Masafumi Miwa

Masafumi Miwa
The University of Tokushima · Department of Mechanical Engineering

About

255
Publications
5,389
Reads
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1,477
Citations
Additional affiliations
April 1997 - March 2007
Wakayama University
Position
  • Professor (Assistant)

Publications

Publications (255)
Article
An RTK-GNSS was introduced to realize the precision flight of a drone system for transporting harvested loquats and spraying pesticides to suppress the rotting of fruits. Transportation and spraying experiments were conducted. Precision automatic navigation flights were realized in transportation experiments. In addition, precision landing was perf...
Article
Recently, UAV are researched and used in various fields. Especially, UAV autopilot to reduce labor costs and fill the gap in skills is an essential technology for industrial applications. Autopilot, especially terrain following requires not only longitude and latitude but also altitude information on the map. GCS software, such as Mission Planner a...
Article
In recent years, the number of the aging dam is increasing. In Japan, the total number of dams tends to increase. More than 3,000 dams are existing and cracks are generated in some of these dams. The dam's investigation is needed. The detection method of crack for dam is visual check with rope action and diving, the laser measuring from ground, etc...
Article
In this research, we are built an attitude control simulator for a large industrial multicopter. Therefore, we build on a simulator for maintaining quadcopter levels. First, the simulator of the block diagram of attitude control model of roll axis is built. We observe the step response and replace the existing PID parameters used to fly the simulat...
Article
In recent years, a UAV called Quad Plane is under development. Quad Plane is a UAV that combines helicopters and fixed-wing aircraft. With the added multi-rotor, the Quad Plane can take off and land vertically and fly below stall speed. But, if the Quad Plane flies horizontally, the added motor will be deadweight. Therefore, the practicality of Qua...
Article
In recent years, UAVs have been used in various fields. Among them, the transportation of luggage has been used for the general society, leaving the area of research. However, in these aircraft, the dedicated operator at the company side sets the necessary information and skips the aircraft to the place requested by the user or a predetermined plac...
Article
Multicopters are being used to inspect the wall surfaces of tunnels and dam embankments. However, because the number of GPS satellites received can not be obtained sufficiently in tunnels or dams, the precision of position control of multicopters declines. Therefore, in this study, Laser range finder (LRF) was used as an alternative to GPS. Measure...
Article
The tandem wing type aircraft transforming mechanism for VTOL has many examples which equip each wing tip with a tilt type rotor. In this research, It transforms it into VTOL/STOVL by equipping the barycentric position of the airframe with two tilt type rotors. The proposal method can be used though interests of both are counterbalanced as for the...
Article
In this paper, we examine low-speed flight characteristics of a tilt-rotor UAV by estimating the aerodynamic coefficients based on the results of flight experiments and CFD analysis. The longitudinal motion in the rotary-wing mode of the vehicle is modeled by using the aerodynamic forces that have a component proportional to the airspeed. The exper...
Article
In recent years, unmanned aerial vehicles have attracted attention around the world. Many of them are expected to carry heavy items, and as more large-sized aircrafts become popular, various advantages can be considered. In this study, we focused on the fact that the freedom of movement of the aircraft is high and we carry heavy objects with multi-...
Article
We developed a quad tilt rotor type VTOL with fixed wing, which aims to transit to a horizontal flight state, behaving as a quad rotor helicopter during vertical take-off and landing, and as a thrust device by tilting four rotors during level flight. In this experiment, hovering experiment and horizontal flight experiment by rotor inclination were...
Article
In this research, we propose UAV guidance method for non-GPS environment. For guidance, laser light of laser range finder (LRF) installed in ground station and UAV are used. When the laser light is oscillated from the LRF, it is reflected by the corner cube installed on the other side and is detected by its own detection unit. PSD is installed in t...
Article
In Japan, when disasters such as typhoons and earthquakes happen, the road may be broken. Therefore, in this research, we propose manned multicopter operation as a new transportation method which can cope with such a situation. By using manned multicopter, it is possible to move to a place that is difficult to access, or to move to a destination at...
Article
A general flying automobile has two type mechanism. One is based on fixed-wing aircraft, and the other is based on rotary wing aircraft. In this study, we aim to develop a rotary wing aircraft model. Based on a rotary wing aircraft, we can make it smaller size than a fixed-wing aircraft model. Additionally, a rotary wing aircraft can take off and l...
Article
We aim to search by automatic piloting of known areas (indoor) under GPS-denied environment. Specifically, the wall surface of a room without obstacles is set as a course, and it is searched by autopilot. The sensors used for automatic piloting were selected as follows. Since the objective of this research is automatic piloting in the unsearched ar...
Article
As for a general method of making to VTOL of the tandem wing aircraft, four rotors are set up in the Wingtip. In the present study, two rotors for the Bi-Copter are set up between front wing and rear wing. To apply to UAV, flight control surfaces are simplified. We propose the flight control method without installing control surface in the fixed wi...
Article
We developed a quad tilt rotor type VTOL with fixed wing, which aims to transit to a horizontal flight state, behaving as a quad rotor helicopter during vertical take-off and landing, and as a thrust device by tilting four rotors during level flight. In this experiment, hovering experiment and horizontal flight experiment by rotor inclination were...
Article
We have constructed a system to visualize situation of a falling accident of the unmanned aerial vehicle (UAV) and a surrounding environment along an orbit of the UAV. In the system, the orbit of the UAV is displayed using the positional and attitudinal data recorded in the flight recorder. The color of the orbit varies depending on some parameters...
Conference Paper
This article introduces a multidisciplinary skill assessment for learning embedded software development. In the industry, software engineers and mechanical engineers have to communicate with each other, and hence, these engineers need to have multidisciplinary skills. For learning such skills, we need to give an occasion to work with different fiel...
Conference Paper
This paper proposes a compulsory game based robot contest involving embedded system development lectures. Both undergraduate and graduate computer science students participate in this contest. For such students, the embedded system development is not easy to learn. Because, the development needs to cover a wide range of knowledge in a variety of fi...
Article
In this study, we present a underwater maneuver of multi copter system. At first, the underwater thrust of multi copter system was calibrated. Then, the sequences of taking off, taking water, diving, broaching, taking off from the water were tested. Also, the underwater maneuver was presented horizontal motion by using general motors of multi copte...
Article
In this research, I aim to develop VTOL which transitions to a horizontal flight with the movable leg equipped with a propulsion device facing the back of the aircraft. In this paper, we conducted experiments on vertical take-off and landing and hovering by a testing machine using a fixed leg equipped with a propulsion device as an introduction. I...
Article
In recent years, Unmanned Aerial Vehicle(UAV) is used for various purpose such as disaster investigation and Aerial photography. Vertical takeoff and landing(VTOL) used in this study is a UAV which has advantages of fixed wing aircraft and rotary wing aircraft. Tail sitter is one of VTOL. Tail sitter can vertical take-off and landing like a rotary...
Article
Recently, Unmanned Aerial Vehicle is used in many purpose such as wall inspection and disaster relief. When UAV moves remotely, a pilot uses First Person View (FPV) to get circumstance information. It is useful but it is difficult to operate stable remote UAV using only FPV, because it cannot find a bit motion either slant of airframe. To help oper...
Article
The method of landing in a super-short distance like the bird includes the sudden deceleration method kept immediately before stalling when the nose is raised. This method is used only in the emergency because only the pilot of some stagers is possible high-level techniques, and it is very dangerous. The present study is an attempt to introduce thi...
Article
Recently, unmanned aerial vehicle (UAV) has been developed in industrial applications. UAV usually has fixed-wing aircraft and rotor-type aircraft. The rotor-type aircraft is divided by single-rotor type and multi-rotor type. Quad-rotor aircraft (QRA) is flying using rotor with two pairs of symmetrical to each other. In this study, we chose to quad...
Article
The UAV flight control method we propose uses LED panels and a video camera on the UAV. Specifically, the LED panel displays patterns related to the UAV commands and blinking patterns for panel detection. A panel detection process based in UAV video camera images uses the frequency of green blinking as a cue for panel detection, then command patter...
Article
In this study, a cable-suspended transportation system using a small-size helicopter was investigated. For a secure flight, it is necessary to suppress the swing of the suspended load. For this purpose, a cable angle feedback system was adopted because it is easy to mount the corresponding measuring device on a helicopter. Delayed feedback control...
Article
[abstFig src='/00280003/08.jpg' width=""300"" text='Arbitrary attitude hovering' ] The quad tilt rotor helicopter (QTRH), a tilt-rotor aircraft prototype, has fixed wings for long-range high-speed flight. Its rotor-tilt mechanism controls 4 rotor-tilt angles independently and controls its roll and pitch angles similarly to a multirotor helicopter....
Article
A quad rotor helicopter (QRH) is a radio controlled (RC) aircraft that tilts its attitude to generate a horizontal force component to move in a certain direction. Using autonomous control, the attitude control system tilts the airframe against disturbances, such as wind. Thus, the attitude of a flying QRH is always slanted. In this study, three typ...
Article
In recent years, the number of the aging dams are increasing. In Japan, more than 3,000 dams are existing and cracks are generated in some of these dams. So, we present an underwater multirotor helicopter as the underwater investigation tool. In this study, we developed the underwater multirotor helicopter that prevents accidents due to water, and...
Article
Recently, multi-copters have safety problem that depends on operator or flight control program. In the case of multi-copter's operation, taking off on uneven ground such as Inclinations and unbalancing ground are difficult. In this paper, we present novel operating methods that are the hand launching method instead of taking off. In our approach, a...
Article
The mobility and the large area are evaluated, and tilt rotor type vertical takeoff and landing (VTOL) machine is being expected by not only the army but also the private organization. The tilt rotor mechanism is used for the flying mode conversion. The tilt rotor mechanism of minimum degree of freedom is added to the quadrotor helicopter, and it p...
Article
We present a pusher configuration VTOL aircraft which combines the advantages of Rotating-wing aircraft and Fixed-wing aircraft. In previous researches, we developed DFO3 that has Gimbal mechanism for thrust vectoring, and controlled it 3-axes attitude by PI-D control. PID gain has calculated by pole placement method and its simulation. We succeede...
Article
In this study, we propose a customized multi copter that passive wheels are installed on its bottom to add the ground sliding function. This multi copter slides with wheel at flat terrain, and flies if there is a rough terrain or obstacles. We test this multi copter in runnel experiment equipment.
Article
Recently, quad rotor helicopter (QRH) is used for multiple uses such like aerial photographing and investigation at disaster site. Also QRH is the easy operationable UAV because of its structure. But, if one of the rotors is broken, QRH will fall dawn soonly. The methods to avoid falling down are emergency parachute, to increase rotors, etc. But th...
Article
Recently, R/C helicopter is used in field of aerial photography and investigation. But helicopter rotor blades are not covered, and the thrust is generated by very high rotational speed. So R/C helicopter has high risk. In this study, we developed a new flying object like the inverted pendulum that using two ducted fans instead of rotor blades. And...
Article
Vertical Take-Off and Landing(VTOL) aircraft has combined advantages of fixed wing aircraft and rotorcraft. Practical VTOL is rare because the VTOL mechanism is complex, also characteristics is different when hovering and cruising, and it is difficult to control the transition flight. The purpose of this study is development of Tailsitter VTOL usin...
Article
We propose a new maneuvering method of quadrotor helicopter using a vane. In this method, quadroter helicopter can be moved horizontally. The vane is located under each propeller and generated lift for down wash of propeller. The composition this generated powers occurs horizontal maneuver. Flight test is done using control system for normal quadro...
Article
Recently, the humanoid robot can do various movements (walk, run, up and down the stairs, jump and dance). In addition, because the humanoid robot can work like a human, it is expected that the humanoid robot works as substitute for the people in the disaster area where human being cannot enter. However, the humanoid robot can move flatland and the...
Article
Recently, demand of UAV(Unmanned Aerial Vehicle) is growing up due to the need for various applications such as aerial photography, disaster investigation and etc. UAV market is expanding as increasing demand of UAV application. As the number of UAV operators increased, the accident of UAV operated by unskilled operator also have increased. In this...
Article
The mobility and the large area are evaluated, and tilt rotor type vertical takeoff and landing (VTOL) machine is being expected by not only the army but also the private organization. A lot of same shape types are demanded unmanned aerial vehicle (UAV) in addition. However, because the tilt structure and the head structure of the rotor are complex...
Article
A number of unmanned small-size helicopters are widely used for industrial applications in recent years. This study focuses on a sytem of a small-size helicopter with a suspended load. Since vibration of the load have a bad effect on the safety flight, it is necessary to suppress the vibration. Thus purpose of this study is to develop a vibration c...

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