7 0 0 0 OA 制御理論家が実験をすれば -第8回制御理論シンポジウムから-
5 0 0 0 OA 高速鉄道車両の安全装置の設計手法に関わる研究 上下方向
- 著者
- 白國 紀行 谷村 正治 宮崎 文夫
- 出版者
- 一般社団法人 日本機械学会
- 雑誌
- 日本機械学会論文集 C編 (ISSN:03875024)
- 巻号頁・発行日
- vol.72, no.716, pp.1021-1027, 2006-04-25 (Released:2011-03-04)
- 参考文献数
- 4
Among high-speed railway systems, the superconducting maglev train is an innovative transportation system, in which trains are levitated and driven at speeds of up to 550 km/h. But in case of quench of superconducting magnet, vehicles are forced to touch down on the guideway. For safe landing, we developed the new equipment named “Emergency Wheel”. Our process of development is as follows : (i) To know the maximum load for the landing, we simulated the electromagnetic power and dynamics of vehicles. (ii) Each element of emergency wheel was developed and tested in a factory. (iii) Quench tests were conducted on the Yamanashi Maglev Test Line and results showed a good accordance between simulation and test. Through the study and development of emergency wheel, we established a design method of safety equipment for Maglev.
2 0 0 0 OA 二足歩行のダイナミクスの制御理論的考察
- 著者
- 宮崎 文夫 有本 卓
- 出版者
- The Society of Instrument and Control Engineers
- 雑誌
- 計測自動制御学会論文集 (ISSN:04534654)
- 巻号頁・発行日
- vol.14, no.4, pp.428-433, 1978-08-30 (Released:2009-03-27)
- 参考文献数
- 11
- 被引用文献数
- 6 7
Biped locomotion is a type of movement in which the mover makes use of the gravity skillfully. The purpose of this paper is to investigate the dynamics of biped locomotion from the viewpoint of both classical mechanics and modern control theory. To this end, a mathematical model with moderate degrees of freedom is proposed, which is derived as a model of five-link locomotion expressing the essence of human biped locomotion. The structural features of the model are discussed from the viewpoint of freedom of dynamics and controllability. It is then shown that some specific dynamical features of the locomotion model can be characterized in terms of angular momentum. It is finally shown that the ‘gait stability’, which is a special type of stability inherent to biped locomotion, is realized by a proposed control which satisfies the final condition of a swinging leg.
2 0 0 0 OA 複数のダイナミックモデルに基づく蹴上がり動作スキルの解析
- 著者
- 中脇 ダレル 周 桑完 宮崎 文夫
- 出版者
- The Robotics Society of Japan
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.18, no.1, pp.59-65, 2000-01-15 (Released:2010-08-25)
- 参考文献数
- 13
- 被引用文献数
- 7 10
The kip is a fundamental gymnastic movement performed on a variety of gymnastic apparatuses at all levels of competition. We analyze the kip with a multi-model approach consisting of a pendulum and 3-link model. Our simulations have shown that a variable length pendulum model is sufficient for modeling the dynamics of an expert gymnast's center-of-mass without considering the complex parameters of the 3-link model. The optimized pendulum model can generate kip pattern variations which yield a midpoint target region of success. We then evaluate these kip patterns based on the center-of-mass and 3-link system's total energy.Experimental data of both success and failure performances show that the novice raises his center-of-mass too high during the forward swing thus resulting in failure. Analysis of midpoint kip pattern variations also indicate that raising the center-of-mass at the end of the forward swing is a cause of failure.
2 0 0 0 OA 人間機械系におけるペダリング運動の最適機構パラメータ
- 著者
- 浜田 祐一 周 桑完 宮崎 文夫
- 出版者
- 一般社団法人 システム制御情報学会
- 雑誌
- システム制御情報学会論文誌 (ISSN:13425668)
- 巻号頁・発行日
- vol.13, no.12, pp.585-592, 2000-12-15 (Released:2011-10-13)
- 参考文献数
- 14
- 被引用文献数
- 1 1
Pedaling is a typical example of the problem of man-machine interaction. The design of machines and bicycles that makes full use of human capabilities is an old but still challenging engineering problem. This paper describles the optimal design of a bicycle from several viewpoints such as kinematics, statics, dynamics, and physiology. The efficacy of a new mechanism called “magic crank” that realizes an unconventional non-circular pedaling trajectory is also discussed.
1 0 0 0 OA 在宅型反復経頭蓋磁気刺激治療のための磁場ナビゲーションシステムの開発
- 著者
- 福島 大志 西川 敦 宮崎 文夫 関野 正樹 安室 喜弘 松崎 大河 細見 晃一 齋藤 洋一
- 出版者
- 公益社団法人 日本生体医工学会
- 雑誌
- 生体医工学 (ISSN:1347443X)
- 巻号頁・発行日
- vol.49, no.1, pp.122-131, 2011-02-10 (Released:2011-12-13)
- 参考文献数
- 16
Repetitive Transcranial Magnetic Stimulation (rTMS) is effective for intractable diseases of the nervous system. As the effects of rTMS last only several hours, rTMS therapies need to be continued daily. Under present circumstances, it is difficult to use rTMS in patients' home, because only experienced physicians in limited hospitals can use the expensive and complicated rTMS system. Therefore, we developed a magnetic navigation system for home use of rTMS. The proposed system uses inexpensive and small magnetic sensors; hence it is suitable for home use. By using the proposed method, even people who have no medical knowledge and technique can easily navigate the coil to the optimal position preliminarily specified by expert physicians. Our system needs to collect some dataset which consists of magnetic field and the corresponding position of the coil at the patients' initial visit. Since it is bothersome to collect a large number of dataset, we reduced the dataset by approximation using multi-regression analysis.
1 0 0 0 IR 二足歩行系の力学と制御に関する研究
- 著者
- 福島 大志 西川 敦 宮崎 文夫 関野 正樹 安室 喜弘 松崎 大河 細見 晃一 齋藤 洋一
- 出版者
- Japanese Society for Medical and Biological Engineering
- 雑誌
- 生体医工学 (ISSN:1347443X)
- 巻号頁・発行日
- vol.49, no.1, pp.122-131, 2011
Repetitive Transcranial Magnetic Stimulation (rTMS) is effective for intractable diseases of the nervous system. As the effects of rTMS last only several hours, rTMS therapies need to be continued daily. Under present circumstances, it is difficult to use rTMS in patients' home, because only experienced physicians in limited hospitals can use the expensive and complicated rTMS system. Therefore, we developed a magnetic navigation system for home use of rTMS. The proposed system uses inexpensive and small magnetic sensors; hence it is suitable for home use. By using the proposed method, even people who have no medical knowledge and technique can easily navigate the coil to the optimal position preliminarily specified by expert physicians. Our system needs to collect some dataset which consists of magnetic field and the corresponding position of the coil at the patients' initial visit. Since it is bothersome to collect a large number of dataset, we reduced the dataset by approximation using multi-regression analysis.
- 著者
- 西川 敦 西村 正典 平野 敦士 小荒 健吾 宮崎 文夫
- 出版者
- 一般社団法人電子情報通信学会
- 雑誌
- 電子情報通信学会総合大会講演論文集
- 巻号頁・発行日
- vol.1999, no.2, 1999-03-08
- 被引用文献数
- 1