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ニューラルネットワークを用いた水中ロボットマニピュレータのシミュレーション
https://fra.repo.nii.ac.jp/records/2011795
https://fra.repo.nii.ac.jp/records/20117954d05fa9d-c369-45d9-bfc0-9d2e4fba5f67
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
fishu_k_53_71.pdf (343.6 KB)
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| Item type | 紀要論文 / Departmental Bulletin Paper(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2024-10-11 | |||||
| タイトル | ||||||
| タイトル | ニューラルネットワークを用いた水中ロボットマニピュレータのシミュレーション | |||||
| 言語 | ja | |||||
| タイトル | ||||||
| タイトル | Numerical simulation of underwater manipulators with neural networks | |||||
| 言語 | en | |||||
| 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_6501 | |||||
| 資源タイプ | departmental bulletin paper | |||||
| アクセス権 | ||||||
| アクセス権 | open access | |||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||
| 著者 |
平, 雄一郎
× 平, 雄一郎× 森元, 映治× 横田, 源弘× 中村, 誠 |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This report deals with a numerical simulation method for underwater manipulators. A simulation study is cost-effective in comparison with an experimental one, especially in such an expensive system as underwater robot that requires a huge tank, waterproof robots, and so on. Therefore, several simulation models for underwater manipulators have been reported. The models contain some of the hydrodynamic effects acted on the manipulator such as drag and lift forces, buoyancy forces, and added mass forces. It, however, is well known that the complete hydrodynamic model in the form of an equation may be unavailable. That is, the accurate model for underwater manipulators cannot be obtained. Hence, the simulation results may be drastically different from the experimental ones. In this report, a simulation method with neural networks has been developed. Neural networks can be used as a modeling method that reproduces and generalizes experimental data by training. That is, the model in this report is based not on equations representing laws of nature but on a set of data collected during a practical experiment. | |||||
| 言語 | en | |||||
| 書誌情報 |
ja : 水産大学校研究報告 en : Journal of National Fisheries University 巻 53, 号 2, p. 71-78, ページ数 8, 発行日 2005-02 |
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| 出版者 | ||||||
| 出版者 | 水産大学校 | |||||
| 言語 | ja | |||||
| 出版者 | ||||||
| 出版者 | National Fisheries University | |||||
| 言語 | en | |||||
| ISSN | ||||||
| 収録物識別子タイプ | PISSN | |||||
| 収録物識別子 | 0370-9361 | |||||
| 書誌レコードID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AN00124678 | |||||
| 情報源 | ||||||
| 識別子タイプ | Local | |||||
| 関連識別子 | fishu_k_53_71 | |||||
| 関連サイト | ||||||
| 識別子タイプ | URI | |||||
| 関連識別子 | https://agriknowledge.affrc.go.jp/RN/2010721510 | |||||
| 言語 | en | |||||
| 関連名称 | agriknowledge | |||||
