著者

江連 勝彦 光田 慎治 背戸 一登

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.60, no.571, pp.781-787, 1994-03-25

被引用文献数

2

---

This paper proposes the vibration control method of flexible structures arranged in parallel. In recent years, vibration control of a flexible structures using an active dynamic absorber has increasingly been utilized in practical applications. In the future, as the structure becomes more advanced and more flexible, its natural frequency gradually becomes lower. Thus, it will be difficult to assume enough force for vibration control using an active dynamic absorber. The authors proposed the method wherein two structures arranged in parallel are controlled actively using two actuators set between them. In general, a reduced-order-model is necessary to design a controller using the LQ control theory. Using the modeling method proposed here, reduced-order model of the 2-2 degree-of-freedom parallel structures can be easily fabricated. Using a root locus plot, the relationship between weighting parameters and control effect in the LQ control theory is clarified. It is demonstrated that this control method is able to control vibrations of 2-2 DOF system without the spillover instability, by simulation and experiment.

著者

辛 振玉 藤原 大悟 羽沢 健作 野波 健蔵

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.68, no.675, pp.3284-3291, 2002-11-25

被引用文献数

17

---

This paper proposes the model based control system design for autonomous flight and guidance control of Radio-Controlled Helicopter. RC Helicoper has been studied with fuzzy and neural network approach, but it is so difficult for unmodel based control to stabilize it. The system identification techniques and model tuning approach are applied for RC helicopter system to obtain the mathmetical model. In order to realize the full automatic controlled RC helicopter, we have designed the attitude controller and altitude controller with LQG based Kalman filter and trajectory controller with SMC (Sliding Mode Control) for RC helicopter. It has been clarified that the proposed scheme for attitude control, altitude control and hovering control are very useful by way of the simulations and experiments.

著者

横山 良平 伊東 弘一 湯浅 芳郎 陸 暁茜

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.60, no.573, pp.1759-1766, 1994-05-25

被引用文献数

1

---

An optimal unit sizing method is developed for hybrid power generation systems utilizing photovoltaic and wind energy. Equipment capacities and electric maximum demand are determined so as to minimize the annual total cost and annual energy consumption from the viewpoints of economy and energy conservation, respectively. This optimization problem is considered as a multiobjective one, and a discrete set of Pareto optimal solutions is derived numerically using the weighting method. Two systems interconnected with the electric power grid are inventigated : one has the option of reverse power flow into the grid, and the other, no option. By carrying out some case studies, the trade-off relationships between the two objectives are clarified, and optimal values of equipment capacities are determined. The effect of electricity deficit on unit sizing is also investigated.

著者

清水 創太 Burdick Joel W.

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.73, no.733, pp.2591-2596, 2007-09-25

被引用文献数

1

---

This paper aims at acquiring robust feature for rotation-, scale-, and translation-invariant image matching from a space-variant image by a fovea sensor. A proposed model of eccentric compensator corrects deformation in a log-polar image when the fovea sensor is not centered at a target image, that is, eccentricity exists. An image simulator in discrete space implements this model by its geometrical formulation. This paper also proposes Unreliable Feature Omission (UFO) using Discrete Wavelet Transform. UFO reduces local high frequency noise appeared in the space-variant image when the eccentricity changes. It discards coefficients when they are regarded as unreliable, based on digitized errors of the input image by the fovea sensor. The first simulation estimates the compensator by comparing with other polar images. This result shows the compensator works well and its root mean square error (RMSE) changes only by up to 2.54 [%], in condition of the eccentricity within 34.08 [°]. The second simulation shows UFO works well for the log-polar image remapped by the eccentricity compensator, when white Gaussian noise (WGN) is added. The result by Daubechies (7, 9) biorthogonal wavelet shows UFO reduces the RMSE by up to 0.40 [%] even if the WGN is not added, when the eccentricity is within 34.08 [°].

著者

吉武 裕 末岡 淳男 森山 智樹 山崎 正則

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.66, no.646, pp.1785-1792, 2000-06-25

被引用文献数

6

---

This paper deals with the quenching problem of self-excited vibrations by using a device composed of a Hula-Hoop and a generator. This device is also additionally able to generate electricity. The Runge-Kutta-Gill method is applied to the numerical analysis of a Rayleigh's type self-excited system with the device. The solutions obtained are divided into two main categories ; periodic solutions and chaos accompanied by Hula-Hoop's vibration and rotation. An optimum approach for quenching the self-excited vibration was discussed. As a result, it was clarified that for the optimum design of the device there existed a certain relation among the moment of inertia, the mass of Hula-Hoop and the capacity of generator, and the vibration at that time was chaos as in the impact damper which we analyzed before. The condition of maximum generation of electricity was not equal to that of minimum vibration amplitude of the self-excited system. An experiment was performed to quench vortex-induced vibration and to generate electricity by using the device. The experimental results agreed well qualitatively with those from the numerical computational analysis.

著者

盛 再権 山藤 和男

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.61, no.583, pp.1042-1049, 1995-03-25

被引用文献数

5 1

---

In the previous paper, in order to emulate a human riding a unicycle by a robot, a new model with two closed-link mechanisms and a controlling rotor (turntable) was proposed. By analyzing that model, we showed through simulation that both longitudinal and lateral stability of a human riding a unicycle can be satisfactorily emulated. In this study, we designed and manufactured a unicycle robot based on an idea proposed in the previous paper. Using the new method for detecting the posture of the robot in three dimensions, we conducted experiments on this robot under the proposed control method. The robot's posture was stabilized successfully in both longitudinal and lateral directions in three dimensions, and driving control was realized. The experimental results tell us that the proposed model and control method are effective in emulating the human riding a unicycle system by a robot. We believe that this is the first completely successful study in emulating a human riding a unicycle by a robot.

著者

大岡 昌博 小林 光男 篠倉 恒樹 鷺沢 忍

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.56, no.531, pp.2919-2925, 1990-11-25

被引用文献数

2

---

In order to improve the intelligence of a robot with a sense of touch, we have developed a tactile sensor array which can detect the distribution of the three components of a force vector. The tactile sensor consists of a 6×15 matrix of 3×3 mm sensing sites; each site is made of two single-crystal silicon rings on which semiconductor strain gauges are formed by means of a semiconductor processing technique. In this paper, we have introduced formulas to calculate applied force/moment, a center of distributed pressure, and some parameters of slip and hardness, and then carried out sensing tests in order to validate those formulas. Experimental results show that applied force/moment and the center of distributed pressure can be detected with practical accuracy. Slipping, rolling and rotating states can be distinguished by combinations of the slip parameters. Moreover, mechanical properties can be sensed by means of combinations of the hardness parameters. A lump in a soft object can be recognized using an adequate threshold method.

著者

中沢 弘 和泉 隆志

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.62, no.601, pp.3719-3724, 1996-09-25

被引用文献数

4

---

This paper deals with fundamental research on the development of human-oriented CNC machine tools which allow workers to feel pride and pleasure in making full use of their abilities in manufacturing. As a step toward realizing human-oriented CNC machine tools, we tried to extend the sense of touch of workers by developing cutting a torque feedback handle through which workers can feel the rotational resistance corresponding to cutting torque. This system has been evaluated by inexperienced and skilled workers of engine lathes and CNC machine tools using the information integration method. The results show that use of the cutting torque feedback handle greatly improves workers, satisfaction when carrying out NC lathe work.

著者

本田 善久 松久 寛 佐藤 進

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.60, no.579, pp.3749-3754, 1994-11-25

---

The vibration of a rotating elastic disk subjected to base excitation is theoretically analyzed. Formulation of the steady-state response to harmonic excitation is derived as an eigenfunction series where the eigenfunctions are given in the form of rotating waves. It is presented that a parallel motion to the axis excites only the axisymmetric modes. It is also shown that a tilting motion around an arbitrary diameter excites the forward and backward rotating modes whose circumferential wavenumbers are one. The Doppler's effect and the coupling effect between the inertia force and the Coriolis force are discussed. The response curves and the vibratory modes of the rotating disk are studied in detail. It is shown that the standing waves fixed in space can be formed. The relation between the excitation frequency and the configuration of the vibratory modes is also presented.

著者

西原 修 松久 寛 佐藤 進

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.60, no.580, pp.4098-4106, 1994-12-25

---

The design optimization of passive vibration control mechanisms in the accelerance domain is discussed. In this study, the fixed points theory is developed which approximately minimizes the maximum accelerance in the frequency domain by equally adjusting the accelerance of two fixed points. This design method is applied to the dynamic vibration absorber (DVA) and the passive gyroscopic damper (PGD), and thus the maximum accelerances of these mechanisms are successfully reduced. The concept of the fixed points theory is reinvestigated. The accuracy and the degree of improvement compared with the fixed points design in the compliance domain are examined. The PGD realizes relatively higher damping effects, and then the accelerance reduction of the PGD by the new design method is considerably larger than that of the DVA with a moderate mass ratio.

著者

中園 敦之 坂梨 暢泰

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.59, no.559, pp.963-966, 1993-03-25

---

Infrared emissivity of cold rolled steel sheets around 100℃ is affected with its metal composition, surface roughness, measuring wave lenghth, etc. On these elements, the effect of surface roughness has not yet been fully clarified because of the reason of itsp said small effect on measured emissivity. In this paper, the effect of surface roughness described as surface inclinationan for measuring wave length on infrared emissivity has been studied and the variance level is shown. Infrared emissivity for 2, 5, 10 μm wave length and surface roughness measuring data has been obtained for 7 pieces of cold rolled steel sheets. Modified Paulmier's erissivity model for surface roughness variance by adding wave length term has been obtained and comparison of the model with the measurement values is shown here.

著者

小貫 哲平 桑野 博喜

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.76, no.768, pp.1917-1919, 2010-08-25

---

Optical (far infrared) and thermal properties of a copper nanostrip array on silicon substrate were investigated. It acted as a coupler between the radiation and heat on the surface as non-radiative components (phonon or plasmon polariton at the surface), aiming to enhance outward heat flux from the surface as a cooling device via radiation heat transfer. The emission spectrum of the heat radiation was controlled by the nanostrip array that was designed as the local plasmon and phonon resonant conditions. In the experiment, it generated the temperature gradient of 1.3K across the substrate thickness (0.5mm) when the substrate was contacted on the heater (42℃) in the atmosphere at 26℃.

著者

越山 篤 藤井 邦英 有田 恒一郎

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.62, no.602, pp.3793-3801, 1996-10-25

被引用文献数

1

---

This paper describes new mechanisms, principle, control methods, computer simulation and experimental results of the second version of an all-direction steering-type mobile robot which has a spherical monowheel. Basic simulation results of straight running and rotation coincide with experimental results of the robot, and these results clarified, firstly, relationships between center of gravity and running ability of the robot, and secondly, the relationships between the robot's rotational angle and friction torque of the spherical wheel with the ground. Furthermore, it was confirmed experimentally that the new robot has high maneuverability, such as omnidirectional travel with zero-turning-radius rotation on any kind of surface. Therefore, it is expected that the spherical-wheeled robot developed here can be applicable as a safe personal service robot that can work with human beings in a limited space.

著者

清水 浩和 吉村 達彦

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.70, no.689, pp.243-250, 2004-01-25

被引用文献数

6 2

---

Recently, the concept of Mizen Boushi (reliability problem prevention) has been applied in automotive development as a tool to refine drawings to the greatest completion possible by the prototype stage. In this point of view, we are promoting a quality innovation process, "GD^3" that means "Good Design", "Good Discussion" and "Good Design Review". The process utilizes creative FMEA, FTA and a System Design Review. These tools focus attention on the many potential problems that could occur due to a change in design or environment. The System Design Review is especially useful to examine potential failure modes, root causes, part drawings and prototype part designs. This is followed by a Design Review Based on Failure Mode (DRBFM method for short), as a tool to guide discussion. In this way, it is possible to generate the best approach to handling design, evaluation, and production concerns. This paper will introduce some of the specific ways that this creative process is currently used in development as a tool to prevent reliability problems.

著者

清水 浩和 大塚 雄市 野口 博司

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.73, no.727, pp.935-943, 2007-03-25

被引用文献数

1

---

This paper propose the concept of hidden problem visualization and measures method in design stage with system DRBFM (Design Review Based on Failure Mode). The potential problem in the design stage involves unnoticed problems and misunderstood problems. The unnoticed problem can be visualized by the work flow of system DRBFM which takes into account the hierarchical structure of products. The misunderstood problems is also visualized by discussions in system DRBFM, containing the collation of concerning design with Design Regulation and the verification by Professional adviser based on Attention in operation. Afterwards, the total of misunderstanding problems reflects in improvement of Attention in operation. By the above concept, system DRBFM can posess two functions. The one is as for the useful tool of OJT (On the Job Training) which educates designer who has misunderstood or oversighted immediately by Professional adviser. The other is the construction of precationary measures organization with system DRBFM, Professional adviser, Design Regulation and its Attention in operation. To display the use of thease functions, the proposed concept is applied to design change of hair drier. The application example can display the role of all part of system DRBFM intelligibly.

著者

清水 浩和 野口 博司

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.71, no.706, pp.2020-2027, 2005-06-25

被引用文献数

3

---

The concept of Mizen Boushi(reliability problem prevention) has been applied in automotive development. Recently, we are promoting a quality innovation process, "GD3" that means "Good Design", "Good Discussion" and "Good Design Review". In the first paper, it was presented to utilize a System Design Review during development, in which we discuss potential failure modes, root causes and examine parts drawing and prototype parts design with the DRBFM(Design Review Based on Failure Mode) method. This paper will introduce that we completed the System DRBFM as a universal Mizen Boushi method, which can be utilized for discussions from a complex/complicated system to elements with hierarchy block diagrams of product and management.

著者

灘野 宏正 中迫 正一 河野 正来

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.61, no.592, pp.4763-4768, 1995-12-25

被引用文献数

2

---

To clarify the seizure resistance of stainless steel balls of which the surface layer was thermally diffused after being Sn-plated, a four-ball test was carried out with grease lubrication. From the tests, the following results were obtained. The diameter of the wear scar of the ball lubricated with the grease containing a molybdenum disulfide additive was smaller than that of the ball lubricated with the grease without the additive, and the diameter of the wear scar increased with increasing concentration of the additive. The load at the incipient stage of seizure of the ball of which the diffused surface layer was about 6 μm thick was 2〜4 times larger than that of the ball without the diffused surface layer. Further, it was found that the seizure resistance of the balls could be estimated from the critical surface temperature and that the critical temperature increased with increasing concentration of the additive.

著者

堀 光平 林 巌

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.60, no.579, pp.3940-3947, 1994-11-25

被引用文献数

6

---

Mechanical paradox planetary gears are suitable for power transmissions of current robots, such as space manipulators, which drive large-inertia loads, because the gears offer high reduction ratio, small size, light weight and high reliability. However, mechanical paradox planetary gears are subject to a drawback in that their efficiencies are lower than those of conventional planetary gears. The efficiencies of mechanical paradox planetary gears are hence theoretically analyzed and evaluated by defining the tooth number modification of a planet gear to deal with all the possible combinations of tooth numbers. The following results are obtained : the efficiencies are greatly influenced by the efficiencies of the planet and internal gear pairs ; the maximum efficiencies are minimally influenced by the reduction ratio, and they are obtained when the factors of the contact ratio of the gear pairs are approximately equal ; the maximum efficiency is approximately 78% if the tooth surface friction coefficients are 0.1.

著者

佐藤 文宣 蘆田 浩規 鳴尾 丈司

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.65, no.630, pp.572-579, 1999-02-25

被引用文献数

4

---

In this paper, dynamic behavior of golf club shafts before impact is analyzed. Firstly, we have established the measuring system of bending stiffness distribution of the shafts. Then we measure bending strain of the shafts on swinging. We model the shaft as a cantilever beam and we calculate deflection of the shaft before impact with data of bending stiffness distribution and data of bending strain. Additionally, we estimate "Kick Point" of golf shafts. We calculate changing curvature of shafts before impact, so that we make clear which part of shafts are bended and changed curvature exceedingly on swinging. We have proposed the share of this changing ratio in cach a third of overall shaft and we call it "Dynamic Flexible Ratio". The resuits are summarized as follows: (1)It is possible to classify the type of golfers by comparing deflections of the shaft before impact, and to calculate velocity of golf club head and angle at the tip of shaft by deflection. (2)"Dynamic Flexible Ratio" is closely related to angle at the tip of shaft by deflection.

著者

壁井 信之 小須田 昌之 鏡淵 英紀 田代 良一 水野 均 植田 康弘 土屋 喜一

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.62, no.604, pp.4624-4629, 1996-12-25

被引用文献数

3

---

Our aim is to develop a microactuator to be used for endoscopic surgery. The purpose of this study was to construct cylinder-piston-type microactuators that are actuated by thermal expansion of paraffin. We use a paraffin as the material for expansion because paraffin has a large coefficient of expansion in the temperature range of 35 to 45 degrees of centigrade. For smooth actuation of the piston, we must prevent the paraffin from sticking on to the inside surface of the cylinder. Thus the paraffin is enclosed in a silastic tube. The cavity between the cylinder and the tube is filled with silicone oil for lubrication and prevention of expansion loss. The outer diameter of the actuator is 2.5mm and its length is 130mm. The actuator can generate a stroke of 8mm against a load of 1kg.