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モジュラーネットワーク型自己組織化マップを用いた水中ロボットの運動制御システム
http://hdl.handle.net/10228/2341
http://hdl.handle.net/10228/2341ed504b7b-ea14-4261-993f-8084a573d50a
名前 / ファイル | ライセンス | アクション |
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Item type | 会議発表論文 = Conference Paper(1) | |||||||
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公開日 | 2009-04-08 | |||||||
タイトル | ||||||||
タイトル | モジュラーネットワーク型自己組織化マップを用いた水中ロボットの運動制御システム | |||||||
その他のタイトル | ||||||||
その他のタイトル | A Motion Control System for an AUV using modular network Self-Organizing Map | |||||||
言語 | ||||||||
言語 | jpn | |||||||
資源タイプ | ||||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||||
資源タイプ | conference paper | |||||||
著者 |
西田, 周平
× 西田, 周平× 石井, 和男× 古川, 徹生
WEKO
661
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著者別名 | ||||||||
姓名 | Nishida, Shuhei | |||||||
著者別名 | ||||||||
姓名 | Ishi, Kazuo | |||||||
著者別名 | ||||||||
姓名 | Furukawa, Tetsuo | |||||||
抄録 | ||||||||
内容記述タイプ | Abstract | |||||||
内容記述 | Autonomous Underwater Vehicles(AUVs) are attractive tools for maintenance of underwater structures and oceanography. However, there are a lot of problems to be solved. We have been investigated the application of brain-inspired technolofies into AUVs. The motion of AUV is represented by complicated non-linear dynamics in six degrees of freedom with added-mass and hydrodynamic forces, and control systems should be adaptive and robust. In this paper, a new self-Organizing cotroller system for AUVs using modular network Self-Organizing Map(mnSOM) proposed by Tokunaga et al. is discussed. The efficiency of the system is investigated through the simulations. | |||||||
内容記述 | ||||||||
内容記述タイプ | Other | |||||||
内容記述 | 第24回日本ロボット学会学術講演会,2006年9月14日,岡山大学,日本 | |||||||
書誌情報 |
第24回日本ロボット学会学術講演会講演論文集 発行日 2006-09-01 |
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出版者 | ||||||||
出版者 | 日本ロボット学会 | |||||||
キーワード | ||||||||
主題Scheme | Other | |||||||
主題 | Adaptive Controller System | |||||||
キーワード | ||||||||
主題Scheme | Other | |||||||
主題 | modular network SOM | |||||||
キーワード | ||||||||
主題Scheme | Other | |||||||
主題 | AUV | |||||||
版 | ||||||||
出版タイプ | VoR | |||||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 |