{"created":"2023-05-15T11:55:43.707752+00:00","id":764,"links":{},"metadata":{"_buckets":{"deposit":"3d5df90a-4313-4152-be2e-5cb9493d7d8d"},"_deposit":{"created_by":3,"id":"764","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"764"},"status":"published"},"_oai":{"id":"oai:kyutech.repo.nii.ac.jp:00000764","sets":["8:24"]},"author_link":["3456","3469","3471"],"item_21_alternative_title_18":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Development of an AUV with a manipulator: An underwater manipulator based on motion simulation and modular concept"}]},"item_21_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2007-12","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"43","bibliographicPageStart":"35","bibliographicVolumeNumber":"6","bibliographic_titles":[{"bibliographic_title":"日本船舶海洋工学会論文集"}]}]},"item_21_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"We have been developing an autonomous underwater vehicle (AUV) with a manipulator aiming at underwater operations using AUVs. At first, we describe an underwater manipulator which is designed based on motion control simulation and the modular concept. From the results of simulation, the specifications of the manipulator such as maximum torque and velocity are decided. As the waterproof mechanism of the manipulator, we introduced the magnet coupling structure to transfer motor torque from inside motor to outside gear. And the modular concept is introduced to realize reliability and good maintenance. Each link of manipulator has the same structure and includes a motor and a motor driver inside. Multi degree of freedom manipulator can be realized by combining same link modules. The modular concept is introduced into the AUV design, such that a functional device can be plugged into a matherboard to be less-wiring. Finally, the experimental results using an AUV with a manipulator are discussed.","subitem_description_type":"Abstract"}]},"item_21_description_60":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"Journal Article","subitem_description_type":"Other"}]},"item_21_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{}],"names":[{"name":"Ishitsuka, Makoto"}]},{"affiliations":[{"affiliationNames":[{"affiliationName":"","lang":"ja"}],"nameIdentifiers":[]}],"familyNames":[{"familyName":"Ishii","familyNameLang":"en"},{"familyName":"石井","familyNameLang":"ja"},{"familyName":"イシイ","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"Kazuo","givenNameLang":"en"},{"givenName":"和男","givenNameLang":"ja"},{"givenName":"カズオ","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{},{},{},{}],"names":[{"name":"Ishii, Kazuo","nameLang":"en"},{"name":"石井, 和男","nameLang":"ja"},{"name":"イシイ, カズオ","nameLang":"ja-Kana"}]}]},"item_21_link_62":{"attribute_name":"研究者情報","attribute_value_mlt":[{"subitem_link_url":"https://hyokadb02.jimu.kyutech.ac.jp/html/353_ja.html"}]},"item_21_publisher_7":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"社団法人 日本船舶海洋工学会"}]},"item_21_rights_13":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"社団法人 日本船舶海洋工学会"}]},"item_21_select_59":{"attribute_name":"査読の有無","attribute_value_mlt":[{"subitem_select_item":"yes"}]},"item_21_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1880-3717","subitem_source_identifier_type":"ISSN"}]},"item_21_subject_16":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"548","subitem_subject_scheme":"NDC"}]},"item_21_text_36":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"九州工業大学大学院生命体工学研究科"}]},"item_21_text_63":{"attribute_name":"連携ID","attribute_value_mlt":[{"subitem_text_value":"38"}]},"item_21_text_64":{"attribute_name":"業績ID","attribute_value_mlt":[{"subitem_text_value":"B00829C0EA493326492573D4002FBC6A"}]},"item_21_version_type_58":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"石塚, 誠"}],"nameIdentifiers":[{"nameIdentifier":"3469","nameIdentifierScheme":"WEKO"}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":""}]}],"creatorNames":[{"creatorName":"Ishii, Kazuo","creatorNameLang":"en"},{"creatorName":"石井, 和男","creatorNameLang":"ja"},{"creatorName":"イシイ, カズオ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{"nameIdentifier":"3456","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"10291527","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000010291527"},{"nameIdentifier":"7403966003","nameIdentifierScheme":"Scopus著者ID","nameIdentifierURI":"https://www.scopus.com/authid/detail.uri?authorId=7403966003"},{"nameIdentifier":"353","nameIdentifierScheme":"九工大研究者情報","nameIdentifierURI":"https://hyokadb02.jimu.kyutech.ac.jp/html/353_ja.html"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2008-08-21"}],"displaytype":"detail","filename":"1106.jst.go.pdf","filesize":[{"value":"1.0 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"1106.jst.go.pdf","url":"https://kyutech.repo.nii.ac.jp/record/764/files/1106.jst.go.pdf"},"version_id":"0a246914-efc0-4e60-9b42-f5bac5f4d4da"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"マニピュレータを搭載した水中ロボットの開発 －動作シミュレーションとモジュール構造設計に基づく水中マニピュレータの開発・設計－","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"マニピュレータを搭載した水中ロボットの開発 －動作シミュレーションとモジュール構造設計に基づく水中マニピュレータの開発・設計－"}]},"item_type_id":"21","owner":"3","path":["24"],"pubdate":{"attribute_name":"公開日","attribute_value":"2008-08-21"},"publish_date":"2008-08-21","publish_status":"0","recid":"764","relation_version_is_last":true,"title":["マニピュレータを搭載した水中ロボットの開発 －動作シミュレーションとモジュール構造設計に基づく水中マニピュレータの開発・設計－"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-10-25T10:07:50.951910+00:00"}