著者

黎 シン 徳永 英幸 蔡 茂林 舩木 達也 川嶋 健嗣 香川 利春

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.38, no.1, pp.1-6, 2007 (Released:2008-09-29)

参考文献数

10

被引用文献数

4 7

---

A new pneumatic non-contact handling method is discussed in this paper, in which swirling flow is employed. Air flows into a vortex cup tangentially through a nozzle, and swirls along the wall to make a vacuum at the central area. Then, air is discharged to the atmosphere through a thin gap between the cup and a wafer under the cup. Analysis is conducted by dividing air flow into three parts. They are flow rate characteristics of the nozzle, swirling flow inside the cup and flow through the gap. Pressure distributions inside the cup and the gap are discussed and their analytical results are validated experimentally. It is clear that the vacuum is caused by the swirling air inside the cup, and it depends on the gap and the supply pressure. Furthermore, it is found that the wafer can be handled and kept in a balanced state automatically during a certain range of a considerably thin gap depending on the weight of the wafer. However, the wafer will fall down over this range.

著者

阪口 啓 李 還幇 川嶋 健嗣 遠藤 玄 畑中 健志 林 和則

出版者

公益社団法人 計測自動制御学会

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.60, no.9, pp.647-654, 2021-09-10 (Released:2021-09-16)

参考文献数

32

著者

藤田 壽憲 三井 和幸 川嶋 健嗣 香川 利春

出版者

東京電機大学

雑誌

基盤研究(C)

巻号頁・発行日

2001

---

プロセス分野においてはIT化が他に先駆けて進められている.しかしながら,その使用環境は防爆領域であり,IT化に必要な電気的なインフラがないに等しい.そこで本研究では,プロセス機器の駆動源として用いられている空気圧を電気エネルギーに変換する機構について提案し,これを実現することを目的としている.提案する発電機構はピストンとシリンダのみで自励振動を発生する空気圧バイブレータの先に,磁石とコイルを取付け発電するシンプルな機構である。以下、具体的な研究概要を示す。1.発電効率の分析と高効率化無論,発電機構には,高効率であることが望まれるが,シリンダ寸法,コイル素線径など,効率を支配するパラメータは数項目にも及ぶ.そこで,シミュレーションにより効率の解析を行った。パラメータと効率変化との関係を調べ,最高効率点があることがわかった.シミュレーションにより高効率化のおおよその方向性がえられているが,理論的な解明にはいたらなかった.2.静圧軸受機構の検討提案する発電機構は数十ヘルツで振動するため軸受部の非接触化が必凄である。そこで静圧軸受機構による非接触化について検討し,製作の非常に容易なステップ状の静圧軸受を提案した.解析の結果、高剛性が得られる最適な形状が存在することが明らかになり,これを実験により確認した.また、これを発電機構に組込んで軸受の性能評価を行ったところ、実用的にも問題ないことを確認した.3.整流および昇圧回路の設計・製作電源としては12V以上の直流電圧が要求され、発電機構から取り出せる電源を整流、昇圧することが必要である.そこで、そのための回路を設計製作して実際にプロセス機器に接続した.機器を安定に動作させることができたが、機器の出力が変動すると供給圧力を調整する必要あり、負荷変動時の対応策について検討する必要があることがわかった.

著者

井上 慎太郎 川嶋 健嗣 舩木 達也 香川 利春

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.42, no.7, pp.837-843, 2006-07-31 (Released:2009-03-27)

参考文献数

8

被引用文献数

2

---

The measurement-integrated simulation (MI-simulation) is a numerical simulation which feedbacks information of experimental results in order to perform simulations under real conditions. Even if using rough grids, the calculation results become closer to those of experiments. Therefore, the reduction of the calculation time is expected. In this paper, we proposed a monitoring system for pipe flow including unsteady condition using the simulation. The MI-simulation was applied to airflows passed an orifice plate in the pipeline. Firstly, the measured velocities at the downstream of the orifice plate under steady condition were feedback to the simulation. Secondly, the effect of the points and number of velocities to the simulation were investigated. Then, the MI-simulation was applied to an oscillatory flow. The effectiveness of the method was confirmed compared with the experimental results. The calculation time could be much shortened compared with general simulations.

著者

川嶋 健嗣 只野 耕太郎

出版者

耳鼻咽喉科展望会

雑誌

耳鼻咽喉科展望 (ISSN:03869687)

巻号頁・発行日

vol.55, no.5, pp.359-363, 2012-10-15 (Released:2013-10-15)

参考文献数

3

---

Recently, increasing emphasis on quality-of-life issues in surgery such as relieving patient pain, reducing scarring, and shortening hospital stays has led to wider use of endoscopic surgery. In endoscopic surgery, forceps and other instruments are inserted through a hole made in the abdomen of the patient, and surgery is performed through visualization of the endoscopic image. Though this technique presents a lower burden to the patient than laparoscopic surgery, manipulation of instruments through the insertion hole used as a fulcrum complicates a free approach to the surgical target and demands advanced skills of surgeons.Consequently, there is active research on free movement of instrument tips through robotics technology in order to alleviate the burden on the physician. As commercialized in the well-known “da Vinci” system, these devices employ a master-slave system comprising a master console operated by the physician, and patient-side slave instruments manipulated after insertion into the body of the patient. The system allows remote procedures providing the sensation that one's own hands are located in the body. However, current master-slave systems operate solely through reliance on image data from an endoscopic camera, and development of devices allowing safer operation is needed. What is particularly desired is a system that senses contact or force at the slave-side instrument and delivers this information to the physician at the master console. However, practical considerations such as compactness and sterility make it undesirable to attach force sensors to forceps for observational purposes. Currently, the patient-side equipment is also driven by electromechanical motors. In such a context, we have worked on the development of a master slave robotic system for laparoscopic surgery with 7-DOFs. In this system, pneumatic actuators, instead of electric motors, are used to detect external forces based on pressure values without a force sensor. This approach reduces costs and sterilizability demands for forceps manipulator while enable haptic feedback to the surgeons. We have prototyped a model of surgical manipulators named IBIS for its resemblance to the bird which has high performance in the estimation of external force. We evaluated its performance in terms of force estimation. The forces acting on a joint are estimated during contact with the external environment. Our technical assist system is designed to deliver positioning commands from the master side to the slave side via the internet, estimate contact force at slave-side instrument tips based on the pressure differential with the pneumatic cylinder, and convey this information to the master side. The experimental results indicate that IBIS estimates external forces with a sensitivity of 0.5 N. We also conduct an in vivo experiment and confirm the effectiveness and improvement of the manipulator. Currently, through cooperation with Tokyo Medical and Dental University, animal experiments are ongoing to evaluate the efficacy of the system developed and to continue its improvement.