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Kawabata, Kuniaki
Artificial Life and Robotics, 21(4), p.500 - 509, 2016/12
In this paper, we propose a trajectory generation method for mobile robot based on iterative extension-like process. Due to use mobile robots in the real world, trajectory generation must be done depending on the faced situation on each occasion. Proposed method enables online iterative trajectory extension process based on a low-order polynomial curve named as trajectory segment. The waypoints on the existing trajectory segment and a waypoint designated every fixed interval are the constraints to trigger the trajectory extension. For maintaining the smooth continuity of the trajectory, the velocity state must be sustained at the connecting point. Resultantly, the trajectory segments are organized into a single smooth trajectory.
Fujii, Tsuneyuki; Seki, Masami; Moriyama, Shinichi; Terakado, Masayuki; Shinozaki, Shinichi; Hiranai, Shinichi; Shimono, Mitsugu; Hasegawa, Koichi; Yokokura, Kenji; JT-60 Team
Journal of Physics; Conference Series, 25, p.45 - 50, 2005/00
The JT-60U electron cyclotron range of frequency (ECRF) is utilized to realize high performance plasma. Its output power is 4 MW at 110 GHz. By controlling the anode voltage of the gyrotron used in the JT-60U ECRF heating system, the gyrotoron output can be controlled. Then, the anode voltage controller was developed to modulate the injected power into plasmas. This low cost controller achieved the modulation frequency 12 - 500 Hz at 0.7 MW. This controller also extended the pulse width from 5s to 16 s at 0.5 MW. For these long pulses, temperature rise of the DC break made of Alumina ceramics is estimated. Its maximum temperature becomes 
140 deg. From the analysis of this temperature rise, DC break materials should be changed to low loss materials for the objective pulse width of 30 s. The stabilization of neoclassical tearing mode (NTM) was demonstrated by ECRF heating using the real-time system in which the ECRF beams are injected to the NTM location predicted from ECE measurement every 10 ms.
; Hanashima, Susumu
Nuclear Instruments and Methods in Physics Research A, 268, p.461 - 464, 1988/00
Times Cited Count：0 Percentile：0.02(Instruments & Instrumentation)no abstracts in English
; ; Abe, Shinichi; ; ; Horie, Katsuzo; Hanashima, Susumu
Review of Scientific Instruments, 58(2), p.215 - 219, 1987/02
Times Cited Count：1 Percentile：38.1(Instruments & Instrumentation)no abstracts in English
Kitamura, Masaharu*; Oba, Kyoko; Yoshizawa, Atsufumi*
no journal, ,
no abstracts in English
