using visual information from images taken from the bottom facing camera, self-position estimation becomes possible. Digital image correlation and tracking method is often used to measure deformation or strain of material and visualization of flow in water. Although self-position estimation of aquatic robots becomes possible when this method is applied, microcomputers (PIC, H8, AVR etc.) cannot be used for the digital image correlation method since they are unable to perform the calculations in real-time. In this study, self-position estimation was tested utilizing the real-time digital image correlation method by using a FPGA (Field Programmable Gate Array). VHDL programming for FPGA and the FPGA equipped circuit board have been originally developed. This FPGA board executes both the control of the swimming fish robot and image processing at the same time. Results confirm that the small fish robot can measure swimming distance by itself.

    DOI: 10.5988/jime.47.437

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  • Effects of Tail Fin Flexibility on Propulsive Performance in Small Fish Robots (Investigation by Fluid-Structure Interaction Analysis Considering Elastic Deformation of Tail Fin) Reviewed

    TAKADA Yogo, ARAKI Ryosuke, OCHIAI Toshinori, TAJIRI Tomoki, WAKISAKA Tomoyuki

    The Japan Society of Mechanical Engineers, TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A   77 ( 778 )   2351 - 2362   2011.06( ISSN:0387-5024

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    Fish robots that swim with the tail fin do not give the caution to underwater creatures. Therefore, they become useful for the investigation of ecosystem in water and the usage of the environmental surveillance and so on. However, the propulsive velocity of fish robots is extremely slower than that of live fishes. It is necessary to examine the difference of how to swim between live fishes and fish robots in order to put the robots to practical use. In this study, the modification has been added to the CFD code that had been developed up to now, so as to clarify the relation between tail fin's flexibility and the propulsive performance of the fish robot. The new code can calculate fluid-structure interaction analysis considering elastic deformation of tail fin. By using the modified CFD code, effects of tail fin flexibility on propulsive velocity and flow pattern of water around the fish robot have been examined.

    DOI: 10.1299/kikaic.77.2351

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  • Effect of Material and Thickness about Tail Fins on Propulsive Performance of a Small Fish Robot Reviewed

    Y. Takada, Y. Nakanishi, R. Araki, M. Nonogaki, T. Wakisaka

    Journal of Aero Aqua Bio-mechanisms   1 ( 1 )   51 - 56   2011.02

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    DOI: 10.5226/jabmech.1.51

  • Stabilization of Walking on Uneven Road for a Small Humanoid Robot Reviewed

    Transactions of the Japan Society of Mechanical Engineers. C   76 ( 772 )   3622 - 3629   2010.12( ISSN:0387-5024

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    DOI: 10.1299/kikaic.76.3622

  • Prediction of soot emission from a direct injection diesel engine by means of three-dimensional chemical kinetics calculation Reviewed

    Transactions of the Society of Automotive Engineers of Japan   41 ( 5 )   1083 - 1088   2010.09

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    DOI: 10.11351/jsaeronbun.41.1083

  • Development of Small and Ultra-Light Passive-Type Polymer Electrolyte Fuel Cell and Application to Small Fish Robots Reviewed

    Transactions of the Japan Society of Mechanical Engineers. B   76 ( 764 )   650 - 659   2010.04( ISSN:1884-8346

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    DOI: 10.1299/kikaib.76.764_650

  • Development of Small Fish Robots Powered by Small and Ultra-Light Passive-Type Polymer Electrolyte Fuel Cells Reviewed

    Y.Takada, R.Araki, Y.Nakanishi, M.Nonogaki, K.Ebita, T. Wakisaka

    Journal of Robotics and Mechatronics   22 ( 2 )   150 - 157   2010.04

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    DOI: 10.20965/jrm.2010.p0150

  • Investigation of Propulsive Force and Water Flow around a Small Fish Robot by PIV Measurement and Three-Dimensional Numerical Analysis Reviewed

    Transactions of the Japan Society of Mechanical Engineers. C   76 ( 763 )   665 - 672   2010.03( ISSN:1884-8354

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    DOI: 10.1299/kikaic.76.665

  • Effects of LPG and DME Spatial Distributions on Combustion in LPG-DME Spark Ignition Engine : Three-dimensional Numerical Analysis Based on Chemical Kinetic Model Reviewed

    OMOTE Hiroshi, YAMANAKA Yuichi, NAKAZONO Tohru, TAKADA Yogo, WAKISAKA Tomoyuki

    Marine engineering   45 ( 1 )   103 - 108   2010.01( ISSN:13461427

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  • Effect of Combustion Chamber Shape on Performance of Spark Ignition Engines Fueled by Mixture of LPG and DME : Experimental Investigation on Knocking Limits Reviewed

    OMOTE Hiroshi, NAKAZONO Tohru, TAKADA Yogo, WAKISAKA Tomoyuki

    The Japan Institute of Marine Engineering, JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN   44 ( 6 )   941 - 946   2009.11( ISSN:13461427

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    Dimethyl ether (DME) is one of the most promising alternative fuels for the near future. For rapid spread, it is desirable to use the mixture of DME with LPG (mainly propane), because a mature supply infrastructure already in existence can be employed. However, using the mixture of LPG and DME as a fuel for a spark ignition engine causes a problem, knocking during combustion. In a previous study, the authors analyzed this knocking phenomenon in a small gas engine for co-generation system by means of a three-dimensional combustion simulation based on a chemical kinetic model, and investigated the effect of combustion chamber shape on the knocking phenomenon. However, due to long computational time, it was difficult to evaluate various piston cavity shapes under the wide range of operating conditions. Therefore, in this study, the authors have investigated the effects of those piston cavity shapes on engine performance, especially on knocking limits by experiments under the wide range of operating conditions in the same engine, and have explored a suitable piston cavity shape for LPG-DME mixture fuel with high ratio of DME.

    DOI: 10.5988/jime.44.941

    CiNii Article

  • Glucose fuel battery powered by yeast-analysis of the battery for high performance(Section VIII Fermentation and Microbial Technology) Reviewed

    M.Azuma, Y.Ito, K.Takano, T.Tachibana, S.Koyama, Y.Takada, T.Wakisaka

    Journal of bioscience and bioengineering   108 ( S1 )   S129-S130   2009.11

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  • Construction of Elementary Reaction Scheme for Three-Dimensional Combustion Analysis Based on Chemical Kinetics in Bio Gas and City Gas Mixture Fueled Engines Ignited with DME Spray Reviewed

    Journal of the JIME   44 ( 6 )   934 - 940   2009.11

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  • Power Generation Characteristics and Performance Improvement of a Bio-fuel Cell Using Yeast Reviewed

    Journal of High Temperature Society   35 ( 5 )   283 - 290   2009.09

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  • Effects of In-cylinder Gas Flow and Fuel Injection on Mixture Formation in Direct-injection Gasoline Engine : Investigation of Fan Spray Behavior by Three-dimensional Numerical Simulation Reviewed

    TAKASE Hideki, ONO Toshiaki, TAKADA Yogo, WAKISAKA Tomoyuki

    The Japan Institute of Marine Engineering, JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN   44 ( 4 )   641 - 647   2009.07( ISSN:13461427

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    The stratified air-fuel mixture formation for stratified SI (spark ignition) combustion, and the homogeneous air-fuel mixture formation for both homogeneous SI combustion and HCCI (homogeneous charge compression ignition) combustion, in a direct-injection gasoline engine, have been three-dimensionally analyzed by means of the authors' GTT code with a fan spray model which was validated by the authors' group. The effects of various in-cylinder gas flows on mixture formation, by means of a fan spray, have been investigated by using intake valves with shrouds in various layouts. Furthermore, the effects of the fuel injection direction and the injection timing on mixture formation, have also been investigated. As a result, it has been found that both stratified mixture and homogeneous mixture can be formed stably at a wide range of engine speeds by only changing the fuel injection timing, with the fuel injection direction in accordance with the in-cylinder gas flow direction.

    DOI: 10.5988/jime.44.641

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  • Effects of Exhaust Pipe and Diffuser Shapes on Purification Efficiency of Exhaust Gas Three-way Catalyzer for Gasoline Engines : Investigation by Three-dimensional Numerical Simulation of Thermo-fluid Flow and Catalytic Reaction Reviewed

    TAKASE Hideki, KOTANI Toshimasa, TAKADA Yogo, WAKISAKA Tomoyuki

    The Japan Institute of Marine Engineering, JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN   44 ( 3 )   477 - 483   2009.05( ISSN:13461427

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    Further improvement in the purification performance of exhaust gas is required for the three-way catalyzers (TWC) to purify gasoline engine exhaust gas. Therefore it is necessary to investigate the purification characteristics, in detail, and improve the catalyzer geometry, etc. In this study the conversion efficiencies of exhaust gas components; CO, HC and NO in the TWC were estimated by three-dimensional calculation with the authors' GTT code, in which a catalytic reaction model was incorporated in order to analyze the thermo-fluid flow with chemical reaction in the TWC. The effects of the shapes of exhaust pipe and diffuser in the upstream part of the monolith catalyzer on conversion efficiency were investigated. It has been found that both exhaust pipe and diffuser shapes considerably affect the conversion efficiency of catalyzer, especially in the range of catlyzer activation temperature, i.e., from about 400 K to 520 K.

    DOI: 10.5988/jime.44.477

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  • Prediction of Ignition and Combustion Process in Gasoline HCCI Engine by Three-dimensional Numerical Simulation Based on Chemical Kinetics Reviewed

    WAKISAKA Tomoyuki, FUJIMOTO Hidefumi, ITO Kazuma, TAKADA Yogo

    The Japan Institute of Marine Engineering, JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN   44 ( 2 )   298 - 303   2009.03( ISSN:13461427

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    Gasoline homogeneous charge compression ignition (HCCI) engines, in which a very lean homogeneous mixture is burned at a high compression ratio, can operate with a high thermal efficiency, and can reduce NOx emission. Therefore, the HCCI engine is a possible candidate as a next-generation engine. In this study, the authors newly proposed a reduced elementary reaction scheme for gasoline PRF, and simulated the ignition and combustion process and the combustion products in a gasoline HCCI engine by three-dimensional numerical analysis using the authors' GTT code, which was linked to the CHEMKIN subroutines with the proposed elementary reaction scheme. As a result, the ignition timing, the cylinder gas pressure, the rate of heat release, and the emissions of NO and CO2 at various air-fuel ratios and engine speeds were accurately predicted.

    DOI: 10.5988/jime.44.298

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  • Effect of Combustion Chamber Shape on Knocking Phenomenon in Spark Ignition Engine Fueled by Mixture of LPG and DME : Three-dimensional Combustion Analysis Based on Chemical Kinetic Model Reviewed

    OMOTE Hiroshi, TAKAI Kiyosei, TAKADA Yogo, WAKISAKA Tomoyuki, NAKAZONO Tohru

    The Japan Institute of Marine Engineering, JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN   44 ( 1 )   150 - 156   2009.01( ISSN:13461427

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    Dimethyl ether (DME) is one of the most promising alternative fuels for the near future. For rapid spread, it is desirable to use the mixture of DME with LPG (mainly propane), because a mature supply infrastructure already in existence can be employed. However, using the mixture of LPG and DME as a fuel for a spark ignition engine causes a problem, knocking during combustion. In a previous study, the authors analyzed this knocking phenomenon by a three-dimensional combustion simulation based on a chemical kinetic model using a GTT-CHEM code. This code was constructed by linking the authors' GTT code to the CHEMKIN-II code. In this study, using this simulation technique, the authors have investigated the effect of combustion chamber shape on the knocking phenomenon. The authors have explored a new combustion chamber which can suppress this occurrence of knocking. A small gas engine for co-generation system was employed and obtained experimental data, for comparing with the numerical simulation results.

    DOI: 10.5988/jime.44.150

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  • Effects of Initial Chemical Species Composition on the Gasoline Compression Ignition Combustion Process Reviewed

    Takase Hideki, Takada Yogo, Wakisaka Tomoyuki

    Society of Automotive Engineers of Japan, JSAE Transactions   40 ( 2 )   369 - 374   2009( ISSN:0287-8321

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    The combustion characteristic timescale model by Kong et al. was applied to zero-dimensional chemical kinetics calculation with a detailed elementary reaction scheme in order to predict combustion processes under various operating conditions in a gasoline HCCI engine, and it has been shown that combustion processes as well as ignition timings can be predicted by means of this method. The effects of initial chemical species compositions on ignition timing were investigated by zero-dimensional chemical kinetics calculation, and the mechanism of ignition promotion due to CO was inferred on the basis of Kuwahara's contribution matrices.

    DOI: 10.11351/jsaeronbun.40.369

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  • Three-dimensional Numerical Analysis of Combustion Process Based on Chemical Kinetic Model in High-EGR Direct-injection Diesel Engine Reviewed

    WAKISAKA Tomoyuki, FUJIMOTO Hidefumi, MATSUKAWA Yosuke, TAKADA Yogo

    The Japan Institute of Marine Engineering, JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN   43 ( 6 )   971 - 976   2008.11( ISSN:13461427

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    The purpose of this study is to establish a practical method based on a chemical kinetic model for three-dimensional numerical analysis of the combustion process in direct-injection diesel engines. For saving computational time, a reduced elementary reaction scheme for diesel fuel was constructed. The basis was the Golovitchev detailed elementary reaction scheme. Using an original engine combustion simulation code GTT-CHEM along with the reduced elementary reaction scheme, the combustion process was three-dimensionally analyzed in a direct-injection diesel engine with high-EGR ratios.<BR>As a result, the combustion process and NO emission were quantitatively predicted by estimating the initial gas state and the initial composition appropriately. The emission tendency of soot was reasonably assessed by means of φ-T maps.

    DOI: 10.5988/jime.43.6_971

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  • Analysis of the Liquid Flow and By-product Behavior in the Anode-side Passage of a Direct Ethanol Polymer Electrolyte Fuel Cell Reviewed

    TAKADA Yogo, TANINAKA Satoshi, ISHII Toshinaga, WAKISAKA Tomoyuki

    The Japan Society of Mechanical Engineers, Transactions of the Japan Society of Mechanical Engineers B   74 ( 745 )   2040 - 2048   2008.09( ISSN:03875016

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    A direct ethanol polymer electrolyte fuel cell (DEFC) is an energy conversion system suitable for recycle-oriented society on the point that it uses innocuous bio fuel, but there exists a problem that its power generation performance is low. One of the causes is the generation and stagnation of by products in the anode-side passage. In this study, the authors have conducted numerical and experimental analyses of the liquid flow in various types of channels in the anode-side passage for estimating the pressure loss between an inlet and an outlet, and also for investigating the behavior of by products such as acetic acid produced in the passage. It has been found that a serpentine channel with branches is preferable because the pressure loss in the channel is much lower than in a serpentine channel and also the channel is likely to discharge by-products smoothly.

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  • Application of Original Gas Parcel Method and Modified Droplet Break-up Model to Three-dimensional Numerical Analysis of Combustion in Direct-injection Diesel Engines Reviewed

    FUJIMOTO Hidefumi, TAKADA Yogo, WAKISAKA Tomoyuki

    The Japan Institute of Marine Engineering, JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN   43 ( 5 )   788 - 794   2008.09( ISSN:13461427

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    In order to improve the accuracy of practical numerical analysis of high-pressure injection fuel sprays under high-pressure and high-temperature ambient gas conditions using relatively coarse computational grids, we introduced the following our original models into authors'GTT code for fuel injection engine combustion analysis: 1) Gas parcel method. 2) Two-stage modified wave break-up model, and its parameter functions. 3) Model of relative velocity between each droplet and the ambient gas. Using these models, the three-dimensional numerical analysis of the combustion in a direct-injection diesel engine could be performed under various conditions. The calculated results were compared with the experimental data. As a result, we could confirm that the original models are effective in improving the accuracy of engine combustion analysis.

    DOI: 10.5988/jime.43.5_788

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  • Control of Mixture Formation by GAs Flow and Combustion Chamber Shape in Fan Spray Direct-Injection Gasoline Engines -Investigation by Three-Dimensional Numerical Simulation- Reviewed

    Journal of the JIME   43 ( 3 )   132 - 138   2008.05

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

  • Automatic Reduction of DME Detailed Elementary Reaction Scheme for Combustion Simulation in DME-Fueled Homogeneous Charge Compression Ignition Engines Reviewed

    Journal of the JIME   43 ( 3 )   124 - 131   2008.05

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

  • Automatic Reduction of Detailed Elementary Reaction Schemes by ASRT in Consideration of Chemical Species Histories Reviewed

    YAMAUCHI Toyosei, MATSUMOTO Atsutaka, TAKADA Yogo, WAKISAKA Tomoyuki

    Transactions of the Society of Automotive Engineers of Japan   39 ( 2 )   183 - 188   2008.03( ISSN:02878321

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    CiNii Article

  • Three-dimensional Numerical Simulation of Knocking Phenomenon in an LPG-DME Spark Ignition Engine on the Basis of a Chemical Kinetic Model Reviewed

    39 ( 2 )   147 - 152   2008.03( ISSN:02878321

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

  • Improving the Accuracy of Numerical Analysis of Fuel Sprays by Introducing a New Gas Parcel Method and Modifying a Droplet Breakup Model Reviewed

    FUJIMOTO Hidefumi, TAKADA Yogo, WAKISAKA Tomoyuki

    Transactions of the Society of Automotive Engineers of Japan   38 ( 6 )   23 - 28   2007.11( ISSN:02878321

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

    CiNii Article

  • Development of a Software Tool for Automatic Reduction of Detailed Elementary Reaction Schemes : Automatic Construction of Reduced Elementary Reaction Schemes for Three-dimensional Engine Combustion Analysis Reviewed

    MATSUMOTO Atsutaka, KIM Sang-kyu, TAKADA Yogo, WAKISAKA Tomoyuki

    Transactions of the Society of Automotive Engineers of Japan   38 ( 4 )   133 - 138   2007.07( ISSN:02878321

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    CiNii Article

  • Construction of a Chemical Kinetic Model for Three-dimensional Numerical Analysis of the Combustion in a Natural Gas Engine Ignited with Gas Oil Reviewed

    TAKADA Yogo, YOSHIHARA Daisuke, YAMAUCHI Toyosei, KIM Sang-kyu, MATSUMOTO Atsutaka, WAKISAKA Tomoyuki

    Review of automotive engineering   28 ( 3 )   345 - 350   2007.07( ISSN:13494724

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

    天然ガスと軽油の成分を含むガス混合物の素反応スキームを構築した。また、天然ガスと空気の混合物が吸気ポートから供給され、少量の軽油が点火源として噴射される過給式デュアル燃料エンジンの燃焼プロセスが、CHEMKIN-IIサブルーチンを連結した熱流動解析コードを使用して、化学反応速度を考慮しつつ3次元数値解析で明確化された。提案された化学反応速度モデルの妥当性は、計算結果と実験結果を比較することで検証された。内燃機関、数値解析に関連する。

    CiNii Article

  • Effects of Mixture Inhomogeneity and Gas Flow on Combustion in Premixed-charge Compression Ignition Engines : Three-dimensional Numerical Analysis of Combustion Process in Consideration of Chemical Kinetics Reviewed

    KIM Sang-kyu, TAKADA Yogo, WAKISAKA Tomoyuki

    The Japan Institute of Marine Engineering, JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN   42 ( 4 )   622 - 629   2007.07( ISSN:13461427

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

    In order to investigate the effects of mixture Inhomogeneity and gas flow on combustion and emissions in a premixed-charge compression ignition engine, three-dimensional numerical analysis of the combustion process was carried out by using the authors' GTT-CHEM code, which was linked to the CHEMKIN-II code. Combustion processes of gas oil and air mixtures (overall equivalence ratio was set at 0.4) under various initial conditions of mixture inhomogeneity and gas flow (swirl or tumble flow) were computed in consideration of chemical kinetics. It has been found that the maximum rate of pressure rise decreases as the mixture inhomogeneity becomes higher. On the contrary, the concentrations of combustion products NO, CO and HC increase, and the combustion efficiency becomes lower with the increase of mixture inhomogeneity. As a result, it has been shown that there exist appropriate initial conditions of mixture inhomogeneity and gas flow for suppressing the maximum rate of pressure rise with relatively low emissions of NO, CO and HC at high combustion efficiency.

    DOI: 10.5988/jime.42.4_622

    CiNii Article

    J-GLOBAL

  • Proposal of Gas Parcel Method for Improving Accuracy of Gas Jet Analysis in Gas Fuel Injection Engines Reviewed

    FUJIMOTO Hidefumi, TAKADA Yogo, WAKISAKA Tomoyuki

    The Japan Institute of Marine Engineering, JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN   42 ( 4 )   694 - 699   2007.07( ISSN:13461427

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    Generally, for numerically analyzing gas jets, computational mesh spacing must be smaller than the diameter of an injector nozzle. However, in performing three-dimensional flow analysis in the combustion chamber of a gas fuel injection engine, it is not realistic due to very long calculation time to use a fine mesh with spacing comparable to the diameter of an injector nozzle. Then, the authors devised a gas parcel method expressing local gas velocity distribution within mesh spacing, and verified its validity as follows:<BR>Firstly, an air jet injected into air was numerically analyzed using this method with a mesh having ten times larger spacing than the diameter of an injector nozzle. Basic characteristics (maximum velocity, velocity distribution and half width) of the calculated results were compared with theoretical values. It was found that the calculated results nearly reproduce the tendencies of theoretical values. Secondly, this method was applied to the numerical analysis of a hydrogen gas jet injected into air. It was found that the penetration, concentration distribution and shape of the jet are qualitatively in agreement with experimental results. As a result, it was shown that the proposed gas parcel method is effective in improvement of the accuracy of practical gas jet analysis.

    DOI: 10.5988/jime.42.4_694

    CiNii Article

    J-GLOBAL

  • Development of Numerical Method for Analyzing Gas-Liquid Two-Phase Flows in Consideration of Superior Mass Conservation : Application to Numerical Analysis of Mutual Impingement Phenomenon of Liquid Droplets Reviewed

    WAKISAKA Tomoyuki, TAKADA Yogo, YAMAUCHI Toyosei

    The Japan Institute of Marine Engineering, JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN   42 ( 3 )   472 - 479   2007.05( ISSN:13461427

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

    In order to run a numerical analysis of gas-liquid two-phase flows accurately, a three-dimensional computational code has been developed with a new numerical method in consideration of superior mass conservation. In this code, which is based on the GTT code developed by the authors, the interface between two phases is discriminated by an interface tracking function, and the function is reconstructed according to its iso-value surface at appropriate intervals during its convection process so that the interface can be captured sharply and the mass can be absolutely conserved. By using this code with the original numerical method, the behavior of two water droplets, which impinge mutually in various manners, has been numerically analyzed and the calculated result compared with an experimental result. The results show that this code can reproduce well the phenomenon of coalescence or breakup after the mutual impingement of the droplets.

    DOI: 10.5988/jime.42.3_472

    CiNii Article

    J-GLOBAL

  • Fundamental Study on the Improvement of Efficiency of a Fuel Cell Hybrid Power System for Agricultural Electric Vehicles Reviewed

    IMANISHI Hiroyuki, TAKADA Yogo, WAKISAKA Tomoyuki

    The Japanese Society of Agricultural Machinery and Food Engineers, Journal of JSAM   69 ( 1 )   78 - 85   2007.01( ISSN:02852543

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

    Fundamental study was made to construct a hybrid power system composed of passive-type polymer electrolyte fuel cells (PEFCs) and electric double-layer capacitors for agricultural electric vehicles. For numerically simulating the behavior of the hybrid system, a fuel cell equivalent circuit model was developed and the model parameters were determined based on an electrochemical theory and experimental results. By means of numerical simulation with this fuel cell equivalent circuit model which can represent the actual current-voltage characteristic reasonably well for a passive-type PEFC unit, the efficiency of the passive-type PEFC controlled by the authors' original power control method named Time-Splitting Method (TSM) has been investigated under various conditions (TSM frequencies, duty ratios and external load resistances), and the improvement of the efficiency of this PEFC with TSM has been confirmed.

    DOI: 10.11357/jsam1937.69.78

    CiNii Article

    J-GLOBAL

  • Investigation of the Shape of the Anode Flow Channel in a Direct Ethanol Polymer Electrolyte Fuel Cell : Optimization of the Sharp Turn Corner Shape by Numerical Flow Analysis with a Genetic Algorithm Reviewed

    TANINAKA Satoshi, TAKADA Yogo, WAKISAKA Tomoyuki, FURUICHI Noriyuki, TOGA Shinji, HACHIGA Tadashi

    The Japan Society of Mechanical Engineers, Transactions of the Japan Society of Mechanical Engineers B   72 ( 720 )   2048 - 2055   2006.08( ISSN:03875016

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

    Polymer electrolyte fuel cells, which have been developed for mobile equipment, are mainly direct methanol fuel cells (DMFC). From the standpoint of safety to a human body, it is desirable to use ethanol as fuel. In order to improve the performance of direct ethanol fuel cells (DEFC), it is necessary to investigate the fuel flow pattern in the anode flow channel with many sharp turn corners in the fuel cell, and to improve the channel shape. So, in this study, the velocity distribution of the water flow in a micro-channel was numerically analyzed using the authors' GTT code and the calculated results were verified by the velocity measurement with a line LDV system. For reducing the pressure loss in consideration of the suppression of flow stagnation in the channel, it was attempted to optimize the sharp turn corner shape by three-dimensional numerical flow analysis with a genetic algorithm (GA) and a shape with less pressure loss was found.

    CiNii Article

  • Application of a Genetic Algorithm to the Numerical Analysis of Thermo-Fluid Flow and Catalytic Reaction in an Exhaust Gas Three-Way Catalyzer Reviewed

    TAKADA Yogo, KOTANI Toshimasa, ITO Kazuma, KIM Sang-kyu, WAKISAKA Tomoyuki

    Transactions of the Society of Automotive Engineers of Japan   37 ( 2 )   55 - 60   2006.03( ISSN:02878321

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    CiNii Article

  • Traction Control for an Agricultural Electric Vehicle : Slip Ratio Control Based on a Peak Search Method of the Driving Force Reviewed

    IMANISHI Hiroyuki, TAKADA Yogo, WAKISAKA Tomoyuki

    The Japanese Society of Agricultural Machinery and Food Engineers, Journal of JSAM   68 ( 2 )   69 - 76   2006.03( ISSN:02852543

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

    As to agricultural vehicles, it is necessary to prevent tires from slipping when running on a ridge road. If electric motors are used to drive the wheels of an agricultural vehicle, it is easy to control the driving force of each wheel.<br>In this study, a traction control system with an original peak search method of the driving force was applied to an agricultural electric vehicle for improving vehicle stability. A simulation model for the power train of one of the driving wheels of an agricultural electric vehicle with the traction control system was composed and identified with a fixed experimental apparatus.<br>By numerical simulations, it has been confirmed that the slip ratio between a tire and a road can be kept at optimum states under very slippery conditions.

    DOI: 10.11357/jsam1937.68.2_69

    CiNii Article

    J-GLOBAL

  • Modeling of a Hybrid System for a Lightweight Electric Vehicle with Passive-type Polymer Electrolyte Fuel Cells and Electric Double-layer Capacitors : Application of a Fuel Cell Equivalent Circuit Model Reviewed

    IMANISHI Hiroyuki, YOSHII Taichi, NAKAMURA Takuji, TAKADA Yogo, WAKISAKA Tomoyuki

    The Japan Society of Mechanical Engineers, Transactions of the Japan Society of Mechanical Engineers. Series C.   71 ( 708 )   2607 - 2613   2005.08( ISSN:03875024

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    A simple series hybrid power system composed of passive-type polymer electrolyte fuel cells (PEFCs) and electric double-layer capacitors was adapted to a lightweight electric vehicle. In order to numerically simulate the behavior of the hybrid system, a fuel cell equivalent circuit model was applied and the model parameters were determined using an electrochemical theory and experimental results. Including this PEFC equivalent circuit model, a simulation model of the power train system (PEFCs, capacitors, motor, power controller, inertia, etc) of a lightweight electric vehicle was composed. It has been confirmed that this simulation model can represent reasonably well the dynamic behavior and energy transmission of the system in the experiment on a fixed apparatus constructed as a model of the vehicle.

    DOI: 10.1299/kikaic.71.2607

    CiNii Article

  • Application of a Hybrid System with Passive-type Polymer Electrolyte Fuel Cells and Capacitors to a Lightweight Electric Vehicle (Power Control by Time-Splitting Method) Reviewed

    Transactions of the Japan Society of Mechanical Engineers, B series   71 ( 702 )   300 - 307   2005.05( ISSN:0387-5016

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    Authorship:Corresponding author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

  • Turning Behavior of a Power-distributed Parallel Hybrid Electric Vehicle Reviewed

    Journal of Asian Electric Vehicles   1 ( 1 )   157 - 164   2003.02( ISSN:1348-3927

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

  • Fundamental Study on a Hybrid Power System of Passive-type Polymer Electrolyte Fuel Cells and Capacitors Reviewed

    Journal of Asian Electric Vehicles   1 ( 2 )   463 - 470   2003( ISSN:1348-3927

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work  

  • An Acceleration Control Algorithm for an Electric Motor Driven Vehicle in Consideration of the Reduction of Energy Consumption Reviewed

    Trans. of the JSME   68 ( 669 )   1512 - 1517   2002.05( ISSN:1884-8354

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

    DOI: 10.1299/kikaic.68.1512

  • A Simulation Study of Power-Distributed Parallel Hybrid Vehicle Reviewed

    Trans. of Soc. of Automotive Engineers of Japan   32 ( 2 )   55 - 60   2001.04

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

  • Traction Control for an Electric Driving Vehicle by Peak Search of Thrust Force Reviewed

    Trans. of JSME (C series)   67 ( 655 )   739 - 742   2001.03( ISSN:1884-8354

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    Authorship:Last author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

    DOI: 10.1299/kikaic.67.739

  • Improvement of Fuel Consumption at Driving-off for Automatic Transmission Car using DBW Algorithm Reviewed

    Trans. of JSME (B series)   67 ( 658 )   1591 - 1597   2001

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    Authorship:Last author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

  • Control Algorithm for CVT by Torque Demand Method Reviewed

    Trans. of Soc. of Automotive Engineers of Japan   31 ( 4 )   37 - 42   2000

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    Authorship:Last author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

  • Evaluation of Tuning up for Automobiles Accelerator Pedal Sensitivity by Torque Demand Method (Comparison with Direct MRACS) Reviewed

    Trans. of JSME (C series)   65 ( 639 )   4409 - 4414   1999.11( ISSN:1884-8354

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

    DOI: 10.1299/kikaic.65.4409

  • DBW自動車における車軸出力トルクと外乱負荷トルクの推定 Reviewed

    高田洋吾,守田栄之

    日本機械学会論文集(C編)   65 ( 629 )   244 - 248   1999.01( ISSN: 1884-8354

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

    電子制御スロットルを装備した自動車では、Drive By Wireによってアクセルペダル感度を随意に設定できる。そのために、車軸トルクと車軸回転数が必要であり、車軸トルクは適応観測器によって推定可能である。しかし、この制御方式は、道路勾配やエアコンで変化する外乱負荷トルクの影響を受ける欠点があった。そこで本研究では、トルクデータテーブルを組み合わせることで、外乱負荷トルクを推定し、その補償をした。制御工学、自動車工学、計測工学に関わる。

    DOI: 10.1299/kikaic.59.3

  • ソフトウェアトルク計を用いた自動車アクセルペダル感度の設定 Reviewed

    高田洋吾,守田栄之

    日本機械学会論文集(C編)   64 ( 628 )   4751 - 4755   1998.12

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

    アクセルペダルと電子制御スロットル弁の間にコンピュータを介在すれば、アクセルペダル感度をハードウェアの限界内で運転域やギア比に関係なく、随意の設定が可能になる。そのためには、トルク信号が必要になるが、従来車にトルクセンサは用いられていないため、センサレスでトルク値を得ることが望ましい。本手法を用いることでコストを削減できるだけではなく、制御結果もより良くなることが示された。制御工学、自動車工学に関連する。

  • ドライブバイワイヤによるアクセル感度設定の望ましい範囲と限界 Reviewed

    高田洋吾,守田栄之

    自動車技術会論文集   29 ( 4 )   89 - 93   1998.10

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

    電子スロットルの採用はアクセルペダルとエンジンの索による結合、拘束から開放しスロットルとアクセルペダルの間に介在するコンピュータにより機関のハードウェア限界内で車両駆動系の動特性を自由に設定することを可能にする。ただし、その設定には望ましい範囲が存在し、小さすぎれば坂道走行時に負荷トルクの影響を受けやすく、大きすぎれば乗り心地を悪くする。また、スロットル全開状態はハードウェア上の限界を意味するため、適宜ギア比を変える必要性を示した。制御工学、自動車工学に関連する。

  • 適応観測器を用いた自動車車軸ソフトウェア・トルク計 Reviewed

    高田洋吾,守田栄之

    日本機械学会論文集(B編)   64 ( 624 )   2710 - 2714   1998.08

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

    エンジンはモータと異なりトルク値の取得が難しい。トルクセンサをエンジン軸に取り付けることはコスト面から望まれない。そこで、本研究では、スロットル弁開度と車軸回転数から適応観測器を用いて、トルクを推定する方法をソフトウェアトルク計として提案した。トルクの推定値と、トルクの実験結果は過渡時も含め良く一致している。制御工学、内燃機関に関連する。

  • 過渡時排気ガス浄化テーブルの作成システム Reviewed

    酒巻武史,守田栄之,高田洋吾

    自動車技術会論文集   29 ( 4 )   47 - 51   1998

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

  • 自動車のアクセル感度の任意設定 (車重と道路勾配の変化の補償) Reviewed International coauthorship

    衣川正芳,守田栄之,瀧山武,高田洋吾,楊慧

    日本機械学会論文集(B編)   64 ( 628 )   4267 - 4272   1998

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

  • ドライブバイワイヤによる任意アクセルペダル感度の実現 Reviewed

    守田栄之,高田洋吾,瀧山武

    自動車技術会論文集   26 ( 4 )   130 - 135   1995

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    Publishing type:Research paper (scientific journal)   Kind of work:Joint Work   International / domestic magazine:Domestic journal  

  • 機関・負荷系における回転運動の挙動特性について (線形・離散系の場合) Reviewed

    守田栄之,高田洋吾

    日本機械学会論文集(C編)   59 ( 597 )   3330 - 3335   1993.11

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    原動機と負荷が成す回転運動系の静的・動的挙動は両者のトルク・回転数特性の相互関係に依存する。内燃機関と負荷を対象として、制御系を構築する場合、レシプロ機関特有の間欠燃焼を想定して離散系として特性を明確化することが望ましい。そこで、この研究では、離散系モデルの中でトルクが間欠発生するようにしている。制御パラメータ、間欠燃焼周期を様々に変化させたときの応答性や安定性について示した。制御工学、内燃機関に関連する。

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Books and Other Publications

  • 科学史事典

    斎藤憲, 高田洋吾 他( Role: Joint author)

    丸善出版  2021.05 

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    Total pages:768  

  • Primer of Robotics

    Yogo Takada( Role: Sole author)

    Morikita Publishing Co., Ltd.  2017.10  ( ISBN:9784627625211

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    Total pages:149   Responsible for pages:1-149   Book type:Scholarly book Participation form:First Author

    CiNii Books

    Other Link: https://www.amazon.co.jp/%E5%85%A5%E9%96%80-%E3%83%AD%E3%83%9C%E3%83%83%E3%83%88%E5%B7%A5%E5%AD%A6-%E9%AB%98%E7%94%B0-%E6%B4%8B%E5%90%BE/dp/4627625219

  • 巨大構造物ヘルスモニタリング

    高田洋吾, 他56名( Role: Joint author ,  「第3編1章2節,鋼鉄製橋桁向け小型点検ロボット『バイリム』の開発」(pp. 195-203)を単著)

    株式会社エヌ・ティー・エス・巨大構造物ヘルスモニタリング  2015.03  ( ISBN:9784860434250

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    Total pages:327   Responsible for pages:pp.195 - 203   Book type:Scholarly book

    経年劣化した橋梁を安全かつ低コストで点検するために、ロボットの適用が求められている。この研究では、リムレス車輪の各スポーク先端にネオジム磁石を取り付けた4輪走行ロボットを開発(バイリム一号機と二号機)し、その走行性能が実験的に確かめられている。バイリム2号機の車輪独立駆動方式において立体直角路を極めて高い確率で走破成功することを示している。機械工学全般、制御工学、ロボット工学に関連する。

  • Biped Robots

    Y. Takada, T. Tajiri, K. Ogawa, T. Wakisaka他、1~14章の著者( Role: Joint author ,  「15章,Walking Pattern Generation and Stabilization of Walking for Small Humanoid Robots」(pp. 299-322)をY. Takada, T. Tajiri, K. Ogawa, T. Wakisakaで共著)

    Intech: Biped Robots  2011.03  ( ISBN:9789533072166

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    Total pages:322   Responsible for pages:24   Book type:Scholarly book

    高齢者の介護を支援するためにヒューマノイドロボットに注目されている。本研究では複数の市販ロボットに独自の歩行制御プログラムを書き込み、歩行の安定化を図っている。CPG (Central Pattern Generator)を用いて歩行パターンの生成を行い、ZMP(Zero Moment Position)を用いることで、8 mm程度の段差を含む凹凸床面上の歩行を実現した。機械工学全般、制御工学、ロボット工学に関連する。

  • Bio-mechanisms of Swimming and Flying

    Yogo Takada 他、各章の著者ら( Role: Joint author ,  「19章,Development of Fish Robots Powered by Fuel Cells: Improvement of Swimming Ability by a Genetic Algorithm and Flow Analysis by Computational Fluid Dynamics」(pp. 233-245)をYogo Takada, Toshiaki Tamachi, Satoshi Taninaka, Toshinaga Ishii, Kazuaki Ebita, Tomoyuki Wakisakaで共著)

    Springer : Bio-mechanisms of Swimming and Flying  2008.01  ( ISBN:978-4-431-73379-9

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    Total pages:403   Responsible for pages:13   Book type:Scholarly book

    本研究では遊泳時間の延長を目的として、高分子電解質燃料電池(PEFC)を搭載した魚ロボットを開発した。魚の推進メカニズムを調査するために、計算流体力学(CFD)用GTTコードを用い、同時に粒子画像流速測定法(PIV)によって魚周り流速を測定した。両方の結果から、尾ひれが逆カルマン渦を生成することが確認できた。また、PEFCを搭載した2つの魚ロボットを作成し、遺伝的アルゴリズムを使用してより速くまたはより効率的に泳ぐように動作モードを求めた。電気工学、数値解析、ロボット工学、計測工学流体力学に関連する。

MISC

  • Small Fish Robot Invited Reviewed

    Takada Yogo

    The Robotics Society of Japan, JRSJ   33 ( 1 )   16 - 20   2015( ISSN:0289-1824

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    Publishing type:Article, review, commentary, editorial, etc. (scientific journal)   Kind of work:Single Work  

    DOI: 10.7210/jrsj.33.16

    CiNii Article

  • Robotics Fish

    Y. Takada, K. Koyama, T. Usami

    Journal of Robotics and Mechatronics   26 ( 3 )   391 - 393   2014.06

  • Power Generation Characteristics and Performance Improvement of a Bio-fuel Cell Using Yeast Invited Reviewed

    WAKISAKA Tomoyuki, TAKADA Yogo, AZUMA Masayuki

    Journal of High Temperature Society   35 ( 5 )   283 - 290   2009.09( ISSN:03871096

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    Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

    CiNii Article

  • Bio-robotics and fuel cells

    Function&materials   29 ( 5 )   64 - 75   2009.05

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    Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

  • Effect and Limitation of Tuning Accelerator Pedal Sensitivity by DBW((Multiple Authorship))

    JSAE Technical Notes   20 ( 1 )   120 - 122   1999

  • Estimations of Axle Output Torque and Disturbance Load Torque for Automobile by DBW

    Trans. of JSME(C series)   65 ( 629 )   244 - 248   1999

  • Software Torque Meter for Automobile Wheel Axle using Adaptive Observer

    Trans. of JSME (B series)   64 ( 624 )   2710   1998

  • Optionally Tuning up for Automobiles Accelerator Pedal Sensitivity(Compensation of the Load Change by Weight and Gradient)

    Trans. of JSME(B series)   64 ( 628 )   4267 - 4272   1998

  • Table Making System for Feedforward Control to Improve Transient Emissions

    Trans. of Soc. of Automotive Engineers of Japan   29 ( 4 )   47 - 51   1998

  • Recommended Range and Limitation of Tuning Accelerator Pedal Sensitivity by DBW

    Trans. of Soc. of Automotive Engineers of Japan   29 ( 4 )   89 - 93   1998

  • Optionally Tuning up for Automobiles Accelerator Pedal Sensitivity with Software Torque Meter

    Trans. of JSME(C series)   64 ( 628 )   4751 - 4755   1998

  • Investigation of Accelerator Pedal Sensitivity by DBW ((Multiple Authorship))

    Proc. of IASTED   /242-381   1996

  • Optional Turning Up of Sensitivity of Accelerator Pedal with DBW Concept

    Trans. of Soc. of Automotive Engineers of Japan   26 ( 4 )   130   1995

  • Characteristics of Behavior of Rotational Motion for Engine-Load Systems(In the Case of a Linear and Discrete System)

    Trans, of JSME   59 ( 567 )   96   1993

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Presentations

  • Mechanical Modeling of Quadruped Robot Using Magnetic Adhesion Units International conference

    Yodai Matsumura, Kanji Morii, Tomoya Uenaka, Yogo Takada

    International Symposium of the Graduate School of Engineering, Osaka Metropolitan University World-Leading Engineering Research  2023.09  Graduate School of Engineering, Osaka Metropolitan University

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    Presentation type:Poster presentation  

    Venue:Osaka  

  • Improvement of Friction Properties of the Planetary Geared Magnetic Wheels International conference

    Masaru Tanida, Kosuke Ono, Yogo Takada

    International Symposium of the Graduate School of Engineering, Osaka Metropolitan University World-Leading Engineering Research  2023.09  Graduate School of Engineering, Osaka Metropolitan University

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    Presentation type:Poster presentation  

    Venue:Osaka  

  • Development of a Small Robotic Fish with a Function to Tag Mackerel International conference

    Ayane Shinojima, Yuma Naka, Naoki Kawasaki, Masashi Ohara, Yogo Takada

    The Eighth International Symposium on Aero Aqua Bio-mechanisms   2022.11  The Society of Aero Aqua Bio-Mechanisms

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    Presentation type:Oral presentation (general)  

    Venue:Virtual  

  • 磁石車輪式橋梁検査ロボットのフランジ部走行の自動化 Domestic conference

    小野孝輔、小林翔太、芝雄大、高田洋吾

    ロボティクス・メカトロニクス講演会2022 in Sapporo  2022.06  一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門

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    Presentation type:Poster presentation  

    Venue:札幌 (Zoomによるオンライン)  

  • 水中の静止標的に銛を射出する魚ロボットの 開発 Domestic conference

    中悠馬,篠島綾音,川崎 直樹,大原雅史,高田洋吾

    エアロ・アクアバイオメカニズム学会 第45回定時総会講演会  2022.03  エアロ・アクアバイオメカニズム学会

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    Presentation type:Oral presentation (general)  

    Venue:Zoomによるオンライン開催  

  • 鋼橋検査用磁式歩行ロボットに適した磁力可変装置の開発 Domestic conference

    森居寛治、松村洋大、畑中亮太、高田洋吾

    日本機械学会関西支部 2021年度関西学生会卒業研究発表講演会  2022.03 

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    Presentation type:Oral presentation (general)  

  • 外来魚駆除を目的とした魚ロボットの開発 Domestic conference

    篠島綾音、中悠馬、川﨑直樹、大原雅史、高田洋吾

    日本機械学会関西支部 2021年度関西学生会卒業研究発表講演会  2022.03 

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    Presentation type:Oral presentation (general)  

  • 橋梁検査を目的とする磁石式四足歩行ロボットにおける磁石脱着機構の開発 Domestic conference

    陳歓歓、中島啓太、宋炫雨、高田洋吾

    ロボティクス・メカトロニクス講演会 2021  2021.06 

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    Presentation type:Poster presentation  

  • 高い積載能力を持つ磁石車輪式橋梁検査ロボットにおけるフランジ部走行方法の考案 Domestic conference

    小林翔太, 中島啓太, 芝雄大, 宋炫雨, 高田洋吾

    ロボティクス・メカトロニクス講演会 2021  2021.06 

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    Presentation type:Poster presentation  

  • Development of an Archery Robot for the Selection of Arrows International conference

    Masashi Ohara, Naoki Kawasaki, Jun Nakahama, Yogo Takada, Hitoshi Watanabe

    International Sports Engineering Association  2020.06 

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    Presentation type:Oral presentation (general)  

    Venue:オンライン  

  • 高い積載能力を有し外角部とフランジ部を走行可能な磁石車輪式橋梁検査ロボットの開発 Domestic conference

    中島 啓太,芝 雄大,高田 洋吾

    日本機械学会関西支部 第95期定時総会講演会  2020.03 

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    Presentation type:Poster presentation  

  • Development of Magnetic-wheeled Robot with High Loading Capacity and Ability to Travel through Three-dimensional Complex Paths Domestic conference

    Keita Nakajima, Yuya Kawase, Takehiro Shiba, Yogo Takada

    The 18th Symposium on Evaluation and Diagnosis  2019.11  JSME

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    Presentation type:Oral presentation (general)  

    Venue:Osaka City University  

  • Establishing a Localization Method for Mobile Robots to Support Bridge Inspection Domestic conference

    Hyunwoo Song, Jun Nakahama, Yogo Takada

    The 18th Symposium on Evaluation and Diagnosis  2019.11  JSME

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    Presentation type:Oral presentation (general)  

    Venue:Osaka City University  

  • 壁面移動ロボットBIREM-IVの非線形力学モデルの構築と状態フィードバック制御の適用 Domestic conference

    高田 洋吾,松村 洋大,中島 啓太

    Dynamics and Design Conference 2019  2019.08 

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    Presentation type:Oral presentation (general)  

  • 積載能力の高いマグネットローラー式ロボットにおける壁面走行の制御 Domestic conference

    中島 啓太,松村 洋大,芝 雄大,高田 洋吾

    ロボティクス・メカトロニクス講演会2019 in Hiroshima  2019.06 

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    Presentation type:Poster presentation  

  • アーチェリーロボットにおける弓を引く時の静力学的検討 Domestic conference

    中村 拓人,高田 洋吾,渡辺 一志

    ロボティクス・メカトロニクス講演会2019 in Hiroshima  2019.06 

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    Presentation type:Poster presentation  

  • 魚ロボットのローリング時の画像を回転補正する方法の検討 Domestic conference

    有谷拓也,川﨑直樹,高田洋吾

    第39回エアロ・アクアバイオメカニズム学会定例講演会  2019.03 

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    Presentation type:Oral presentation (general)  

  • Investigation of Rotors imitating Bird Wings for Reducing Electricity Consumption of Structure Inspection Robot HORNET International conference

    Yogo Takada, Takahiro Tanaka, Tatsuki Kanada, Yodai Matsumura

    The Seventh International Symposium on Aero Aqua Bio-mechanisms  2018.08 

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    Presentation type:Oral presentation (general)  

    Venue:Tokyo, JAPAN  

  • Development of Small Robotic Fish Equipped with FPGA and CMOS Camera for Tracking Live Fish International conference

    Takuya Aritani, Naoki Kawasaki, Yogo Takada

    The Seventh International Symposium on Aero Aqua Bio-mechanisms  2018.08 

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    Presentation type:Oral presentation (general)  

    Venue:Tokyo, JAPAN  

  • フランジ部を走破可能な磁石式4 輪駆動型ロボットの開発 Domestic conference

    川本孔陽,松村洋大,高田洋吾

    日本機械学会関西支部第93期定時総会講演会  2018.03 

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    Presentation type:Oral presentation (general)  

  • 構造物壁面検査ロボットHORNET の性能向上に向けた検討 Domestic conference

    田中貴大,金田樹,松村洋大,高田洋吾

    日本機械学会関西支部第93期定時総会講演会  2018.03 

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    Presentation type:Oral presentation (general)  

  • 磁石車輪式ロボットによる鋼製橋梁内の複雑路走破に向けた検討 Domestic conference

    伊藤誠志, 芝雄大, 高田洋吾

    第16回評価・診断に関するシンポジウム  2017.12 

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    Presentation type:Oral presentation (general)  

  • 橋梁検査ロボットBIREM-IVの運動モデルと制御系構築 Domestic conference

    松村洋大, 川本孔陽, 高田洋吾

    第16回評価・診断に関するシンポジウム  2017.12 

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    Presentation type:Oral presentation (general)  

  • 構造物壁面検査ロボットに搭載できる打診検査システムの開発 Domestic conference

    金田樹,高田洋吾

    ロボティクス・メカトロニクス講演会-2017 in Fukushima  2017.05 

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    Presentation type:Poster presentation  

  • Simulation Modeling and Climb Control of HORNET to Inspect the Wall of Structures Domestic conference

    TOKURA Yuhei, MATSUMURA Yodai, TAKADA Yogo

    The Proceedings of Conference of Kansai Branch  2017.03  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    DOI: 10.1299/jsmekansai.2017.92.M614

    CiNii Article

  • 構造物壁面検査ロボットHORNET のモデリングと登壁走行制御 Domestic conference

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    日本機械学会 関西支部第92期定時総会講演会   2017.03 

  • 鋼製構造物移動ロボットの操縦アシストシステムの開発 Domestic conference

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    日本機械学会 関西学生会平成28年度学生員卒業研究発表講演会   2017.03 

  • 外輪式移動ロボットにおける色情報を用いた目標物追従 Domestic conference

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    日本機械学会 関西学生会平成28年度学生員卒業研究発表講演会   2017.03 

  • 浅瀬水域に存在する構造物の検査を目的とした外輪式移動ロボットの開発と運動解析 Domestic conference

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    日本機械学会 関西支部第92期定時総会講演会   2017.03 

  • 小型ロボットにマイクロホンのみを搭載させて実現できる位置推定 Domestic conference

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    第15回 評価・診断に関するシンポジウム   2016.12 

  • 膨大な数の橋梁がロボットによって自律的に検査される日を夢見て Domestic conference

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    日本機械学会関西学生会 第165回講演会 (招待講演)  2016.07 

  • 画像処理を用いて添接部を走行する橋梁検査ロボットの開発 Domestic conference

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    ロボティクス・メカトロニクス講演会2016  2016.06 

  • 小型魚ロボットとその遠隔操縦を可能とする基地局の開発 Domestic conference

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    ロボティクス・メカトロニクス講演会2016  2016.06 

  • Wi-Fiによる磁式橋梁検査ロボットの遠隔操縦 Domestic conference

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    日本機械学会関西支部第92期第1回支部専門部会 (招待講演)  2016.04 

  • P058 Study for Visual Inspection Realization of HORNET to Inspect the Wall of Structures Domestic conference

    TOKURA Yuhei, TAKADA Yogo, SAWAMURA Tsuyoshi

    2016.03  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    CiNii Article

  • P059 Development of Locomotive Robot with Magnets in a Narrow Place Domestic conference

    KAWAMOTO Koyo, TOKURA Yuhei, TAKADA Yogo

    2016.03  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    CiNii Article

  • 水面を遊泳する魚ロボットの遠隔操縦 Domestic conference

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    エアロ・アクアバイオメカニズム学会 第34回定例講演会  2016.03 

  • 構造物壁面検査ロボットHORNET における目視検査実現へ向けた検討 Domestic conference

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    日本機械学会関西支部 第91 期定時総会講演会  2016.03 

  • 狭隘な環境で走行できる磁石式ロボットの開発 Domestic conference

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    日本機械学会関西支部 第91 期定時総会講演会  2016.03 

  • Localization Realized by Mounting Only a Microphone on the Compact Robot Domestic conference

    TOBA Kohei, TAKADA Yogo

    The Proceedings of the Symposium on Evaluation and Diagnosis  2016  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    <p>Many infrastructures like bridges and tunnels had been constructed during the steep economic growth age. In Japan, degradation of those infrastructures becomes a problem. The main inspection method needs scaffolding under the bridge throughout, but it costs. Recently, Robots for the inspection has begun to attract notice. Inspection robots can cut cost and be safe. Inspectors must know the position where the robot captured the photo of damage. Therefore, localization system for robots is very important. Because, for example, a bridge inspection robot must be very compact, so localization system for the robots needs to be small and lightweight. In this study, we have created a localization system for the compact robots by using speakers and a microphone. This system consists of an analog circuit, an F PGA, a seven-segment display and a battery. However, It is necessary to mount only a microphone and the analog circuit on a small robot. The analog circuit with a microphone is very small and lightweight. First, we have performed experiments with only this system. As a result, it has been confirmed that this system can estimated the position. Then, we have mounted the microphone, the analog circuit and discrimination circuit on the small robot object and this system has estimate the position of the robot. According to the experimental results, the practical utility of this system has been confirmed</p>

    DOI: 10.1299/jsmesed.2016.15.208

    CiNii Article

  • Development of Bridge Inspection Robot Traveling on Spliced Part by Using Image Processing Domestic conference

    ITO Satoshi, IMAJO Naoto, TAKADA Yogo

    Robomech  2016  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    <p>In recent years, bridge inspection used a robot has been expected. The interior of a box girder requires inspection. The interior of the box gilder has many bolted splice parts which become obstacle to the robot. So, we have developed a robot traveling on the bolted splice part. Although the robot can travel on the bolted splice part, the control of the robot is difficult. Because box girder has a complicated structure, it is extremely difficult for an operator to make run the robot on the bolts by remote control. The aim of this study is to apply autonomous steering control by using the reflected light and image processing for traveling the bolted splice part. This autonomous steering control system makes the robot travel on the bolted splice part.</p>

    DOI: 10.1299/jsmermd.2016.2A2-09a1

    CiNii Article

  • Development of a Small Robotic Fish and a Base Station Robot Domestic conference

    FUKUHRA Masaaki, ZHAO Yang, TANAKA Takahiro, TAKADA Yogo

    Robomech  2016  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    <p>It is need a base station robot wired a robotic fish to operate the robotic fish by remote control. In addition, the base station robot needs a high maneuverability to response a robotic fish's action. In the present study, we developed a small robotic fish equipped with Wi-Fi module to send images. Images captured by a CMOS camera transmitted to the operator while the robotic fish swims near the water surface. However, images were not transmitted to the operator in the deep water because the Wi-Fi signals were not reach the receiver. Accordingly, we manufactured a base station robot enable to operate the robotic fish by remote control in the deep water.</p>

    DOI: 10.1299/jsmermd.2016.1A1-13a3

    CiNii Article

  • 105 Development of Bridge Inspection Robot Capable of Traveling on Bolted Splice Part Domestic conference

    IMAJO Naoto, ITO Satoshi, SUGII Kenichi, UNOTSU Tetsuya, TAKADA Yogo

    Symposium on Evaluation and Diagnosis  2015.11  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    Bridge inspection robots are expected to pass through obstacles such as bolted spliced part and right-angled routes. This paper was aimed at developing a bridge inspection robot which is capable of traveling on bolted spliced part. Two-wheel-drive robot was developed. It is equipped with two rimless wheels as propulsion wheels. Each of the spoke is tipped with a neodymium magnet. Trailing wheels are aggregate of magnetic wheel with a caster. The robot can do the pivot turn to avoid the splicing bolt. Experiments were conducted to check the performance of the robot. The robot attempted to travel on bolted splice part and eight right-angled routes. It is found that the robot could pass through the splice part. Moreover, it produced high success rates of the internal right-angle routes.

    CiNii Article

  • 添接部を走行可能な橋梁検査ロボット(BIREM–III)の開発 Domestic conference

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    第14回 評価・診断に関するシンポジウム  2015.11 

  • G1500104 Picture Compression Method with Only Integer Addition for Small Moving Robot Domestic conference

    TAKADA Yogo

    Mechanical Engineering Congress, Japan  2015.09  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    Many locomotive robots have been created for inspecting the social infrastructures such as a lot of bridges and tunnels that had been constructed in many years. Installation of a small camera and a wireless LAN module to the locomotive robot is necessary to control it remotely. The camera image must be encoded to transmit the data from the robot in advance because the throughput of wireless LAN is limited. The compressibility of the image compression through discrete wavelet transform and arithmetic encoding is very high. However, the calculation load is also large. A highly efficient personal computer cannot be installed in the robot when the robot is small. FPGA becomes the most powerful candidate as a main controller for the small robot. However, it is not good at arithmetic operation because FPGA is an electric circuit. Especially, use of floating-point numbers, the multiplication and division calculations are difficult for the FPGA. In this study, the multiplication and division calculations have been excluded from the discrete wavelet transform and arithmetic encoding so as to make program easy in FPGA. Then, I have prevented the emergence of floating-point numbers in the calculation. I have created the VHDL program and the sending and receiving device of the encoding and decoding. The image data captured by a CMOS camera have been projected onto the display monitor on the receiving side.

    CiNii Article

  • G1500404 Investigation about the Effects of Cross-Sectional Shape of Oar on Propulsive Performance of Japanese Traditional Boat by Using CFD Analysis Domestic conference

    ABE Shotaro, FUKUHARA Masaaki, TAKADA Yogo

    Mechanical Engineering Congress, Japan  2015.09  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    Japanese traditional boats going ahead by human power have high efficiency in comparison with the other human-powered boats. The reason why the Japanese traditional boat has high efficiency is to use lift as propulsive force. In this study, we have manufactured a small model of a Japanese traditional boat for experiment to examine the specification. Models of oar have been made by using a 3D printer. Each of models of oar is different from cross-sectional shape. The electrical power consumption and net propulsive force have been measured in the experiment. In addition, by using CFD analysis of water flow around each oar, lift, drag force and lift-to-drag ratio have been calculated. By comparing the experimental results and CFD results, it has been found that which cross-sectional shape of oar is suitable for the propulsion of Japanese traditional boats. This study will be useful to develop an underwater robot which applies the principles of the oar.

    CiNii Article

  • CFD 解析による艪の断面形状が和船の推進性能に及ぼす影響の検討 Domestic conference

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    2015年度日本機械学会年次大会  2015.09 

  • 構造物壁面検査ロボットHORNETの消費電力低減に向けた検討 Domestic conference

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    第15回建設ロボットシンポジウム  2015.09 

  • 1P1-R03 Effects of a Cross-Sectional Shape of an Oar on Propulsive Force of Japanese Traditional Boat Domestic conference

    FUKUHARA Masaaki, ABE Shotaro, TAKADA Yogo

    2015.05  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    The oar of Japanese traditional boat resembles the fin of fish, compared the oar of the European boat to the crawl of the swimming. A human power promotion method of a Japanese traditional boat has high efficiency in comparison with other human power promotion methods. The reason why the human power promotion method of a Japanese traditional boat has high efficiency is to use lifting force as propulsive force. In this study, we manufactured a small model of the Japanese traditional boat for experiment to examine the specification of the boat. Propulsive force and propulsive speed of the model have been measured. In addition, by using PIV measurement and CFD analysis of water flow around oar, we investigated about four oar types.

    CiNii Article

  • 2P1-R01 Motion Analysis of a Mobile Robot Equipped Rimless Wheel with Permanent Magnets Domestic conference

    IMAJO Naoto, TAKADA Yogo

    2015.05  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    In petrochemical plants, there are a large number of steel pipes running horizontally, vertically, and obliquely, and inspecting them is difficult and time-consuming. There is therefore a strong demand for practical pipe inspection robots to aid in this task. The aim of the present study is to develop an outer-pipe inspection robot that can move along narrow pipes and wires. Simulation model of mobile robot was developed. The simulation model consists of motion equation. This model has 8 degrees of freedom. Identification of the simulation model was conducted with the mobile robot. Using this model, we evaluate effects of center of gravity on the running stability. The procedure of calculate is Runge-Kutta method. It confirmed that pitch vibration is suppressed by moving center of gravity.

    CiNii Article

  • 2P1-D04 Development of Inspection Robot HORNET for Wall of Structures Domestic conference

    TOKURA Yuhei, TAKADA Yogo

    2015.05  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    Many bridges had been constructed during the steep economic growth age. Presently, dealing with the deterioration of those bridges and maintaining them have become very important. Using robots for the bridge inspection to aim at the labor saving and lowering the cost is useful for the management and maintenance of many old bridges because the conventional method will intensify the strains on the economy. In this study, we created a flying robot HORNET with tilt-rotors and two wheels that can inspect cracks and corrosion in concrete bridge substructures. We confirmed that the relationship between the state of wall surface and the power consumption of the robot.

    CiNii Article

  • 2A2-M03 Position Estimation of a Robot by Using Position Detector System Speakers and a Microphone Domestic conference

    TOBA Kohei, IMAJO Naoto, TAKADA Yogo

    2015.05  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    Many infrastructures like bridges and tunnels had been constructed during the steep economic growth age. In Japan, degradation of those infrastructures becomes a problem. Recently, using robots for the bridge inspection attracts attention. Checking using robots can cut cost. But area of the damage can't be identified, just look at photos of a damage part. Therefore, position estimation system for robots is very important. We have created position estimation system for robots by using speakers and a microphone. In addition, practical utility of one dimension has been confirmed. In this study, we have mounted a microphone on the robot and this system has estimated the position of the robot. The practical utility of this system was confirmed.

    CiNii Article

  • 2A1-E01 Effect of Phase Difference on Reverse Karman Vortex Street in Two-joint Small Robotic Fish Domestic conference

    ZHAO Yang, USAMI Takahiro, ABE Shotaro, TAKADA Yogo

    2015.05  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    Many aqua robots are in practical use to investigate various aquatic animals. Caudal-fin-driven robotic fish that imitate live fish do not alarm other underwater creatures. Moreover, because such robotic fish do not use a screw propeller, they are unlikely to be entangled with water plants. In this study, two-joint robotic fish have been constructed with servo motor to speed up. To compare for the results of PIV experiments and CFD analysis then evaluate the differences of the propulsion performance by changing the phase difference. It can be confirmed that the angle of the tail fin tip and is related to the angle spread of the vortex. This robot was able to swim like live fish.

    CiNii Article

  • 永久磁石式リムレスホイールを用いた移動ロボットの運動解析 Domestic conference

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    ロボティクス・メカトロニクス講演会2015 in Kyoto  2015.05 

  • 艪の断面形状が和船の推進力に及ぼす影響 Domestic conference

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    ロボティクス・メカトロニクス講演会2015 in Kyoto  2015.05 

  • 2 つの関節を持った小型魚ロボットにおける位相差が逆カルマン渦列に及ぼす影響 Domestic conference

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    ロボティクス・メカトロニクス講演会2015 in Kyoto  2015.05 

  • スピーカーとマイクロホンを用いた位置検出システムによるロボットの位置推定 Domestic conference

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    ロボティクス・メカトロニクス講演会2015 in Kyoto  2015.05 

  • 構造物壁面検査ロボット HORNET の開発 Domestic conference

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    ロボティクス・メカトロニクス講演会2015 in Kyoto  2015.05 

  • M1201 Realization of Fresh Water Fish Capturing by a Camera Installed on the Small Robotic Fish Domestic conference

    USAMI Takahiro, Abe Shotaro, IKEDA Yohei, ZHAO Yang, TAKADA Yogo

    2015.03  The Japan Society of Mechanical Engineers

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    CiNii Article

  • M1203 Object Detection for a Robotic Fish Equipped with Laser Units and a Miniature Camera Domestic conference

    IKEDA Yohei, USAMI Takahiro, ZHAO Yang, TAKADA Yogo

    2015.03  The Japan Society of Mechanical Engineers

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    CiNii Article

  • レーザーと小型カメラを搭載した魚ロボットの目標物検出 Domestic conference

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    日本機械学会関西支部第90 期定時総会講演会  2015.03 

  • スピーカーとマイクロホンを用いたロボットの位置検出システム Domestic conference

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    日本機械学会 関西学生会平成26年度学生員卒業研究発表講演会  2015.03 

  • コンクリート壁移動ロボットHORNETにおける壁面状態と消費電力の関係 Domestic conference

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    日本機械学会 関西学生会平成26年度学生員卒業研究発表講演会  2015.03 

  • 小型魚ロボットに搭載したカメラによる淡水魚撮影の実現 Domestic conference

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    日本機械学会関西支部第90 期定時総会講演会  2015.03 

  • 209 Adaptability to Actual Environment of Bridge Inspection Robot with Permanent Magnets Domestic conference

    KASHINOKI Mikiji, TAKADA Yogo, SUGII Kenichi, UNOTSU Tetsuya

    Symposium on Evaluation and Diagnosis  2014.12  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    Robots using for the bridge inspection to aim at the labor saving and lowering the maintenance cost is desirable for the management and maintenance of many old bridges because the conventional method will impose a burden on the economy. We had created a four-wheel driving robot for trial purposes that can inspect cracks and corrosion in steel bridge substructures. If the robot will be used in real environment, it needs cameras which are used to control the robot for the bridge inspection. In this study, we verified the cameras adapted to BIREM. Finally, it was found suitable camera equipped with wide-angle lens.

    CiNii Article

  • 橋梁検査ロボット・バイリムと今後の展開 Domestic conference

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    関西大学研究拠点形成支援経費「脳認知ロボティクスによる橋梁診断スキームの構築」シンポジウム (招待講演)  2014.12 

  • 永久磁石を用いた橋梁検査ロボット(BIREM)の実環境への適応可能性 Domestic conference

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    第13回評価・診断に関するシンポジウム  2014.12 

  • Study on Locomotion Mechanisms of an outer- pipe Inspection Robot International conference

    The 6th International Conference on Positioning Technology (ICPT2014)  2014.11 

  • 狭窄部のある矩形流路内の脈動流を対象とした流動解析 Domestic conference

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    日本伝熱学会北陸信越支部 秋季セミナー  2014.10 

  • 1P1-O05 Improvement of Running Ability about Bridge Inspection Robot with Permanent Magnets(Mobile Robot with Special Mechanism (1)) Domestic conference

    KASHINOKI Mikiji, TAKADA Yogo

    2014.05  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    Many bridges had been constructed during the steep economic growth age. Presently, dealing with the deterioration of those bridges and maintaining them have become very important. Using robots for the bridge inspection to aim at the labor saving and lowering the cost is hoped for the management and maintenance of many old bridges because the conventional method will intensify the strains on the economy. We had created a four-wheel driving robot for trial purposes that can inspect cracks and corrosion in steel bridge substructures. In this study, we added the improvement to the controller of the robot. We confirmed that the running ability of new robot is better than that of conventional control robot when experiments of running where conducted at right angled routes. Consequently, we found the success method of running.

    CiNii Article

  • 永久磁石を用いた橋梁検査ロボットの走破能力向上 Domestic conference

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    ロボティクス・メカトロニクス講演会2014  2014.05 

  • 705 Realization of Target Tracking and Swimming Trajectory Acquisition by a Small Robotic Fish FOCUS Domestic conference

    KOYAMA Keisuke, TAKADA Yogo, USAMI Takahiro

    2014.03  The Japan Society of Mechanical Engineers

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    CiNii Article

  • 706 Effect of Yaw Motion on the Propulsive Performance of Robotic Fish with Tail Fin Actuators Domestic conference

    FUKUZAKI Noboru, USAMI Takahiro, TAKADA Yogo

    2014.03  The Japan Society of Mechanical Engineers

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    CiNii Article

  • 尾ひれ推進の際に生じるヨー運動が魚ロボットの推進性能に与える影響の検討 Domestic conference

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    日本機械学会関西支部第 89 期定時総会講演会  2014.03 

  • 水の脈動流を対象とした面計測MLDV 計測結果とCFD 解析結果の比較検討 Domestic conference

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    日本機械学会 関西学生会平成25年度学生員卒業研究発表講演会  2014.03 

  • 小型魚ロボットFOCUS における目標物追従と遊泳経路取得の実現 Domestic conference

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    日本機械学会関西支部第 89 期定時総会講演会  2014.03 

  • 216 Running Ability Evaluation of Bridge Inspection Robot with Permanent Magnets Domestic conference

    KASHINOKI Mikiji, TAKADA Yogo, KAWAI Tadao, KOYAMA Keisuke

    Symposium on Evaluation and Diagnosis  2013.12  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    Many bridges had been constructed during the steep economic growth age. Presently, dealing with the deterioration of those bridges and maintaining them have become very important. Using robots for the bridge inspection to aim at the labor saving and lowering the cost is hoped for the management and maintenance of many old bridges because the conventional method will intensify the strains on the economy. We had created a four-wheel driving robot for trial purposes that can inspect cracks and corrosion in steel bridge substructures. In this study, we added the improvement to the size, the turning ability and the controller of the robot. We have confirmed better results than an old-type robot in the experiment concerning whether the robot can finish the running in a variety of exanimation courses.

    CiNii Article

  • 永久磁石を用いた橋梁検査ロボットの走破能力評価 Domestic conference

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    第12回 評価・診断に関するシンポジウム  2013.12 

  • 1A1-B06 Effect of Phase Difference of Each Actuator and Material of Caudal Fin on Propulsive Performance of a Robotic Fish(Bio-Mimetics and Bio-Mechatronics (1)) Domestic conference

    IKEDA Yohei, TAJIRI Tomoki, TAKADA Yogo

    2013.05  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    Many aqua robots are in practical use to investigate various aquatic animals. Caudal-fin-driven robotic fish that imitate live fish do not alarm other underwater creatures. Moreover, because such robotic fish do not use a screw propeller, they are unlikely to be entangled with water plants. In this study, two caudal-fin-driven robotic fish have been constructed with a DC brushless motor to speed up. The propulsive performance of the one-joint robotic fish and the two-joint robotic fish was investigated using several caudal fins. Two-joint robotic fish had a good performance of propulsive force 330 mN and swimming velocity 400 mm/s at the phase difference 60 degree. This robot was able to swim like live fish.

    CiNii Article

  • 1A1-P23 Three-dimensional Occupancy Grid Map Making for Bridges by Using a Bridge Inspection Robot with a Laser Range Finder(Mobile Manipulation Robot) Domestic conference

    Tajiri Tomoki, Kirimoto Kosuke, Takada Yogo, Kawai Tadao

    2013.05  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    As for social infrastructures such as a lot of bridges and tunnels that have been constructed in various places since the high economic growth age of postwar days, the deterioration is serious. Therefore, it is important to take action to the deterioration of infrastructures. We aim to develop the robot that can inspect cracks and corrosion under the steel bridge. A four-wheel driving robot with a laser range finder has been made, and it climbs a steel wall vertically. In this study, a three-dimensional occupancy grid map was made by the robot in high points where the worker cannot go easily. The large-scale structure modeling bridges can be expressed plainly as a 3D occupancy grid map.

    CiNii Article

  • レーザレンジセンサを搭載した橋梁検査ロボットによる橋梁環境場の立体格子地図作成法 Domestic conference

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    ロボティクス・メカトロニクス講演会2013  2013.05 

  • 各アクチュエータの位相差と尾ひれの素材が魚ロボットの推進性能に及ぼす影響 Domestic conference

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    ロボティクス・メカトロニクス講演会2013  2013.05 

  • 907 Motorable Path Planning under Off-road Environment Domestic conference

    Takada Mitsuhiro, Tajiri Tomoki, Takada Yogo

    2013.03  The Japan Society of Mechanical Engineers

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    CiNii Article

  • 1506 In vivo Three-Dimensional Mapping of Mesenteric Blood Vessels and Blood Flow Using GPU Domestic conference

    ICHISHIMA Hikari, NAKAYAMA Yudai, ISHIDA Hiroki, AKIGUCHI Shunsuke, HACHIGA Tadashi, ANDOH Tsugunobu, TAKADA Yogo

    2013.03  The Japan Society of Mechanical Engineers

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    CiNii Article

  • 215 Application to Biomedical Measurement Using a Micro Multipoint LDV for In vivo Evaluation in Early-stage Blood Flow Velocity Images of Malignant Melanoma Domestic conference

    SAKAMOTO Junichi, HACHIGA Tadashi, ISHIDA Hiroki, AKIGUCHI Shunsuke, ANDOH Tsugunobu, TAKADA Yogo

    2013.03  The Japan Society of Mechanical Engineers

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    CiNii Article

  • レーザドップラー 流速分布測定装置の生体計測への応用(皮膚癌部位の早期画像評価) Domestic conference

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    日本機械学会 北陸信越支部 第50期総会・講演会  2013.03 

  • 永久磁石式橋梁検査ロボットにおける移動機構部の運動性能 Domestic conference

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    日本機械学会 関西学生会平成24年度学生員卒業研究発表講演会  2013.03 

  • オフロード環境下における走行可能な経路の作成 Domestic conference

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    日本機械学会関西支部第 88 期定時総会講演会  2013.03 

  • 104 Study on the Moving Mechanism of Bridge Inspection Robot Working in Complicated Three-dimensional Environment Domestic conference

    TAKADA Yogo, KIRIMOTO Kousuke, KAWAI Tadao, YAMABAYASHI Hisashi, FUKUZAKI Noboru, KAWAKAMI Hiroshi

    Symposium on Evaluation and Diagnosis  2012.12  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    As for social infrastructures such as a lot of bridges and tunnels that have been constructed in various places since the high economic growth age of postwar days, deterioration is serious, and taking action to the deterioration of infrastructures is desirable. In this research, we aim to develop the robot that can inspect cracks and corrosion under the steel bridge. We make a four-wheel driving robot for trial purposes, and it can ambulate and climb vertically. Strong permanent magnets are installed on the edge parts in the wheels. This robot does not fall by gravitation when it climbs a steel wall or runs along the ceiling upside down. The running performance of the robot is examined by the driving experiment and by the analysis by using software DYMOLA.

    CiNii Article

  • 複雑立体環境場を活動対象とする橋梁検査ロボットの運動機構に関する研究 Domestic conference

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    第11回 評価・診断に関するシンポジウム  2012.12 

  • J022045 In-vivo visualization of melanoma tumor microvessels using multipoint backscatter LDV Domestic conference

    YASUE Youichi, FUJII Shouhei, ISHIDA Hiroki, AKIGUCHI Shunsuke, HACHIGA Tadashi, ANDOH Tsugunobu, TAKADA Yogo

    Mechanical Engineering Congress, Japan  2012.09  The Japan Society of Mechanical Engineers

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    We developed a Multipoint Laser Doppler Velocimeter (MLDV) system for the simultaneous measurement of data in transparent fluid. The MLDV was constructed in order to apply linear measurement techniques to a series of single points. We developed of MLDV using a linear optical plastic fiber array and were able to improve the measurement of opaque fluids, such as blood. This fiber array has 40 optical fibers with a total width of 5.0 mm; each optical fiber has a core diameter of 100 μm. Some performances have greatly improved compared with a conventional laser Doppler blood flowmeter. The present system can measure absolute velocity and, based on this, can display the tomograph of blood vessels courses. The spatial resolutions of each of x-y axes and z axis in this system are 100 and 500 μm. The MLDV is able to acquire the high-resolution in vivo three dimensional mapping of blood flow with the velocity, particularly in the smaller arterioles and venules, by using a scanning method. The MLDV was developed primarily for using in the diagnosis of cancer. We attempted to perform blood flow velocity imaging of a malignant melanoma which transplanted in mouse ear.

    CiNii Article

  • Analysis for Flow around a Fish Robot by Three-dimensional Fluid-structure Simulation and Evaluation of the Propulsive Performance International conference

    ISABMEC2012  2012.08 

  • 1A2-G09 Supporting of Safe Walking at a Crossing by Using a Small Mobile Robot with Cameras(Wheeled Robot/Tracked Vehicle(2)) Domestic conference

    TAJIRI Tomoki, OGAMI Rei, TAKADA Yogo, KAWAI Tadao

    2012.05  The Japan Society of Mechanical Engineers

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    Safe walking at nighttime of the elderlies who suffer from the sickness of eyes is a purpose in this study. We have tried recognizing a pedestrian signal by using the small mobile robots with two cameras, and we have controlled the robot with the result of that recognition. The robot has a 3D map which had been created beforehand. After the robot checks the position of the pedestrian signal on the basis of the 3D map, the robot turns its cameras to the position. Moreover, only the traffic light is identified by various image processing among some lights, and the robot checks the color. We have experimented with an actual mobile robot at a crossing. It has been confirmed that the robot identifies the green light and informs user to cross.

    CiNii Article

  • 2P1-H09 Development of Small Fish Robot with Remote Control Based on Camera Image(Underwater Robot and Mechatronics(2)) Domestic conference

    KOYAMA Keisuke, NAKAMURA Tsuyoshi, OMICHI Takafumi, TAKADA Yogo

    2012.05  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    Many aqua robots are in practical use to investigate various aquatic animals in sea. However, their size is large and they make a noise and a large water flow because the impellent is obtained by rotating screw propeller. In a word, live fishes fear the aqua robot. Therefore, small fish robot of fin drive type becomes useful. When the fish robot swims in the vicinity of the water surface in shallow area where the bottom is seen from the water surface, the electric wave can be used. In this study, we have made a small fish robot with the ability to observe target objects such as live fish. In addition, we have tried to make the fish robot follow the target object autonomously.

    CiNii Article

  • 1A2-Q08 Development of Small Amphibian Newt Robot with a Few Actuators(Bio-Mimetics and Bio-Mechatronics(2)) Domestic conference

    FUKUZAKI Noboru, OMICHI Takahumi, OCHIAI Toshinori, NAKAMURA Tuyoshi, TAKADA Yogo

    2012.05  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    Amphibian robot can conserve the ecological environment at any time under the state with a changeable water level. When a live fish is imitated and a fish robot is manufactured, the robot needs only a few actuators. Newts that are amphibian swim just like fishes in water. When newts walk on the ground, the movement of newts is similar in the case of swimming. In a word, the movement of trunk is more important than detailed movement of forelegs and hind legs. In this study, a robot which imitated newt's walking and swimming functions was produced for trial purposes. This robot has the propulsive mechanism with the trunk bending and twisting. This newt robot can walked on the ground and the bottom in water, and can swim in water. The kinematic performance of the robot has been examined.

    CiNii Article

  • カメラ画像に基づいた遠隔制御が可能な小型魚ロボットの開発 Domestic conference

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    ROBOMEC2012  2012.05 

  • カメラを搭載した車両型ロボットを用いた交差点での歩行者支援 Domestic conference

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    ROBOMEC2012  2012.05 

  • 少数のアクチュエータで水陸両用が可能な小型イモリロボットの開発 Domestic conference

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    ROBOMEC2012  2012.05 

  • 1216 Target Tracking and Self-position Estimation by a Small Fish Robot FOCUS Domestic conference

    NAKAMURA Tsuyoshi, TAJIRI Tomoki, TAKADA Mitsuhiro, Omichi Takafumi, TAKADA Yogo

    2012.03  The Japan Society of Mechanical Engineers

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    CiNii Article

  • 907 Establishment of Three-Dimensional Fluid-Structure Interaction Analysis for Flexible Body : Analysis of the Operation and Flow of Robot Emulating Aquatic Animal Domestic conference

    OCHIAI Toshinori, OMICHI Takahumi, FUKUZAKI Noboru, TAKADA Yogo

    2012.03  The Japan Society of Mechanical Engineers

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    CiNii Article

  • 615 3-Dimensional Numerical Simulation of Blood Flow by the Computational Grid Generated with Several Means Domestic conference

    OMICHI Takafumi, OCHIAI Toshinori, TAKADA Yogo, HACHIGA Tadashi, ISHIDA Hiroki

    2012.03  The Japan Society of Mechanical Engineers

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    CiNii Article

  • 1314 Recognition of Dangers by a Supporting Robot for the Elderly during the Night Walking Domestic conference

    OGAMI Rei, TAJIRI Tomoki, TAKADA Yogo

    2012.03  The Japan Society of Mechanical Engineers

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    CiNii Article

  • 1218 Improvement of Velocity Profiler Using Multi-Point LDV and Their Applications to Biomedical Measurements Domestic conference

    YASUE Youichi, ISHIDA Hiroki, AKIGUCHI Shunsuke, HACHIGA Tadashi, ANDO Tsugunobu, TAKADA Yogo

    2012.03  The Japan Society of Mechanical Engineers

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  • 柔軟体を対象とする3次元流体・構造連成計算手法の確立(水棲動物の模擬ロボットの動作とその周りの流動解析) Domestic conference

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    日本機械学会 関西支部第87期定時総会講演会  2012.03 

  • 高齢者補助ロボットによる夜間歩行時の危険認識 Domestic conference

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    日本機械学会 関西支部第87期定時総会講演会  2012.03 

  • 様々な手段で生成した計算格子による3 次元血流シミュレーション Domestic conference

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    日本機械学会 関西支部第87 期定時総会講演会  2012.03 

  • 小型魚ロボットFOCUSによる目標追従および自己位置推定 Domestic conference

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    日本機械学会関西支部第87期定時総会講演会  2012.03 

  • 多管式熱交換器における管外壁のバイオフィルムを除去するアクアロボットの開発 Domestic conference

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    日本機械学会 関西学生会平成23年度学生員卒業研究発表講演会  2012.03 

  • Target Following Control of Small Fish Robot FOCUS Based on Color Information Domestic conference

    TAKADA Yogo, NAKAMURA Tsuyoshi, KOYAMA Keisuke, TAJIRI Tomoki

    TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A  2012  The Japan Society of Mechanical Engineers

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    It is necessary for a small aqua robot to search for a target in order to investigate creatures such as fishes in a river or lake. However, control signals by electric wave from outside do not reach a robot easily in water. Therefore, aqua robots must search the target autonomously without signals from outside. It is important for a robot to gaze forward and recognize the target in water. In this study, we have used a fish robot named FOCUS which can swim in water by using the tail fin. This robot has some micro CMOS cameras and a FPGA circuit board for data processing. A red object is detected with the CMOS camera. In addition, FPGA calculates where the red object is located in the image. This robot controls the tail fin mechanism and submersible system in order to decide the course of the robot in response to the calculated positional coordinates. We have confirmed that this robot can recognize a color target and follow the target in water.

    DOI: 10.1299/kikaic.78.2924

    CiNii Article

  • 目標物探索を目的としたFPGAとCMOSカメラを搭載した小型魚ロボットの開発  (招待講演) Domestic conference

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    第27回エアロ・アクアバイオメカニズム研究会講演会  2011.10 

  • 1P1-L06 Path Planning by Using 3-dimensional Map Including Vertical Information(Wheeled Robot/Tracked Vehicle) Domestic conference

    TAJIRI Tomoki, OGAMI Rei, TAKADA Yogo, IMADU Atushi, KAWAI Tadao

    2011.05  The Japan Society of Mechanical Engineers

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    In this paper, we have tried generating a path from the start position to the goal position which is movable with mobile robots. Because mobile robots with wheels cannot move onto a step by the problem in the mechanism, we made a path with considering the gradient of ground level. Q-learning is one of the method witch is often used to planning path. We have made a robot learn to get path which has less gradient of ground with Q-learning. The effectiveness of this method is investigated with an actual robot in the real environment that has steps and slopes. The experimental result shows the effectiveness of this approach.

    CiNii Article

  • 2P1-L13 Effects of Tail Fin Flexibility and Operating Frequency on Propulsive Performance in Small Fish Robot(Bio-Mimetics and Bio-Mechatronics) Domestic conference

    Omichi Takafumi, Nakamura Tsuyoshi, Nonogaki Motohiro, Ochiai Toshinori, Tajiri Tomoki, Takada Yogo

    2011.05  The Japan Society of Mechanical Engineers

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    Fish robots that swim with the tail fin do not give the caution to underwater creatures. Therefore, they become useful for the investigation of ecosystem in water and the usage of the environmental surveillance and so on. However, the propulsive velocity of fish robots is extremely slower than that of live fishes. Therefore, in this study, we aim to improve the propulsive performance of fish robot. The fish robot is made for trial purposes. Then, the effects of supply voltage, tail fin flexibility and operating frequency on propulsive performance in the fish robot have been examined. The fish robot has swum fast at high supply voltage, and has swum efficiently at low voltage. Moreover, it has been confirmed that the fish robot swims very fast when the fin flexibility and frequency are appropriate and the tail fin motion is similar to that of a live fish.

    CiNii Article

  • 小型魚ロボットにおける尾ひれの柔軟性と動作周波数が推進性能に及ぼす影響 Domestic conference

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    ROBOMEC2011  2011.05 

  • 高低差情報を含む立体地図を用いた移動経路の作成 Domestic conference

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    ROBOMEC2011  2011.05 

  • 1316 Hybrid Control System of Fuel Cell and Electric Double-Layer CapacitorBased on Active Filter Compensation Scheme Domestic conference

    SUGIMOTO Kazuya, TAJIRI Tomoki, TAKADA Yogo

    2011.03  The Japan Society of Mechanical Engineers

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  • 715 Propulsion Enhancement for Small Fish Robot with Genetic Algorithm Domestic conference

    NONOGAKI Motohiro, OCHIAI Toshinori, NAKAMURA Tsuyoshi, OMICHI Takafumi, TAKADA Yogo

    2011.03  The Japan Society of Mechanical Engineers

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  • 211 The 3D map for obstacles recognition by guide dog robot Domestic conference

    TAJIRI Tomoki, OGAMI Rei, TAKADA Yogo, IMADU Atushi, KAWAI Tadao

    Symposium on Evaluation and Diagnosis  2010.12  The Japan Society of Mechanical Engineers

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    The purpose of this study is making 3D maps for obstacles recognition of guide dog robots. It is necessary that the robots recognize surrounding obstacles for working on the real environment. In order to recognize surrounding obstacles, the robots should have 3D maps of concerning the anticipated route where the robots will pass. We used a laser range sensor (LSR) for making 3D maps. The LSR is made rotated by a servo motor, so 3D data is measured by this rotating LSR. It was identified whether it is space that can be passed with the remodeled LSR for each individual space, and kept the aggregation as 3D grid data. By this way, we could make a 3D grid map of real environment such as the garden in university. And we have confirmed to be able to recognize the height information, for example the height of a stone wall and branches over the head.

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  • Development of Small Fish Robot with Built-in Fuel Cells International conference

    Techno-Ocean2010  2010.10 

  • 119 Prediction of Soot Emission from a Direct-injection Diesel Engine by Means of Three-dimensional Chemical Kinetics Calculation : Investigation on EGR Effect Domestic conference

    SHIDA Yukitoshi, TAKASE Hideki, TAKADA Yogo, WAKISAKA Tomoyuki

    2010.03  The Japan Society of Mechanical Engineers

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  • 908 Flow Analysis around a Savonius-type Wind Turbine : Investigation on Performance Improvement by PIV Measurement and CFD Analysis Using a GTT code Domestic conference

    MATSUBARA Takashi, SUZUKI Ayaka, Takada Yogo, WAKISAKA Tomoyuki

    2010.03  The Japan Society of Mechanical Engineers

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  • 814 Numerical Simulation of Blood Flow : Numerical Analysis of the Fluid Obeying the Casson's Equation by Means of a GTT Code Domestic conference

    WAKISAKA Tomoyuki, OCHIAI Toshinori, TAKADA Yogo, HACHIGA Tadashi, ANDO Tsugunobu, TOGA Shinji, ISHIDA Hiroki, AKIGUCHI Shunsuke

    2010.03  The Japan Society of Mechanical Engineers

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  • 624 Stabilization of Walking on Uneven Ground for a Small Humanoid Robot Domestic conference

    TAJIRI Tomoki, SUGIMOTO Kazuya, TAKADA Yogo, WAKISAKA Tomoyuki

    2010.03  The Japan Society of Mechanical Engineers

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  • 623 Construction of the Obstruction Roadmap for an Autonomous Mobile Robot Using Three-Dimensional Ultrasonic Sensor and Laser Range Sensor Domestic conference

    AKITA Tomohiro, OGAMI Rei, TAKADA Yogo, WAKISAKA Tomoyuki

    2010.03  The Japan Society of Mechanical Engineers

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  • 622 Effects of Tail Fin Flexibility on Propulsive Performance in Small Fish Robot : Investigation by Fluid-Structure Interaction Analysis Considering Elastic Deformation of Tail Fin Domestic conference

    ARAKI Ryosuke, NONOGAKI Motohiro, NAKAMURA Tsuyoshi, TAKADA Yogo, WAKISAKA Tomoyuki

    2010.03  The Japan Society of Mechanical Engineers

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  • 126 Effects of LPG and DME Spatial Distributions on Combustion in an LPG-DME Engine : Three-dimensional Numerical Analysis Based on a Chemical Kinetic Model Domestic conference

    YAMANAKA Yuichi, OMOTE Hiroshi, TAKADA Yogo, WAKISAKA Tomoyuki

    2010.03  The Japan Society of Mechanical Engineers

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  • G1500-4-1 Self-position Estimation of a Small Fish Robot Based on Visual Information from a Camera Domestic conference

    NAKAMURA Tsuyoshi, TAKADA Yogo, NONOGAKI Motohiro, ARAKI Ryosuke, TAJIRI Tomoki, WAKISAKA Tomoyuki

    The proceedings of the JSME annual meeting  2010  The Japan Society of Mechanical Engineers

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    Autonomously working small fish robots are ideal for surveys of fish resources and structural inspection in water where electric wires hinder the movement of the robot or radio signal (GPS etc) does not reach. The fish robot needs the self-position estimation to swim autonomously. Self-position estimation becomes possible by using visual information of bottom image in the sea or a water tank. The visual information is analyzed by means of digital image correlation method. In the study, self-position estimation is tried with use of real-time digital image correlation method and the use of FPGA (Field Programmable Gate Array), whose VHDL programming and control board was developed originally. This FPGA board executes both the control of a swimming fish robot and image processing at the same time. As a result, it has been confirmed that the small fish robot can measure swimming distance itself.

    DOI: 10.1299/jsmemecjo.2010.5.0_337

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  • Construction of Elementary Reaction Scheme for Three-Dimensional Combustion Analysis Based on Chemical Kinetics in Bio Gas and City Gas Mixture Fueled Engines Ignited with DME Spray Domestic conference

    TAKASE Hideki, YOSHIHARA Daisuke, TAKADA Yogo, WAKISAKA Tomoyuki

    JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN  2009.11  The Japan Institute of Marine Engineering

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    Bio gas fueled engines have proved effective in helping the environment; such as reducing methane gas which has a large greenhouse effect, alongside an ozone layer destructing effect, because the main composition of bio gas is methane, and it is not emitted into the atmosphere, but burned up within the engine. In this study, by combining the GRI-Kojima reduced elementary reaction scheme and the DME reduced elementary reaction scheme, which had been constructed by the authors' group, the authors constructed a reduced elementary reaction scheme originally for the mixture of bio gas, city gas, DME and air for investigating the combustion characteristics of a bio gas and city gas mixture fueled engine which was ignited with DME (dimethyl ether) spray. On the basis of chemical kinetics with the proposed elementary reaction scheme, the authors conducted three-dimensional numerical analysis of the combustion process within a practical computation time in a bio gas and city gas mixture fueled engine which was ignited with a small amount of DME spray, using different mixture ratios of bio gas and city gas.

    DOI: 10.5988/jime.44.934

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  • 1A1-K11 Development of Small Fish Robots Powered by Small and Ultra-light Passive-type Polymer Electrolyte Fuel Cells "Power Tubes" Domestic conference

    TAKADA Yogo, ARAKI Ryosuke, NAKANISHI Yukinobu, NONOGAKI Motohiro, EBITA Kazuaki, WAKISAKA Tomoyuki

    2009.05  The Japan Society of Mechanical Engineers

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    A swimming micro fish robot whose size is as small as a killifish is useful to seek disaster victims in flood areas, because it can go into narrow spaces. However, in the case that rechargeable batteries are used for supplying electricity to the robot, the robot is not able to continue swimming for a long time because of low energy density of the batteries. Therefore, the authors developed a small and ultra-light passive-type polymer electrolyte fuel cell called "Power Tube". On the basis of this fuel cell technology, the authors created a small fish robot (total length: about 110 mm) by unifying a tail fin driving mechanism, which was composed of a small DC motor and a link, with a Power Tube including a hydrogen generator. The authors also created a low energy consumption micro fish robot with small neodymium magnet and coil actuators, to which two Power Tubes supplied electricity with the assistance of a voltage booster, using methanol as fuel.

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  • 1318 Development of a Micro Fish Robot with an IPMC Actuator Domestic conference

    YAMAGUCHI Akifumi, TAKADA Yogo, WAKISAKA Tomoyuki

    2009.03  The Japan Society of Mechanical Engineers

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  • 414 Effects of LPG and DME Spatial Distributions on Combustion in an LPG-DME Spark Ignition Engine : Three-dimensional Numerical Analysis Based on a Chemical Kinetic Model Domestic conference

    OMOTE Hiroshi, YAMANAKA Yuichi, NAKAZONO Tohru, TAKADA Yogo, WAKISAKA Tomoyuki

    2009.03  The Japan Society of Mechanical Engineers

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  • 413 Construction of an Elementary Reaction Scheme for Compression Auto-ignition of Gasoline-Ethanol Mixture Fuel Domestic conference

    TAKASE Hideki, YAMANAKA Yuichi, TAKADA Yogo, WAKISAKA Tomoyuki

    2009.03  The Japan Society of Mechanical Engineers

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  • 1320 Walking with Tracking Object Based on Visual Information for a Small Humanoid Robot Domestic conference

    TSUJINAKA Yasutoshi, TAJIRI Tomoki, OGAMI Rei, TAKADA Yogo, WAKISAKA Tomoyuki

    2009.03  The Japan Society of Mechanical Engineers

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  • 1319 Investigation of Propulsive Force and Water Flow around Small Fish Robot Using PIV and 3-dimensional Numerical Analysis : Influence of Tail Fin Shape and Flexibility Domestic conference

    NAKANISHI Yukinobu, ARAKI Ryosuke, TAKADA Yogo, WAKISAKA Tomoyuki

    2009.03  The Japan Society of Mechanical Engineers

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  • G1501-2-2 A Study on Stabilization of Walking for a Small Humanoid Robot Domestic conference

    TAJIRI Tomoki, TAKADA Yogo, WAKISAKA Tomoyuki

    The proceedings of the JSME annual meeting  2009  The Japan Society of Mechanical Engineers

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    Recently, humanoid robots have been widely researched, and it has become possible to control humanoid robots with complicated kinetic characteristics. However, in the cases that the robot walks on an undulating road or receives disturbance such as collision with an object from the outside, the robot loses stability and falls, even if the inverted pendulum model is used. In this study, force sensors have been used on the soles of the humanoid robot to find the irregular parts on the road in order to stabilize the dynamic walk on the undulating road. As a result, it has been confirmed in simulation that the humanoid robot is able to walk on an undulating road.

    DOI: 10.1299/jsmemecjo.2009.5.0_143

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  • 512 Power Generation Characteristic and its Improvement of a Bio-fuel Cell Using Yeast Domestic conference

    KOYAMA Shinji, ITO Yuichi, TAKADA Yogo, AZUMA Masayuki, WAKISAKA Tomoyuki

    2009  The Japan Society of Mechanical Engineers

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  • HC3-3: Prediction of Ignition Timing and Combustion Process in Gasoline HCCI Engines by Means of Zero-dimensional Chemical Kinetics Calculation in Consideration of Combustion Characteristic Time(HC: HCCI Combustion,General Session Papers) International conference

    Takase Hideki, Takada Yogo, Wakisaka Tomoyuki

    The ... international symposium on diagnostics and modeling of combustion in internal combustion engines  2008.07  一般社団法人日本機械学会

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    In this study, investigation was conducted on prediction of ignition timing and combustion process in a gasoline homogeneous charge compression ignition (HCCI) engine by means of one-dimensional engine cycle simulation and zero-dimensional chemical kinetics calculation. In-cylinder gas thermal states, air-fuel ratio and EGR ratio at intake valve closing time were obtained by means of cycle simulation and applied to initial conditions for chemical kinetics calculation. A detailed kinetic model (101 species and 592 reactions) obtained from the elementary reaction schemes for iso-octane and n-heptane was modified for zero-dimensional calculation with regular gasoline of octane number 91, and validated by engine experiments. The combustion characteristic timescale model by Kong et al. was applied to zero-dimensional chemical kinetics calculation for considering the influence both of the chemical reaction and turbulent mixing. As a result, ignition timing and combustion processes were predicted reasonably at various supercharging pressure and engine speeds.

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  • CT2-1: Application of a Reduced Elementary Reaction Scheme to Three-dimensional Numerical Simulation of Knocking Phenomenon in a Spark Ignition Engine Fueled by LPG-DME Mixture(CT: Combustion, Thermal and Fluid Science,General Session Papers) Domestic conference

    Omote Hiroshi, Wakisaka Tomoyuki, Takada Yogo, Takai Kiyosei, Nakazono Tohru, Nishimura Akihiro

    The ... international symposium on diagnostics and modeling of combustion in internal combustion engines  2008.07  一般社団法人日本機械学会

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    In this study, the authors tried to understand the knocking phenomenon in a spark ignition engine fueled by LPG-DME mixture. The authors' original 3-D CFD code "GTT" linked to the CHEMKIN-II subroutines, called "GTT-CHEM", was used for not only understanding this knocking phenomenon but also estimating the knock intensity, which is usually measured by the completely different way on the test bed, from the CFD results. Then, a several different shapes of piston cavity were examined by both CFD and actual engine tests. As to the 3-D chemical kinetics calculation technique, for largely saving the computational time with little deterioration of accuracy, the authors constructed a reduced elementary reaction scheme for LPG-DME mixture by combining and reducing the GRI-Mech's scheme for LPG (mostly propane) and the Curran's scheme for DME. This reaction scheme was employed in the GTT-CHEM code, into which a modified version of the Kong's turbulent combustion model based on elementary reactions was incorporated. The GTT-CHEM code with the original reduced elementary reaction scheme was able to reproduce the knocking phenomenon reasonably well in the LPG-DME mixture fueled spark ignition engine. Finally, after actual engine experiments about different piston cavities, it has been found that a knocking intensity estimation index derived from HCHO behavior in CFD results is a good prophetic index to expand the knocking limit.

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  • 2P2-H03 Development of Micro Fish Robots Moved by Magnetic Actuators or Artificial Muscles Domestic conference

    TAKADA Yogo, ARAKI Ryosuke, YAMAGUCHI Akifumi, NAKANISHI Yukinobu, WAKISAKA Tomoyuki

    2008.06  The Japan Society of Mechanical Engineers

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    A swimming micro fish robot whose size is as small as a killifish is useful to seek disaster victims in flood areas, because it can go into narrow spaces. In this study, two types of micro fish robots (each total length is about 50 mm) have been developed. One is a fish robot which moves its trunk and tail with small magnetic actuators composed of coils and neodymium magnets. Employing soft material for its tail fin has improved the robot's propulsion performance at an appropriate phase difference between two sets of actuators. As a result, this fish robot can swim considerably fast in water, though its power consumption is very small. In addition, it has been demonstrated that the fish robot can swim by supplying electric power from the authors' original small and lightweight direct-methanol fuel cells (named "Power Tube") with the aid of a voltage booster. Furthermore, it has been shown that another fish robot which moves its tail with an IPMC (ionic polymer-metal composite, notable as artificial muscle) actuator can swim smoothly in water, though its power consumption is considerably larger at present than the former fish robot.

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  • 1221 Visual Information Processing for Biomimetics Robots Domestic conference

    CHIKAMUNE Takashi, NAKANISHI Yukinobu, TSUJINAKA Yasutoshi, TAKADA Yogo, WAKISAKA Tomoyuki

    2008.03  The Japan Society of Mechanical Engineers

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  • 808 Measurement of the Power Generation Characteristics of Small-sized and Super-lightweight Passive-type PEFC "Power Tube" with Alcohol Domestic conference

    EBITA Kazuaki, TAKADA Yogo, WAKISAKA Tomoyuki

    2008.03  The Japan Society of Mechanical Engineers

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  • 320 Three-dimensional Numerical Analysis of Knocking Phenomenon on the Basis of Chemical Kinetics in an LPG-DME Spark Ignition Engine Domestic conference

    TAKAI Kiyosei, OMOTE Hiroshi, TAKADA Yogo, WAKISAKA Tomoyuki

    2008.03  The Japan Society of Mechanical Engineers

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  • 319 Effects of Gas Flow on Mixture Formation in a Direct-injection Gasoline Engine : Investigation by Three-dimensional Numerical Simulation Domestic conference

    ONO Toshiaki, YAMAUCHI Toyosei, ISSHIKI Yoshihiro, TAKADA Yogo, WAKISAKA Tomoyuki

    2008.03  The Japan Society of Mechanical Engineers

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  • 313 Three-dimensional Numerical Analysis of Combustion Process and Products on the Basis of Chemical Kinetics in a High-EGR Diesel Engine Domestic conference

    MATSUKAWA Yosuke, FUJIMOTO Hidefumi, TAKADA Yogo, WAKISAKA Tomoyuki

    2008.03  The Japan Society of Mechanical Engineers

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  • 1225 Walking Pattern Generation and Stabilization of Walking of a Small Humanoid Robot Domestic conference

    OGAWA Kiyoshi, TSUJINAKA Yasutoshi, TAJIRI Tomoki, TAKADA Yogo, WAKISAKA Tomoyuki

    2008.03  The Japan Society of Mechanical Engineers

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  • 1P1-C08 A Study on a Swimming Humanoid Robot and Fish Robots Acquiring Swimming Ability Domestic conference

    TAKADA Yogo, TAMACHI Toshiaki, NAKANISHI Yukinobu, WAKISAKA Tomoyuki

    2007.05  The Japan Society of Mechanical Engineers

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    The butterfly stroke of man's swimming imitates a dolphin, which is excellent in swimming. Therefore, the authors created a swimming humanoid robot which swam like a dolphin. This swimming robot was able to swim in various ways and the operation sequence of servomotors for better swimming was acquired by the particle swarm optimization (PSO). Since fishes can swim skillfully in spite of their simple structure, the velocity distribution of water flow around a real swimming fish has been measured by PIV and analyzed by CFD in order to create new fish robots which can swim like a living fish. A flexible fish robot with 6 motor-string actuators was created and their operation sequence was semi-optimized by the genetic algorithm (GA). Moreover, a wireless-controlled small fish robot with two servomotors was created. It has been shown by PIV measurement that this fish robot with a suitable motor operation sequence generates the reverse Karman vortex street as a real swimming fish does.

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  • 112 Improvement of an Automatic Scheme Reduction Tool (ASRT) from Detailed Elementary Reaction Schemes : Scheme Reduction Based on the Histories of Chemical Species Domestic conference

    MATSUMOTO Atsutaka, YAMAUCHI Toyosei, KIM Sang-kyu, TAKAI Kiyosei, TAKADA Yogo, WAKISAKA Tomoyuki

    2007.03  The Japan Society of Mechanical Engineers

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  • 1415 Development of a Swimming Robot Domestic conference

    TAMACHI Toshiaki, NAKANISHI Yukinobu, TAKADA Yogo, WAKISAKA Tomoyuki

    2007.03  The Japan Society of Mechanical Engineers

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  • 1402 Walking Pattern Generation of a Two-legged Robot by CPG and Optimization of Walking Domestic conference

    SAITO Yusuke, OGAWA Kiyoshi, TAKADA Yogo, WAKISAKA Tomoyuki

    2007.03  The Japan Society of Mechanical Engineers

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  • 711 Measurement of the Water Flow around a Fish and Clarification of the Propulsion Mechanism of a Fish by Three-Dimensional Numerical Analysis Domestic conference

    TAKADA Yogo, TAMACHI Toshiaki, WAKISAKA Tomoyuki

    2007.03  The Japan Society of Mechanical Engineers

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  • 709 Investigation of Low-Speed Airfoil Shapes and the Effect of Primary Feathers of a Soaring Bird by Means of Numerical Analysis Domestic conference

    NAKAMURA Yohei, KOMATSU Hironori, TAKADA Yogo, WAKISAKA Tomoyuki

    2007.03  The Japan Society of Mechanical Engineers

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  • 504 Effect of Yeast Immobilization on the Performance of a Bio-fuel Cell Domestic conference

    UBA Hiroki, KOYAMA Shinji, TAKADA Yogo, WAKISAKA Tomoyuki

    2007.03  The Japan Society of Mechanical Engineers

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  • 503 Measurement of the AC Impedance Characteristic of Small-sized and Super-lightweight Passive-type PEFC "Power Tube" Domestic conference

    EBITA Kazuaki, TAKADA Yogo, WAKISAKA Tomoyuki

    2007.03  The Japan Society of Mechanical Engineers

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  • 0514 Improvement of the Power Generation Performance of a Bio-fuel Cell Using Yeast Domestic conference

    WAKISAKA Tomoyuki, KOYAMA Shinji, UBA Hiroki, TAKADA Yogo

    The proceedings of the JSME annual meeting  2007  The Japan Society of Mechanical Engineers

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    Nowadays, bio-fuel cells which utilize the enzymes of microbes are widely noticed. In this study, the authors made a bio-fuel cell which utilized yeast along with sucrose as fuel, and performed experiments under various conditions in order to improve its power generation performance. The concentrations of the mediator and oxidizer solutions and the number of current collectors in the anode and cathode were optimized. As a result, the single bio-fuel cell with six sheets of current collectors (each area was 20cm^2) in each of the anode and cathode was able to generate the maximum power of about 9mW. Moreover, the authors created a whale-type robot with a small motor powered by the three bio-fuel cells connected in series.

    DOI: 10.1299/jsmemecjo.2007.3.0_59

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  • 108 Zero-dimensional Chemical Kinetics Calculation in Homogeneous Charge Compression Ignition Engines in Consideration of Combustion Characteristic Time Domestic conference

    TAKASE Hideki, SERIZAWA Takeshi, TAKADA Yogo, WAKISAKA Tomoyuki

    2007  The Japan Society of Mechanical Engineers

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  • 1140 Clarification of the Propulsion Mechanism of a Fish and Improvement of the Swimming Ability of Aqua-robots Domestic conference

    TAKADA Yogo, TAMACHI Toshiaki, NAKANISHI Yoshinobu, ARAKI Ryosuke, WAKISAKA Tomoyuki

    The proceedings of the JSME annual meeting  2007  The Japan Society of Mechanical Engineers

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    The velocity distribution of water flow around a real swimming fish has been measured by PIV and analyzed by CFD in order to create new aqua-robots which can swim like a living fish or dolphin. A flexible fish robot with 2 motor-string actuators was created. If the inner part of tail fin was adequately softer than the outside of that, the fish robot was able to swim fast. It has been shown by PIV measurement that this fish robot with a latex rubber tail fin generates the reverse Karman vortex street as a real swimming fish does. In addition, the authors created a swimming humanoid robot which swam like a dolphin. This swimming robot was able to swim in various ways and the operation sequence of servomotors for better swimming was acquired by the particle swarm optimization (PSO).

    DOI: 10.1299/jsmemecjo.2007.6.0_119

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  • 107 Effects of Mixture Inhomogeneity on Combustion in a Compression Ignition Engine : Three-dimensional Numerical Analysis of Combustion in Consideration of Chemical Kinetics Domestic conference

    KIM Sang-kyu, ITO Kazuma, TAKADA Yogo, WAKISAKA Tomoyuki

    2006.03  The Japan Society of Mechanical Engineers

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  • 525 Measurement and Numerical Analysis of Water Flow around a Fish Robot Domestic conference

    TAMACHI Toshiaki, TANINAKA Satoshi, TAKADA Yogo, WAKISAKA Tomoyuki

    2006.03  The Japan Society of Mechanical Engineers

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  • 524 Development of a Micro Fish Robot Powered by a Fuel Cell Domestic conference

    TAKADA Yogo, EBITA Kazuaki, ISHII Toshinaga, TAMACHI Toshiaki, TANINAKA Satoshi, WAKISAKA Tomoyuki

    2006.03  The Japan Society of Mechanical Engineers

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  • 1213 Development of a Self-circulating Bioreactor for a Bio-fuel Cell Using Yeast Domestic conference

    UBA Hiroki, ISHI Toshinaga, NAGAHARA Kohei, TAKADA Yogo, WAKISAKA Tomoyuki

    2006.03  The Japan Society of Mechanical Engineers

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  • 1212 Investigation of the Shape of the Anode Flow Channel in a Direct Ethanol Polymer Electrolyte Fuel Cell : Optimization of the Channel Shape by Numerical Flow Analysis with a Genetic Algorithm Domestic conference

    TANINAKA Satoshi, ISHII Toshinaga, Takada Yogo, WAKISAKA Tomoyuki

    2006.03  The Japan Society of Mechanical Engineers

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  • 118 Numerical Analysis of Combustion in a Biogas Compression Ignition Engine in Consideration of Chemical Kinetics Domestic conference

    YOSHIHARA Daisuke, KIM Sang-kyu, MATSUMOTO Atsutaka, ITO Kazuma, TAKADA Yogo, WAKISAKA Tomoyuki

    2006.03  The Japan Society of Mechanical Engineers

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  • 111 Development of an Automatic Scheme Reduction Tool from Detailed Reaction Schemes for Engine Combustion Simulation Domestic conference

    MATSUMOTO Atsutaka, KIM Sang-kyu, ITO Kazuma, TAKADA Yogo, WAKISAKA Tomoyuki

    2006.03  The Japan Society of Mechanical Engineers

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  • 1214 Performance of a Passive-type Direct Bio-ethanol Fuel Cell Domestic conference

    ISHII Toshinaga, TANINAKA Satoshi, TAKADA Yogo, WAKISAKA Tomoyuki

    2006  The Japan Society of Mechanical Engineers

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  • 1215 Improvement of the Performance of a Bio-fuel Cell Using Yeast Domestic conference

    NAGAHARA Kohhei, UBA Hiroki, TAKADA Yogo, WAKISAKA Tomoyuki

    2006  The Japan Society of Mechanical Engineers

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  • 1214 Improvement of the Efficiency of Passive-type Polymer Electrolyte Fuel Cells using Power Control based on the Time-Splitting Method Domestic conference

    IMANISHI Hiroyuki, TAKADA Yogo, WAKISAKA Tomoyuki

    2005.03  The Japan Society of Mechanical Engineers

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    Improvement of the efficiency of passive-type polymer electrolyte fuel cells (passive-type PEFCs) which use hydrogen is one of important subjects for practical use. The authors conceived that it might be possible to improve the efficiency of passive-type PEFCs using the authors' original power control method named Time-Splitting Method (TSM). Using an equivalent circuit model which represents an actual current-voltage curve reasonably well for a passive-type PEFC unit, characteristics of the efficiency of a passive-type PEFC controlled by the TSM have been investigated under various conditions (pulse frequency, external load resistance, duty ratio etc.) and improvement of the efficiency of this PEFC has been confirmed.

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  • 323 Numerical Analysis of the Combustion Process in a Diesel Engine with High Boost Pressure and High EGR Ratio Domestic conference

    KIM Sang-kyu, ITO Kazuma, TAKADA Yogo, WAKISAKA Tomoyuki

    2005.03  The Japan Society of Mechanical Engineers

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    In other to predict the combustion process in a diesel engine with high boost pressure and high EGR ratio, a method for determining the initial gas compositions was investigated. The compositions were predicted reasonably well by means of zero-dimensional engine combustion simulation using the CHEMKIN code with elementary reactions. Using these initial gas compositions, the combustion process in a diesel engine with high boost pressure and high EGR ratio was numerically analyzed using the authors' GTT code with ignition and combustion models, whose model constants were optimized by the genetic algorithm. By comparing the calculated results with the experimental ones, it has been confirmed that the rate of heat release, cylinder gas pressure and NO emission can be predicted reasonably well.

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  • 315 Three-Dimensional Numerical Simulation of the Thermo-Fluid and Catalytic Reaction in an Exhaust Gas Three-Way Catalyzer Domestic conference

    KOTANI Toshimasa, ITO Kazuma, KIM Sang-kyu, TAKADA Yogo, WAKISAKA Tomoyuki

    2005.03  The Japan Society of Mechanical Engineers

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    Presentation type:Oral presentation (general)  

    As to three-way catalyzers (TWC) for automobile exhaust gas, further improvement in the purification performance of exhaust gas is required. Therefore it is necessary to optimize the purification characteristics and geometry of the catalyzer. In this study, the authors have created a detailed analytical model to analyze thermo-fluid with chemical reaction in a TWC and carried out three-dimensional numerical simulation of heat, flow and catalytic reaction in the TWC.

    CiNii Article

  • 308 Three-Dimensional Numerical Analysis of the Ignition and Combustion Processes in a Gasoline Homogeneous Charge Compression Ignition Engine in Consideration of Chemical Kinetics Domestic conference

    ITO Kazuma, KIM Sang-kyu, TAKADA Yogo, WAKISAKA Tomoyuki

    2005.03  The Japan Society of Mechanical Engineers

     More details

    Presentation type:Oral presentation (general)  

    Gasoline homogeneous charge compression ignition (HCCI) engines can operate with high thermal efficiency and can reduce NOx emission by burning very lean homogeneous mixture at high compression ratio. Therefore, the engines are expected to become practicable as one of next-generation engines. In this study, a reduced elementary reaction scheme for gasoline was proposed, and the ignition and combustion processes and the combustion products in a gasoline HCCI engine were simulated by three-dimensional numerical analysis using the authors' GTT code which was linked to the CHEMKIN subroutines with the proposed chemical kinetic scheme. As a result, the ignition timing, heat release rate, cylinder gas pressure and NO emission at various air-fuel ratios and engine speeds were predicted very well.

    CiNii Article

  • 1508 Application of a Hybrid Power-Supply System Composed of a Passive-type Polymer Electrolyte Fuel Cell and Capacitors to a Fish Robot Domestic conference

    TAKADA Yogo, TAMACHI Toshiaki, ISHII Toshinaga, IMANISHI Hiroyuki, WAKISAKA Tomoyuki

    2005.03  The Japan Society of Mechanical Engineers

     More details

    Presentation type:Oral presentation (general)  

    In order to imitate high-efficiency propulsion by a fish tail under water, the authors made a fish robot, which was assembled from a flexible rubber-sheet body (with a tail) and muscle-like six actuators each of which was composed of a small DC motor and a thin piece of flexible string, Electric power was fed to each motor intermittently in a programmed sequence by a hybrid power-supply system composed of a hydrogen-fueled passive-type polymer electrolyte fuel cell, capacitors and a PWM controller. It has been shown that the fish robot can swim like a fish under water when the actuators are operated in an appropriate sequence. It has been found that the capacitors in this power-supply system are requisite for the actuators, because the load on them varies largely when the fish robot swings its body and tail strongly under water.

    CiNii Article

  • 1216 Analysis of Liquid Flow in the Anode-side Passage of a Direct Ethanol Polymer Electrolyte Fuel Cell Domestic conference

    TANINAKA Satoshi, ISHII Toshinaga, TAKADA Yogo, WAKISAKA Tomoyuki

    2005.03  The Japan Society of Mechanical Engineers

     More details

    Presentation type:Oral presentation (general)  

    The direct ethanol polymer electrolyte fuel cell (DEFC) is a suitable energy conversion system for recycle-oriented society on the point that it uses the safe bio-fuel, but there exists a problem that its power generation performance is low. One of the causes is the generation and stagnation of by-products in the anode-side passage. In this study, the authors have carried out the numerical analysis of aqueous solution flow and the measurements of its flow and by-product concentrations for investigating the behavior of by-products.

    CiNii Article

  • 1215 Improvement of the Performance of Passive-type Polymer Electrolyte Fuel Cells and an Attempt to Make Small-size and Light-weight Fuel Cells Domestic conference

    ISHII Toshinaga, TANINAKA Satoshi, TAKADA Yogo, WAKISAKA Tomoyuki

    2005.03  The Japan Society of Mechanical Engineers

     More details

    Presentation type:Oral presentation (general)  

    Recently, various mobile devices are widespread. However, these devices consume a lot of electric power. From the problem of short duration of batteries, it is required to develop small-size and light-weight fuel cells as the electric power source for them. In this study, in order to improve the performance of hydrogen-fuelled polymer electrolyte fuel cells (PEFCs) of passive type, the authors investigated the effects of the material and structure of the diffusion layer and current collector on the performance of them, and then attempted to make small-size and light-weight passive-type PEFCs on the basis of these results.

    CiNii Article

  • Application of a Hybrid System with Passive-type Polymer Electrolyte Fuel Cells and Capacitors to a Lightweight Electric Vehicle : Power Control by Time-Splitting Method Domestic conference

    IMANISHI Hiroyuki, NAKAMURA Takuji, TAKADA Yogo, WAKISAKA Tomoyuki

    Transactions of the Japan Society of Mechanical Engineers. Series B.  2005.02  The Japan Society of Mechanical Engineers

     More details

    Presentation type:Oral presentation (general)  

    A hybrid system with passive-type polymer electrolyte fuel cells and electric double layer capacitors was applied to a lightweight electric vehicle. In order to control the outputs from the fuel cells and capacitors appropriately under various running conditions (acceleration, deceleration, etc.), the authors proposed an original power control method named Time-Splitting Method (TSM). Using a fixed experimental apparatus constructed as a model of a lightweight electric vehicle, the operating characteristics of the model vehicle with the hybrid system controlled by the TSM method were measured under various running conditions and the effectiveness of the TSM method was confirmed.

    CiNii Article

  • 1151 Propulsion Performance of a Fish Robot Driven by a Motor-String System with a Passive-type Polymer Electrolyte Fuel Cell Domestic conference

    TAKADA Yogo, TAMACHI Toshiaki, ISHII Toshinaga, IMANISHI Hiroyuki, WAKISAKA Tomoyuki

    The proceedings of the JSME annual meeting  2005  The Japan Society of Mechanical Engineers

     More details

    Presentation type:Oral presentation (general)  

    In order to imitate high-efficiency propulsion by a fish tail under water, the authors made a fish robot, which was assembled from a flexible rubber-sheet body (with a tail) and muscle-like six actuators each of which was composed of a small DC motor and a thin piece of flexible string. Electric power was fed to each motor intermittently in a programmed sequence by a power-supply system composed of a hydrogen-fueled passive-type polymer electrolyte fuel cell and a PWM controller. Using the genetic algorithm (GA), it was possible to find the sequence of six actuators for more speedy swimming or that for more efficient swimming. It has been found that the latter sequence of six actuators, which is obviously different from the former one, can swim the fish robot smoothly with less energy consumption.

    DOI: 10.1299/jsmemecjo.2005.6.0_95

    CiNii Article

  • 804 Improvement of the Performance of a Small-size and Light-weight Passive-type Polymer Electrolyte Fuel Cell Domestic conference

    ISHII Toshinaga, TANINAKA Satoshi, TAKADA Yogo, WAKISAKA Tomoyuki

    The proceedings of the JSME annual meeting  2005  The Japan Society of Mechanical Engineers

     More details

    Presentation type:Oral presentation (general)  

    Recently, various mobile devices are widespread. However, these devices consume a lot of electric power. From the problem of short duration of batteries, it is required to develop small-size and light-weight fuel cells as the electric power source for them. The authors had developed a small-size and light-weight passive-type polymer electrolyte fuel cell named "Power Tube". In this study, in order to improve its performance with hydrogen as fuel, the effects of the current collector material and the cell structure on its performance were investigated. Furthermore, the generation characteristics of the cell with bio-fuel were investigated.

    DOI: 10.1299/jsmemecjo.2005.3.0_7

    CiNii Article

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Works

  • OCEANS/ Techno-Ocean 2018 水中ロボット競技会で、研究開発した魚ロボットを出展

    2018.05

Industrial Property Rights

  • 蠕動運動で移動するロボット

    齋藤充、星加拓海、伊藤友紀、高田洋吾、伊東淳一、中島有利佳

     More details

    property_type:Patent 

    Application no:特願2024-21884 

  • 走行ロボット

    芝雄大,谷田大,高田洋吾,小野孝輔,小林翔太,宋炫雨 ,畑中亮太

     More details

    property_type:Patent 

  • 走行ロボット

    芝雄大,高田洋吾,中島啓太,小林翔太

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    property_type:Patent 

  • 壁面走行ロボット

    高田洋吾,伊藤誠志,芝雄大

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    property_type:Patent 

    Patent/Registration no:特許第6371896号 

  • ロボット

    高田洋吾、今城直人、伊藤誠志

     More details

    property_type:Patent 

    Application no:特願2015-227512 

    Patent/Registration no:特許第6659038号 

    橋梁検査ロボット・バイリム3号機、特願2015-227512

  • 移動ロボット (コンクリート壁移動ロボット)

    高田洋吾,川合忠雄

     More details

    property_type:Patent 

    Application no:特願2014-090051 

    Patent/Registration no:特許第6504749号 

    鋼製パイプの外側面を落下せずに移動するロボット
    特願2014-090051

  • 複雑立体環境場を活動対象とした橋梁検査ロボットの移動機構

    高田洋吾、川合忠雄、川上洋司

     More details

    property_type:Patent 

    Patent/Registration no:特許第5846516号 

    橋梁検査ロボット 特願2012-265386、特願2014-551103

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Collaborative research (seeds) keywords

  • 手のひらサイズの移動ロボットの開発および運動解析

    Category:Machinery / Measuring Equipment 

Grant-in-Aid for Scientific Research

  • 遠隔操縦で検査できるコンクリート壁面検査ロボットの開発

    Grant-in-Aid for Scientific Research(C)  2015.04

  • 動脈硬化を診断・予知するための近赤外レーザ血管血流画像情報計測技術の臨床応用

    Grant-in-Aid for Scientific Research(C)  2014.04

  • 微振動および刷毛刺激による副交感神経賦活が生体に及ぼす影響

    Grant-in-Aid for Challenging Research (Pioneering)/(Exploratory)  2013.04

  • カメラとFPGAを搭載した小型魚ロボットによる淡水魚調査の実現

    Grant-in-Aid for Scientific Research(C)  2012.04

Joint research

  • フランジ部を走破可能なマグネット吸着自走式ロボットの開発

    2020.04

  • 橋梁点検に用いるマグネット吸着式自走ロボットの開発

    2019.04

  • 外側角部を走破可能なマグネット吸着自走式ロボットの開発

    2018.04

Contract research

  • 研究成果展開事業 研究成果最適展開支援プログラム フィージビリティスタディ【FS】ステージ 探索タイプ

    2012.11

Incentive donations / subsidies

  • 呼気同期による生体副交感神経賦活の皮膚刺激効果最適化の検証

    民間企業  2019.04

Other subsidies, etc.

  • 鋼構造物点検に用いるマグネット吸着式自走ロボットの自立制御システムの研究

    地方自治体  2021.04

  • 橋梁点検に用いるマグネット吸着式自走ロボットの開発

    地方自治体  2019.06

Outline of education staff

  • ロボット運動学、メカトロニクス、コンピュータプログラミングを担当しています。ロボットは各関節に駆動装置を備えた機械です。さて、駆動装置でロボットの各関節を動かしたら、その結果、ロボットはどのように動くのでしょうか、というところを考えるのがロボット運動学です。駆動装置を動かすために必要な知識がメカトロニクスで、さらに、マイコンなどでプログラム通りにロボットを動かすためには、当然ながらコンピュータプログラミングの知識も必要です。

Charge of on-campus class subject

  • メカトロニクス特論

    2023   Weekly class   Graduate school

  • 機械工学概論

    2023   Weekly class   Undergraduate

  • 技術と環境

    2023   Weekly class   Graduate school

  • 卒業研究

    2023     Undergraduate

  • ロボット運動学

    2023   Weekly class   Undergraduate

  • 設計製作実習

    2023   Practical Training   Undergraduate

  • コンピュータプログラミング法

    2023   Weekly class   Undergraduate

  • 機械工作実習

    2023   Practical Training   Undergraduate

  • 機械工学基礎

    2023   Weekly class   Undergraduate

  • 機械工学実験

    2023   Practical Training   Undergraduate

  • メカトロニクス特論

    2022   Weekly class   Graduate school

  • ロボット運動学

    2022   Weekly class   Undergraduate

  • コンピュータプログラミング法

    2022   Weekly class   Undergraduate

  • 卒業研究(機械工学科)

    2022     Undergraduate

  • 設計製作実習(B)

    2022   Practical Training   Undergraduate

  • 設計製作実習(A)

    2022   Practical Training   Undergraduate

  • 機械工学実験(B)

    2022   Practical Training   Undergraduate

  • 機械工学実験(A)

    2022   Practical Training   Undergraduate

  • メカトロニクス特論

    2021     Graduate school

  • ロボット運動学

    2021     Undergraduate

  • 特別演習(アクチュエータ工学)

    2021     Graduate school

  • 設計製作実習

    2021     Undergraduate

  • 機械工学実験

    2021     Undergraduate

  • コンピュータプログラミング法

    2021     Undergraduate

  • エンジニアリングデザイン

    2021     Undergraduate

  • 研究者の世界へ

    2020     Undergraduate

  • 技術と環境

    2020     Undergraduate

  • 日本事情IB

    2020     Undergraduate

  • コンピュータプログラミング法

    2020     Undergraduate

  • 特別演習(アクチュエータ工学)

    2020     Graduate school

  • メカトロニクス特論

    2020     Graduate school

  • ロボット運動学

    2020     Undergraduate

  • 設計製作実習

    2020     Undergraduate

  • 機械工学実験

    2020     Undergraduate

  • エンジニアリングデザイン

    2020     Undergraduate

  • 特別演習(アクチュエータ工学)

    2019     Graduate school

  • メカトロニクス特論

    2019     Graduate school

  • ロボット運動学

    2019     Undergraduate

  • 設計製作実習

    2019     Undergraduate

  • 機械工学実験

    2019     Undergraduate

  • エンジニアリングデザイン

    2019     Undergraduate

  • コンピュータプログラミング法

    2019     Undergraduate

  • メカトロニクス特論

    2018     Graduate school

  • ロボット運動学

    2018     Undergraduate

  • 設計製作実習

    2018     Undergraduate

  • 機械工学実験

    2018     Undergraduate

  • エンジニアリングデザイン

    2018     Undergraduate

  • コンピュータプログラミング法

    2018     Undergraduate

  • 特別演習(アクチュエータ工学)

    2018     Graduate school

  • 技術と環境

    2017     Undergraduate

  • コンピュータプログラミング法

    2017     Undergraduate

  • エンジニアリングデザイン

    2017     Undergraduate

  • 機械工学実験

    2017     Undergraduate

  • 設計製作実習

    2017     Undergraduate

  • ロボット運動学

    2017     Undergraduate

  • メカトロニクス特論

    2017     Graduate school

  • 特別演習(アクチュエータ工学)

    2017     Graduate school

  • ロボット運動学

    2016     Undergraduate

  • 設計製作実習

    2016     Undergraduate

  • 機械工学実験

    2016     Undergraduate

  • エンジニアリングデザイン

    2016     Undergraduate

  • コンピュータプログラミング法

    2016     Undergraduate

  • メカトロニクス特論

    2016    

  • 特別演習(アクチュエータ工学)

    2016     Graduate school

  • ロボット運動学

    2015     Undergraduate

  • 機械設計製作実習

    2015     Undergraduate

  • 機械工学実験

    2015     Undergraduate

  • エンジニアリングデザイン

    2015     Undergraduate

  • コンピュータプログラミング法

    2015     Undergraduate

  • メカトロニクス特論

    2015    

  • 特別演習

    2015    

  • 特別演習

    2014    

  • ロボット運動学

    2014     Undergraduate

  • メカトロニクス工学

    2014     Undergraduate

  • 機械設計製作実習

    2014     Undergraduate

  • 機械工学実験

    2014     Undergraduate

  • エンジニアリングデザイン (まとめ役)

    2014     Undergraduate

  • コンピュータプログラミング法

    2014     Undergraduate

  • メカトロニクス特論

    2014    

  • ロボット運動学

    2013     Undergraduate

  • メカトロニクス工学

    2013     Undergraduate

  • 機械設計製作実習

    2013     Undergraduate

  • 機械工学実験

    2013     Undergraduate

  • エンジニアリングデザイン

    2013     Undergraduate

  • メカトロニクス特論

    2013    

  • 特別演習

    2013    

  • ロボット運動学

    2012     Undergraduate

  • メカトロニクス工学

    2012     Undergraduate

  • 機械設計製作実習

    2012     Undergraduate

  • 機械工学実験

    2012     Undergraduate

  • エンジニアリングデザイン

    2012     Undergraduate

  • メカトロニクス特論

    2012    

  • 特別演習

    2012    

  • 技術と環境

    2011     Undergraduate

  • ロボット運動学

    2011     Undergraduate

  • メカトロニクス工学

    2011     Undergraduate

  • 機械設計製作実習

    2011     Undergraduate

  • 機械工学実験

    2011     Undergraduate

  • メカトロニクス特論

    2011    

  • 特別演習

    2011    

  • 制御工学Ⅱ

    2009     Undergraduate

▼display all

Faculty development activities

  • FD活動への貢献  2019

     More details

    9月24日に開催された工学部FD集会「工学部における海外研修制度」に関して段取りと司会進行役を務めた。

  • 教育方法の改善  2018

     More details

    英単語を覚えるためのページをWEB上で公開した。
    http://robotics.mech.eng.osaka-cu.ac.jp/study/English_Word/english_entrance.php

Number of papers published by graduate students

  • 2023

    Number of undergraduate student / college student presentations:Number of graduate students presentations:3

  • 2022

    Number of undergraduate student / college student presentations:Number of graduate students presentations:2

Original item・Special report (Education Activity)

  • 2022

      More details

    Original item:金曜日午後をオフィスアワーに設定し、学生学習支援に貢献した。

  • 2022

      More details

    Original item:大阪市立大学合気道部の部長として、課外活動支援に貢献した。

  • 2021

      More details

    Original item:金曜日午後をオフィスアワーに設定し、学生学習支援に貢献した。

  • 2021

      More details

    Original item:大阪市立大学アーチェリー部の副部長として、課外活動支援に貢献した。

  • 2021

      More details

    Original item:大阪市立大学合気道部の部長として、課外活動支援に貢献した。

  • 2020

      More details

    Original item:大阪市立大学アーチェリー部の副部長として、課外活動支援に貢献した。

  • 2020

      More details

    Original item:大阪市立大学合気道部の部長として、課外活動支援に貢献した。

  • 2020

      More details

    Original item:金曜日午後をオフィスアワーに設定し、学生学習支援に貢献した。

  • 2019

      More details

    Original item:大阪市立大学合気道部の部長として、課外活動支援に貢献した。

  • 2019

      More details

    Original item:金曜日午後をオフィスアワーに設定し、学生学習支援に貢献した。

  • 2019

      More details

    Original item:大阪市立大学アーチェリー部の副部長として、課外活動支援に貢献した。

  • 2018

      More details

    Original item:大阪市立大学アーチェリー部の副部長として、課外活動支援に貢献した。

  • 2018

      More details

    Original item:金曜日午後をオフィスアワーに設定し、学生学習支援に貢献した。

  • 2018

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    Original item:大阪市立大学都市防災教育研究センター(CERD)が発刊する地区防災教室ワークブック「生活現場で学ぶアクティブラーニング型防災教育 Vol.06」のpp.24~27の箇所を執筆した。

  • 2017

      More details

    Original item:大阪市立大学 アーチェリー部 副部長

  • 2017

      More details

    Original item:金曜日午後をオフィスアワーに設定し、学生学習支援に貢献した。

  • 2016

      More details

    Original item:大阪市立大学 アーチェリー部 副部長

▼display all

Social Activities

  • 今福プログラミング教室「コスモ・ナレッ ジ」

    Role(s): Guest, Lecturer, Consultant, Official expert, Performer

    2023.11

     More details

    Audience: Schoolchildren, Parents/Guardians, Civic organization

    Type:Seminar, workshop

    Number of participants:50(人)

  • 第138回テクノラボツアー・技術懇親会

    Role(s): Lecturer, Consultant, Official expert

    2023.09

     More details

    Audience: Schoolchildren, Parents/Guardians, Civic organization

    Type:Seminar, workshop

    Number of participants:60(人)

  • 淡路三原高等学校 研究室見学とロボット体験学習

    Role(s): Host, Consultant, Official expert, Planner, Logistic support, Performer

    淡路三原高等学校  2023.08

     More details

    Audience: Schoolchildren, Parents/Guardians, Civic organization

    Type:Seminar, workshop

    Number of participants:30(人)

  • 高津高等学校 体験型進路学習

    Role(s): Host, Consultant, Official expert, Planner, Logistic support

    高津高等学校  2023.05 - 2023.11

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    Audience: Schoolchildren, Parents/Guardians, Civic organization

    Type:Seminar, workshop

    Number of participants:8(人)

  • 国際会議ISABMEC2024の事務局

    Role(s): Planner, Logistic support, Investigater, Report author

    エアロ・アクアバイオメカニズム学会  2023.04 - Now

     More details

    Type:Lecture

  • 今福プログラミング教室「コスモ・ナレッ ジ」

    Role(s): Guest, Lecturer, Consultant, Official expert, Performer

    2022.12

     More details

    Audience: Schoolchildren, Parents/Guardians, Civic organization

    Type:Seminar, workshop

    Number of participants:30(人)

  • ISABMEC2022

    Role(s): Logistic support

    2022.11

     More details

    Type:Lecture

  • 高津高等学校 研究室訪問

    Role(s): Host, Consultant

    高津高等学校  2022.11

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    Audience: Schoolchildren, Parents/Guardians, Civic organization

    Type:Seminar, workshop

    Number of participants:8(人)

  • 日本機械学会関西支部第96期定期総会講演会

    Role(s): Host

    日本機械学会関西支部  2022.03

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    Audience: University students, Graduate students, Teachers, Researchesrs, Scientific organization, Company

    Type:Lecture

  • 日本機械学会 関西学生会2021年度学生員卒業研究発表講演会

    Role(s): Commentator

    日本機械学会関西支部  2022.03

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    Audience: University students

    Type:Lecture

  • 大阪日日新聞 ロボットの面白さ知る 子供らプログラム体験

    Role(s): Media coverage, Official expert

    大阪日日新聞  2021.12

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    Type:Newspaper, magazine

  • 今福プログラミング教室「コスモ・ナレッ ジ」

    Role(s): Guest, Lecturer, Consultant, Official expert, Performer

    2021.12

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    Audience: Schoolchildren, Parents/Guardians, Civic organization

    Type:Seminar, workshop

    Number of participants:30(人)

  • Techno-Ocean 2021 水中ロボット競技会実行委員

    Role(s): Planner, Logistic support

    Techno-Ocean  2021.04 - 2021.12

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    Audience: Infants, Schoolchildren, Junior high school students, High school students, University students, Graduate students, Teachers, Parents/Guardians, Researchesrs, General public, Scientific organization, Company, Civic organization, Governmental agency, Media

    Type:Science festival

    Number of participants:100(人)

  • エアロ・アクアバイオメカニズム学会 第43回定例講演会

    Role(s): Host

    エアロ・アクアバイオメカニズム学会  2021.03

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    Audience: University students, Graduate students, Teachers, Researchesrs, Scientific organization, Company

    Type:Lecture

  • 日本機械学会 関西学生会2020年度学生員卒業研究発表講演会

    Role(s): Commentator

    日本機械学会関西支部  2021.03

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    Audience: University students

    Type:Lecture

  • Techno-Ocean 2020 水中ロボット競技会実行委員

    Role(s): Planner, Logistic support

    Techno-Ocean  2020.04 - 2020.12

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    Audience: Infants, Schoolchildren, Junior high school students, High school students, University students, Graduate students, Teachers, Parents/Guardians, Researchesrs, General public, Scientific organization, Company, Civic organization, Governmental agency, Media

    Number of participants:100(人)

    2020年12月に開催予定として準備を進めてきたが、コロナの盈虚により中止になった。

  • 2019年度 水中ロボットフェスティバル 実行委員

    Role(s): Consultant, Logistic support

    2019.10 - 2020.03

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    Audience: High school students, University students, Graduate students, Teachers, General public

    Type:Science festival

    Number of participants:100(人)

  • 大学出張講義

    Role(s): Lecturer

    大阪府立岸和田高等学校  大阪府立岸和田高等学校  2019.08

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    Audience: High school students

    Type:Visiting lecture

  • 大阪市立大学スポーツアソシエーション(OCUSA) 常任理事

    Role(s): Consultant, Planner, Logistic support

    大阪市立大学スポーツアソシエーション  2019.04 - Now

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    Audience: High school students, University students, Teachers, General public, Civic organization

    Type:Citizen’s meeting/Assembly

  • 第18回評価・診断に関するシンポジウム 実行委員長

    Role(s): Host, Chief editor, Edit, Planner, Logistic support

    日本機械学会  大阪市立大学   2019.04 - 2019.11

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    Audience: University students, Graduate students, Teachers, Researchesrs, General public, Scientific organization, Company

    Type:Lecture

    Number of participants:100(人)

  • 魚ロボットに関して TBSラジオ 出演

    Role(s): Guest, Media coverage, Official expert

    TBSラジオ  森本毅郎スタンバイ!  2019.03

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    Audience: Media

    Type:TV or radio program

    Number of participants:3(人)

    川﨑直樹学生、有谷拓也学生らとともに3人でインタビューを受けて、その内容が後日、ラジオで放送された。

  • 朝日新聞 魚ロボット 掲載

    Role(s): Media coverage, Official expert

    朝日新聞社  朝日新聞  2019.02

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    Audience: Media

    Type:Newspaper, magazine

    魚ロボット 広がる水の世界

  • 国際会議 ISABMEC 2018  幹事(会計)

    Role(s): Consultant, Planner, Logistic support, Report author

    東京電機大学  2018.08 - 2018.09

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    Audience: University students, Graduate students, Researchesrs, General public, Scientific organization, Company, Governmental agency

    Type:Lecture

    Number of participants:60(人)

    主として国際会議運営における会計業務

  • コミュニティ防災教室

    Role(s): Lecturer, Official expert

    大阪市立大学都市防災教育研究センター(CERD)  コミュニティ防災教室  大阪市立大学221教室  2018.06

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    Audience: Researchesrs, General public, Company, Civic organization, Governmental agency

    Type:Seminar, workshop

    「国内で災害時用に開発されているロボットについて」をテーマとして講演した。

  • OCEANS'18 / Techno-Ocean 2018 水中ロボット競技会実行委員

    Role(s): Host, Consultant, Planner, Logistic support

    OCEANS'18 / Techno-Ocean  神戸市ポートアイランドスポーツセンター  2018.05

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    Audience: Infants, Schoolchildren, Junior high school students, High school students, University students, Graduate students, Teachers, Parents/Guardians, Researchesrs, General public, Scientific organization, Company, Civic organization, Governmental agency, Media

    Number of participants:100(人)

    2018年5月27日に開催された国際イベント、
    水中ロボット競技会の運営、フリースタイル部門の司会、
    参加者に対する支援など

  • 第74回 オープン・ラボラトリー

    Role(s): Lecturer, Official expert

    大阪市立大学工学研究科・URAセンター  第74回 オープン・ラボラトリー  大阪産業創造館  2018.04

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    Audience: General public, Company, Civic organization, Governmental agency

    Type:Seminar, workshop

    「インフラ構造物を走行する移動ロボット」のテーマ名で講演

  • 全日本アーチェリー連盟 科学委員会

    Role(s): Commentator, Consultant, Official expert, Logistic support, Performer, Investigater, Report author

    2018.04 - Now

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    Audience: Junior high school students, High school students, University students, Researchesrs, General public, Scientific organization, Governmental agency, Media

    Type:Cooperation with government and educational institutions

    Number of participants:18(人)

    オリンピック選手の支援

  • 日本経済新聞 ロボット百景 掲載

    Role(s): Media coverage, Official expert

    2018.03

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    Audience: Media

    Type:Newspaper, magazine

    魚ロボットの新聞掲載
    ロボット百景4, 獲物を追跡、逃さぬハンター

  • 日本機械学会関西支部第93期定期総会講演会

    Role(s): Host

    日本機械学会関西支部  2018.03

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    Audience: University students, Graduate students, Teachers, Researchesrs, Scientific organization, Company

    Type:Lecture

  • 日本機械学会関西支部第93期定期総会講演会

    Role(s): Commentator

    日本機械学会関西支部  2018.03

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    Audience: Graduate students

    Type:Lecture

  • 日本機械学会 関西学生会2017年度学生員卒業研究発表講演会

    Role(s): Commentator

    日本機械学会関西支部  2018.03

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    Audience: University students

    Type:Lecture

  • 自動車と船と飛行機とロボットのしくみ

    Role(s): Lecturer

    和歌山県教育委員会  きのくに科学オリンピック   和歌山県文化情報センター  2017.11

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    Audience: High school students

    Type:Visiting lecture

    Number of participants:60(人)

    きのくに科学オリンピックに出場した高校生らを対象として、自動車と船と飛行機とロボットのしくみに関して、14:00から15:50まで講演した。

  • 大阪市立大学スポーツアソシエーション(OCUSA) 理事

    Role(s): Consultant, Logistic support

    大阪市立大学スポーツアソシエーション  2017.04 - 2019.03

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    Audience: High school students, University students, Teachers, General public, Civic organization

    Type:Citizen’s meeting/Assembly

  • エアロ・アクアバイオメカニズム学会 会計役員

    Role(s): Planner, Logistic support

    2017.01 - 2020.03

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    Audience: University students, Graduate students, Teachers, Researchesrs, General public, Scientific organization, Company, Civic organization, Governmental agency

    Type:Lecture

    講演会や論文出版に係わる経費の管理および運営、提案

  • エアロ・アクアバイオメカニズム学会 幹事

    Role(s): Planner, Logistic support

    2016.01 - Now

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    Audience: University students, Graduate students, Teachers, Researchesrs, General public, Scientific organization, Company, Civic organization, Governmental agency

  • 一般向け教育活動

    2012.04 - 2013.03

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    2012年4月6日に開催されたオープンラボラトリーにおいて、「高齢者向け介助ロボットによる歩行環境の認識」の題目で発表

  • 小中高生向け教育活動

    2011.04 - 2012.03

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    平成23年 大阪中学生サマー・セミナー 開設講座
    振動の世界へようこそ ~作って、遊んで、楽しもう~
    を分担した。

  • その他活動

    2011.04 - 2012.03

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    第4回水中ロボットフェスティバルに、ロボットを1体出展した

▼display all

Foreigner acceptance

  • 2021

    foreigners accepted :1

    International Students :3

  • 2020

    foreigners accepted :0

    International Students :3

  • 2019

    foreigners accepted :0

    International Students :3

  • 2018

    International Students :1

  • 2017

    International Students :1

International exchange activities

  • 一年後にタイ国カセサート大学で開催される国際会議ISABMEC2024(エアロ・アクアバイオメカニズム学会主催)の開催準備として、事務局として、表敬と会場視察のため現地の先生方と打ち合わせを行った。

    Field category :Social contributions

    Country name :タイ国   2023.11

  • 国際イベント Oceans/Techno Ocean 2018 水中ロボット競技会の準備、当日運営(参加者支援や司会進行、使用言語:英語)などを行った。

    Field category :Social contributions

    2018.01 - 2018.05

  • 2018年度夏に開催される国際会議ISABMEC2018の幹事(会計)として、事前準備から当日運営、また、事後の会計処理と2019年3月20日の幹事会報告まで行った。

    Field category :Social contributions

    2017.09 - 2019.03