ã¯ããã«
ãã®èšäºã¯ãå°äžåããããã»ã·ã¹ãã ã§ããSeekur®ïŒå³1ãåç §ïŒãäŸã«ãããã²ãŒã·ã§ã³æ§èœãåäžãããããã«é«ç²ŸåºŠMEMSãžã£ã€ãã¹ã³ãŒããé©çšããèªåŸã·ã¹ãã ã«ã€ããŠè§£èª¬ããŠããŸããå°äžåããããã»ã·ã¹ãã ã®è¡ãäœæ¥ã¯å€§åããå€ãã®å Žåãéå¹çãäžè¡çãå±éºããªãã®ã ããšAdept MobileRobotsã®ãããžã§ã¯ãã»ãããŒãžã£Seth Allenæ°ã¯èšããŸããã€ãŸããããããã»ã·ã¹ãã ã¯äººéãçŽæ¥é¢ãããšè²»çšãæãäœæ¥ã倧ããªå±éºã䌎ãäœæ¥ããããã¯éå¹çãªäœæ¥ã§äœ¿çšãããã®ãäžè¬çã§ããå€ãã®å Žåãããããã»ãã©ãããã©ãŒã ã¯èªåŸçã«åäœã§ããåªããç¹æ§ãåããŠãããå¥ã®äœçœ®ã«ç§»åãããšãã¯ãããã²ãŒã·ã§ã³ã»ã·ã¹ãã ã䜿ã£ãŠèªèº«ã®åäœãç£èŠãå¶åŸ¡ããŸããäœçœ®ãšåäœã®ç®¡çãã粟床ã¯å®éã«åœ¹ç«ã€èªåŸåäœãå®çŸããäžã§éèŠãªèŠçŽ ãªãããMEMSïŒãã€ã¯ããšã¬ã¯ãããã·ã³ã·ã¹ãã ïŒãžã£ã€ãã¹ã³ãŒãã®ãã£ãŒãããã¯æ€åºæ©æ§ã¯ããã²ãŒã·ã§ã³ã»ã·ã¹ãã ã®æ§èœãæé©åããããã§éåžžã«åœ¹ã«ç«ã¡ãŸãã

ããããã»ããã²ãŒã·ã§ã³ã®æŠèŠ
ããããã®åäœã¯ãéåžžãäœæ¥å šäœã®é²æç¶æ³ã管çããäžå€®åŠçè£ çœ®ããäœçœ®å€æŽã®èŠæ±ã«ãã£ãŠéå§ãããŸããããã²ãŒã·ã§ã³ã»ã·ã¹ãã ã¯ç§»åèšç»ïŒç§»åè»è·¡ïŒãç«ãŠãåŸãäœçœ®å€æŽã®èŠæ±ãå®è¡ã«ç§»ããŸããç§»åèšç»ã§ã¯ãå©çšã§ããçµè·¯ãæ¢ç¥ã®é害äœçœ®ãããããã®èœåãé¢é£ãããã¹ãŠã®äœæ¥ç®çãèæ ®ãããŸããïŒããšãã°ãç é¢å ã®æ€äœé åžããããã«ãšã£ãŠé åžæéã¯éåžžã«éèŠã§ããïŒç§»åèšç»ã¯ã³ã³ãããŒã©ã«æäŸãããã³ã³ãããŒã©ã¯ããã²ãŒã·ã§ã³å¶åŸ¡ã®ããã®é§åïŒæ¹åãããã¡ã€ã«ãäœæããŸãããããã®ãããã¡ã€ã«ã«ãã£ãŠãèšç»ã«åºã¥ãåäœãšé²æç¶æ³ãåŸãããŸããåäœã¯äžè¬ã«è€æ°ã®æ€åºã·ã¹ãã ã«ãã£ãŠç£èŠãããæ€åºã·ã¹ãã ããšã«ãã£ãŒãããã¯ä¿¡å·ãçæãããŸãããã£ãŒãããã¯ã»ã³ã³ãããŒã©ã¯ãããã®ä¿¡å·ã®çµåãããããŠå€æãè¡ãããšã«ããç§»åèšç»ïŒç¶æ ãæŽæ°ããŸããå³2ã¯ãäžè¬çãªããã²ãŒã·ã§ã³ã»ã·ã¹ãã ã®åºæ¬çãªãããã¯å³ã§ãã

ããã²ãŒã·ã§ã³ã»ã·ã¹ãã éçºã®äž»èŠãªã¹ãããã§ã¯ããŸããã·ã¹ãã åäœã®ç®æšãå¶çŽã«ã€ããŠéç¹ã眮ããŠåæ©èœãããçè§£ããå¿ èŠããããŸããäžè¬ã«ãåæ©èœã¯æç¢ºã«å®çŸ©ãããç°¡åã«å®è¡ã§ãããšããåŽé¢ãåããŠããŸããã管çãå¿ èŠãšãããããªé£ããå¶çŽããããŸããå Žåã«ãã£ãŠããã®ããã»ã¹ã¯å埩çãªãã®ãšãªããŸãããå¶çŽãç¹å®ããŠããã«å¯ŸåŠã§ããã°ãæé©åã®ããã®æ°ããæ©äŒãçãŸããã§ãããããã®ããã»ã¹ãç確ã«èª¬æããããã«å ·äœäŸã瀺ããŸãã
Adept MobileRobots Seekur
Adept MobileRobots Seekurã¯ãå³3ã«ç€ºããããªæ £æ§ããã²ãŒã·ã§ã³ã»ã·ã¹ãã ïŒINSïŒãåããèªåŸããããã§ãããã®è»äž¡ã¯å茪é§åã·ã¹ãã ãåããŠãããè»èŒªããšã«ç¬ç«ããã¹ãã¢ãªã³ã°ïŒé床å¶åŸ¡æ©èœãä»ããŠããã®ã§ããã©ãããã©ãŒã ãæ°Žå¹³æ¹åã«æè»ã«ç§»åããããšãã§ããŸãããã®æ§èœã¯ãå庫é éã·ã¹ãã ãç é¢å ã§ã®æ€äœïŒçšå ·é éã·ã¹ãã ãè»äºåå¢åŒ·ã·ã¹ãã ãªã©ã®ææ°ã¢ããªã±ãŒã·ã§ã³ã§äœ¿çšãããããããè»äž¡ã«ãšã£ãŠéåžžã«æå¹ã§ãã

ãã©ã¯ãŒãå¶åŸ¡
ããããã»ããã£ã»ã³ãã³ããããªãã¡äž»èŠãªèª€å·®ä¿¡å·ã¯ããã©ã³ããŒãç§»åçµè·¯ãç«æ¡ããç§»åèšç»ãšãã£ãŒãããã¯æ€åºã·ã¹ãã ã«ãã£ãŠçæãããææ°ã®ç§»åé²æç¶æ³ãšã®å·®ã瀺ããŠããŸãããããã®ä¿¡å·ã¯ãããããã»ããã£ã»ã³ãã³ããåè»èŒªçšã®ã¹ãã¢ãªã³ã°ïŒé床ãããã¡ã€ã«ã«å€æããééååŠã·ã¹ãã ïŒäœçœ®ãã€ãŸã座æšããè§åºŠãèšç®ããææ³ïŒã«éä¿¡ãããŸãããããã®ãããã¡ã€ã«ã¯ãã¢ãã«ãŒãã³ã»ã¹ãã¢ãªã³ã°é¢ä¿åŒ*ïŒã¢ãã«ãŒãã³ã»ã¹ãã¢ãªã³ã°ãšã¯ãè»ãæåãããšãã«å€åŽã®è»èŒªãããå åŽã®æ¹ã倧ããªè§åºŠãã€ãããã«èšå®ãããã¹ãã¢ãªã³ã°æ©æ§ã®äºã§ããïŒãããšã«èšç®ãããŸããã¹ãã¢ãªã³ã°é¢ä¿åŒã¯ã¿ã€ã€ã®çŽåŸã衚é¢ã®æ¥è§Šé åãééãªã©ã®éèŠãªå¹ŸäœåŠçç¹åŸŽãå«ãã§ããŸããã¢ãã«ãŒãã³ã®ã¹ãã¢ãªã³ã°çè«ãšé¢ä¿åŒã«åºã¥ããŠããã®ããããã»ãã©ãããã©ãŒã ã¯ãå€ãã®èªåè»ã®ã¹ãã¢ãªã³ã°ã»ã·ã¹ãã ã§äœ¿çšãããŠããæ©æ¢°åŒã®ã©ãã¯ã»ã¢ã³ãã»ãããªã³ã»ã·ã¹ãã ïŒããã¯ãã¹ãã¢ãªã³ã°ã®å転ããã¹ãã¢ãªã³ã°ã»ã·ã£ããã®å 端ã«ãããããªã³ã®ã€ã§ã©ãã¯ã®ã€ã«äŒéããŠè»èŒªã®åããå€ããã·ã¹ãã ã®äºã§ããïŒã®ã¹ãã¢ãªã³ã°è§åºŠãããã¡ã€ã«ã«äŒŒãé»åçã«é£çµããããããã¡ã€ã«ãçæããããšãã§ããŸãããããã®é¢ä¿åŒãé éå°å ¥ããããšã§ãã¢ã¯ã»ã«ãæ©æ¢°çã«é£çµããããšãªããæ©æŠãã¿ã€ã€ã®ã¹ãªãããæå°éã«æããã¿ã€ã€ã®æ©èããšãã«ã®ãŒæå€±ãäœæžãããšãšãã«ãåçŽãªæ©æ¢°çé£çµã§ã¯äžå¯èœãªåäœãå®çŸããããšãã§ããŸãã
è»èŒªé§åïŒã¹ãã¢ãªã³ã°ã»ã·ã¹ãã
åè»èŒªã®é§åã·ã£ããã¯ãã®ã¢ã»ããã¯ã¹ãä»ããŠé§åã¢ãŒã¿ã«ããŸãå¥ã®ã®ã¢ã»ããã¯ã¹ãä»ããŠå ãšã³ã³ãŒãã«æ©æ¢°çã«é£çµãããŠããããã®åºåã¯ãªãã¡ããªã»ãã£ãŒãããã¯ã»ã·ã¹ãã ãžã®å ¥åãšãªããŸããã¹ãã¢ãªã³ã°ã»ã·ã£ããã¯ã¢ã¯ã»ã«ãå¥ã®ãµãŒãã»ã¢ãŒã¿ã«é£çµããŸãããããã«ãã£ãŠè»èŒªã®ã¹ãã¢ãªã³ã°è§åºŠã確å®ããŸãããŸããã¹ãã¢ãªã³ã°ã»ã·ã£ããã¯ã®ã¢ã»ããã¯ã¹ãä»ããŠç¬¬äºã®å ãšã³ã³ãŒãã«é£çµãããŸãããã®åºåã¯ããªãã¡ããªã»ãã£ãŒãããã¯ã»ã·ã¹ãã ãžã®å ¥åãšãªããŸãã
ãã£ãŒãããã¯æ€åºããã³å¶åŸ¡
ããã²ãŒã·ã§ã³ã»ã·ã¹ãã ã¯ãæ¡åŒµKalmanãã£ã«ã¿ã䜿çšããè€æ°ã®ã»ã³ãµããåä¿¡ããããŒã¿ãçµã¿åãããŠãããäžã®ããããã®å§¿å¢ãæšå®ããŸããSeekur ã®ãªãã¡ããªã»ããŒã¿ïŒãªãã¡ããªãšã¯ãè»èŒªã®å転éãç©ç®ããŠåæäœçœ®ããã®ç§»åéãèšç®ããæ¹æ³ã®äºã§ããïŒã¯ã倿ããŒã¿ãæäŸããè»èŒªãã©ã¯ã·ã§ã³ïŒã¹ãã¢ãªã³ã°ã»ãšã³ã³ãŒããšå転ã®ããŒã¿ãæäŸããMEMSãžã£ã€ãããåŸãããŸãã
ãªãã¡ããª
ãªãã¡ããªã»ãã£ãŒãããã¯ã»ã·ã¹ãã ã¯ãé§åïŒã¹ãã¢ãªã³ã°ã»ã·ã£ããã®å転ã«å¯Ÿããå ãšã³ã³ãŒãã®æž¬å®å€ã«åºã¥ããŠãããããã®äœçœ®ãé²è¡æ¹åãããã³éåºŠãæšå®ããŸããå ãšã³ã³ãŒãã§ã¯ããã£ã¹ã¯ã«ãã£ãŠå éšã®å æºã鮿ããæ°åã®å°ããªéå£éšãéããŠå ã»ã³ãµã«å ãåœãŠãŸãããã£ã¹ã¯ãå転ãããšäžé£ã®ãã«ã¹ãçæãããŸããäžè¬ã«ããã®ãã«ã¹åã¯ã«ãŠã³ã¿åè·¯ã«å ¥åãããŸãã1å転åœããã®ã«ãŠã³ãæ°ã¯ãã£ã¹ã¯å ã®ã¹ãããæ°ãšåããªã®ã§ãå転æ°ïŒç«¯æ°ãå«ãïŒã¯ãšã³ã³ãŒãåè·¯ã®ãã«ã¹ã»ã«ãŠã³ããããšã«èšç®ããããšãã§ããŸããå³4ã¯ãé§åã·ã£ããã®å転æ°ãç·åœ¢å€äœïŒäœçœ®ïŒã®å€åã«å€æããéã®åºæºãšé¢ä¿åŒãæš¡åŒåãããã®ã§ãã

åè»èŒªã«ãããé§åã¢ã¯ã»ã«ãšã¹ãã¢ãªã³ã°ã»ã·ã£ããã»ãšã³ã³ãŒãã®æž¬å®å€ã¯ãã¢ãã«ãŒãã³ã¹ãã¢ãªã³ã°åŒã䜿ã£ãŠé éååŠæŒç®ã§çµåãããé²è¡æ¹åãå転è§é床ãäœçœ®ãéåºŠã®æž¬å®å€ãçæãããŸãã
ãã®æž¬å®ã·ã¹ãã ã®å©ç¹ã¯ããã®æ€åºæ©èœãé§åïŒã¹ãã¢ãªã³ã°å¶åŸ¡ã·ã¹ãã ãšçŽæ¥çµåãããããã«ããããã®ç¶æ ãæ£ç¢ºã«ç¥ãããšãã§ãããšããç¹ã§ããããããäžé£ã®å®äžçã®åº§æšãåç §ã§ããªããã°ãè»äž¡ã®å®éã®éåºŠãæ¹åã®æ£ç¢ºãã¯éå®ãããŸããäž»ãªå¶çŽããããã¯èª€å·®ã¯ãã¿ã€ã€ã®åœ¢ç¶ã®äžè²«æ§ïŒå³4ã®Dã®ç²ŸåºŠãšå€åïŒãã¿ã€ã€ãšå°è¡šéã®æ¥è§Šã®æçµ¶ã«èµ·å ããŸãã圢ç¶ã¯ããã¬ããïŒã¿ã€ã€ã®æ¥å°é¢ïŒã®äžè²«æ§ã空æ°å§ã枩床ãééããªãã¡ãéåžžã®ããããäœ¿çšæã«å€åããå¯èœæ§ã®ãããã¹ãŠã®æ¡ä»¶ã«å·Šå³ãããŸããã¿ã€ã€ã®ã¹ãªããã¯å転ååŸãé床ãããã³è¡šé¢ã®äžè²«æ§ã«å·Šå³ãããŸãã
äœçœ®æ€åº
Seekur ã·ã¹ãã ã¯ãããŸããŸãªè·é¢ïŒé åïŒã枬å®ããã»ã³ãµã䜿çšããŸããã€ã³ãã¢ã»ã¢ããªã±ãŒã·ã§ã³ã®å Žåããã®ã·ã¹ãã ã¯270°ã®ã¬ãŒã¶ãŒã»ã¹ãã£ãã䜿ã£ãŠãã®ç°å¢ã®ããããäœæããŸããã¬ãŒã¶ãŒã»ã·ã¹ãã ã¯ãé害ç©ããæ»ããããšãã«ã®ãŒã»ãã¿ãŒã³ãä¿¡å·ã®æ»ãæéã«åºã¥ããŠç©äœã®åœ¢ç¶ããµã€ãºãã¬ãŒã¶ãŒæºããã®è·é¢ã枬å®ããŸãããããã³ã°ã»ã¢ãŒãæã®ã·ã¹ãã ã¯ãäœæ¥ç©ºéã®ããŸããŸãªäœçœ®ã®ã¹ãã£ã³çµæãçµã¿åãããŠããã®ç©ºéã®ç¹æ§ãè©äŸ¡ããŸãïŒå³5ïŒãããã«ãã£ãŠãç©äœã®äœçœ®ããµã€ãºã圢ç¶ã瀺ãããããçæãããŸãããã®ãããã¯ãå®è¡æã®ã¹ãã£ã³ã®ãªãã¡ã¬ã³ã¹ïŒåºæºïŒãšããŠäœ¿çšãããŸããã¬ãŒã¶ãŒã»ã¹ãã£ãæ©èœã¯ããããã³ã°æ å ±ãšçµã¿åãããŠäœ¿çšããããšã§æ£ç¢ºãªäœçœ®æ å ±ãæäŸããããšãã§ããŸãããããåç¬ã§äœ¿çšããå Žåã¯ãã¹ãã£ã³çµäºæéã®å¶éãå€åããç°å¢ãžã®å¯Ÿå¿ãäžå¯èœãªã©ãäœããã®å¶çŽãçããŸããå庫ç°å¢ã§ã¯äººããã©ãŒã¯ãªããããã³ããªãããªã©ãå€ãã®ç©äœãé »ç¹ã«äœçœ®ãå€ããŸãããããã£ãããšã¯ãç®æšãšããé床ã粟床ã«åœ±é¿ãäžããå¯èœæ§ããããŸãã

ã¢ãŠããã¢ã»ã¢ããªã±ãŒã·ã§ã³ã®å ŽåãSeekur ã¯äœçœ®ã®æž¬å®ã«å šå°ç枬äœã·ã¹ãã ïŒGPSïŒã䜿çšããŸãïŒå³6ïŒãGPSã¯ã4æ©ä»¥äžã®è¡æããéä¿¡ãããç¡ç·ä¿¡å·ã®ç§»åæéã䜿ã£ãŠå°çäžã®äœçœ®ãäžè§æž¬éããŸãããããã¯1m以å ã®ç²ŸåºŠã§æ å ±ãæäŸã§ããŸããããããåã·ã¹ãã ã¯ã建ç©ãæšã ãæ©ããã³ãã«ãªã©ãããŸããŸãªç©äœã«ãã£ãŠåŠšå®³ãããèŠç·æ¡ä»¶ã«ãã£ãŠå¶éãããŸããæžå€ã®ç©äœã®äœçœ®ãç¹åŸŽãããã£ãŠããå Žåã¯ïŒã¢ãŒãã³ã»ãã£ããªã³ãã€ãŸãGPSè¡æã®é»æ³¢ã®å±ããªãéœåžå 峡谷ïŒãGPSã忢ãããšãã«ã¬ãŒããŒãšãœããŒã䜿ã£ãŠäœçœ®ã®æšå®ãè£è¶³ããããšãã§ããŸãããã®å Žåã§ããè»ã®ééã建èšçŸå Žãªã©ã®åçãªæ¡ä»¶ïŒç¶æ ãååšãããšã广ãèããããšããããããŸãã

MEMSè§é床æ€åº
Seekurã·ã¹ãã ã§äœ¿çšãããMEMSãžã£ã€ãã¹ã³ãŒãã¯ãSeekur åºæºèªè¡åº§æšç³»ã§å°è¡šã«åçŽããªããšãŒïŒçžŠïŒè»žãäžå¿ãšããSeekurã®å転çãçŽæ¥æž¬å®ããããšãã§ããŸããçžå¯Ÿçãªé²è¡æ¹åã®èšç®ã«äœ¿çšãããé¢ä¿åŒã¯ãåºå®æéïŒt1 ïœt2ïŒã§è§éåºŠã®æž¬å®å€ãåçŽã«ç©åãããã®ã§ãã

ãã®æ¹æ³ã®éèŠãªå©ç¹ã®äžã€ã¯ãããããã»ãã¬ãŒã ã«è£ çãããŠãããžã£ã€ãã¹ã³ãŒããã®ã¢æ¯ãããã¯ã©ãã·ã¥ãã¿ã€ã€ã®åœ¢ç¶ãè¡šé¢æ¥è§Šã®å®å šæ§ãªã©ã«äŸåããã«è»äž¡ã®å®éã®åäœã枬å®ã§ãããšããç¹ã§ããããããé²è¡æ¹åã®æšå®å€ã¯ã»ã³ãµã®ç²ŸåºŠã«é¢ãããã€ã¢ã¹èª€å·®ããã€ãºãå®å®æ§ãããã³æåºŠã«äŸåããŸããåºå®ã®ãã€ã¢ã¹èª€å·®ã¯ããã€ã¢ã¹èª€å·®ÏBEãå«ã以äžã®é¢ä¿åŒã«ç€ºãããã«ãé²è¡æ¹åã®ããªããçã«å€æãããŸãã

ãã€ã¢ã¹èª€å·®ã«ã¯ãåæãã€ã¢ã¹èª€å·®ãæ¡ä»¶äŸåã®ãã€ã¢ã¹èª€å·®ã®2çš®é¡ããããŸããSeekur ã·ã¹ãã ã¯ãç¡åäœæã«åæãã€ã¢ã¹èª€å·®ãæšå®ããŸãããã®å Žåã¯ãããã²ãŒã·ã§ã³ã»ã³ã³ãã¥ãŒã¿ãäœçœ®å€æŽã³ãã³ãã®éå®è¡æãèªèããŠãããŒã¿ãåéããŠãã€ã¢ã¹ã®æšå®ãšãã€ã¢ã¹è£æ£ä¿æ°ã®æŽæ°ãåæ»ã«å®è¡ã§ããããã«ããŸãããã®ããã»ã¹ã®ç²ŸåºŠã¯ãããŒã¿ãåéããŠèª€å·®æšå®ãå ¬åŒåããããã«äœ¿çšã§ããæéãšãã»ã³ãµã»ãã€ãºã«äŸåããŸããã¢ã©ã³åæ£æ²ç·ã¯ãå³7ã«ç€ºãããã«ããã€ã¢ã¹ç²ŸåºŠãšå¹³ååæéã®äŸ¿å®çãªé¢ä¿ã瀺ãããšãã§ããŸãããã®æ²ç·ã¯ãSeekur ã·ã¹ãã ã§çŸåšäœ¿çšãããŠãããžã£ã€ãã¹ã³ãŒãiSensor®MEMSããã€ã¹ãADIS16265ãã«é¢ãããã®ã§ãããã®ãžã£ã€ãã¹ã³ãŒãã®å ŽåãSeekurã¯ãã€ã¢ã¹èª€å·®20ç§éå¹³åå€ã0.01°ïŒç§æªæºã«ãŸã§äœæžã§ããçŽ100ç§éã§ã®å¹³ååã§æšå®å€ãæé©åããããšãã§ããŸãã

ã¢ã©ã³åæ£æ²ç·ããã¯ãæé©ãªç©åæéïŒÏïŒt2ïŒ t1ïŒãçŽæçã«çè§£ããããšãã§ããŸããã¢ã©ã³åæ£ã®æå°å€ã¯ãäžè¬ã«in-runãã€ã¢ã¹å®å®æ§ã瀺ãå€ãšã¿ãªãããŸããé²è¡æ¹åã®æšå®å€ã¯ãç©åæéãèšå®ããããšã§æé©åãããŸãããã®æéÏ ã¯ã䜿çšããŠãããžã£ã€ãã¹ã³ãŒãã®ã¢ã©ã³åæ£æ²ç·äžã®æå°å€ã«å¯Ÿå¿ããç©åæéãšãªããŸãã
ãããã®å€ã¯æ§èœã«åœ±é¿ãåãŒãã®ã§ããã€ã¢ã¹æž©åºŠä¿æ°ãªã©ã®æ¡ä»¶äŸå誀差ã§ããã€ã¢ã¹è£æ£ã®æŽæ°ã®ããã«ããããã忢ããåæ°ãæ±ºããããšãã§ããŸããæ ¡æ£æžã¿ã»ã³ãµã䜿çšããã°ã枩床ã黿ºã®å€åãªã©ãæãäžè¬çãªèª€å·®æºã«å¯Ÿå¿ããããšãã§ããŸããããšãã°ãADIS16060ãããäºåæ ¡æ£ãããADIS16265ã«å€æŽãããšããã®åãµã€ãºãäŸ¡æ Œãæ¶è²»é»åãå¢å€§ããå¯èœæ§ããããŸãããæž©åºŠç¹æ§é¢ã§ã¯18åãã®åªããå®å®æ§ãåŸãããŸãã2âã®æž©åºŠã®å€åã«å¯ŸããŠãæå€§ãã€ã¢ã¹ã¯ADIS16060ã®0.22°ïŒç§ããADIS16265ã§ã¯0.012°ïŒç§ã«ãŸã§äœæžãããŸãã
æåºŠèª€å·®ã¯ã次ã®é¢ä¿åŒã«ç€ºãããã«ãé²è¡æ¹åã®å®éã®å€åã«æ¯äŸããŸãã

æ°ççšMEMSã»ã³ãµã®å€ãã¯æåºŠèª€å·®ä»æ§ã±5%ïœÂ±20%以äžãšãªã£ãŠããã®ã§ããããã®èª€å·®ãæå°éã«æããããã«æ ¡æ£ãå¿ èŠãšãªããŸããADIS16265ãADIS16135ãªã©ã®äºåæ ¡æ£ãããMEMSãžã£ã€ãã¹ã³ãŒãã¯Â±1%æªæºã®ä»æ§ãæäŸããŠãããå¶åŸ¡ãããç°å¢äžã§æ§èœã¯ããã«é«ããªããŸãã
ã¢ããªã±ãŒã·ã§ã³äŸ:
å庫ã®åšåº«é é
äžè¬ã«ãèªåã·ã¹ãã åãããå庫ã§ã¯ãåšåº«ã®æŽçãåºè·ã®ããã«ãã©ãŒã¯ãªããããã«ãã»ã·ã¹ãã ãçšããŠåç©ãç§»åããŸãããã©ãŒã¯ãªããã¯äººéãçŽæ¥æäœããå¿ èŠãããããã«ãã»ã·ã¹ãã ã¯å®æçãªä¿å®ã»æå ¥ããå¿ èŠãšãªããŸããå庫ã®ã·ã¹ãã åãæå€§éã«é«ããããã«ãã·ã¹ãã 倿Žãå¿ èŠãšãããŠãããããã§èªåŸããããã»ãã©ãããã©ãŒã ãžã®éæžãéãããããšã«ãªããŸãããã©ãŒã¯ãªããããã«ãã»ã·ã¹ãã ãæŽæ°ããããã«ã¯å€§èŠæš¡ãªèšåæè³ã䌎ããŸãããããããã»ã·ã¹ãã ã«å¿ èŠãªã®ã¯ãœããã®å€æŽã®ã¿ã§æžã¿ãããããã®ããã²ãŒã·ã§ã³ã»ã·ã¹ãã ã¯æ°ããªäœæ¥ã«åããŠå床調æŽãå¿ èŠãšãªãã ããšãªããŸããå庫é éã·ã¹ãã ã®éèŠãªæ§èœæ¡ä»¶ã¯ããããããåçãªç°å¢ïŒé害ç©ãç§»åãã空éã§äººéã®å®å šæ§ãæåªå ããªããã°ãªããªãç°å¢ïŒã§äžè²«ããç§»åãã¿ãŒã³ãç¶æããå®å šã«åŠçãè¡ãããšã§ããããã§ãSeekurã«ãããMEMSãžã£ã€ãã¹ã³ãŒããçšããããšã®äŸ¡å€ã瀺ãããã«ãAdept MobileRobots ã¯MEMSãžã£ã€ãã¹ã³ãŒãã®ãã£ãŒãããã¯ããªãå ŽåïŒå³8ïŒãšãããå ŽåïŒå³9ïŒã«ã€ããŠå®éšãè¡ããSeekurãåãçµè·¯ãæ£ç¢ºã«å埩ã§ããŠããã®ãã©ããã調ã¹ãŸãããMEMSãžã£ã€ãã¹ã³ãŒãã®ãã£ãŒãããã¯ã®åœ±é¿ã調ã¹ãããã«ãå®éšã¯GPSïŒã¬ãŒã¶ãŒã»ã¹ãã£ã³è£æ£ãªãã§è¡ãããŠããŸãã


å³8ãšå³9ã®çµè·¯ã®è»è·¡ãæ¯èŒãããšã粟床ã®éããç°¡åã«ç¢ºèªã§ããŸãããããã®å®éšã§ã¯åæäžä»£ã®MEMSæè¡ãçšããŠè¡ãããŠãããçŽ0.02°ïŒç§ã®å®å®æ§ã瀺ãããšããç¹ã«æ³šç®ããããšãã§ããŸããçŸåšã®ãžã£ã€ãã¹ã³ãŒãã¯ãåãäŸ¡æ Œããµã€ãºãããã³æ¶è²»é»åã¬ãã«ã§2 ïœ 4åã®æ§èœãæäŸã§ããŸããããããæ§èœæ¹åãç¶ãããšã«ãããããã²ãŒã·ã§ã³ã®æ§èœãåäžããåãçµè·¯ãå埩ãã粟床ã¯åäžããã§ãããããã®çµæãç é¢ã®æ€äœïŒçšå ·é éãªã©ãæ°ããã¢ããªã±ãŒã·ã§ã³ãåžå Žãããã«éãããšèããããŸãã
è£çµŠã³ã³ãã€
çŸåšã®ç±³åœã®DARPAã®æŠç¥ã¯ãæŠåãåå¢ããããã«ããããæè¡ã®åäžãèŠæ±ãç¶ããŠããŸããè£çµŠã³ã³ãã€ïŒè¹å£ãè»åïŒã¯ããã®å¯Ÿè±¡ãšãªãã¢ããªã±ãŒã·ã§ã³ã®äžäŸã§ããè»éã¯æµã®è åšã«ãããããªããããã£ãããšäºæ³å¯èœãªãã¿ãŒã³ã§ç§»åããªããã°ãªããŸãããSeekur ã®ãããªããããã¯ãæ£ç¢ºãªããã²ãŒã·ã§ã³ã«ãã£ãŠè£çµŠã³ã³ãã€ãšããŠéè²¬ãæ ããè£çµŠçµè·¯ã§äººéãå±éºã«ããããããªã¹ã¯ãäœæžããããšãã§ããŸããäžã€ã®éèŠãªæ§èœææšã¯ãGPS忢æã®å¯Ÿå¿åã§ããããã§ãMEMSãžã£ã€ãã¹ã³ãŒãã®é²è¡æ¹åãã£ãŒãããã¯ãç¹ã«åœ¹ç«ã¡ãŸããææ°ã®Seekurããã²ãŒã·ã§ã³ã»ã·ã¹ãã ã¯ãã®ç°å¢ã«ãé©åããããã«èšèšãããŠãããMEMSæ £æ§æž¬å®ãŠãããïŒIMUïŒã䜿ã£ãŠç²ŸåºŠãåäžãããå°æ¥ã®é«éç©åïŒå°åœ¢ç®¡çãªã©ã®æ©èœé åïŒã«å¯Ÿå¿ã§ããããã«ããŠããŸãã
ãã®ã·ã¹ãã ãã©ã®çšåºŠæ£ç¢ºã«äœçœ®ãç¹å®ã§ããããIMUäœ¿çšæãšæªäœ¿çšæãšã§ãã¹ãããããã«ãæžå€ã®çµè·¯ã®èª€å·®ãèšé²ããåæããŸãããå³10ã¯ãKalmanãã£ã«ã¿ã§ãªãã¡ããªãšIMUã䜵çšããå Žåã®èª€å·®ãšãªãã¡ããªã®ã¿ã䜿çšããå Žåã®èª€å·®ïŒGPSã«åºã¥ãçã®çµè·¯ãåºæºãšããïŒãæ¯èŒãããã®ã§ããäœçœ®ç²ŸåºŠã¯ãIMUã䜿çšãããšã»ãŒ15ååäžããŸããã

Seekuräœçœ®èª€å·®
çµè«
ããããã»ãã©ãããã©ãŒã ã®éçºè ã¯ãMEMSãžã£ã€ãã¹ã³ãŒãæè¡ã«ãããããã²ãŒã·ã§ã³ã»ã·ã¹ãã ã«ãããæ¹åæšå®ãç²ŸåºŠå šäœãåªããã³ã¹ãå¹çæ¹æ³ã§åäžããããšãã§ãããšèãå§ããŠããŸããiSensor®MEMSããã€ã¹ã®ãããªäºåæ ¡æ£å¯èœãªããã€ã¹ãå©çšã§ããã°ãç°¡åã«æ©èœçµ±åãå¯èœãšãªããéçºããã»ã¹ã®æ©ã段éã§æåãä¿èšŒãããæè¡è ã¯ã·ã¹ãã ã®æé©åã«éäžããããšãã§ããŸããMEMSæè¡ã«ãã£ãŠãžã£ã€ãã¹ã³ãŒãã®ãã€ãºãå®å®æ§ãããã³ç²ŸåºŠã®ä»æ§ãç¶ç¶çã«æ¹åããããšã粟床ãå¶åŸ¡ã®ã¬ãã«ãç¶ç¶çã«åäžããŠãèªåŸããããã»ãã©ãããã©ãŒã ã®æ°ããåžå Žã次ã ãšåãéãããå¯èœæ§ããããŸããSeekurãªã©ã®ã·ã¹ãã ã®æ¬¡äžä»£ã®éçºã¯ããžã£ã€ãã¹ã³ãŒããããå®å šéç©åãããMEMS IMU/6èªç±åºŠïŒ6DoFïŒã»ã³ãµãžãšèŠæ±ãç§»è¡ããã§ãããããšãŒè»žã®ã¢ãããŒãã¯åœ¹ã«ç«ã¡ãŸãããå°çã¯å¹³åŠã§ã¯ãããŸãããã»ãã®å€ãã®ã¢ããªã±ãŒã·ã§ã³ã¯ãæ¢åã®ãã®ãä»åŸéçºããããã®ãå«ããŠãå°åœ¢ç®¡çã粟床ã®ãããªãæ¹è¯ã®ããã«MEMS IMUãå°å ¥ããããšã«ããã3軞ãžã£ã€ãã¹ã³ãŒãã§å®å šãªã¢ã©ã€ã³ã¡ã³ãã»ãã£ãŒãããã¯ïŒè£æ£ãå®çŸããããšãã§ããŸãã
è¬èŸ
æ¬è«æã®äœæã«è²¢ç®ãããSeth Allenæ°ãGeorge Paul æ°ãããã³Adept MobileRobots ã®ããŒã å šå¡ã«æè¬ããããŸãã
* 1817幎ã«ã«ãã«ãã»ã¢ãã«ãŒãã³ãç¹èš±ãååŸ