Prediction System of Cloud Distribution Image Using Fully Convolutional Networks

In this paper, we propose a cloud distribution prediction model in which fully convolutional networks are used to improve the prediction accuracy for photovoltaic power generation systems. The model learns the cloud distribution from meteorological satellite images and predicts the cloud image 60 min later. We examined the applicability of Day Microphysics RGB as input to the cloud image prediction model. Day Microphysics RGB is a type of RGB composite image based on the observation image of Himawari-8. It is used for daytime cloud analysis and can perform detailed cloud analysis, for example, the discrimination of cloud areas such as upper and lower clouds. The performance of the proposed method is evaluated on the basis of the root mean square error of the prediction and ground truth images

Design And Development of Tripod Hopping Robot

In this paper, we discuss on the validity of using infrared ranging sensor instead of using ultrasonic ranging sensor for the developed tripod hopping robot. The infrared sensor is mounted on the shared platform and the real distance of infrared ranging sensor from the shared platform to the floor in both static and vertical jumping motion are measured. MATLAB&Simulink model including CPG networks is designed to evaluate the performance of infrared ranging sensor by converting the measurement data from infrared ranging sensor from Voltage to Distance by using function blocks. As the result, the jumping height for each hopping motion can be observed. In addition, the maximum height of the developed tripod hopping robot is also evaluated in order to identify the highest jumping capability. Therefore, MATLAB&Simulink model with maximum height detector system is designed without including the PI controller system. As the result, the effectiveness of the maximum height detector system for the developed tripod hopping robot is confirmed in order to evaluate the highest and stable jumping height

Object Conveyance Algorithm for Multiple Mobile Robots based on Object Shape and Size

This paper describes a determination method of a number of a team for multiple mobile robot object conveyance. The number of robot on multiple mobile robot systems is the factor of complexity on robots formation and motion control. In our previous research, we verified the use of the complex-valued neural network for controlling multiple mobile robots in object conveyance problem. Though it is a significant issue to develop effective determination team member for multiple mobile robot object conveyance, few studies have been done on it. Therefore, we propose an algorithm for determining the number of the team member on multiple mobile robot object conveyance with grasping push. The team member is determined based on object weight to obtain appropriate formation. First, the object shape and size measurement is carried out by a surveyor robot that approaches and surrounds the object. During surrounding the object, the surveyor robot measures its distance to the object and records for estimating the object shape and size. Since the object shape and size are estimated, the surveyor robot makes initial push position on the estimated push point and calls additional robots for cooperative push. The algorithm is validated in several computer simulations with varying object shape and size. As a result, the proposed algorithm is promising for minimizing the number of the robot on multiple mobile robot object conveyance

Multiple Vehicles Semi-Self-driving System Using GNSS Coordinate Tracking under Relative Position with Correction Algorithm

This paper describes a simple and low-cost semi-self-driving system which is constructed without cameras or image processing. In addition, a position correction method is presented by using a vehicle dynamics. Conventionally, self-driving vehicle is operated by various expensive environmental recognition sensors. It results in rise in prices of the vehicle, and also the complicated system with various sensors tends to be a high possibility of malfunction. Therefore, we propose the semi-self-driving system with a single type of global navigation satellite system (GNSS) receiver and a digital compass, which is based on a concept of a preceding vehicle controlled by a human manually and following vehicles which track to the preceding vehicle automatically. Each vehicle corrects coordinate using current velocity and heading angle from sensors. Several experimental and simulation results using our developed small-scale vehicles demonstrate the validity of the proposed system and correction method

Measurement of Tomato Leaf Area Using Depth Camera

We describe a leaf region detection and leaf area calculation algorithm for estimating the growing conditions of small tomatoes. In leaf region detection, a color image taken by a depth camera is analyzed by image processing. The leaf region is divided into more than one hundred quadrangle meshs, and the spatial coordinates of the vertices of the mesh are calculated from the depth information obtained by the depth camera. To reduce the effect of measurement noise, an approximate surface expressed by a two-variable quadratic function is obtained, and the leaf area is calculated as the sum of the area of the meshs on the approximate surface. In the experiment, the algorithm will be evaluated using leaf measurements of small tomatoes in a greenhouse

Moving Motion Control System On Developed Tripod Hopping Robot

This paper discussed on evaluation and validation of method in order to generate the moving motion control system of the developed tripod hopping robot. The proposed method to control the system is designed by using MATLAB&Simulink which consist of reference height control system and the networks of Central Pattern Generator (CPG) that can controlled the hopping height of each leg independently. By using this method, one of the legs of the tripod hopping robot is set to different value than the other leg in order to make the posture of hopping robot’s body incline ahead towards to the direction which it should move, respectively. As the result, the effectiveness of the approached method to generate moving motion of the hopping robot using CPG networks that including the reference height control system is confirmed while maintain the stability of developed tripod hopping robot from tumbled ahead

Effectiveness of Reference Height Control system for Tripod Hopping Robot

In this paper, the generation of vertical jumping motion for tripod hopping robot through reference height control system method in order to converge the differences of reference height for each leg of tripod hopping robot is discussed. The proposed control system is designed using MATLAB/ Simulink which is consisted of maximum height detector, PI controller system in the system of Central Pattern Generator (CPG). By using the approached method, tripod hopping robot can maintain the hopping motion and control the jumping height to achieve the reference height. As the result, we evaluate the effectiveness of CPG networks to keep the stability of tripod hopping robot besides of confirm the validity of using reference height control system to generate moving capability at different reference height

Effect of Reference Height Control System on CPG Networks for Quadruped Hopping Robot

In this paper, the collaboration of CPG networks with the feedback control system which are composed with the maximum hopping height detector and the Proportional Integral (PI) controller as an engineering application for the CPG network is proposed with the developed control systems. By adding the feedback loop through the feedback controller, the developed quadruped hopping robot not only can generate the continuous hopping performances but also can control the desired hopping height. As the result, the effectiveness of CPG networks to keep the stability of the developed quadruped hopping robot besides of confirming the validity of using reference height control system to generate hopping capability at different reference height, respectively

環境制御型施設園芸における自動潅水制御システムの開発

This paper describes an automatic irrigation system for a greenhouse horticulture. The irrigation system mainly consists of an electric water pump, solenoid valves, and a single board computer (Raspberry Pi). And drippers are installed at each vegetable crop to realize drip watering. The irrigation system waters the crops at specific time intervals and a certain amount of water