著者

加藤 博之 川上 順悟

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 (ISSN:21879761)

巻号頁・発行日

vol.85, no.877, pp.19-00169, 2019 (Released:2019-09-25)

参考文献数

20

---

A mechanics-of-materials deflection analysis of wooden baseball bats at impact is developed. Consider the bat which is simply supported a point of grip and elsewhere free to rotate, and the bat is subjected to the impact force with ball and the inertia force due to the sudden change of the angular velocity in swing. The static force balance gives the relation between the impact force and the inertia force, but the magnitude is left undetermined. By assuming that the impact duration is 1 ms, we get the solutions of the energy conservation equation as a function of hitting point. The present model provides the evidence for the COP (center of percussion) to be located very close to but not exactly in the sweet spot where the kinetic energy of bats can be most effectively transferred to the outgoing velocity of batted ball. Additionally, the deflection analysis determines the bending stress imposed at given velocities of bat and ball. It is shown that the largest bending stress is always located at the top of grip length irrespectively to hitting point. One hundred fifty broken bats in Hokkaido University play fields were collected and fracture surfaces were examined.

著者

西山 修二

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 (ISSN:21879761)

巻号頁・発行日

vol.83, no.855, pp.17-00260, 2017 (Released:2017-11-25)

参考文献数

21

被引用文献数

1

---

This research presents an experimental investigation on the vision performance of a human body which is sitting on an automobile seat. Six subjects were selected from a panel for the experimental research and frequency exposes from 1 to 30Hz sine wave vibration to the subjects by the sweep for 240 seconds with the total amplitude of 2 millimeters. The subjects were measured a standard visual acuity test and a self-rated assessment for difficulties in visual perception every 2 Hz and two subjects of them were measured vertical acceleration for their head in the experimental investigation. From the experimental result, visual efficiency was declined to 49.55 % in the vicinity of the frequency range of 20 Hz. The cause of reduction of eyesight has been considered using the model eye of Gullstrand, and it has been found that the deformation of optic-axis length was 0.257 millimeters when the average eyesight of all subjects was reduced from 1.15 to 0.57. Some results are presented in the form of parametric graphs. The results are useful for improving vehicle ride comfort, maneuverability and safety driving.

著者

三谷 祐介 鈴木 朱羅 南 裕樹 石川 将人

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 (ISSN:21879761)

巻号頁・発行日

vol.89, no.918, pp.22-00250, 2023 (Released:2023-02-25)

参考文献数

14

---

Automated driving is attracting attention as a technology that can improve the convenience and comfort of mobility. Research on automated driving continues to develop not only in the approach of vehicle automation but also in the approach of driver assistance. As an example of driver assistance technologies, a system has been proposed in which multiple light sources are placed at equal intervals in a tunnel and blink to encourage drivers to adjust their speed. This system is called a Pace Maker Light (PML). In this paper, we focus on the PML and consider applying it to automatic driving. Therefore, this paper aims to realize the velocity control of an autonomous mobile robot using the PML. First, we modeled the PML and the mobile robot and formulated the design problem of the velocity controller of the robot. Then, we proposed a control law that can achieve velocity control based on the light intensity information obtained from the PML. Finally, we conducted velocity control simulations and experiments with a miniature-scale experimental setup. As a result, it was confirmed that the proposed method could be used to achieve the target speed on a level road and a slope.

著者

山崎 諒 河内 俊憲 永田 靖典 柳瀬 眞一郎

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 (ISSN:21879761)

巻号頁・発行日

vol.83, no.853, pp.17-00181, 2017 (Released:2017-09-25)

参考文献数

30

被引用文献数

2 2

---

Numerical prediction of air-entraining and submerged vortices in pump sumps is important for engineering applications. The validation of pump sump simulations, however, still is not enough, because the simulations is very complicated; for examples, treatment of gas-liquid interface, detection method of the vortices and selection of turbulence model etc. We conducted numerical simulations of the benchmark experiments of the pump sump conducted by Matsui et al. (2006, 2016) and compared the simulation with the experimental data to investigate the effects of turbulence model, grid density and detection method of the vortices. We determined a threshold of the gas-liquid fraction function of VOF method (α) and the second invariant of velocity gradient tensor (Q2) to detect the air-entraining and submerged vortices by using vorticity, respectively. This method well detected the vortices and well reproduced the experiments for the RANS simulation using SST k-ω model. Large eddy simulation using Smagorinsky model, however, was sensitive to the grid system and difficult to reproduce the experimental vortex structures even for the finest grid system having 3.7 million cells.

著者

福井 類 渡辺 哲陽

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 (ISSN:21879761)

巻号頁・発行日

pp.20-00288, (Released:2021-02-22)

参考文献数

21

---

This paper reports the launching and organizing procedures of Robomech 2020, the first online conference in the history of Robomech series. We discuss the required functions of an online academic conference and show an implementation example. Analysis of the conference results and responses from the participants reveals the advantages and disadvantages of Facebook that is used as a platform of the online conference. The analysis also indicates the constitutive problems of the online conference. Consequently, this paper provides multiple clues for constructing a new platform suitable for more active and efficient online academic conferences.

著者

長谷川 雄太 青木 尊之 小林 宏充 白﨑 啓太

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 (ISSN:21879761)

巻号頁・発行日

vol.85, no.870, pp.18-00441, 2019 (Released:2019-02-25)

参考文献数

18

---

We implement and perform large-scale LES analysis for running groups of cyclists. The mesh-refined lattice Boltzmann method (LBM) and coherent-structure Smagorinsky model (CSM) are adopted for the simulations to achieve a high performance computing on the recent GPU supercomputer. In the simulation with 16 cyclists, the mesh spacing around cyclists is 4 mm, and the total number of the mesh is up to 8.1×108 and the number of GPUs utilized is up to 64. Each calculation took 4 or 5 days for the 8~11 seconds of physical duration. The flow around 16 cyclists in various arrangement is calculated, and the results show that the in-line arrangement is more effective than the rhomboid arrangement in the viewpoint of the total aerodynamic drag of the group; however, a specific person in rhomboid arrangement can obtain larger drag reduction and save the endurance. Results on two groups also suggest that the frontal group in rhomboid arrangement will be exploited as the wind protection of the backward groups.

著者

井上 喜雄 劉 涛 芝田 京子 園部 元康

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 (ISSN:21879761)

巻号頁・発行日

vol.83, no.851, pp.17-00029, 2017 (Released:2017-07-25)

参考文献数

11

---

We aim to clarify dynamics of the wrist turn of the golf swing and the effect of the parameters on dynamic behavior at the wrist turn using the double pendulum model and the modal analysis method. Eigenvalue analysis was carried out and natural frequency and mode were calculated by using linearized equation of motion assuming the exterior angle of the cock angle is small. We found out that the first mode is a rigid mode and the second one is a vibration mode of the double pendulum, and the mode shapes are constant during the wrist turn even though natural frequency changes. By applying the modal analysis method we obtained equations of motion for the rigid mode and the vibration mode separately. Furthermore, using the theory of linear superposition, the equation of motion for the vibration mode was separated again into 3 equations which can help to understand the mechanism of the wrist turn. After accuracy of the proposed method for small exterior angle of the cock angle was confirmed by comparing with the exact solution using numerical integration, the proposed method was applied to the general case with large exterior angle of the cock angle which has nonlinearity, and the mechanism of the wrist turn and the effect of the parameters of the arm and wrist torque on the dynamic behavior at the wrist turn were clarified qualitatively. Finally parameter survey using the numerical integration for the original nonlinear equation of motion was carried out to show the validity of the proposed method.

著者

奥野 航平 松尾 亜紀子

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 (ISSN:21879761)

巻号頁・発行日

vol.83, no.856, pp.17-00369-17-00369, 2017 (Released:2017-12-25)

参考文献数

20

---

The numerical analysis on the flight stability of the underwater projectiles are performed using computational fluid dynamics code which consists of gas/liquid phases analysis, 2D calculation method. The nose shape effect on the underwater flight stability is conducted. The ogival nose, the flat nose and the spike nose are used for the nose shapes. The static stability is determined by the direction of pressure on the projectile. The pressure on the flat nose makes projectile stable, although pressure on the ogival nose and the horizontal area of flat nose makes projectile unstable. The spike nose is statically unstable, however it is possible to increase the flight stability by changing the spike radius and the spike length. When the part of projectile gets out of the bubble and contacts with water, the water pressure acts as restoring force, which lead to improve the flight stability. This phenomenon is called ‘Tail slapping effect’. Tail slapping effect works most effectively when only backward of the center of gravity of the projectile contacts with water. The Effects is canceled as the angle of attack increases and the front of the projectile contacts with water. As a result, the improvement of stability due to the tail slapping effect is limited.

著者

岸 祐希 金崎 雅博 牧野 好和 松島 紀佐

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 (ISSN:21879761)

巻号頁・発行日

vol.83, no.849, pp.16-00454-16-00454, 2017 (Released:2017-05-25)

参考文献数

20

---

When a wing of airplane is designed, it is necessary to have knowledge regarding planforms considered their optimum airfoils in order to design efficiently, because each wing planform has both of advantage and disadvantage. In this study, the wing design problem for supersonic transport is carried out for different planforms for two different planforms. Multi-objective problem, which is minimization drags for two supersonic cruise conditions (transonic and supersonic flight) is solved to obtain knowledge of the supersonic airfoil from the viewpoint of the multi-point design. Two types of planforms are considered—a cranked arrow wing with a high sweep-back angle and a single tapered wing with a low sweep-back angle. Optimization problems are carried out by efficient global optimization, which is evolutionary algorithm based on the Kriging surrogate model. To acquire design knowledge, a parallel coordinate plot and functional analysis of variance (functional ANOVA) are applied. The design results showed the difference airfoil between two planforms. The optimum airfoil for the single tapered wing has a small or negative camber at the leading edge to minimize the supersonic cruising. On the other hand, the optimum airfoil for the cranked arrow wing has an airfoil with a lower thickness and larger camber at the leading edge.

著者

松永 信智 岡島 寛 志田 裕紀 松野 大亮

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 (ISSN:21879761)

巻号頁・発行日

vol.83, no.851, pp.16-00519, 2017 (Released:2017-07-25)

参考文献数

18

---

To analyze the driving behavior is important for designing a comfortable automatic driving. So far, conventional PID models was widely used to steer the vehicle. It has been assumed that the driver looks at the constant point in conventional PID model. However, all drivers have experiences that the gazing distance changes according to the travel routes, driving situations and driver's characteristics. The PID gain of the steering model is assumed to be modified depending on driver's gazing distance. The facts are familiar, but the relationship between driver's steering gain and the gazing distance has not been clarified yet. If this relation becomes clear, it can be helpful for the comfortable driving assistance and/or automatic driving systems to provide for each driver. The aim of this study is to design a steering model estimated by Particle Swarm Optimization (PSO) depending on gazing distance . The feature of the model is on-line measurement of gazing distance incorporating the gazing distance explicitly into a model. The isolated driving and the following driving are evaluated using a Honda driving simulator. The effectiveness of the model is discussed individually.

著者

吉田 直人 家澤 雅宏 西脇 和弘 髙橋 正樹

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 (ISSN:21879761)

巻号頁・発行日

vol.84, no.862, pp.17-00583, 2018 (Released:2018-06-25)

参考文献数

13

---

In recent years, an automatic collision avoidance system has been put into practical use by various automotive companies. In this study, we propose an automatic collision avoidance system for a four-wheel independent drive vehicle using the state-dependent Riccati equation. By designing the state-dependent weighting functions, a control gain is automatically determined, based on the relative relationship with a preceding vehicle and the system can properly perform automatic braking and automatic steering. Moreover, by updating the state-dependent linear representation obtained from a nonlinear vehicle model in each control cycle, we design a control system in consideration of a change in vehicle dynamics due to vehicle velocity. Therefore, this study verifies the effectiveness of the automatic collision avoidance system using the state-dependent Riccati equation. We compare the performance of the proposed method with constant weight cases. The simulation results show that the proposed method can automatically adjust the control gain and properly avoid a collision by braking and steering to change the relative relationship with a preceding vehicle.

著者

吉田 皓太郎 若松 栄史 岩田 剛治 久保 貴裕

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 (ISSN:21879761)

巻号頁・発行日

vol.87, no.903, pp.21-00201, 2021 (Released:2021-11-25)

参考文献数

12

---

A method to design the function of the brassiere cup shape as developable surfaces and its developed shape using Gaussian Process Regression is proposed. A developable surface, which is generated by sweeping a straight line along a three-dimensional curve, can be seen many products such as ships, buildings, clothes, and so on. The shape has not only its aim which can be formulated but also that which cannot be formulated such aesthetics. In this paper, we focus on a brassiere cup. A brassiere cup is composed of several patterns and the cup shape is designed by repeatedly making paper cup model and then checking its three-dimensional shape. For improvement of design efficiency of brassieres, such trial and error must be reduced. The difficulty of the design process is caused by the function of a brassiere cup. Its function, such as to enhance woman’s breast size, et.al., is difficult to formulate and unclearly correlated with its three-dimensional cup shape. In this paper, we propose a method to support the design of the three-dimensional shape of a cup and its developed shape by machine learning when the cup shape and quantitatively evaluated value of its function are given as a set of data. First, we formulate the cup shape as developable surface using differential geometry. Then, we propose the method to extract the attribute from the three-dimensional cup shape based on the differential geometry and a predictor of an output value for its attribute using Gaussian Process Regression. The validity of the method is confirmed by a numerical experiment regarding the evaluated value using its volume and size. Finally, we propose a method to design the cup shape using this predictor. We experimented whether our proposed method can output the approximate cup shape when the evaluated value of the cup is given.

著者

岡田 昌史 岡本 裕 舛屋 賢

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 (ISSN:21879761)

巻号頁・発行日

vol.86, no.884, pp.19-00320, 2020 (Released:2020-04-25)

参考文献数

14

被引用文献数

2

---

For robotic teleoperation, semi-autonomous control, i.e. autonomous control allowing human interposition will be an effective way overcoming delay of electrical communication and emergency operation. We have proposed semi-autonomous control method focusing on excavation in teleoperation environments. In the method, a model of human operation is designed and human internal state is estimated by Extended Kalman Filter. In this paper, experimental evaluations are conducted and reported about ”Digging” process. A human skill of excavation is modeled by an attractor-based dynamics embedding shallow and deep digging trajectories for soft and hard soil, respectively. An index parameter is changed based on the load of the bucket, and a seamless motion transition is realized satisfying the restriction by setting a threshold. Moreover, by adding a human operation to the autonomy, the proposed method will cope with the emergency, which is experimentally evaluated.

著者

大場 啓介 長嶺 拓夫 森 博輝 佐藤 勇一

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 (ISSN:21879761)

巻号頁・発行日

vol.81, no.824, pp.14-00593, 2015 (Released:2015-04-25)

参考文献数

8

---

This paper describes the investigations of the characteristic about the sound generation of a nose flute experimentally. The nose flute is attached to the upper part of a container. If air is passed to a nose flute, sound will occur. The volume of a container is changed and the generated sound is measured. The natural frequencies of an experimental device are calculated and we confirm that it is in agreement with frequency of sound generated in experiment. We show that nose flute is a unique musical instrument with the point that a nose flute has only an edge part and uses people's mouth for a resonance body part. The frequencies of resonance sound can be calculated from the capacity in a mouth, the thickness and the area of an opening of a nose flute. When people play a nose flute, it is thought that only the first mode of vibration is used.

著者

松永 拓也 越塚 誠一

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 (ISSN:21879761)

巻号頁・発行日

vol.87, no.895, pp.20-00437, 2021 (Released:2021-03-25)

参考文献数

14

被引用文献数

2

---

This study concerns the computational accuracy of a particle method for a time-dependent incompressible flow. In recent years, accurate spatial discretization schemes have been developed for a particle method. However, the actual convergence rate in space tends to be much lower than the order of the leading truncation error given by an adopted spatial discretization scheme. This suggests that the Δt-dependent error is comparably significant with respect to the truncation error of the spatial discretization scheme. Under these circumstances, we have developed a new time marching method to improve the computational accuracy by reducing the Δt-dependent error and improving the convergence property. The proposed time marching method is based on the 1st-order fractional step method, just as the conventional methods. However, as opposed to the past studies, the convection term is explicitly included in the provisional velocity calculation, as an Eulerian-based approach. By doing this, the Δt-dependent error caused by the particle movement can be avoided. A numerical test has been carried out using the two-dimensional Taylor-Green vortex problem, where 2nd- and 4th-order spatial discretization schemes are adopted. As a result, the conventional time marching methods gave much lower convergence rate than the order of the spatial discretization scheme. On the other hand, the proposed time marching method showed approximately 2nd- and 4th-order convergence in space with the 2nd- and 4th-order spatial discretization schemes, respectively. Therefore, the proposed method is indicated to highly improve the computational accuracy.

著者

岡田 昌史 岡本 裕

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 (ISSN:21879761)

巻号頁・発行日

pp.19-00167, (Released:2020-03-25)

参考文献数

7

被引用文献数

1

---

In general, mechanical systems are stabilized on their equilibrium point. Equilibrium point is often not unique and they are continuously connected, which is an equilibrium manifold. To stabilize the mechanical system on an equilibrium manifold will enable optimal control including the selection of the stabilizing position. In this paper, we propose a controller design method that stabilizes a mechanical system on an equilibrium manifold based on vector field. The equilibrium manifold is derived from dynamic equations, and by setting an appropriate evaluation function, (1) an optimal equilibrium point from arbitrary initial value is calculated, (2) a trajectory, input and vector field are derived based on linear control theory, (3) a controller is designed using functional approximation. Simulations show that different initial values are stabilized to different equilibrium points, and experimental results show the effectiveness of the proposed method.

著者

佐藤 慧拓 窪田 佳寛 望月 修

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 (ISSN:21879761)

巻号頁・発行日

vol.82, no.833, pp.15-00386, 2016 (Released:2016-01-25)

参考文献数

11

---

Many features of organisms have the possibility that can be applied to the infrastructure and network system for the communication. From the previous studies, the network system of the venation is known as the strong network on the damage. This relates the structure of leaf vein. In this study, we are focusing on the network of leaf vein to understand the strong network system. First, we study the network structure to know the relation between damage on leaf and the strong network. Then, the influence of damage on leaf vein for the water absorption on the leaf was studied with the dye flow visualization. The result shows that the network type of vein on real leaf is the mesh type network. The mesh type network has the benefit to make a bypath when the vein has the damage. The result of dye flow visualization shows that the real leaf requires the single vein to make a bypath for damage region. The increasing of area on water absorbed relates the distance of water absorption. This means that number of vein is not dominant for the speed of water absorption. Therefore, the network of leaf vein has a high robustness from the damage of vein by the mesh type network.

著者

石崎 啓太 中野 冠

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 (ISSN:21879761)

巻号頁・発行日

pp.18-00050, (Released:2018-10-02)

参考文献数

55

被引用文献数

3

---

This study systematically analyzed life cycle CO2 (LCCO2) emissions of a comprehensive set of mass-produced 2,000 cc class sedan-type vehicles, using a hybrid life cycle inventory approach. Gasoline and diesel internal combustion engine vehicles (ICEVs), hybrid electric vehicle (HEV) as well as battery electric vehicle (BEV) and fuel cell vehicle (FCV) were investigated, considering (i) the current BEV market trends, (ii) Japan's energy mix (the average for 2012–2014), and (iii) the use of the HVAC system. The results show that the annual average increment of CO2 emissions in use phase by HVAC system in Japan (assumed annual mean temperature of 15°C) was presumed to be evenly 9% regardless of vehicle types, although further detail analysis is required. The CO2 emissions in use phase of BEV were higher than those of HEV and FCV (applied hydrogen produced by steam reforming of LPG (on-site)) due to thermal power dominant electricity generation mix in Japan in recent years. As a consequence of high CO2 emissions from power supply and battery production, the LCCO2 emissions of BEV equipped with 75 kWh battery were higher than those of HEV, FCV (on-site), and conventional ICEV (diesel). By reducing the battery capacity to 40 kWh or less, the LCCO2 emissions of BEV become lower than those of ICEVs and FCV (on-site), making BEV a competitive alternative. However, it is difficult that BEV mitigates both LCCO2 emissions and driver's range anxiety. In conclusion, HEV shows the competitive performance in terms of LCCO2 emissions with long driving range in Japan.

著者

佐藤 理 岩井 裕 吉田 英生

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 (ISSN:21879761)

巻号頁・発行日

vol.85, no.871, pp.18-00365, 2019 (Released:2019-03-25)

参考文献数

18

---

The purpose of this study is to develop an analytical model of cross-flow heat exchangers with offset strip fins which are usually equipped in the aircraft air conditioning system (so called the environmental control system, ECS). The ECS mainly consists of four cross-flow heat exchanges, i.e., a primary heat exchanger, a secondary heat exchanger, a reheater and a condenser. Because of the special requirements of the design for the aircraft, the primary and secondary heat exchangers are set adjoiningly; the reheater and the condenser are also set adjoingly. Therefore, in both the pairs, the effect of the temperature profile of the upstream component (the secondary heat exchanger or the reheater) on those of the downstream component (the primary heat exchanger or the condenser) should be taken into account for precise prediction of the system. To this end, a core element model was newly proposed in this study. In addition to the effect of temperature profile, phase changes (condensation and evaporation) of water included in the humid air simultaneously occur except for the primary heat exchanger. Regarding these phenomena, the method of sensible heat fraction (SHF) to convert the latent heat into the equivalent sensible heat was introduced, and the global and local SHF models were examined by comparison with the experiments. The prediction by these models were found to agree well with the actual performance of the ECS operations.

著者

長谷川 雄太 青木 尊之 小林 宏充 白﨑 啓太

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 (ISSN:21879761)

巻号頁・発行日

pp.18-00441, (Released:2019-02-07)

参考文献数

18

---

We implement and perform large-scale LES analysis for running groups of cyclists. The mesh-refined lattice Boltzmann method (LBM) and coherent-structure Smagorinsky model (CSM) are adopted for the simulations to achieve a high performance computing on the recent GPU supercomputer. In the simulation with 16 cyclists, the mesh spacing around cyclists is 4 mm, and the total number of the mesh is up to 8.1×108 and the number of GPUs utilized is up to 64. Each calculation took 4 or 5 days for the 8~11 seconds of physical duration. The flow around 16 cyclists in various arrangement is calculated, and the results show that the in-line arrangement is more effective than the rhomboid arrangement in the viewpoint of the total aerodynamic drag of the group; however, a specific person in rhomboid arrangement can obtain larger drag reduction and save the endurance. Results on two groups also suggest that the frontal group in rhomboid arrangement will be exploited as the wind protection of the backward groups.