著者

福田 敏男 下中 賢

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.53, no.487, pp.731-738, 1987-03-25

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The flexible functions of a human five finger hand with a palm are first studied from the viewpoint of force sensory manipulation, unlike the conventional viewpoint of position based manipulation. Then it is cleared that more than half of human hand work is related to force sensory information. Based on this examination, the degree of freedom of an articulated finger hand is determined to realize such a flexible manipulation as a human hand, so that twenty five degrees of freedom are necessary for a hand with consideration of joints inside the palm which have not been taken into acount so far. An Artificial finger hand with twenty five degrees of freedom is built for experiments by employing the wire and spring mechanism. Finally, an evaluation concept of three dimensional grasping is presented as a cross-section method by calculating applied forces and moments in a plane virtually cut arbitrary inclined angles around the center of a grasped object.

著者

尾崎 弘明 丘 華

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.58, no.556, pp.3675-3680, 1992-12-25

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In this paper, a solution for the two-point boundary value variational problem, whose basic algorithm was published earlier by us, is formalized completely and universally. The optimum solution of the variational problem is obtained as a uniform B-spline curve by parallel and iterative computation. The degree of the B-spline used can be selected to correspond to the specified problem, and the solution is derived as a set of the control points of the B-spline. The algorithm is very simple and easily applicable to various engineering problems. As an application, trajectory planning of a manipulator with redundant degrees of freedom and a specified end effector path is selected, and the objective function which takes account of both the smoothness of the trajectories and the accuracy of the end effector path is constructed using the relative weighting coefficients. The effectiveness of the algorithm is well confirmed by the numerical examples.

著者

小林 宏 鈴木 星子 高橋 久憲 丹下 明 菊池 耕生

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.648, pp.2778-2783, 2000-08-25

被引用文献数

4

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This paper deals with the method in order to realize automatic contour extraction of facial organs such as eyebrows, eyes and a mouth for the time-wise deformed frontal face. Because Snakes which is one of the most famous method to extract contour, has several issues, we propose a new method to overcome these issues. We define the elastic contour model in order to hold the contour shape and then determine the elastic energy acquired by the amount of modification of the elastic contour model. Also we utilize the image energy obtained by brightness differences of the control points on the elastic contour model. Applying the dynamic programming method, we determine the contour position where the total value of the elastic energy and the image energy becomes minimum. By using 1/30s time-wise frontal face image, we renew the elastic contour model and then realized automatic contour extraction for the time-wise deformed face. Employing facial images in terms of 6 typical facial expressions obtained from 20 subjects, we have estimate our method and find the high accuracy automatic contour extraction in terms of eyes, eyebrows and a mouth.

著者

岩倉 大輔 王 偉 野波 健蔵 HALEY Mark

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.761, pp.61-68, 2010-01-25

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The accuracy of small and low cost GPS is insufficient for precise landing of MAV. This study aims to land on an MAV size landing target by using outer sensors. This paper describes about proposed movable outer sensor system for measuring outer environment and an algorithm of position measurement. A movable outer sensor system consists of four IR rangefinders, four servo motors and one ultrasonic rangefinder. In order to measure the MAV position, sensor system vertically swings each IR rangefinders using servo motors and detects edge of landing target. And this sensor system calculates the position from measured edge direction and ultrasonic altitude. Additionally, an experiment of autonomous hovering over the 52cm×52cm table and autonomous landing was carried out in indoor environment by using proposed sensor system. As a result of the experiment, it has been successful that our MAV could fly keeping horizontal position within 17.9cm radius circle, and landed on the table from 50cm height.

著者

塚本 尚久 丸山 広樹 三村 博

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.568, pp.3866-3873, 1993-12-25

被引用文献数

4

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Polycarbonate is a general-purpose engineering plastic which has been widely used, together with nylon and polyacetal. In this plastic, the rate of contraction in molding is small, and the water-absorbing property is low ; therefore, the accuracy of finishing products is high. However, there are defects such as low fatigue strength and brittle fracture, and it has not frequently been used for the gears for power transmission. In this research, for the purpose of extending the practical use of polycarbonate to gears, gears were manufactured of polycarbonate without filling (natural) and of polycarbonate in which the amount of carbon fiber filling was varied, and operation tests were carried out. In this way, such factors as the load-bearing capacity, the wear of teeth and the change of tooth. profile were investigated. These results were compared with those on polyacetal gears previously, reported. Thus the evaluation of polycarbonate as a gear material was carried out.

著者

芦高 直哉 原 正之 反保 紀昭 黄 健 藪田 哲郎

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.75, no.752, pp.1000-1008, 2009-04-25

被引用文献数

2

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Multimedia services such as an audio and visual media have been advanced rapidly. And now we can employ several multimedia services via the Internet in which audio and visual information is exchanged. In addition to them, physical force information is expected as the next multimedia service. However, there are several fundamental issues for interactive force telecommunication, which do not appear in the conventional teleportation. We study on basic issues of force telecommunication from human sensory aspect by using two haptic interfaces with 3' DOF that have an orthodox parallel linkage, and propose a hybrid control of Master/Slave system for force telecommunication between Human beings, which has position/force feedback loop directly. Results show that both hybrid and compliance control of Master/Slave System are suitable candidates for the force telecommunication system because both force and position serve functions are essential for the system. Moreover, recognition of an operator coordinate system is clarified to be important because of force communication strong interaction, which is discussed from human sensory aspect.

著者

久保 愛三 清野 慧

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.46, no.401, pp.86-98, 1980-01-25

被引用文献数

5

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はすば歯車の正面ならびに歯すじ方向歯形誤差が歯車振動をひきおこす程度の歯のこわさ変動をも考慮して評価する近似的方法を示し,中凸形正面歯形がはすば歯車においても平歯車の場合と同様に最も害の少ない,あるいはその大きさを適当に選ぶならば歯形修整の効果のある歯形形状であること,全かみあい率あるいはねじれ角が大きくなると正面歯形形状にかかわらず歯車振動の起振力が著しく小さくなることなどを明らかにした.

著者

平松 力 長谷川 健吾

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.46, no.404, pp.392-400, 1980-04-25

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大型扇風機において,羽根表面にごみなどが付着し,アンバランス力による過大振動や騒音を生じることがある.この系は,がたを含む非対称復原力の方程式となり,回転数の高調共振を起こすことがある.この問題について解析し,時系列言語を用いて数値解析し,ガード共振の計算結果と測定値とのよい一致を得た.それよりがたを含む非対称復原力の振動系では,回転の二次高調波に対し固有振動数を15%以上離すべきことを明らかにした.

著者

野島 武敏

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.667, pp.1015-1020, 2002-03-25

参考文献数

6

被引用文献数

3

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The purpose of this paper is to present foldable tubes or conical shells with such non-circular cross-sections as rectangular ones. The developments of these structures consist of the combinations of two or more kinds of differently shaped structual elements, which form spiral configurations. Several kinds of such foldable tubes as well as conical shells are newly developed. Origami samples of foldable tubes and conical shells have been manufactured and their foldabilities have been checked. It has been assured that all samples are perfectly folded in axial direction.

著者

藤井 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.62, no.600, 1996-08-25

著者

関山 浩介 福田 敏男 松村 司郎 山田 康二

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.63, no.605, pp.196-203, 1997-01-25

参考文献数

12

被引用文献数

2

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This paper deals with a modeling and controlling strategy for multirobot group behavior. While the distributed autonomous robot system has the advantage of flexibility, it also has difficulties in coordinating global system such that the designer expects. We present a methodology for the designing issue for group robotics. Self-organization is a natural principle in a dissipative system. Utilizing this principle, we present the top-down and bottom-up hybrid approach and a basic model for coordinating macro-scale group behavior as a framework for the self-organizing control of group behavior. Then we present the model of strategy formation in the system based on the opinion formation model. The analytical predicted group behavior is verified by simulation results. In particular, we realize self-organization of temporal behavior pattern in group-level cooperation.

著者

茨木 博 橋本 巨

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.75, no.757, pp.2596-2603, 2009-09-25

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This study is concerning the optimum design of a water nozzle for firefighting equipment used to protect large indoor spaces and high-rise buildings. Water nozzles for such use are required to have a long range of reach and/or a wide coverage. Such performance can be obtained by simply increasing the flow rate, but that is caused substantial pressure loss by the fluid friction within the nozzle and the pipe. The objective of this study is to obtain a water nozzle with minimum fluid friction by optimum design, as a result the size of piping, pump and water reservoir for firefighting equipment can be minimized. The conventional water nozzle used in firefighting is called the smooth bore nozzle, which have a wedge-shape profile whose diameter decreasing toward the exit. However, whether or not this shape is optimum have not been known. In this study, a method is presented to obtain a friction-minimum nozzle profile, while setting the inlet-and outlet-diameters and the length of the nozzle as fixed parameters. It was found that the half-spindle-type nozzle, whose diameter is almost constant along the length but quickly decreases at the exit, shows the smallest friction than the other profiles (i.e. smooth-bore, straight and concaved), therefore showing maximum arrival distance.

著者

南斉 亮佑 中村 憲正 藤江 裕道

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.769, pp.2340-2344, 2010-09-25

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We have been developing a new tissue engineering technique for cartilage repair using a scaffold-free tissue engineered construct (TEC) bio-synthesized from synovium-derived mesenchymal stem cells. A round-chondral defect of 8.5mm in diameter and 1.5mm in depth created on the medial condyle of 12 month-old mature porcine femur was filled with the TEC. Six months after surgery, a cylindrically shaped specimen of 4mm in diameter and 4-5mm in depth was extracted. Micro-indentation test was performed on the specimen using an AFM after the surface image of the specimen was obtained. Macro-scale compression test was, then, performed for the specimen using a custom made micro compression tester. As compared with many bump-like elevated portions of approximately 1-2μm in height observed in the surface of normal cartilage, rougher surface was observed in the TEC-treated and TEC-untreated tissues. The surface stiffness of the TEC-treated tissue was significantly lower than that of the normal cartilage, and slightly lower than that of the TEC-untreated tissue with no significant difference. In the quasi-static compression test, the tangent modulus of the TEC-treated tissue indicated no significant difference against the normal cartilage. In contrast, the tangent modulus of the TEC-untreated tissue was lower than those of the normal cartilage and the TEC-treated tissue, with a significant difference against the normal cartilage. It is suggested that the surface stiffness was independent of treatment of TEC, while the bulk modulus recovered well in the TEC-treated cartilage-like tissues as compared with the TEC-untreated cartilage-like tissues.

著者

堀 光平 林 巖

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.596, pp.1548-1555, 1996-04-25

被引用文献数

6

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To improve the efficiency of 3K-type mechanical paradox planetary gear drive, a new design method called the approach-and recess-contact ratio equalization method is proposed and described. The concept of this method is to satisfy the coaxial condition of the rotatory- and fixed-internal gear pairs, which have a large influence on the efficiency of the gear drive, and simultaneously to maximize their efficiency. For this purpose, first the contact ratios of the two internal gear pairs are given ; second, their profile-shift coefficients are determined so that the coaxial condition can be satisfied ; then, the diameters of their addendum circles are determined so that their approach- and recess-contact ratios can be equalized. The efficiency of the gear drive obtained by this design method is theoretically calculated under the assumption that the tooth surface frictional coefficients are all 0.1. Consequently, the maximum efficiency of 86.1% is obtained on a gear drive with a reduction ratio of 1/351 and a contact ratio of 1.2. This obtained efficiency is higher by 12% and 8% than the efficiencies of 74% and 78%, obtained by the conventional design method without and with profile-shift coefficient optimization, respectively.

著者

西村 秀和 加山 竜三

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.676, pp.3644-3651, 2002-12-25

被引用文献数

7

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In this paper we design a controller for a semi-active suspension using a magneto rheological (MR) damper. We formulate the linear-parameter-varying system taking account of the mechanism of a fictitious damper model includes valve stroke of the orifice and the damping coefficient restriction. The gain-scheduled controller is obtained with linear matrix inequalities and we confirm that the controller according to the varying parameters is superior to the semi-active damper utilizing the sky-hook damper theorem by simulation. Furthermore, we propose the control method using the relation between the input current and the damping coefficient of the MR damper that is experimentally obtained. By carrying out experiments it is verified that the designed controller for the semiactive suspension using the MR damper has the desired good performance.

著者

井上 義之 横山 豊和 山根 賢治 田中 敏嗣 辻 裕

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.63, no.606, pp.356-363, 1997-02-25

被引用文献数

2

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The motion of balls in a tumbling ball mill was simulated numerically using the discrete element method (DEM). Simulations are performed for the two-dimensional and three-dimensional cases. To study the difference between two-dimensional and three-dimensional powder milling analyses, the ball motion was analyzed. It was found that there is no significant difference between the flow patterns for the two-dimensional and three-dimensional cases, but some properties such as the trajectory of the center of the gravity of the balls, the profile of the average velocity vector, the average ball velocity and the fluctuation velocities of the balls show significant differences.

著者

熊谷 徹 秋田 敏 和田 充雄

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.58, no.550, pp.1781-1786, 1992-06-25

被引用文献数

1

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We present a new learning control method to control a multi-input-output system. In conventional learning controllers using a neural network, it is difficult to treat a multi-input-output system because of the difficulty in designing reference models. Hence, we propose to divide a complex plant into sub-plants and to use a learning controller for each one. We use our method to the regulation problem of the inverted pendulum that is a one-input, two-output system. In the simulation and the experimental system, we regulate the inverted pendulum and show the effectiveness of this method. We also show that our learning control system can regulate a system that has a time lag between the input and the output signals. Moreover, we show that a reference model of order lower than the plant order is available.

著者

小林 吉之 嶺 也守寛 藤本 浩志

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.73, no.725, pp.274-279, 2007-01-25

被引用文献数

1

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To determine the accuracy of foot position sense in the means of foot placement, young adults were asked to place either medial edge or lateral edge of their feet along the base line on the floor as close as possible, and the edge of placed feet were scanned by using laser displacement gauge. From the collected data, constant error, the distances between the edge of placed feet and the base line on the floor, and absolute error, the absolute distances between the edge of placed feet and the base line on the floor were denned and compared between the medial or lateral trials, and dominant leg or indominant leg. The statistical analysis showed significant differences of constant error between the trials only. The trials to place their medial edge tend to place their feet away from the base line, and the trials to place their lateral edge tend to place their feet in to the base line. These results indicate that we tend to expect the position of our feet more medially than actual, and these discrepancy may be one of a reasons of tripping or banging of our feet to the obstacles while walking.

著者

中田 毅 曹 東輝 謝 啓裕 山内 洋 山内 隆

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.57, no.542, pp.3228-3233, 1991-10-25

被引用文献数

4

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This paper deals with a new concept of an optical servo system and an experimental analysis on photostrictive ceramics for use as an optical actuator in the servo system. The optical servo system proposed here may be characterized by the introduction of an opto-hydraulic control valve into the system. The opto-hydraulic control valve can be operated by an optical actuator which is directly dirven by light irradiation. The photostrictive effect in PLZT ceramics, which is produced from the superposition of the photovoltaic effect due to light irradiation and the piezoelectric effect, is evaluated experimentally from the viewpoint of the applicability to a servo actuator. Experimental results show that the PLZT (3/52/48) ceramics produce a strain as large as conventional PZT ceramics, but that they have a very slow dynamic response of about 100 sec. The slow dynamic response is due to the time lag in the photovoltaic effect.

著者

城間 直司 石川 哲史 井上 康介 福岡 泰宏 森 善一

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.76, no.763, pp.619-626, 2010-03-25

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Autonomous control of an articulated steering type vehicle such as a wheel loader, which is usually used at surface mining fields to load mineral resources and rocks, is highly expected for operation cost reduction. A wheel loader is one of heavy machines which is also used for snow removing and/or loading operation at construction fields because of its high mobility. Its steering system is articulated steering and the rear wheels follow tracks where the front wheels have traveled. We have introduced a new virtual velocity constraint of the vehicle and formulated nonlinear state equations using two velocity constraints. A nonlinear state-feedback controller is designed using exact linearization. Simulation and experimental results show that an articulated steering type vehicle can follow a straight line with the proposed feedback control method.