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時間軸積和演算のためのSiナノディスクアレイ-FinFETニューロンデバイスの研究
Full text link九州工業大学博士学位論文（要旨）学位記番号：生工博甲第271号 学位授与年月日：平成28年6月30
Rebar Damage and Internal Degradation of Concrete due to Alkali-Aggregate Reaction
No full text九州工業大学博士学位論文 学位記番号:工博甲第410号 学位授与年月日:平成28年3月25日第1章 序論||第２章 鉄筋破断を生じた代表的構造物の概略調査||第３章 同一構造物内部で多数の鉄筋破断が生じたＡＳＲ構造物詳細調査||第４章 曲げ加工に伴う初期損傷とＡＳＲによる進展の可能性||第５章 鉄筋材料特性と鉄筋損傷の感受性に関する評価||第６章 ＡＳＲ長期暴露供試体の外観劣化と内部劣化の関係性評価||第７章 ＡＳＲ暴露供試体による鉄筋破断の再現と周辺損傷との関係||第８章 ＡＳＲ損傷評価における検査手法の適用性検討||第９章 結
酸化鉄の水溶液合成における有機修飾が微細構造に与える影響の解明
Full text link九州工業大学博士学位論文 学位記番号:生工博甲第250号 学位授与年月日:平成28年3月25日第1章 緒言||第2章 高分子化合物の添加がマグネタイト結晶生成に及ぼす効果の解明||第3章 高分子化合物の添加がマグネタイト結晶生成に及ぼす効果の解明||第4章 高分子化合物の添加がマグネタイト結晶生成に及ぼす効果の解明||第5章 結
人工ポテンシャル場と特徴抽出法に基づく屋内環境における移動ロボットの経路計画
No full text九州工業大学博士学位論文 学位記番号:生工博甲第267号 学位授与年月日:平成28年3月25日1: Introduction||2: Path Planning Background and Literature Review||3: Proposed Artificial Potential Filed Based Algorithm||4: Feature Extraction and Landmark Detection||5: Representation of Geometric Environment and Implementation of P-APF||6: Conclusions and Future WorkMobile robots are widely used in many applications in industrial fields as well as in academic and research fields. The robot path planning problem is a key problem in making truly autonomous robots. It is one of the most important aspects in mobile robot research and plays a major role in their applications but is a complex problem. The role of path planning of mobile robot can be described as finding a collision free path in a working environment
enriched with obstacles from a specified starting point to a desired destination position called the goal. Additional characteristic of path planning in known environments is to satisfy some certain optimization criteria. Most of the traditional path planning approaches such as visibility graphs, cell decomposition, voronoi diagram, etc. are designed and functioning well in static known environments. However the real environments are consisting of both the stationary and moving obstacles. Artificial potential field based methods can be applicable for both the static and dynamic environments as well as for the known or unknown
environments. Because of the analytical complexity of the dynamic environments, research
on path planning in dynamic environments is limited but there are hundreds of research work
have been reported on path planning in static known environments.
Because of the mathematical simplicity, easy implementation and real time applicability of
artificial potential field, it has become popular in robot path planning. However, the potential field based path planning shows some inherit shortcomings such as dead-lock. Recently, in the field mobile robotics, some different techniques have been proposed to overcome the dead-lock issue associated with the artificial potential field based path planning. Most of these research work targeted only a specified situation where the dead-lock can happen.
In this research, we proposed a method for avoiding robot from dead-lock caused in different
situations of mobile robot path planning using artificial potential field. In the proposed
method we have introduced a new repulsive force component which is depended on the
robot’s heading direction. The proposed method is evaluated for different conditions which
create dead-lock for traditional artificial potential field method. The simulations of the
proposed approach have indicated that it has a capability of avoiding dead-locking associated
with the traditional method, and is simpler and easier to implement. However in real
implementation it is required to extract the geometric features of the environment such as
walls and corners for our consideration in structured environments. Consequently, we have
discussed a segmentation and feature extraction adaptive algorithm for structured
environments. In this study, several adaptive techniques proposed in literature for
segmentation of laser range data have been implemented and tested in different environments
to compare the performances of them with the proposed technique. The experimental results
have shown that the proposed method is superior to other adaptive techniques. Further
discussion is continued to analyze the implementation issues of the artificial potential field approach in geometrical structured environments. The segmented features of the walls are used to generate the potential force for robot navigation. These segmented features are
matched with the pre-observed features to extend or merge them together to generate a map
of the environment and this map is used in potential force generation process. Combining the
segmentation and representation of geometrical obstacles for artificial potential field
generation in robot path planning, simulation experiments were done and performances are
compared for the traditional and the proposed approach.
Based on the simulation results from various case studies, we have concluded that the
proposed artificial potential field method for mobile robot path planning is able to solve the dead-lock problems that are with traditional method. The segmentation and feature extraction algorithm proposed in this thesis has shown better performances than the existing methods by experimental results. Geometrical representation of the structured environment is used to implement the artificial potential field based path planning on the robot and implementation barriers are discussed
マルチユーザMIMO伝送に関する研究
Full text link九州工業大学博士学位論文 学位記番号:情工博甲第311号 学位授与年月日:平成28年3月25日第1章 序論||第2章 MIMO システムモデルと従来手法の概要||第3章 高次MIMO デコーダにおける低演算量グループ判定手法の提案||第4章 MU-MIMO システムにおける低演算量プリコーディング手法の提案||第5章 行列演算に特化したASIP パイプラインの提案と実装||第6章 結
Development of Ultra-Small Current Sensor for High-Voltage Power Semiconductor Modules : Proposal and Demonstration of the Noise Reduction Structure
Full text link電力技術／電力系統技術／半導体電力変換技術合同研究会, 3月8日-9日, 2016年,
九州工業大学 戸畑キャンパス, 福岡県 We designed and demonstrated the ultra-small PCB current sensor for monitoring chip current in the high-voltage IGBT module. Based on the previous researches, here we adopted a design to remove noise influence. Taking advantage of the electric field shield and the small coaxial connector, the effect of noise removal was achieved
