著者

高田 洋吾 中村 毅志 小山 圭介 田尻 智紀

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:18848354)

巻号頁・発行日

vol.78, no.792, pp.2924-2934, 2012 (Released:2012-08-25)

参考文献数

21

被引用文献数

2 5

---

It is necessary for a small aqua robot to search for a target in order to investigate creatures such as fishes in a river or lake. However, control signals by electric wave from outside do not reach a robot easily in water. Therefore, aqua robots must search the target autonomously without signals from outside. It is important for a robot to gaze forward and recognize the target in water. In this study, we have used a fish robot named FOCUS which can swim in water by using the tail fin. This robot has some micro CMOS cameras and a FPGA circuit board for data processing. A red object is detected with the CMOS camera. In addition, FPGA calculates where the red object is located in the image. This robot controls the tail fin mechanism and submersible system in order to decide the course of the robot in response to the calculated positional coordinates. We have confirmed that this robot can recognize a color target and follow the target in water.

著者

舘野 寿丈 角田 陽 奥井 公太郎

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:18848354)

巻号頁・発行日

vol.79, no.798, pp.203-214, 2013 (Released:2013-02-25)

参考文献数

10

---

This paper deals with an alignment device for micro parts, which have a size in the order of 100 micrometers, by using a board stage that is vibrated in the natural frequencies of the various vibration modes. Part alignment is important for manufacturing processes, such as the assembling of small parts and the inspection of parts. Since it is difficult to grip and handle micro objects, a simple and reliable method is required. In this paper, the design concept and guidelines to realize such a device are presented. In addition to the theoretical representation, an example stage was designed for the alignment of the micro parts. It was also analyzed by Finite Element Method (FEM) simulations. Also, the designed vibration stage was fabricated using a stainless steel thin plate. Experimental results showed that the actual vibration is similar to both the theoretical results and the simulation results. As an example of the alignment of the micro parts, some micro-seize electronics parts were tested.

著者

松葉 一孝 牛田 俊 奥 宏史

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:18848354)

巻号頁・発行日

vol.78, no.792, pp.2797-2807, 2012 (Released:2012-08-25)

参考文献数

26

---

This paper reports the experimental results of the dynamic modelling using MIMO closed-loop system identification, controller design and implementation for hovering flight of a radiocontrolled helicopter. The helicopter is set on our handcrafted supporting device, and it has the roll, side-to-side and up-and-down motions that controlled by the aileron and the throttle. Several dynamic models with defferent orders are derived from closed-loop system identification experiments with the MOESP-type closed-loop subspace model identification method (CL-MOESP). Then, we compared their model with the real system, and LQR with a full state observer is designed and implemented.

著者

牧野 由梨恵 白坂 成功 牧野 泰才 前野 隆司

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:18848354)

巻号頁・発行日

vol.78, no.785, pp.214-227, 2012 (Released:2012-01-25)

参考文献数

28

---

In the present paper, WCA (Wants Chain Analysis) is proposed by extending CVCA (Customer Value Chain Analysis). CVCA is a method for visualizing relationship among stakeholders for analyzing existing social systems and designing new social systems. WCA is a method for visualizing wants and needs of stakeholders in CVCA utilizing Maslow's hierarchy of needs. In WCA it is shown that people's wants or needs are finally realized through the looped and linear chain of relationship among stakeholders. With various examples, effectiveness of WCA is shown by describing that characteristics of business/social systems structure can be clearly visualized using WCA. It is described that WCA is useful for analyzing social systems. “Think of others” should be more and more important for humans' satisfaction and happiness in the near future. WCA can be a tool for clarifying what is for others.

著者

大木 知彦 森田 寿郎

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:18848354)

巻号頁・発行日

vol.79, no.804, pp.2758-2768, 2013 (Released:2013-08-25)

参考文献数

32

---

Wheels have high movement efficiency, simple structures and low cost. So various wheeled mechanisms are used in the living space. However, wheels have low traveling performance. Therefore, there are areas that wheeled mechanism can't move in. In order to solve this problem, various movement mechanisms are developed. Yet, they have many problems. For example, complicate, heavy, large, expensive, and so on. Because of these reasons, the spread of these movement mechanisms are blocked. Then, we propose TFW that have high performance of driving on level surface and traveling over a single step. Movement mechanisms that are equipped with TFW can travel over steps that conventional wheeled vehicle can't travel over. Consequently, we showed that TFW have high performance movement mechanism of level running and traveling over steps by experiments with a vehicle “SRIDER-II”.

著者

木原 康之 鈴木 達也 菅野 貴皓 深尾 隆則 津坂 優子 札場 勇大 佐藤 太一 横小路 泰義

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:18848354)

巻号頁・発行日

vol.79, no.803, pp.2362-2372, 2013 (Released:2013-07-25)

参考文献数

13

---

We have already proposed the method to transfer human skill to a robot through direct teaching. By using the method, we can automatically extract human skill including sensory feedback to adapt to environmental variation. However, we have not discussed what trajectory is robust against environmental variation. In this paper, we discuss the robustness condition of robot trajectories against environmental variation and how to derive the robust trajectory. We propose a method to determine whether a trajectory is robust or not. The method considers the probability of the environment variation uses the parameter space expression of trajectory in order to derive the robustness condition. We confirm the effectiveness of the proposed method through a case study on a typical assembly task, peg-in-hole.

著者

秋保 良太 杉本 尚哉 武田 紘一 野口 洋介 三浦 得太郎

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:18848354)

巻号頁・発行日

vol.79, no.806, pp.3979-3992, 2013 (Released:2013-10-25)

参考文献数

11

被引用文献数

2 2

---

Transferred arc oscillates in an alternating magnetic field imposed perpendicularly to the arc. The amplitude of oscillatory arc motion can be varied easily by adjusting the magnetic flux density. The heat flux distribution can be controlled by changing the wave form of the magnetic field. Using such magnetically driven arc, the authors developed a novel heat treatment system which consisted of a device for the generation of DC arc, that for the formation of various types of magnetic field, a mechanism for travelling the work piece and water circuit for quenching the heated material. Heat treatments for the steel material of S45C were performed using different wave forms of the magnetic field. The magnetically driven arc was able to produce various patterns of drawing on the steel surface such as a single belt with broad width, two parallel straight lines with different spacing, a series of diamond form and two parallel wavy lines. It was confirmed that Vickers hardness increased more than three times after the heat treatment.

著者

徐 放 趙 希禄 萩原 一郎

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:18848354)

巻号頁・発行日

vol.78, no.787, pp.783-798, 2012 (Released:2012-03-25)

参考文献数

12

被引用文献数

1 5

---

As an important process for reverse engineering, automatic registration is usually divided in two steps, the coarse one and the fine one. In coarse step, an initial estimate for relative rigid-body transform can be brought to realization by searching some similar geometry, and guessing the corresponding region,. In fine step, highly accurate alignment can be achieved by searching an approximate correspondence repeatedly. For two steps, researching on the first one is more important, because the coarse step will requires more computation time and the accuracy will affect the next step. Various methods such as Genetic algorithms, geometric histogram, graduated assignment, feature matching were submitted or applied. However those methods either need large computing time or only can be used upon the satisfaction of some limited conditions. In this paper, a new method base on CDCP model, including location descriptors, classification descriptors and direction descriptor, was .location descriptors and direction descriptors can provide the necessary information for matching the corresponding points, and classification descriptors can make this process more accurate and efficiency. Experimental results of three 3D images taken by laser scanner are carried out to compare the registration results of proposed method with other twins, and proposed method can be confirmed make the coarse registration process be high speedily without any limited condition.

著者

田中 陽介 清水 康夫

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:18848354)

巻号頁・発行日

vol.79, no.804, pp.2874-2883, 2013 (Released:2013-08-25)

参考文献数

8

被引用文献数

1 1

---

We have been investigating small and high-strengthened single threaded worm gear. Previous our studies have shown that reducing thickness of worm tooth on addendum face enlarges elastic deformation of worm wheel. This proposed profile has advantages on improving contact ratio, gear efficiency, strength against impact force and fluctuation in torque. Though we have modified the profile of worm, we have not reported on a profile of worm wheel. In this paper, we propose the MUB theory that new profile of worm wheel improve contact ratio without increasing tip diameter of worm wheel. At first, we focused on meshing under base circle of worm wheel, and investigated geometrical shape on dedendum face manufactured by hob cutter. As a result, we derived formula of new profile of worm wheel for meshing under base circle. In addition, the MUB theory was verified by the experiment that used an actual worm wheel with MUB profile. It was shown that we obtained a new finding by the process of this research.

著者

滝口 清昭 児矢野 英典 河野 賢司

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:18848354)

巻号頁・発行日

vol.77, no.778, pp.2310-2322, 2011 (Released:2011-06-25)

参考文献数

7

---

Among the three components of electromagnetic field (radiated field, induced field and quasi electrostatic field (QEF)), the QEF has a characteristic of decaying proportional to cube of the distance. Regardless of the QEF's potential characteristics, QEF has been treated as unimportant in the past. In this paper, we developed a novel proximity sensing technology applying QEF. Noncontact and noninvasive object sensing is realized by using equilibrium of QEF distributions generated with the multiple electrodes structure. From results of electromagnetic simulation and experimental analysis, we clarified our method can improve the detection resolution of conventional proximity sensing method drastically, because the detection resolution in our method doesn't depend on QEF frequency generated by quadrupole electrodes, but depends on the parameter of the gap size between each electrode. Finally, we focused on human vein sensing, as one of the most important application example of our technique, which is well known as a biometrics technology. From the electromagnetic simulation, we confirmed our method is applicable to the vein sensor by using the matrix array structure of the fundamental element of quadrupole electrodes.

著者

小林 左千夫 小林 弘樹 池田 弘 橋間 正芳 佐藤 裕一

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:18848354)

巻号頁・発行日

vol.78, no.796, pp.3894-3903, 2012 (Released:2012-12-25)

参考文献数

16

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In this paper, we present a new thermo fluid simulation method by using reduced-order models, enabling large, real-time, detailed thermal flows with continuous user interaction. Our method is ideally suited for real-time simulation of high-resolution thermal fluid dynamics because our simulator is still fast even in the case of large problems expressed by using more than one million meshes. Our results indicate that one thousand times faster simulation can retain same level of accuracy as conventional methods. In addition, our method provides continuous user interaction in real-time. It allows that we can immediately assess how a thermal field changes when controlling air-conditioning equipment in a data center.

著者

角南 浩靖 曄道 佳明 森村 勉 足立 昌仁

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:18848354)

巻号頁・発行日

vol.77, no.781, pp.3237-3252, 2011 (Released:2011-09-25)

参考文献数

15

被引用文献数

1

---

To minimize the risk of fatalities in the event of earthquakes, it is extremely important to prevent the derailed vehicle from deviating from the track as well as to prevent the vehicle from derailment. Authors have developed a post derailment stopper (hereinafter referred to as, “stopper”), which attaches to a bogie frame and prevents derailed vehicles from veering of the track. For the development of the stopper and evaluation of its efficacy, we conducted running tests under derailment conditions using real bogies and tracks. Based on the results of the running tests, we have developed a 15DOF vehicle dynamics model in order to discuss the motion of the bogie in the derailment condition. In this model, focusing on the analysis of the motion of the bogie and the stopper, vertical wheel displacements which were measured at the running tests are used as input data and non-linear characteristics observed at the running tests are considered. In this paper, we analyze the motion of the bogie and efficacy of the stopper with this model and the test results.

著者

穂苅 真樹

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:18848354)

巻号頁・発行日

vol.77, no.784, pp.4502-4509, 2011 (Released:2011-12-25)

参考文献数

18

---

The authors proposed a security system that could detect two or more theft events ((a) opening a lock, (b) opening a hood, (c) opening a trunk, (d) picking and (e) opening a door) of a vehicle using car speakers. Two or more theft events were distinguished by using the amplitude of the sound. However, this method may be affected by the surrounding environmental sounds. In this paper, the author proposes a new method using sound frequencies to determine theft events. First, the noise in the measurement signal was reduced by wavelet shrinkage. The signal of almost events was able to be detected. To investigate the frequency of each event signal, fast fourier transform was performed. In two or more theft events, there was a difference in the frequency elements. Finally, neural network was used to provide relation between frequency elements and five events. As a result, the method proposed is able to distinguish between the five events. The proposed method was verified experimentally that it is possible to determine some of the theft event.

著者

宮本 大資 梶原 逸朗 細矢 直基

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:18848354)

巻号頁・発行日

vol.77, no.784, pp.4402-4412, 2011 (Released:2011-12-25)

参考文献数

8

被引用文献数

1 1

---

This paper proposes a contactless vibration testing system for rotating disks based on an impulse response excited by a laser ablation. High power YAG pulse laser is used in this system for producing an ideal impulse force on structural surface without contact. The contactless vibration testing system is composed of a YAG laser, laser Doppler vibrometer and spectrum analyzer. This system makes it possible to measure vibration characteristics of structures under operation, such as vibration measurement of a rotating disk. The effectiveness of this system is confirmed by experimental and theoretical analyses. In this paper, a platter of hard disk drive is employed as an experimental object. Vibration characteristics of a rotating and non-rotating platter are measured and compared with the results of theoretical analysis.

著者

小出 祐一 石垣 博邦 松永 博充 福士 直己 白木 智美

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:18848354)

巻号頁・発行日

vol.77, no.774, pp.319-328, 2011 (Released:2011-02-25)

参考文献数

14

被引用文献数

1 1

---

In the seismic design of the boiling water reactor, we need to estimate the dynamic insertion behavior of control rods into the core region to secure the safety of the reactor under seismic events. In particular, estimation of the insertion time is one of the most important design tasks affecting the scrammability of the reactor. We developed a numerical analysis model to predict the control rod insertion time under seismic events using multibody dynamics. The effect of the interaction force between the control rod and the fuel assemblies is considered in three-dimensional contact analysis. This interaction force causes resistance force acting on the control rod under insertion. The hydraulic control unit and the control rod drive, which provide the control rod with driving force, were modeled in the concentrated parameter system considering dynamic characteristics, such as the inertance of the working fluid in the scram piping and the capacitance of the working gas in the accumulator. The numerical analysis can simulate the realistic insertion behavior of the control rod by coupling these models together and using an interactive process to calculate how they interact. The validity of the numerical analysis model was confirmed by comparing the analytical results with the experimental ones. The results of our analysis showed that the numerical analysis model provides good agreement with the insertion time of the control rod.