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Тема выпускной квалификационной работы: «Траекторное планирование движения мобильного робота». В работе рассмотрена модель нейронной сети на основе остаточного обучения, с помощью которой мобильный робот избегает препятствия. Задачи, которые решались в Ñ Ð¾Ð´Ðµ исследования: 1) рассмотреть работу и Ð°Ñ€Ñ Ð¸Ñ‚ÐµÐºÑ‚ÑƒÑ€Ñƒ модели остаточного обучения ResNet-18; 2) произвести обучение мобильного робота JetBot; 3) исследовать зависимость влияние модели от количества Ð´Ð°Ð½Ð½Ñ‹Ñ . Объектом исследования является мобильный робот JetBot на базе NVIDIA Jetson Nano, который использует модель классификации изображений ResNet-18. В результате работы рассмотрена Ð°Ñ€Ñ Ð¸Ñ‚ÐµÐºÑ‚ÑƒÑ€Ð° модели остаточного обучения ResNet-18, настроена и обучена модель для мобильного робота JetBot с целью избегания препятствий, проведено исследование влияние от количества Ð´Ð°Ð½Ð½Ñ‹Ñ Ð½Ð° обученную модель., The topic of the final qualifying work: "Trajectory planning of the movement of a mobile robot". The paper considers a model of a neural network based on residual learning, with the help of which a mobile robot avoids obstacles. The tasks that were solved in the course of the study: 1) consider the operation and architecture of the ResNet-18 residual learning model; 2) train the JetBot mobile robot; 3) investigate the dependence of the influence of the model on the amount of data. The object of the research is a mobile robot JetBot based on NVIDIA Jetson Nano, which uses the ResNet-18 image classification model. As a result of the work, the architecture of the ResNet-18 residual learning model was considered, the model for the JetBot mobile robot was tuned and trained in order to avoid obstacles, and the effect of the amount of data on the trained model was studied.

Salah satu tugas perkembangan anak adalah mengembangkan gerak dasar anak sesuai dengan usianya. Tujuan pendidikan jasmani yaitu mengembangkan kemampuan koordinasi gerak, menanamkan nilai-nilai sportivitas, disiplin, dan meningkatkan kesegaran jasmani. Untuk mencapai tujuan yang diharapkan pada pembelajaran keterampilan gerak diperlukan model pembelajaran yang menyenangkan sesuai dengan karakteristik anak. Salah satu model tersebut yaitu model pembelajaran kontekstual. Pembelajaran kontekstual adalah suatu pendekatan pembelajaran yang menekankan kepada proses keterlibatan siswa secara penuh untuk dapat menemukan materi yang dipelajari dan menghubungkanya dengan situasi kehidupan nyata sehingga mendorong siswa untuk dapat menerapkannya dalam kehidupan yang nyata. Penelitian ini mengunakan pendekatan kuantitatif dengan metode penelitian kuasi eksperimen pada siswa SD Padasuka 1 dan 2. Berdasarkan pedoman interpretasi Guildford, koefisien korelasi tersebut termasuk pada kategori hubungan yang sedang. Adapun t hitung (5,70) > t tabel (2,013). Jadi, pendidikan olah raga dengan model kontekstual memiliki hubungan erat terhadap peningkatan kemampuan gerak dasar. One of the tasks of child development is to develop children's basic movements according to their age. The purpose of physical education is to develop the ability to coordinate movement, instill the values of sportsmanship, discipline, and improve physical fitness. To achieve the expected goals in the learning of motion skills a fun learning model is needed in accordance with the characteristics of the child. One such model is the contextual learning model. Contextual learning is a learning approach that emphasizes the process of full student involvement to be able to find the material being studied and relate it to real life situations so as to encourage students to be able to apply it in real life. This study uses a quantitative approach with a quasi-experimental research method in Padasuka 1 and 2 elementary students. Based on the Guildford interpretation guidelines, the correlation coefficient is included in the moderate relationship category. The t count (5.70)> t table (2.013). So, sports education with a contextual model has a close relationship with increasing basic mobility

An isolated mechanical system consisting of the rotated bearing body and two pendulums implanted on its longitudinal axis is studied. This system models of decrease or increase by pendulum-, ball-, or fluid-type dampers of the angle of nutation of the space satellite, position of which is stabilized by the rotation. The conditions of origin, existence and collapse of steady-state motions of the system in dependence on its parameters. The conditions of stability of the basic motion (when the bearing body rotates around the longitudinal axis and pendulums are placed on the same line) and secondary motions (when the bearing body does not rotate around the longitudinal axis) are established. The residual angle of nutation is estimated.

近時,インバータ式X線装置が急速に普及している。インバータ式X線装置の回路方式は方形波型と共振型に大別されるが,方形波型ではインバータ周波数を高くするとスイッチング時の損失が増大し高周波ノイズが発生する。そのため最近の傾向ではこれらノイズの発生が少ない共振型に移行しつつある。そこで,前報の方形波型インバータと同様に,共振型インバータ式X線装置の模型回路を試作し,基本動作の把握と構成回路の回路定数に対する回路解析を試みた。本報では,構成回路の回路定数と出力波形の関係を明らかにすることにより,この方式における動作特性の改善について検討した。, Recently, the inverter X-ray generators have been rapidly spreading. Inverters can be clas-sified two types, square wave inverter and resonance type inverter. When a high frequency is evident, that is increased switching loss and generation of high frequency noise, the square wave inverter is not deemed so suitable as the resonance type inverter. For that reason, the recent tendency has been to toward resonance type inverter. Therefor, we made the model circuft for the X-ray generator of resonance type inverter, this was the same as our previouse paper. And we tried to grasp of the basic motion and analyze the change in circuit constant. As a result, we were able to make the relation ship between circuit constant and output waveform by the simulation method, and studied the improvement method of performance char-acteristics of this type.

近時,インバータ式X線装置が急速に普及しているが,この方式は従来の単相および三相装置に比較すると回路構成が複雑なため,基本動作特性の解析は非常に困難である。そこで,電源入力からX線管に至る構成回路の基本動作を解析するため,現在国産装置の主流となっている方形波インバータ式X線装置の模型回路を試作し,基本動作のシミュレーションにより回路解析を試みた。この結果,負荷条件および構成回路の定数と出力波形の関係を明らかにすることが出来た。, Recently, the inveter X-ray generator is becoming increasingly populor;however, it is difficult to perform an analysis of the basic motion of this type as compared with the usual singlephase and three-phase X-ray generators.Therefore, we made the model circuit for the X-ray generator of square wave inverter, which is the main current in the present domestic productions, to perform an analysis of the basic motion about the circuit composition from the power input system to the X-ray tube. And we tried to simulate and analyze of the basic motion of this type by the model circuit. As a result, we made clear the relation between load, circuit constant and output waveform.