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Page 1: 4 * # 8 < Ƕ ï Õ Ò + 9 ¼[(: £= 4 * # 8 < & 2 |§Æ ?q ... · ' > #1)«¯ © System Robotics Laboratory System Robotics Laboratory Department of Robotics Graduate School

© System Robotics Laboratory

System Robotics Laboratory Department of Robotics Graduate School of Engineering Tohoku University

© System Robotics Laboratory

!  "  "  "  "  "  " 

! 

© System Robotics Laboratory

#  #  #  # CO2 # 

http://www.learner.org/courses/envsci/visual/img_lrg/cold_water.jpg As of 2014 June 16th

http://fukushimaupdate.com/wpcontent/uploads/2013/04/noaawater.jpg As of 2014 June 16th

http://s3.ravenelbridge.net/large/jul_04_east_pier_construction.jpg As of 2014 June 16th

© System Robotics Laboratory

!  !  !  ! 

Page 2: 4 * # 8 < Ƕ ï Õ Ò + 9 ¼[(: £= 4 * # 8 < & 2 |§Æ ?q ... · ' > #1)«¯ © System Robotics Laboratory System Robotics Laboratory Department of Robotics Graduate School

© System Robotics Laboratory

http://www.iot-spain.com/?cat=65

http://www.nauticexpo.es/prod/codar-oceansensors/sistemas-radar-hf-sistemas-vigilancia-rio-39828-377294.html

http://www.kidsgeo.com/geography-for-kids/0035-remote-sensing.php

:http://float.berkeley.edu/project/experiments/2012-may-walnut/boat-walnut-grove-may-09-2012-part-3 http://criepi.denken.or.jp/result/pub/annual/2008/08katsudou34.pdf

© System Robotics Laboratory

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© System Robotics Laboratory

# GPS

# IMU

# Communication unit

# Microcomputer

# Battery with solar cell

# Actuators and screw

http://www.designworldonline.com/uploads/Imagegallery/6DoF-IMU-from-SensorDynamics.jpg As of 2014 June 16th

http://img.dxcdn.com/productimages/sku_194466_5.jpg As of 2014 June 16th

http://upload.wikimedia.org/wikipedia/commons/4/45/Raspberry_Pi_-_Model_A.jpg As of 2014 June 16th

http://www.sunstore.co.uk/images/P/30wSemiPortable.jpg As of 2014 June 16th

http://float.berkeley.edu/fsn/?q=webfm_send/75 As of 2014 June 16th

© System Robotics Laboratory

NOMAD

Page 3: 4 * # 8 < Ƕ ï Õ Ò + 9 ¼[(: £= 4 * # 8 < & 2 |§Æ ?q ... · ' > #1)«¯ © System Robotics Laboratory System Robotics Laboratory Department of Robotics Graduate School

© System Robotics Laboratory

NOMAD:

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Page 4: 4 * # 8 < Ƕ ï Õ Ò + 9 ¼[(: £= 4 * # 8 < & 2 |§Æ ?q ... · ' > #1)«¯ © System Robotics Laboratory System Robotics Laboratory Department of Robotics Graduate School

© System Robotics Laboratory

: 1

goal%

sensor%node%

Sensor%node%(final)%%

Centroid%

Sensor%node%(ini2al)%

© System Robotics Laboratory

: 2

1.  2.  2

(= ) e+ ce+ ke = f

© System Robotics Laboratory

3

1.  2.  2

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e+ ce+ ke = f

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! 

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e+ ce+ ke = f

Page 5: 4 * # 8 < Ƕ ï Õ Ò + 9 ¼[(: £= 4 * # 8 < & 2 |§Æ ?q ... · ' > #1)«¯ © System Robotics Laboratory System Robotics Laboratory Department of Robotics Graduate School

© System Robotics Laboratory

[ 2005]

© System Robotics Laboratory

Centroid Position variance

No control Control No control Control

© System Robotics Laboratory

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© System Robotics Laboratory

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Page 6: 4 * # 8 < Ƕ ï Õ Ò + 9 ¼[(: £= 4 * # 8 < & 2 |§Æ ?q ... · ' > #1)«¯ © System Robotics Laboratory System Robotics Laboratory Department of Robotics Graduate School

© System Robotics Laboratory

:

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© System Robotics Laboratory

! 

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© System Robotics Laboratory

:

© System Robotics Laboratory

! Magnitude error

:

Magnitude error Direction error

Page 7: 4 * # 8 < Ƕ ï Õ Ò + 9 ¼[(: £= 4 * # 8 < & 2 |§Æ ?q ... · ' > #1)«¯ © System Robotics Laboratory System Robotics Laboratory Department of Robotics Graduate School

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Page 8: 4 * # 8 < Ƕ ï Õ Ò + 9 ¼[(: £= 4 * # 8 < & 2 |§Æ ?q ... · ' > #1)«¯ © System Robotics Laboratory System Robotics Laboratory Department of Robotics Graduate School

© System Robotics Laboratory

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