{"id":69,"date":"2017-05-18T21:23:32","date_gmt":"2017-05-18T12:23:32","guid":{"rendered":"http:\/\/192.168.123.200\/?page_id=69"},"modified":"2025-10-21T10:40:33","modified_gmt":"2025-10-21T01:40:33","slug":"research","status":"publish","type":"page","link":"http:\/\/www.isl.c.dendai.ac.jp\/?page_id=69","title":{"rendered":"\u7814\u7a76\u5185\u5bb9"},"content":{"rendered":"

\u5f53\u7814\u7a76\u5ba4\u3067\u306f\uff0c\u77e5\u80fd\u5316\u6280\u8853\u3068\u30ed\u30dc\u30c3\u30c8\u3092\u878d\u5408\u3055\u305b\uff0c\u8eab\u4f53\u6027\u304c\u3042\u308b\u304b\u3089\u3053\u305d\u53ef\u80fd\u3068\u306a\u308b\u77e5\u80fd\u5316\u30b7\u30b9\u30c6\u30e0\u306e\u5b9f\u793e\u4f1a\u3078\u306e\u5b9f\u88c5\u30fb\u8ca2\u732e\u3092\u76ee\u6307\u3057\u3066\u7814\u7a76\u3057\u3066\u3044\u307e\u3059\uff0e\u5927\u304d\u304f\u5206\u3051\u30662\u3064\u306e\u30c6\u30fc\u30de\u3067\u7814\u7a76\u6d3b\u52d5\u3057\u3066\u304a\u308a\uff0c\u5f37\u5316\u5b66\u7fd2\u306b\u304a\u3051\u308b\u8ee2\u79fb\u5b66\u7fd2\u306e\u5fdc\u7528\u7814\u7a76\u3084\u30ec\u30b9\u30ad\u30e5\u30fc\u30ed\u30dc\u30c3\u30c8\u306e\u77e5\u80fd\u5316\u7b49\u306e\u7814\u7a76\u3092\u884c\u3063\u3066\u304a\u308a\u307e\u3059\uff0e<\/p>\n

\n

\u8a8d\u77e5\u5fc3\u7406\u5b66\u306e\u77e5\u898b\u3092\u5fdc\u7528\u3057\u305f\u77e5\u8b58\u9078\u629e\u578b\u8ee2\u79fb\u5f37\u5316\u5b66\u7fd2\u306e\u7814\u7a76<\/h2>\n

\u672c\u7814\u7a76\u3067\u306f\uff0c\u3042\u308b\u30bf\u30b9\u30af\u306b\u5bfe\u3057\u30661\u3064\u306e\u65b9\u7b56\u3057\u304b\u7372\u5f97\u3067\u304d\u306a\u3044\u3053\u308c\u307e\u3067\u306e\u5f37\u5316\u5b66\u7fd2\u3068\uff0c\u65b9\u7b56\u3092\u518d\u5229\u7528\u3059\u308b\u3053\u3068\u3067\u65b0\u305f\u306a\u74b0\u5883\u3067\u306e\u5b66\u7fd2\u3092\u52a0\u901f\u3067\u304d\u308b\u304c\u518d\u5229\u7528\u65b9\u7b56\u306f\u30d2\u30c8\u304c\u660e\u793a\u7684\u306b\u4e0e\u3048\u308b\u5fc5\u8981\u306e\u3042\u308b\u8ee2\u79fb\u5b66\u7fd2\u306e\u8ab2\u984c\u3092\u89e3\u6c7a\u3059\u308b\u305f\u3081\u306b\uff0c\u8a8d\u77e5\u5730\u5fc3\u7406\u5b66\u306e\u77e5\u898b\u3092\u6d3b\u7528\u3057\uff0c\u52b9\u679c\u7684\u306a\u65b9\u7b56\u306e\u9078\u629e\u30e1\u30ab\u30cb\u30ba\u30e0\u3092\u7814\u7a76\u3057\u3066\u3044\u307e\u3059\uff0e<\/p>\n\n\n\n\n
\u7814\u7a76\u7a2e\u5225<\/td>\n\u7b51\u6ce2\u5927\u5b66\uff0c\u5317\u9678\u5148\u7aef\u79d1\u5b66\u6280\u8853\u5927\u5b66\u9662\u5927\u5b66\u3068\u306e\u5171\u540c\u7814\u7a76<\/td>\n<\/tr>\n
\u95a2\u9023\u4e88\u7b97<\/td>\n\n
    \n
  • \u65e5\u672c\u5b66\u8853\u632f\u8208\u4f1a: \u79d1\u5b66\u7814\u7a76\u8cbb\u88dc\u52a9\u91d1(\u6311\u6226\u7684\u840c\u82bd\u7814\u7a76), \u8ab2\u984c\u756a\u53f7: 16K12493\uff0c\u8a8d\u77e5\u5fc3\u7406\u5b66\u306b\u304a\u3051\u308b\u30d7\u30e9\u30a4\u30df\u30f3\u30b0\u52b9\u679c\u3092\u57fa\u306b\u3057\u305f\u5f37\u5316\u5b66\u7fd2\u30ed\u30dc\u30c3\u30c8\u306b\u3088\u308b\u77e5\u8b58\u9078\u629e, \u7814\u7a76\u671f\u9593: 2016\u5e744\u6708-2018\u5e743\u6708<\/li>\n
  • \u65e5\u672c\u5b66\u8853\u632f\u8208\u4f1a: \u79d1\u5b66\u7814\u7a76\u8cbb\u88dc\u52a9\u91d1(\u57fa\u76e4C), \u8ab2\u984c\u756a\u53f7: 19K12173\uff0c\u30d7\u30ed\u30c8\u30bf\u30a4\u30d7\u7406\u8ad6\u306b\u57fa\u3065\u304f\u5f37\u5316\u5b66\u7fd2\u30ed\u30dc\u30c3\u30c8\u306e\u77e5\u8b58\u9078\u629e\u306b\u304a\u3051\u308b\u8a8d\u77e5\u7684\u7d4c\u6e08\u6027\u306e\u5411\u4e0a, \u7814\u7a76\u671f\u9593: 2019\u5e744\u6708-2021\u5e743\u6708<\/li>\n
  • \u516c\u76ca\u8ca1\u56e3\u6cd5\u4eba \u4e2d\u5c71\u96bc\u96c4\u79d1\u5b66\u6280\u8853\u6587\u5316\u8ca1\u56e3: \u7814\u7a76\u52a9\u6210\u4e8b\u696d\uff08\u5e73\u621028\u5e74\u5ea6\u7814\u7a76\u52a9\u6210A-1\uff09, \u6210\u9577\u3059\u308b\u30ce\u30f3\u30d7\u30ec\u30a4\u30e4\u30ad\u30e3\u30e9\u30af\u30bf\u306e\u77e5\u80fd\u3068\u305d\u306e\u8ee2\u79fb, \u7814\u7a76\u671f\u9593: 2017\u5e744\u6708-2019\u5e743\u6708<\/li>\n
  • \u65e5\u672c\u5b66\u8853\u632f\u8208\u4f1a: \u79d1\u5b66\u7814\u7a76\u8cbb\u88dc\u52a9\u91d1(\u57fa\u76e4\u7814\u7a76C), \u8ab2\u984c\u756a\u53f7: 23K11276\uff0c\u77e5\u8b58\u9078\u629e\u578b\u8ee2\u79fb\u5f37\u5316\u5b66\u7fd2\u306e\u305f\u3081\u306e\u9078\u629e\u52d5\u4f5c\u904e\u7a0b\u89e3\u6790\u624b\u6cd5\u306e\u958b\u767a , \u7814\u7a76\u671f\u9593: 2023\u5e744\u6708-2026\u5e743\u6708, \u4ee3\u8868\u8005: \u6cb3\u91ce \u4ec1\uff08\u6771\u4eac\u96fb\u6a5f\u5927\u5b66\uff09<\/li>\n<\/ul>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \"\"<\/p>\n

    \n

    \u77e5\u80fd\u5316\u3055\u308c\u305f\u707d\u5bb3\u5bfe\u5fdc\u30ed\u30dc\u30c3\u30c8\u306b\u3088\u308b\u30bb\u30de\u30f3\u30c6\u30a3\u30c3\u30af\u30b5\u30fc\u30d9\u30a4\u30de\u30c3\u30d7\u751f\u6210\u30b7\u30b9\u30c6\u30e0<\/h2>\n

    In this research, we propose a semi-autonomous mobile robot system that builds a wide\u00a0area survey map including semantic information to carry out damage monitoring in\u00a0disaster area such as Fukushima Daiichi nuclear power plant station. To this end,\u00a0following technologies are developed and SMLO loop-based seamless integration is\u00a0realized as shown in figure.<\/p>\n

      \n
    • A sensor system that measure heat source, radiation source, water source, other\u00a0substance information as well as color and shape information in the environment.<\/li>\n
    • SLAM (simultaneous localization and mapping) scheme that generates precise a wide\u00a0area semantic survey map for learning-based motion generation of the mobile robot.<\/li>\n
    • A route generation system that perform reinforcement learning based on the built map\u00a0from the SLAM scheme.<\/li>\n<\/ul>\n

      An operator is able to control the robot semi-automatically\u00a0based on the generated route.\u00a0The generated semantic survey map can be used for prevention of secondary disasters\u00a0and recovery plans given that it contains useful information for the disaster environment.<\/p>\n\n\n\n\n
      \u7814\u7a76\u7a2e\u5225<\/td>\n\u4e2d\u592e\u5927\u5b66\uff0c\u5343\u8449\u5de5\u696d\u5927\u5b66\uff0c\u5317\u9678\u5148\u7aef\u79d1\u5b66\u6280\u8853\u5927\u5b66\u9662\u5927\u5b66\u3068\u306e\u5171\u540c\u7814\u7a76\uff08\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u5b9f\u65bd\u6642\u306e\u7d44\u7e54\u4f53\u5236\uff09<\/td>\n<\/tr>\n
      \u95a2\u9023\u4e88\u7b97<\/td>\n\u65e5\u672c\u539f\u5b50\u529b\u7814\u7a76\u958b\u767a\u6a5f\u69cb: \u5e73\u6210\uff13\uff10\u5e74\u5ea6 \u82f1\u77e5\u3092\u7d50\u96c6\u3057\u305f\u539f\u5b50\u529b\u79d1\u5b66\u6280\u8853\u30fb\u4eba\u6750\u80b2\u6210\u63a8\u9032\u4e8b\u696d\uff08\u82e5\u624b\u7814\u7a76\uff09, \u88ab\u707d\u5730\u63a2\u67fb\u3084\u539f\u5b50\u529b\u767a\u96fb\u6240\u5efa\u5c4b\u5185\u60c5\u5831\u53ce\u96c6\u306e\u305f\u3081\u306e\u534a\u81ea\u5f8b\u30ed\u30dc\u30c3\u30c8\u3092\u7528\u3044\u305f\u30bb\u30de\u30f3\u30c6\u30a3\u30c3\u30af\u30b5\u30fc\u30d9\u30a4\u30de\u30c3\u30d7\u751f\u6210\u30b7\u30b9\u30c6\u30e0\u306e\u958b\u767a, \u7814\u7a76\u671f\u9593: 2018\u5e749\u6708-2021\u5e743\u6708\uff082021\u5e749\u6708\u307e\u3067\u5ef6\u9577\uff09<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

      \"\"<\/p>\n

      \n

      <\/h1>\n

      \u7d42\u4e86\u3057\u305f\u7814\u7a76\u30c6\u30fc\u30de<\/h1>\n
      \n

      \u81ea\u5df1\u8eab\u4f53\u8868\u8c61\u3092\u57fa\u306b\u3057\u305f\u7570\u306a\u308b\u8eab\u4f53\u6027\u3092\u6709\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u9593\u3067\u306e\u8ee2\u79fb\u5f37\u5316\u5b66\u7fd2<\/h2>\n

      \u672c\u7814\u7a76\u3067\u306f\uff0c\u8eab\u4f53\u6027\u306e\u7570\u306a\u308b\uff08\u3057\u304b\u3057\u985e\u4f3c\u3057\u305f\uff09\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u9593\u3067\u306e\u8ee2\u79fb\u5b66\u7fd2\u306b\u304a\u3044\u3066\uff0c\u3053\u308c\u307e\u3067Inter-task mapping\u3068\u3044\u3046\u8eab\u4f53\u6027\u306e\u5dee\u7570\u306e\u95a2\u4fc2\u3092\u30d2\u30c8\u306e\u7d4c\u9a13\u3068\u76f4\u611f\u3067\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u305f\u624b\u6cd5\u306b\u5bfe\u3057\uff0c\u30d2\u30c8\u306e\u8133\u5185\u8eab\u4f53\u8868\u73fe\u3068\u305d\u306e\u5909\u5bb9\u3092\u53c2\u8003\u306b\u30ed\u30dc\u30c3\u30c8\u7248\u8eab\u4f53\u56f3\u5f0f\u306e\u8a18\u8ff0\u6cd5\u3092\u78ba\u7acb\u3057\uff0cInter-task mapping\u306e\u81ea\u52d5\u5316\u3092\u76ee\u6307\u3059\u7814\u7a76\u3067\u3059\uff0e\u30ed\u30dc\u30c3\u30c8\u306e\u8eab\u4f53\u56f3\u5f0f\u3092\u751f\u6210\u3059\u308b\u305f\u3081\u306bBody calibration\u624b\u6cd5\u3092\u63d0\u6848\u3057\u5b9f\u30ed\u30dc\u30c3\u30c8\u9593\u3067\u306e\u8ee2\u79fb\u5f37\u5316\u5b66\u7fd2\u3067\u52b9\u679c\u3092\u691c\u8a3c\u3057\u3066\u3044\u307e\u3059\uff0e<\/p>\n\n\n\n\n
      \u7814\u7a76\u7a2e\u5225<\/td>\n\u5358\u72ec\u7814\u7a76<\/td>\n<\/tr>\n
      \u95a2\u9023\u4e88\u7b97<\/td>\n\u65e5\u672c\u5b66\u8853\u632f\u8208\u4f1a: \u79d1\u5b66\u7814\u7a76\u8cbb\u88dc\u52a9\u91d1(\u82e5\u624b\u7814\u7a76), \u8ab2\u984c\u756a\u53f7: 18K18133\uff0c\u81ea\u5df1\u8eab\u4f53\u8868\u8c61\u3092\u57fa\u306b\u3057\u305f\u7570\u306a\u308b\u8eab\u4f53\u6027\u3092\u6709\u3059\u308b\u5b66\u7fd2\u30ed\u30dc\u30c3\u30c8\u9593\u3067\u306e\u8ee2\u79fb\u5b66\u7fd2, \u7814\u7a76\u671f\u9593: 2018\u5e744\u6708-2021\u5e743\u6708<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
      \n

      \u77e5\u8b58\u306e\u518d\u5229\u7528\u5ea6\u5408\u3044\u30aa\u30fc\u30c8\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u624b\u6cd5\u306e\u958b\u767a<\/h2>\n\n\n\n\n
      \u7814\u7a76\u7a2e\u5225<\/td>\n\u5358\u72ec\u7814\u7a76<\/td>\n<\/tr>\n
      \u95a2\u9023\u4e88\u7b97<\/td>\n\u516c\u76ca\u8ca1\u56e3\u6cd5\u4eba \u30b9\u30ba\u30ad\u8ca1\u56e3: \u5e73\u621029\u5e74\u5ea6\u79d1\u5b66\u6280\u8853\u7814\u7a76\u52a9\u6210, \u5b66\u7fd2\u30ed\u30dc\u30c3\u30c8\u306b\u304a\u3051\u308b\u77e5\u8b58\u306e\u518d\u5229\u7528\u5ea6\u5408\u3044\u30aa\u30fc\u30c8\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u624b\u6cd5\u306e\u958b\u767a, \u7814\u7a76\u671f\u9593: 2018\u5e744\u6708-2019\u5e743\u6708<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
      \n

      \u707d\u5bb3\u5bfe\u5fdc\u30ed\u30dc\u30c3\u30c8\u306e\u9060\u9694\u64cd\u4f5c\u652f\u63f4\u30b7\u30b9\u30c6\u30e0\u306e\u958b\u767a<\/h2>\n

      \u672c\u7814\u7a76\u3067\u306f\uff0c\u77e5\u80fd\u5316\u6280\u8853\u3092\u6d3b\u7528\u3057\u96e3\u3057\u3044\u707d\u5bb3\u5bfe\u5fdc\u30ed\u30dc\u30c3\u30c8\uff08\u30af\u30ed\u30fc\u30e9\u30bf\u30a4\u30d7\uff09\u306e\u9060\u9694\u64cd\u4f5c\u652f\u63f4\u30b7\u30b9\u30c6\u30e0\u3092\u7814\u7a76\u30fb\u958b\u767a\u3057\u3066\u3044\u307e\u3059\uff0e\u3042\u3089\u304b\u3058\u3081\u8a13\u7df4\u6642\u7b49\u3067\u30ed\u30dc\u30c3\u30c8\u304c\u5371\u967a\u306a\u74b0\u5883\u3092\u5b66\u7fd2\u30fb\u8a18\u9332\u3057\u3066\u304a\u304d\uff0c\u672c\u756a\u30fb\u5b9f\u8df5\u74b0\u5883\u3067\u985e\u4f3c\u74b0\u5883\u3092\u691c\u51fa\u3057\u305f\u5834\u5408\u306f\uff0c\u30aa\u30da\u30ec\u30fc\u30bf\u306b\u6ce8\u610f\u559a\u8d77\u3092\u4fc3\u3059\u30b7\u30b9\u30c6\u30e0\u3067\u3059\uff0e<\/p>\n\n\n\n\n
      \u7814\u7a76\u7a2e\u5225<\/td>\n\u6771\u4eac\u96fb\u6a5f\u5927\u5b66\uff0c\u5bcc\u5c71\u770c\u7acb\u5927\u5b66\u3068\u306e\u5171\u540c\u7814\u7a76<\/td>\n<\/tr>\n
      \u95a2\u9023\u4e88\u7b97<\/td>\n\u65e5\u672c\u5b66\u8853\u632f\u8208\u4f1a: \u79d1\u5b66\u7814\u7a76\u8cbb\u88dc\u52a9\u91d1(\u7814\u7a76\u6d3b\u52d5\u30b9\u30bf\u30fc\u30c8\u652f\u63f4), \u8ab2\u984c\u756a\u53f7: 15H06102\uff0c\u8a13\u7df4\u4e8b\u4f8b\u3092\u7528\u3044\u305f\u30ec\u30b9\u30ad\u30e5\u30fc\u30ed\u30dc\u30c3\u30c8\u9060\u9694\u64cd\u4f5c\u652f\u63f4\u30b7\u30b9\u30c6\u30e0\u306e\u958b\u767a, \u7814\u7a76\u671f\u9593: 2015\u5e749\u6708-2017\u5e743\u6708<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

      \"\"<\/p>\n

      \n

      \u30a4\u30f3\u30c6\u30ea\u30b8\u30a7\u30f3\u30c8\u306a\u30b2\u30fc\u30e0\u5185NPC\u306e\u305f\u3081\u306e\u8ee2\u79fb\u5b66\u7fd2<\/h2>\n

      \u672c\u7814\u7a76\u3067\u306f\uff0c\u30b2\u30fc\u30e0\u5185\u306e\u30ce\u30f3\u30d7\u30ec\u30a4\u30e4\u30ad\u30e3\u30e9\u30af\u30bf(Non-player charactor: NPC)\u306b\u5f37\u5316\u5b66\u7fd2\u306b\u3088\u308b\u5b66\u7fd2\u6a5f\u80fd\u3068\u8ee2\u79fb\u5b66\u7fd2\u306b\u3088\u308b\u77e5\u8b58\u306e\u518d\u5229\u7528\u6a5f\u80fd\u3092\u4ed8\u4e0e\u3059\u308b\u3053\u3068\u3067\uff0c\u30b2\u30fc\u30e0\u30bf\u30a4\u30c8\u30eb\u3092\u8d85\u3048\u3066\u6301\u7d9a\u7684\u306b\u6210\u9577\u3059\u308b\u30a4\u30f3\u30c6\u30ea\u30b8\u30a7\u30f3\u30c8NPC\u306e\u958b\u767a\u3092\u76ee\u7684\u3068\u3057\u3066\u3044\u307e\u3059\uff0e<\/p>\n\n\n\n\n
      \u7814\u7a76\u7a2e\u5225<\/td>\n\u5358\u72ec\u7814\u7a76<\/td>\n<\/tr>\n
      \u95a2\u9023\u4e88\u7b97<\/td>\n\u516c\u76ca\u8ca1\u56e3\u6cd5\u4eba \u4e2d\u5c71\u96bc\u96c4\u79d1\u5b66\u6280\u8853\u6587\u5316\u8ca1\u56e3: \u7814\u7a76\u52a9\u6210\u4e8b\u696d\uff08\u5e73\u621028\u5e74\u5ea6\u7814\u7a76\u52a9\u6210A-1\uff09, \u6210\u9577\u3059\u308b\u30ce\u30f3\u30d7\u30ec\u30a4\u30e4\u30ad\u30e3\u30e9\u30af\u30bf\u306e\u77e5\u80fd\u3068\u305d\u306e\u8ee2\u79fb, \u7814\u7a76\u671f\u9593: 2017\u5e744\u6708-2019\u5e743\u6708<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

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