社会経済データ多目的空間検索表示サーバシステム

Google Earth［1］， NASA World Wind［2］により，従来一部の研究者の対象であった地球の情報が，インターネットの普及と共に，急速に一般化している。地球表面の画像から得られる様々な情報を解析する試みは，航空機搭載カメラ等により地球観測衛星の打ち上げ以前から行われているものの，人口動態など画像以外のデータと組み合わせて，インターネットを通じて連携する情報を空間検索表示するサーバシステム事例は少ない。さいわい先進諸国では，社会経済センサスデータが小地域メッシュ等の形で，また主要幹線道路位置も（xi, yi）値の座標組として整備されている。この論文は，地球情報単体の表示のみならず，各種の地点データを空間検索して，多様な結果をクライアントに外部サーバの情報と共に表示するサーバシステムの実装に関する開発事例を紹介する

A Novel Approach To Intelligent Navigation Of A Mobile Robot In A Dynamic And Cluttered Indoor Environment

The need and rationale for improved solutions to indoor robot navigation is increasingly driven by the influx of domestic and industrial mobile robots into the market. This research has developed and implemented a novel navigation technique for a mobile robot operating in a cluttered and dynamic indoor environment. It divides the indoor navigation problem into three distinct but interrelated parts, namely, localization, mapping and path planning. The localization part has been addressed using dead-reckoning (odometry). A least squares numerical approach has been used to calibrate the odometer parameters to minimize the effect of systematic errors on the performance, and an intermittent resetting technique, which employs RFID tags placed at known locations in the indoor environment in conjunction with door-markers, has been developed and implemented to mitigate the errors remaining after the calibration. A mapping technique that employs a laser measurement sensor as the main exteroceptive sensor has been developed and implemented for building a binary occupancy grid map of the environment. A-r-Star pathfinder, a new path planning algorithm that is capable of high performance both in cluttered and sparse environments, has been developed and implemented. Its properties, challenges, and solutions to those challenges have also been highlighted in this research. An incremental version of the A-r-Star has been developed to handle dynamic environments. Simulation experiments highlighting properties and performance of the individual components have been developed and executed using MATLAB. A prototype world has been built using the WebotsTM robotic prototyping and 3-D simulation software. An integrated version of the system comprising the localization, mapping and path planning techniques has been executed in this prototype workspace to produce validation results