{"created":"2023-06-19T09:12:58.587582+00:00","id":24903,"links":{},"metadata":{"_buckets":{"deposit":"da84d64b-ce32-4887-8347-a5b8965d75d6"},"_deposit":{"created_by":1,"id":"24903","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"24903"},"status":"published"},"_oai":{"id":"oai:kumadai.repo.nii.ac.jp:00024903","sets":["426:428"]},"author_link":["112361","158514","112363","112362"],"item_16_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2010-07-15","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"1154","bibliographicPageStart":"1149","bibliographic_titles":[{"bibliographic_title":"Proceedings - IEEE International Conference on Robotics and Automation"}]}]},"item_16_creator_3":{"attribute_name":"別言語の著者","attribute_type":"creator","attribute_value_mlt":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[{"affiliationNameIdentifier":"","affiliationNameIdentifierScheme":"ISNI","affiliationNameIdentifierURI":"http://www.isni.org/isni/"}],"affiliationNames":[{"affiliationName":"","affiliationNameLang":"ja"}]}],"creatorNames":[{"creatorName":"Kumon, Makoto","creatorNameLang":"en"},{"creatorName":"公文, 誠","creatorNameLang":"ja"},{"creatorName":"クモン, マコト","creatorNameLang":"ja-Kana"}],"familyNames":[{"familyName":"Kumon","familyNameLang":"en"},{"familyName":"公文","familyNameLang":"ja"},{"familyName":"クモン","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"Makoto","givenNameLang":"en"},{"givenName":"誠","givenNameLang":"ja"},{"givenName":"マコト","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"158514","nameIdentifierScheme":"WEKO"}]}]},"item_16_description_17":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_16_description_46":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"論文(Article)","subitem_description_type":"Other"}]},"item_16_description_5":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"In this paper, a vectored thrust aerial vehicle(VTAV) that has three ducted fans is considered. Since ducted fans are powerful and effective in providing lift, they are suitable for thrusters of UAVs, but modeling their aerodynamic effects such as ram drag is very difficult. The VTAV has one ducted fan fixed to its body and two ducted fans that can be tilted in order to make rotational moments, which makes the system dynamics even more complicated. This paper focuses on giving a precise dynamical model that includes aerodynamic effects of ducted fans. Then it presents a hovering controller based on the dynamical model developed. Since the horizontal dynamics are under actuated, a switching control approach is introduced to realize a stabilizing controller. Numerical simulations prove the validity of the approach.","subitem_description_type":"Other"}]},"item_16_description_77":{"attribute_name":"URL","attribute_value_mlt":[{"subitem_description":"http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5509917","subitem_description_type":"Other"}]},"item_16_publisher_36":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"Institute of Electrical and Electronics Engineers"}]},"item_16_relation_11":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"10.1109/ROBOT.2010.5509917","subitem_relation_type_select":"DOI"}}]},"item_16_relation_16":{"attribute_name":"情報源(ISSN)","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_text":"10504729"}]}]},"item_16_rights_12":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"(c) 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works."}]},"item_16_subject_20":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"530","subitem_subject_scheme":"NDC"}]},"item_16_text_18":{"attribute_name":"形態","attribute_value_mlt":[{"subitem_text_value":"1307385 bytes"}]},"item_16_text_47":{"attribute_name":"資源タイプ・ローカル","attribute_value_mlt":[{"subitem_text_value":"会議発表論文"}]},"item_16_text_48":{"attribute_name":"資源タイプ・NII","attribute_value_mlt":[{"subitem_text_value":"Journal Article"}]},"item_16_text_49":{"attribute_name":"資源タイプ・DCMI","attribute_value_mlt":[{"subitem_text_value":"text"}]},"item_16_text_50":{"attribute_name":"資源タイプ・ローカル表示コード","attribute_value_mlt":[{"subitem_text_value":"01"}]},"item_16_text_78":{"attribute_name":"コメント","attribute_value_mlt":[{"subitem_text_value":"Robotics and Automation (ICRA), 2010 IEEE International Conference, 3-7 May 2010"}]},"item_16_version_type_19":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_ab4af688f83e57aa","subitem_version_type":"AM"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Kumon, Makoto"}],"nameIdentifiers":[{"nameIdentifier":"112361","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Cover, Hugh"}],"nameIdentifiers":[{"nameIdentifier":"112362","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Katupitiya, Jayantha"}],"nameIdentifiers":[{"nameIdentifier":"112363","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2020-03-02"}],"displaytype":"detail","filename":"ICRA_5509917.pdf","filesize":[{"value":"1.3 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"ICRA_5509917.pdf","url":"https://kumadai.repo.nii.ac.jp/record/24903/files/ICRA_5509917.pdf"},"version_id":"aa254c74-f121-4ed4-82e5-5a6d972b5522"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"Hovering control of vectored thrust aerial vehicles","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Hovering control of vectored thrust aerial vehicles"}]},"item_type_id":"16","owner":"1","path":["428"],"pubdate":{"attribute_name":"公開日","attribute_value":"2011-07-11"},"publish_date":"2011-07-11","publish_status":"0","recid":"24903","relation_version_is_last":true,"title":["Hovering control of vectored thrust aerial vehicles"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-08-18T05:28:56.264089+00:00"}