Abstract: Communication system of a group robot system is made hierarchical, having a base station as an uppermost layer and a plurality of layers formed by a plurality of sensing robots, and the plurality of sensing robots are controlled such that a sensing robot belonging to an upper layer of the hierarchical structure has higher sensing resolution than a sensing robot belonging to a lower layer of the hierarchical structure. Thus, a group robot system capable of efficiently searching for an object can be obtained.

Abstract: A fluid-structure interactive analysis is performed while n types of wing structure models are caused to flap in accordance with a prescribed model of flapping manner. Based on an analysis, data 1, data 2, . . . data n of physical values related to fluid behavior and physical values related to structural behavior are calculated. Among data 1, data 2, . . . data n, a data having a prescribed parameter such as the lift force optimized is extracted. A prototype of a wing portion is formed, which has such a structure that is specified by various parameter values of the numerical model of wing structure corresponding to the extracted data. A driving unit 905 drives the prototype of the wing portion in a manner of flapping that is represented by the flapping motion model equivalent to the manner of flapping of an insect. At this time, the wing has a stiffness that is suitable for flapping flight so that prescribed parameters come to have optimal values.

Abstract: A flapping apparatus includes a first disk rotated by a driving source, and a second disk that rotates in contact with a main surface of the first disk. The second disk is provided with first and second stoppers that limit its angle of rotation. When the stopper is in contact with the first disk, rotation of a wing shaft is caused only by the rotation of the first disk, and when the stoppers are not in contact with the first disk, rotation of the wing shaft is caused only by the rotation of the second disk.

Abstract: Communication system of a group robot system is made hierarchical, having a base station as an uppermost layer and a plurality of layers formed by a plurality of sensing robots, and the plurality of sensing robots are controlled such that a sensing robot belonging to an upper layer of the hierarchical structure has higher sensing resolution than a sensing robot belonging to a lower layer of the hierarchical structure. Thus, a group robot system capable of efficiently searching for an object can be obtained.

Abstract: A search robot system first divides the entire area of disaster into a mesh cell of an appropriate size, and arranges a search robot for each mesh cell. A search is made for a route of travel from an outermost mesh cell to a casualty and to an adjacent mesh cell. The search robot immediately communicates with a mother robot when a casualty is found. The search robot also communicates with the mother robot when a route to an adjacent mesh cell is found. In the search robot system, a new search robot is arranged to search in an adjacent mesh cell. Accordingly, a rescue activity that is a matter of time can be carried out by a plurality of robots.

Abstract: Communication system of a group robot system is made hierarchical, having a base station as an uppermost layer and a plurality of layers formed by a plurality of sensing robots, and the plurality of sensing robots are controlled such that a sensing robot belonging to an upper layer of the hierarchical structure has higher sensing resolution than a sensing robot belonging to a lower layer of the hierarchical structure. Thus, a group robot system capable of efficiently searching for an object can be obtained.

Abstract: In a moving apparatus, flapping angle of a front wing shaft is ?+??/2, and the flapping angle of rear wing shaft is ????/2. Specifically, amplitude difference between front wing shaft and rear wing shaft is ??. Further, the flapping motion of front wing shaft is represented by sin (?+?p/2), and the flapping motion of rear wing shaft is represented by sin (???/2). In other words, phase difference between the front and rear wing shafts is ?. Further, amplitude difference ?? and phase difference ? are each represented by a function using a common parameter. Therefore, a control portion can independently change the amplitude difference ?? and phase difference ?, so as to variously change a torsion angle formed by a tip end portion of the wing and a prescribed phantom plane. Thus, a moving apparatus that can make an efficient transition from hovering to forward or backward flight can be provided.

Abstract: A flapping apparatus includes a first disk rotated by a driving source, and a second disk that rotates in contact with a main surface of the first disk. The second disk is provided with first and second stoppers that limit its angle of rotation. When the stopper is in contact with the first disk, rotation of a wing shaft is caused only by the rotation of the first disk, and when the stoppers are not in contact with the first disk, rotation of the wing shaft is caused only by the rotation of the second disk.

Abstract: A magnetic signal recording method of the present invention superimposes a recording edge of a recordable region on a region where there is substantial equality between (a) a coercive force in a region on a magnetic recording medium in which the coercive force has been varied, and (b) magnetic field intensity, which is generated by a magnetic recording head. The magnetic field intensity has a magnetic field distribution whose lowering rate in an in-track position is maximum in the region. The magnetic recording head, whose recording magnetic field is distributed in a rectangular shape, is used in this way so as to form a magnetic bit having a rectangular shape that is suitable for reproduction performed by a common reproduction head having a rectangular reproduction region, thereby improving an S/N of a reproduction signal dramatically.

Abstract: A flapping apparatus includes a first disk rotated by a driving source, and a second disk that rotates in contact with a main surface of the first disk. The second disk is provided with first and second stoppers that limit its angle of rotation. When the stopper is in contact with the first disk, rotation of a wing shaft is caused only by the rotation of the first disk, and when the stoppers are not in contact with the first disk, rotation of the wing shaft is caused only by the rotation of the second disk.

Abstract: On a main body portion of a fluttering apparatus, a wing (left wing) is formed which has a front wing shaft, a rear wing shaft and a wing film provided spreading over the front and rear wing shafts. Further, on the main body portion, a rotary actuator for driving the front wing shaft and a rotary actuator for: driving the rear wing shaft are mounted. The front (rear) wing shafts reciprocate in a plane orthogonally crossing an axis of rotation with the actuator serving as the fulcrum. Thus, a moving apparatus is obtained which has superior maneuverability and can move not hindered by any obstacle or geometry both indoors and outdoors.

Abstract: A transmitting apparatus and a receiving apparatus of a position detecting system execute a program including the steps of transmitting a laser beam; detecting an azimuth ?(Y) at which the laser beam is transmitted; detecting an azimuth ? at which the reflected laser beam is received; calculating a distance L(1) between the transmitting apparatus and a moving body from ?(Y), ? and a distance D between the transmitting apparatus and the receiving apparatus; and calculating a distance L(2) between the receiving apparatus and the moving body.

Abstract: On a main body portion of a fluttering apparatus, a wing (left wing) is formed which has a front wing shaft, a rear wing shaft and a wing film provided spreading over the front and rear wing shafts. Further, on the main body portion, a rotary actuator for driving the front wing shaft and a rotary actuator for driving the rear wing shaft are mounted. The front (rear) wing shafts reciprocate in a plane orthogonally crossing an axis of rotation with the actuator serving as the fulcrum. Thus, a moving apparatus is obtained which has superior maneuverability and can move not hindered by any obstacle or geometry both indoors and outdoors.

Abstract: A group robot system includes a plurality of sensing robots and a base station controlling the sensing robots, and establishes communication in a hierarchical manner. The hierarchical structure is formed of a plurality of levels between a plurality of sensing robots with base station as the highest hierarchical level. The first sensing robot detects an object; the second sensing robot conducts further search on the object; and the third sensing robot conducts communication relay between the first sensing robot and the base station. When the first sensing robot detects an object, the base station provides control such that all sensing robots, other than the first, second and third sensing robots, move outside the current area of search.

Abstract: A fluid-structure interactive analysis is performed while n types of wing structure models are caused to flap in accordance with a prescribed model of flapping manner. Based on an analysis, data 1, data 2, . . . data n of physical values related to fluid behavior and physical values related to structural behavior are calculated. Among data 1, data 2, . . . data n, a data having a prescribed parameter such as the lift force optimized is extracted. A prototype of a wing portion is formed, which has such a structure that is specified by various parameter values of the numerical model of wing structure corresponding to the extracted data. A driving unit 905 drives the prototype of the wing portion in a manner of flapping that is represented by the flapping motion model equivalent to the manner of flapping of an insect. At this time, the wing has a stiffness that is suitable for flapping flight so that prescribed parameters come to have optimal values.

Abstract: A flapping apparatus includes a first disk rotated by a driving source, and a second disk that rotates in contact with a main surface of the first disk. The second disk is provided with first and second stoppers that limit its angle of rotation. When the stopper is in contact with the first disk, rotation of a wing shaft is caused only by the rotation of the first disk, and when the stoppers are not in contact with the first disk, rotation of the wing shaft is caused only by the rotation of the second disk.

Abstract: A search robot system first divides the entire area of disaster into a mesh cell of an appropriate size, and arranges a search robot for each mesh cell. A search is made for a route of travel from an outermost mesh cell to a casualty and to an adjacent mesh cell. The search robot immediately communicates with a mother robot when a casualty is found. The search robot also communicates with the mother robot when a route to an adjacent mesh cell is found. In the search robot system, a new search robot is arranged to search in an adjacent mesh cell. Accordingly, a rescue activity that is a matter of time can be carried out by a plurality of robots.

Abstract: A composite magnetic head device includes a recording head and a reproducing head for magnetically recording and reproducing information on and from a recording medium, and further includes heat sources for heating the recording medium when recording and reproducing. As the heat sources, diffraction grating patterns for the recording head and the reproducing head are formed independently. With this structure, when recording and reproducing information based on the thermal distribution of the recording medium heated by the heat sources, the thermal damage on the recording medium can be suppressed, and the likelihood of such problem that the recording medium is heated too much and the information recorded in the heated portion are erased can be prevented.

Abstract: A communication apparatus includes a transmitter and a receiver for communicating communication data containing transmission data transmitted from an operator; and a data (physical data of his/her surrounding environment) analyzer for outputting a mental state and/or a physiological condition of the operator by estimating it based on the communication data. The communication apparatus enables smooth communication between a sending end and a receiving end.

Abstract: A thermomagnetic recording medium includes a thermal change layer whose thermal conductivity is induced to change by a metal-to-insulator transition, is greater on a lower temperature side of a transition temperature and is smaller on a higher temperature side thereof. A thermomagnetic recording method includes setting a recording or reproducing temperature higher than the temperature of the recording medium at the circumference of a light spot and higher than a threshold temperature for change of the thermal conductivity of the thermal change layer. A thermomagnetic recording and reproducing device is provided with the above-mentioned thermomagnetic recording medium, an optical pickup and a magnetic head and conducts recording and reproduction by the above-mentioned thermomagnetic recording and reproducing device.