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This-describes the theory and the experiment of a fast path planning available for moving obstacle avoidance for an autonomous mobile robot by use of Laplace potential. This new navigation function for the path planning is feasible to guide on real time a mobile robot avoiding arbitrarily moving obstacles and reaching the goal. The experiment is conducted to verify the effectiveness of the navigation function in the obstacle avoidance in the real world. The experimental systems are composed of a position sensing camera, a mobile robot and a computer for processing the position signal and for controlling the velocity vector of the robot. Three examples of the experiment are presented; first the avoidance from a standing obstacle, secondly the avoidance from a moving obstacle in parallel lines-bounded space and thirdly the avoidance from one moving obstacle and another standing obstacle. The robot can reach the goal after successfully avoiding the obstacles in all cases. yi)o(K

We propose a tunable acoustic absorbing device using a Helmholtz resonator. Timing the resolution frequency of the device to a desired frequency makes it possible to absorb variable sounds. The designed device forms an array of the Helmholtz resonator with a tunable compliance. The experimental results on controlling the resonant frequency of the device will be described. A deep hole array formed by X‐ray lithography is fabricated into the front plate of the device in order to absorb low‐frequency noise. © 1999 Scripta Technica, Electron Comm Jpn Pt 2, 83(1): 1–6, 2000

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