‫ܭ‬ଌࣗಈ੍‫ֶޚ‬ձ౦๺ࢧ෦ ୈ 265 ճ‫ूڀݚ‬ձ (2011.6.28)
ࢿྉ൪߸ 265-4

ແઢΧϝϥΛ༗͢Δখ‫ܕ‬ϔϦίϓλͷߴ৴པϏδϡΞϧ
αʔϘɿ཭ண཮੍‫ܥޚ‬ͷઃ‫ܭ‬
Dependable visual servoing of a small-scale helicopter witha wireless camera: design of a take-oﬀ and landing controller˓‫ٱ‬อా༞थɼ‫ؠ‬୩༃˓ Yuki Kubota, Yasushi Iwatani߂લେֶHirosaki UniversityΩʔϫʔυ : খ‫ܕ‬ϔϦίϓλ (small-scale helicopter)ɼϏδϡΞϧαʔϘ (visual servoing)ɼߴ৴པ੍‫ޚ‬(dependable control)ɼࣗ཯ҠಈϩϘοτ (autonomous mobile robot)ɼϏδϣϯ (vision)࿈བྷઌ : ˟ 036-8561 ੨৿‫߂ݝ‬લࢢจ‫ژ‬ொ 3ɼ߂લେֶ େֶӃཧ޻ֶ‫ڀݚ‬Պ‫ؠ‬୩༃ɼTel.: (0172)39-3697ɼFax.: (0172)39-3697ɼE-mail: iwatani.at.cc.hirosaki-u.ac.jp1.

͸͡ΊʹϔϦίϓλ͸ɼਨ௚཭ண཮΍ϗόϦϯάͳͲͷଞͷߤۭ‫ʹػ‬͸ແ͍༏ΕͨҠಈಛੑΛ༗͢Δ1) ɽϔϦίϓλΛࣗ཯੍‫͢ޚ‬Δ͜ͱʹΑΓɼૢॎ࢜ͷ౥৐ͷඞཁ͕ͳ͘ͳΔͨΊɼՐࡂ஍ଳɼՐࢁ஍ଳ΍‫Ͳͳॴిൃྗࢠݪ‬ͷ‫ݥة‬஍ଳͰͷඈߦ͕ՄೳͱͳΔɽϔϦίϓλΛখ‫ܕ‬Խ͢Δ͜ͱͰɼ‫ڱ‬খۭؒͷҠಈͳͲͷ͞ΒͳΔҠಈಛੑΛ෇Ճ
͢Δ͜ͱ͕Ͱ͖ΔɽҰํͰɼখ‫ܕ‬ϔϦίϓλ͸ϖΠϩʔυʢ࠷େੵࡌྔʣ͕খ͍ͨ͞Ίɼར༻Ͱ͖Δηϯαʹ੍‫͕͋ݶ‬Δɽখ‫ܕ‬ϔϦίϓλͷ༠ಋ੍‫͍͓ͯʹޚ‬ɼϏδϣϯ͸༗༻ͳ‫ܭ‬ଌ૷ஔͷҰͭͰ͋Δɽখ‫ܕ‬ϔϦίϓλͷࢹ੍֮‫ܥޚ੍ޚ‬ͷߏ੒͸ɼେ͖͘ࡾͭʹ෼ྨ͞ΕΔɽҰͭ໨͸ɼΧϝϥͱɼGPS ΍ IMU ͳͲͷηϯαΛ૊Έ߹Θͤͨ΋ͷͰ͋Δ 2, 3, 4, 5, 6) ɽೋͭ໨͸ɼΧϝϥΛϔϦίϓλʹ౥ࡌ͢ΔͷͰ͸ͳ͘ɼ֎෦ઃஔ͞ΕͨΧϝϥΛ࢖༻͢Δ΋ͷͰ
͋Δ 7, 8, 9, 10) ɽࡾͭ໨͸ɼϔϦίϓλʹ౥ࡌ͞ΕͨΧϝϥΛ࢖༻͢Δ΋ͷͰ͋Δ 11, 12, 13, 14) ɽࡾͭ໨ͷΦϯϘʔυΧϝϥΛ࢖༻ͨ͠഑ஔ͸ɼϖΠϩʔυ͕খ͍͜͞ͱͱɼඈߦۭؒͷ੍໿͕ແ͍ͱ͍͏ೋͭͷཧ༝ʹΑΓɼখ‫ܕ‬ϔϦίϓλ੍‫ʹܥޚ‬ద͍ͯ͠Δɽຊ‫ڀݚ‬͸ɼҰ୆ͷখ‫ܕ‬ແઢΧϝϥͷΈΛར༻ͯ͠ɼখ‫ܕ‬ϔϦίϓλͷ੍‫ޚ‬Λߦ͏ɽ۩ମతʹ͸ɼϔϦίϓλʹԖ௚Լ޲͖ʹ౥ࡌͨ͠ແઢΧϝϥͰচʹઃஔͨ͠ϚʔΧΛࡱӨ͠ɼࡱӨը૾Λ‫ʹج‬ϗόϦϯά੍‫ޚ‬Λߦ͏ɽখ‫ܕ‬ແઢΧϝϥΛར༻͢Δͱɼ௨৴ϊΠζ΍‫ػ‬ମͷ༳ΕͷӨ‫ڹ‬Ͱਖ਼͍͠ը૾৘ใΛऔಘͰ͖ͳ͍͜ͱ͕͋Δɽͦ͜ͰචऀΒ͸ɼҟৗը૾ΛࣗಈͰ൑ఆ͢Δߴ৴པϏδϡΞϧαʔϘख๏ΛఏҊ͠ɼখ‫ܕ‬ϔϦίϓλͷࣗ཯తͳϗόϦϯά੍‫ޚ‬Λୡ੒͍ͯ͠Δ 15) ɽຊߘͰ͸ɼϗόϦϯά੍‫ʹޚ‬௥Ճͯ͠཭

–1–཮੍‫ͱޚ‬ண཮੍‫ޚ‬ΛࣗಈԽͨ͠ɼ཭཮͔Βண཮খ‫ܕ‬ແઢΧϝϥͷੑೳͷͨΊɼਖ਼͍͠ϚʔΧ৘·ͰͷҰ࿈ͷࣗ཯੍‫ޚ‬ख๏ΛఏҊ͢Δɽ੍‫ܥޚ‬ใ͕ৗʹऔಘͰ͖Δͱ͸‫ݶ‬Βͳ͍ɽͷߏ੒্ɼϔϦίϓλ͕Ұఆͷߴ౓ҎԼʹ͋ΔϔϦίϓλʹ͸ਫฏ࢟੎ΛอͭͨΊͷϝΧχ৔߹ɼΧϝϥࢹ໺ͱ‫ػ‬ମࣗ਎ͷӨͷӨ‫Ͱڹ‬ɼਖ਼ΧϧελϏϥΠβ͕ઃஔ͞Ε͍ͯΔɽͦͷͨΊɼ͍͠ࢹ֮৘ใΛಘΔ͜ͱ͕Ͱ͖ͳ͍ɽ͢ͳΘͪɼϔϦίϓλͷࡾ࣍‫ݩ‬ҐஔͱϤʔ֯Λ੍‫͢ޚ‬Ε͹཭཮࣌ͱண཮࣌ʹ͸Χϝϥ͔Βͷࢹ֮৘ใΛརྑ͍ɽ͜ΕΒ͸ɼਖ਼͍͠ϚʔΧը૾ΛऔಘͰ͖༻͢Δ͜ͱ͕Ͱ͖ͳ͍ɽͦ͜ͰຊߘͰ͸ɼϑΥʔ͍ͯΔ৔߹ɼϚʔΧͷԣํ޲ॏ৺ɼॎํ޲ॏ৺ɼυόοΫ੍‫ͱޚ‬ϑΟʔυϑΥϫʔυ੍‫ޚ‬Λ૊Έ໘ੵɼ܏͖͔Β‫͖Ͱࢉܭ‬Δɽ۩ମతʹ͸ɼന৭߹Θͤͨ཭ண཮੍‫ޚ‬ख๏ΛఏҊ͢Δɽ·ͨɼ཭໘ੵΛ mɼୈ i ըૉͷϐΫηϧ࠲ඪΛ (Xi ,Yi )ɼ

཮࣌ʹ͓͚ΔϑΟʔυϑΥϫʔυ੍‫ޚ‬Λߴਫ਼౓ന৭ըૉͷըૉ൪߸ͷू߹Λ I ͱ͢Δͱ͖ɼ
Xi(1)
x = i∈ImYi(2)y = i∈Im
1(3)z=√mi∈I Xi Yi −i∈I Xii∈I Yi−1 mВ = tan2
m i∈I Xi − ( i∈I Xi )2(4)Խ͢ΔͨΊͷखॱʹ͍ͭͯ΋ٞ࿦͢Δɽ

2.

γεςϜߏ੒γεςϜߏ੒Λ Fig. 1 ʹࣔ͢ɽ੍‫ޚ‬ର৅Ͱ͋Δϩʔλ‫ ܘ‬0.35 m ͷಉ࣠ೋॏ൓సࣜখ‫ܕ‬ϔϦίϓλʹɼԼ޲͖ʹແઢΧϝϥΛ౥ࡌ͢ΔɽϚʔΧͱͯ͠ɼচʹന৭௕ํ‫ࢴ༻ܗ‬ʢ0.297 × 0.060

m2 ʣΛઃஔ͢Δɽ࢓༷Λ Table 1 ʹࣔ͢ɽΑΓ‫·ٻ‬ΔɽΧϝϥ͕ࡱӨͨ͠ը૾͸ɼड৴‫ػ‬Λ௨ͯ͠‫ܭ‬ࢉ‫ʹػ‬औΓࠐ·ΕΔɽࡱӨը૾͔Β੍‫ޚ‬৴߸͕‫͞ࢉܭ‬Εɼ৴߸ม‫ث׵‬Λհ੍ͯ͠‫ޚ‬৴߸͕ແઢ

3.

཭ண཮੍‫ޚ‬ख๏ૹ৴‫ૹʹػ‬ΒΕΔɽ࠷‫ʹޙ‬ɼແઢૹ৴‫͔ػ‬Βϔຊ‫Ͱڀݚ‬͸ɼϔϦίϓλʹແઢΧϝϥΛԼ޲Ϧίϓλʹ੍‫ޚ‬৴߸͕ૹ৴͞ΕɼϔϦίϓλ͕͖ʹ౥ࡌ͍ͯ͠Δɽ͜ͷͨΊɼ཭཮௚‫ޙ‬΍ண཮௚੍‫͞ޚ‬ΕΔɽલͳͲɼϔϦίϓλͷߴ౓͕௿͍৔߹ɼΧϝϥࢹຊ‫Ͱڀݚ‬͸ɼΩϟϓνϟը૾Λ 2 ஋Խ͠ɼ๲໺΍‫ػ‬ମࣗ਎ͷӨͷӨ‫Ͱڹ‬ϚʔΧͷਖ਼͍͠ը૾

ுऩॖॲཧΛͨ͠‫ޙ‬ɼ࠷େ࿈݁ཁૉͷநग़Λߦ৘ใΛऔಘ͢Δ͜ͱ͕Ͱ͖ͳ͍ɽͦͷͨΊɼϔϦ͏͜ͱͰϚʔΧͷը૾৘ใΛऔಘ͢Δɽͨͩ͠ɼ

ίϓλͱϚʔΧͷ‫ʹ͖ͱ͍͕ۙ཭ڑ‬͸ɼϑΟʔυϑΥϫʔυ੍‫ʹޚ‬ΑΓΧϝϥը૾Λ࢖༻ͤͣ

Helicopter

ReceiverSignalConverter

Table 1 ɹ System speciﬁcations.

WirelessCameraHelicopter
CameraReceiverTransmitter
PC

ComputerTransmitter

MarkerFig. 1 ɹ System conﬁguration–2–Hirobo, X.R.B SR Shuttle
RF Systems, RC-12
240×740 pixels
RF Systems, Morse typeS
Futaba, T6EXAP
OS: Windows XP
CPU: Intel Core 2 DUO
3.00 GHz
Memory: 3.23 GB RAMʹ੍‫ޚ‬Λߦ͏ɽࣗಈ཭ண཮੍‫ޚ‬ͷ੍‫ޚ‬ϞʔυͷϔϦίϓλ͕Ұఆͷߴ౓·Ͱ߱Լͨ͠৔ྲྀΕΛҎԼʹࣔ͢ɽ߹ɼ࣍ͷϞʔυ΁Ҡߦ͢Δɽ཭཮४උϞʔυɿ ͜ͷϞʔυͰ͸ɼϔϦίϓλண཮ϑΟʔυϑΥϫʔυ੍‫ޚ‬Ϟʔυɿ ϔϦίϓͷϩʔλΛճస͢Δ͕ɼ཭཮͸ߦΘͳ͍ɽλͷߴ౓Λ͞ΒʹԼ͛ɼண཮ͤ͞Δ͜ͱΛ੍‫ޚ‬ೖྗ͸ɼϔϦίϓλͷਫฏํ޲ʢॎํ໨తͱ͢Δɽ੍‫ޚ‬ೖྗ͸ɼਫฏํ޲ͱճస޲ɼԣํ޲ʣͱճసํ޲͸θϩΛɼߴ͞ํํ޲͸ϗόϦϯά੍‫ޚ‬ऴྃ࣌ͷੵ෼஋Λɼ޲͸ϔϦίϓλ͕཭཮͠ͳ͍ఔ౓ͷ஋Λߴ͞ํ޲͸ൺྫతʹ‫ݮ‬গ͢ΔΑ͏ʹઃఆઃఆ͢Δɽ‫ʹޙ‬ٞ࿦͢ΔΑ͏ʹɼ͜ͷ४͢ΔɽҰఆ͕࣌ؒ‫ܦ‬աͨ͠Β੍‫ޚ‬Λऴྃඋಈ࡞ʹΑΓɼ࣍ͷ཭཮ϑΟʔυϑΥϫʔ͢Δɽυ੍‫͚͓ʹ࣌ޚ‬Δҙਤ͠ͳ͍ϔϦίϓλͷҠಈΛ‫͡ݮ‬Δ͜ͱ͕Ͱ͖ΔɽҰఆ࣌ؒ‫ޙ‬ɼ࣍ͷϞʔυ΁ͱҠߦ͢ΔɽҎԼͷखॱͰɼ཭཮४උϞʔυͷ༗ޮੑΛ֬ೝ͢Δɽ੍‫͍ͯ͠༻࢖ʹޚ‬Δ΋ͷͱಉ͡ແઢΧϝϥΛɼচ͔Β 2.5 m ͷߴ͞ͷఱҪʹઃஔ͠ɼ཭཮ϑΟʔυϑΥϫʔυ੍‫ޚ‬Ϟʔυɿ ϔϦίϓ཭཮ϑΟʔυϑΥϫʔυ੍‫ޚ‬։࢝࣌ͱऴྃ࣌ͷλΛ཭཮ͤ͞ɼϚʔΧը૾Λਖ਼͘͠ೝࣝͰϔϦίϓλͷҐஔΛఱҪͷΧϝϥը૾͔Β‫ܭ‬ଌ͖Δ·Ͱߴ౓Λ্ঢͤ͞Δ͜ͱΛ໨తͱ͢

͢Δɽ͜ͷ‫ܭ‬ଌΛɼ཭཮४උ͋Γͱ཭཮४උͳ

Δɽ੍‫ޚ‬ೖྗ͸ɼਫฏํ޲ͱճసํ޲͸θ͠ͷ৔߹Ͱ 10 ճͣͭߦ͍ɼൺֱ͢ΔɽFig. 2 ͸ɼϩΛɼߴ͞ํ޲͸ൺྫతʹ૿Ճ͢ΔΑ͏ʹ໼ҹ‫఺ݪ‬Λ཭཮ϑΟʔυϑΥϫʔυ੍‫ޚ‬։࢝࣌ઃఆ͢ΔɽҰఆ࣌ؒ‫ޙ‬ɼ࣍ͷϞʔυ΁ͱҠͷҐஔʹɼ໼ҹઌ୺Λ཭཮ϑΟʔυϑΥϫʔυ੍ߦ͢Δɽ‫ޚ‬ऴྃ࣌ͷҐஔͱͯ͠ҙਤ͠ͳ͍Ҡಈ‫཭ڑ‬Λࢹ֮Խͨ͠΋ͷͰ͋Δɽͨͩ͠ɼແઢΧϝϥͷϐ཭཮ϑΟʔυόοΫ੍‫ޚ‬Ϟʔυɿ ϔϦίϓλͷߴ౓Λ͞Βʹ্͛Δ͜ͱΛ໨తͱ͢Δɽ੍‫ޚ‬ೖྗ͸ PD ੍‫ޚ‬ଇʹैͬͯ‫͢ࢉܭ‬Δɽ͜ΫηϧΞεϖΫτൺ͕ 2.2 Ͱ͋ΔͷͰɼը૾ॎํ޲ͷϐΫηϧ஋Λ 2.2 ഒ͍ͯ͠ΔɽTable 2 ʹฏ‫ۉ‬Ҡಈ‫཭ڑ‬ɼ࠷େҠಈ‫཭ڑ‬ɼ࠷খҠಈ‫཭ڑ‬Λࣔ͜Ͱɼߴ͞໨ඪ஋͸ൺྫతʹ૿Ճ͢ΔΑ͏ʹઃఆ͢Δɽͨͩ͠ɼจ‫ ݙ‬15) ͰఏҊͯ͠

ͨ͠ɽ·ͨ‫͕཭ڑ‬෼͔Γ΍͍͢Α͏ʹɼ஍໘ʹ͓

͍Δҟৗը૾൑ผ๏ʹΑͬͯҟৗը૾ͱΔ͜ͱΛߟྀ͠ɼϐΫηϧҠಈ‫཭ڑ‬Λ 4.1×10−3൑ผ͞Εͨ৔߹ͷ੍‫ޚ‬ೖྗ͸ɼਫฏํ޲
ͱճసํ޲͸θϩΛɼߴ͞ํ޲͸ 1 εςοϓલͷ੍‫ޚ‬ೖྗ஋ʹఆ਺Λ଍ͨ͠΋ͷΛ
ઃఆ͢Δɽߴ͞໨ඪ஋͕ɼࢦఆͷ໨ඪ஋ʹୡͨ͠৔߹ɼ࣍ͷϞʔυ΁ͱҠߦ͢ΔɽϗόϦϯά੍‫ޚ‬Ϟʔυɿ จ‫ ݙ‬15) ͷख๏Λ༻͍͍ͯ x ํ޲ 1 ϐΫηϧ͋ͨΓ 4.1 × 10−3 m Ͱ͋ഒͨ͠஋΋ซ‫ͨ͠ه‬ɽ͜ΕΒਤͱදΑΓɼ཭཮४උϞʔυ͕͋Δ৔߹͸ɼͳ͍৔߹ΑΓ΋ਫฏํ޲ͷҠಈ‫͕཭ڑ‬গͳ͍ɼͭ·ΓϚʔΧ্͔ΒҠಈͤͣʹ཭཮͢Δ͜ͱ͕Ͱ͖͍ͯΔ͜ͱ͕෼͔ΔɽҎ্͔Βɼ཭཮४උϞʔυͷ༗ޮੑ͕֬ೝ͞ΕͨɽΔɽண཮ϑΟʔυόοΫ੍‫ޚ‬Ϟʔυɿ ཭཮ϑΟʔυ4.

཭ண཮੍‫ݧ࣮ޚ‬όοΫ੍‫ٯͱޚ‬ͷखॱͰߴ౓ΛԼ͛ΔɽͨϔϦίϓλͷࣗಈ཭ண཮࣮‫ݧ‬ͷ݁ՌΛ Fig. 3

ͩ͠ɼPD ੍‫ޚ‬ଇͰಘΒΕ੍ͨ‫ޚ‬ೖྗ஋ʹɼʹࣔ͢ɽਤͷॎઢ͸ɼ੍‫ޚ‬Ϟʔυͷ੾ସ࣌ࠁΛϗόϦϯά੍‫ޚ‬ऴྃ࣌ͷੵ෼஋ΛՃ͑Δɽ

͍ࣔͯ͠ΔɽFig. 3 ΑΓɼ཭཮४උϞʔυ͔Β཭཮ϑΟʔυϑΥϫʔυ੍‫ޚ‬Ϟʔυ్த·Ͱɼ֤஋–3–͕΄ͱΜͲมԽ͍ͯ͠ͳ͍͜ͱ͕Θ͔Δɽ͜Ε͸ɼΧϝϥͱϚʔΧͱͷ‫͍͕ͨۙ཭ڑ‬ΊʹϚʔ60Χͷਖ਼͍͠ը૾৘ใ͕ಘΒΕ͍ͯͳ͍͜ͱΛࣔ
͍ͯ͠Δɽͨͩ͠ɼ཭཮ϑΟʔυϑΥϫʔυ੍‫ޚ‬40Ϟʔυத͸Χϝϥը૾Λ࢖༻ͨ͠ϑΟʔυόο20Ϋ੍‫ޚ‬͸ߦ͓ͬͯΒͣɼ·ͨɼ཭཮ϑΟʔυόο0Ϋ੍‫ޚ‬Ϟʔυ͕࢝·Δ࣌ʹ͸ϔϦίϓλ͸े෼ͳߴ౓·Ͱ্ঢ͍ͯͯ͠ϚʔΧશମΛΧϝϥͰ

-20

ଊ͑Δ͜ͱ͕Ͱ͖͍ͯΔͨΊɼ੍‫ʹޚ‬໰୊͸ੜ͡ͳ͍ɽ·ͨɼFig. 3 ΑΓɼਫฏํ޲͸Χϝϥը-40-60-60૾ͷॎ෯ 240 ϐΫηϧɼԣ෯ 704 ϐΫηϧͷൣ-40-200204060

ғ಺ͰϔϦίϓλ͕ඈߦ͍ͯ͠Δ͜ͱɼz ͷ஋͸཭཮ɼண཮࣌ͱ΋ʹ‫׈‬Β͔ʹมԽ͍ͯ͠Δ͜ͱɼ60θ ͷ஋ͷมԽ͸શମతʹখ͘͞ɼ཭཮ϑΟʔυ40ϑΥϫʔυ੍‫ޚ‬Ϟʔυதʹ஋͕େ͖͘มԽ͢Δ20΋ͷͷɼ཭཮ϑΟʔυόοΫ੍‫ޚ‬Ϟʔυ͕࢝·300
200
100
0-100
-200-300
0

0-20
-40
-60
-60

-40

-20

02040

60

2

4

68

10

12

14

16

18

20

2

4

68

10

12

14

16

18

20

2

4

6

8

10

12

14

16

18

20

2

4

6

8

10

12

14

16

18

20

100
50
0Fig. 2 ɹ Unintended motion at the feedforward takeoﬀ mode. Top: Takeoﬀ with preliminaries. Bottom: Takeoﬀ without preliminaries.

-50
-100
00.04
0.03
0.02
0.01
0

Table 2 ɹ Travel distances of unintended motion at the feedforward takeoﬀ mode.
ave.
max. min.
withpreliminaries

11.6
0.048

21.3
0.087

3.0
0.012

[pix.][m]without
preliminaries

34.0
0.139

56.5
0.232

16.9
0.069

[pix.]
[m]

00.2
0.1
0-0.1
-0.2
0

time [s]Fig. 3 ɹ Time series of the position and rotation of the helicopter during the ﬂight.

–4–Δͱ͙͢ʹ 0 ʹऩଋ͍ͯ͘͜͠ͱ͕Θ͔ΔɽҎ্͔Βɼਫ਼౓Α͘཭ண཮੍‫ޚ‬Λߦ͏͜ͱ͕Ͱ͖
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5.

͓ΘΓʹຊ‫Ͱڀݚ‬͸ɼϔϦίϓλͷࣗಈ཭ண཮੍‫ޚ‬ख๏ΛఏҊ͠ɼͦͷ༗ޮੑΛ࣮‫ʹݧ‬ΑΓ֬ೝͨ͠ɽఏҊख๏͸ɼจ‫ ݙ‬15) ͰఏҊͨ͠ߴ৴པϏδϡΞϧαʔϘख๏Λ‫ͨ͠ʹج‬ϑΟʔυόοΫख๏ͱɼΧϝϥ͕ϚʔΧ৘ใΛਖ਼͘͠औಘͰ͖ͳ͍ߴ౓Ͱ༗ޮͳϑΟʔυϑΥϫʔυख๏Λ૊Έ߹Θͤͨ΋ͷͰ͋Δɽ·ͨɼ཭཮࣌ʹ཭཮४උΛߦ͏͜ͱͰɼਫ਼౓Α͘ϔϦίϓλͷ཭ண཮Λߦ͏͜ͱ͕Ͱ͖Δ͜ͱΛࣔͨ͠ɽɹँɹࣙɹຊ‫ڀݚ‬͸ɼެӹࡒஂ๏ਓ NSK ϝΧτϩχΫεٕज़ߴ౓Խࡒஂͷ‫ॿڀݚ‬੒ʹΑΓߦΘΕ·ͨ͠ɽࢀߟจ‫ݙ‬1) ໺೾. ճసཌྷ‫ۭܥ‬தϩϘςΟΫε. ೔ຊϩϘοτֶձࢽ, Vol. 24, No. 8, pp. 890–896, 2006.
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0 sec.

2 sec.

4 sec.

6 sec.

14 sec.

16 sec.

18 sec.

20 sec.

Fig. 4 ɹ Snapshots of the helicopter during the ﬂight.

–6–