@article{oai:kanazawa-u.repo.nii.ac.jp:00009626,
 author = {Hatta, Kiyoshi and Hori, Junya and Kinari, Toshiyasu and Shintaku, Sukenori and 八田, 潔 and 堀, 純也 and 喜成, 年泰 and 新宅, 救徳},
 issue = {4},
 journal = {繊維機械学会誌 = Journal of the Textile Machinery Society of Japan},
 month = {Jan},
 note = {Autonomous vehicle is developed corresponding to conventional type covering machine which has slightly indented spindles and the curved frames. It is controlled to stop at proper position for doffing operations. (1) A pair of laser displacement sensors enable the autonomous vehicle to obtain the high positioning accuracy. It is efficient to improve the sensing faculty for vehicle control underthe bad environment where slipage easily occurs or there is often disturbance. (2) Moving vehicle experiment confirms the efficiency of the feedback control. It enables stop accuracy about ± 3mm for preparating operation of manufacturing covered yarns, such as drawing-in a core yarn. (3) Using the laser displacement sensor which has ± 40mm in measurement range, the vehicle is able to correspond for less then 10mm in side disturbance, 5mm in vertical disturbance, and 1% in slope of floor.},
 pages = {T80--T86},
 title = {カバリングマシンの自動糸交換装置の開発: (第5報) 自律式作業台車の制御},
 volume = {51},
 year = {1998}
}