This paper presents an aerial robot with a manipulator to implement door opening mission. Although general aerial robots have advantages of flying in the three-dimensional space freely, they don't have any capability of moving to another room when the door is closed. To overcome this problem, we propose a new configuration of an aerial manipulator with perching function, knob-twisting function, and door-pushing function. Perching function can be achieved by integration of door-approach control, the mechanism for perching and attitude-change control. With regard to knob-twisting function, the design concept of a light-weight manipulator generating large enough force to twist the knob is introduced, which is composed of a soft-bag actuator with variable restriction to perform the arbitrary curved trajectory. On the other hand, the door pushing force is aimed to be generated by the lift of the propeller, which is helpful to avoid gaining the additional weight. The validity of the proposed methods is experimentally verified by using the developed prototype.

We analyze the behavior of players in the situation where they recognize an identical situation as a simple market-like place differently. In our model a player considers the others as a representative player. We examine the player's behavior when with and without fluidity of players.

The motion compensated interframe differential pulse code modulation (DPCM) and discrete cosine transform (DCT) hybrid (MC DCT) coding was nominated as a standard scheme for component TV signals by ISO and ITU-R. However, in cases where an NTSC composite TV signal is used such as the United States and Japan, applying the MC DCT scheme with its luminance/chrominance separating and composing process causes unavoidable quality degradation. The reason for this additional process required for MC DCT is that a composite TV signal presents a "color subcarrier phase shift problem" in which the color subcarrier phase varies between a coding block and reference block according to the motion vector. In this paper, we propose a Walsh Hadamard transform (WHT)-based composite motion compensated NTSC interframe direct coding scheme. In this scheme, phase shifts of a color subcarrier and modulated chrominance components between a coding block and reference block can be effectively compensated by a simple process of coefficient permutation and polarity changes of several pairs of WHT coefficients to which 100% of the subcarrier energy and most of the modulated chrominance component's energy are packed. In the motion compensated DCT scheme, however, the energy of the color subcarrier and modulated chrominance components are spread over too many coefficients and a pair-based coefficient handling rule is not given to solve this problem. This paper demonstrates that the proposed scheme provides higher coding performance for a composite NTSC signal than does the motion compensated DCT scheme with its luminance/chrominance separating and composing process.