著者

田中 興 藤川 正毅 真壁 朝敏 石川 清貴

出版者

一般社団法人 日本機械学会

雑誌

計算力学講演会講演論文集 2015.28 (ISSN:24242799)

巻号頁・発行日

pp._223-1_-_223-2_, 2015-10-10 (Released:2017-06-19)

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ゲル材料は高い衝撃吸収性能などの特異な性質をもつものが多く開発されている.そしてゲル材料の性能を評価するためのシミュレーション法の確立が望まれている.その中でも特に長期使用環境下におけるゲル材料の力学特性の研究は,重要性があるにも関わらず研究が進んでいないのが現状である.そこで本研究では商用ゲル材料を対象とし,大変形下におけるクリープ挙動を実験により明らかにする.そして,シミュレーションのための材料モデルとその材料定数値について検討し,その有効性を確認する.

著者

千葉 正伸 市川 修 中村 瑞穂 杉本 旭 鞍田 崇

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.16-00548-16-00548, 2017 (Released:2017-05-25)

参考文献数

14

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Bolts are loosened by various external forces applied to them and due to their aging degradation. Bolt looseness has caused an unending stream of serious accidents and disasters. In order to prevent accidents due to bolt looseness, visual inspection is still important and indispensable at present. On the other hand, though periodic inspection of some mechanical equipment has been obligated by law, most daily inspection before starting operation and the like are reliant on visual inspection. Inspection in this mode can detect bolt omission and other major changes, but cannot detect minor bolt looseness. Suitably, the visual inspection cannot grasp as far as progress in bolt looseness, either. In view of this, as time advances, bolt looseness develops, which often leads to serious accidents. In this research, a mechanism for the precisely visualization of an imperceptible bolt looseness and the grasp of the degree of bolt looseness was developed. Apart from the requisite inspection of bolts, this mechanism can confirm the progress in bolt looseness, and detect the bolt looseness over the preset amount of the minimum permissible bolt looseness through the behavior of the axial force detecting pin. The visualization mechanism is composed of positive components, and is formed to be safety confirmation type, so that it can precisely transmit and alert bolt looseness. Featured by the preciseness and efficiency in bolt looseness checking, the visualization mechanism is intended to prevent accidents.

著者

佐藤 智明

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 B編 (ISSN:03875016)

巻号頁・発行日

vol.76, no.762, pp.359-361, 2010-02-25 (Released:2017-06-09)

参考文献数

1

被引用文献数

1

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In this paper, as a new application of Stirling cycle, it is proposed to apply the Stirling cycle to heat speaker which amplifies sound vibration by means of the thermal energy. The heat speaker is composed of a pressure vessel whose capacity is variable, a displacer to which a voice coil is attached, a vibration board attached to the pressure vessel and a permanent magnet placed around the vessel. The displacer with voice coil is vibrated by the magnetic force which is generated by electric current of sound signal flowing in the voice coil. The vibrating displacer makes the air come and go between the hot side and the cold side in the pressure vessel. The air temperature goes up and down, and then the pressure follows it. The capacity of the vessel repeats expansion and shrinkage by the pressure change of the air. The moving vessel vibrates the vibration board and it yields the sound.

著者

小松 綜太 小松 瞭 巖見 武裕 加賀 望 山田 晋 斉藤 公男 島田 洋一

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.83, no.849, pp.16-00559-16-00559, 2017 (Released:2017-05-25)

参考文献数

19

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Acetabular dysplasia describes an underdeveloped or shallow, upwardly sloping acetabulum, which may occur with varying degrees of deformity of the proximal femur such as excessive femoral neck anteversion, coxa valga or femoral neck cam deformity. Numerous stabilising procedures have been described, one of the first being the shelf acetabuloplasty. Shelf procedure improves coverage of the femoral head, without changing orientation of the acetabulum.This will improve the range of movement in the hip and protect the femoral head. In this study, we investigated the effect of shelf acetabuloplasty for load distribution of acetabular roof and femoral head using the finite element method (FEM). A three-dimensional (3D) generic musculoskeletal model was developed based on computed tomographic (CT) to estimate joint reaction force. As a result, we funded load distribution decreased on the top of the ace tabular rim and femoral head. Shelf acetabuloplasty may effective procedure for acetabular dysplasia because of improvement for load distribution.

著者

Nobuyuki IWATSUKI Koichi MORIKAWA

出版者

一般社団法人 日本機械学会

雑誌

Journal of System Design and Dynamics (ISSN:18813046)

巻号頁・発行日

vol.2, no.2, pp.596-609, 2008 (Released:2008-05-30)

参考文献数

8

被引用文献数

1 1

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A frog shaped guiro is a wooden percussion instrument with an open-ended cave. By rubbing dorsal fins like saw blades on a back of the guiro with a wooden stick, the guiro generates the sound like a frog's voice. The exciting force, response acceleration and radiating sound pressure were measured with accelerometers on the stick and guiro and a condenser microphone and then the relation between the impulsively exciting force and sound pressure was revealed. A three-dimensional solid model of the guiro was built by use of an X-ray CT scanner device and a finite element model composed of tetrahedral elements was then obtained. The FEM modal analysis revealed that the frog shaped guiro had four dominant modes of vibration which was characterized by motion of mouth of the guiro such as the yawn mode and grinding teeth mode. The frequency spectrum of the sound pressure radiating from the frog shaped guiro excited by sequential impulsive forces moving along the dorsal fins was theoretically estimated. Since the estimated sound pressure agreed well with the measured one, the sound radiating from the guiro like a frog's voice could be reproduced. It was also revealed that the variation of driving point mobility of the dorsal fins and amplitude of the exciting force affected to generate the sound like a frog's voice.

著者

郭 鐘声 小竹 元基 鎌田 実

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.16-00516-16-00516, 2017 (Released:2017-05-25)

参考文献数

21

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Control of thermal factors is needed to improve the conditions of occupants, because the thermal factors affect the conditions of occupants such as the comfort sensation, arousal level which is related to task performance. To determine the control method of thermal factors for improving the comfort sensation and the arousal level, indices which can evaluate the comfort sensation and the arousal level quantitatively and continuously are necessary. In this study, we focused on the physiological indices such as EEG (Electroencephalogram) which reflects the activity of central nervous system and ECG (Electrocardiogram) which reflects the activity of autonomic nervous system, and aimed to clarify the relations among the arousal level, thermal comfort and the parameters of EEG and ECG. We recorded the EEG, the ECG, the subjective feelings of thermal comfort and facial expression for evaluating arousal level of 14 healthy young males while they performed arithmetic tasks in environmental conditions that room temperature changed. From the results, among the parameters of EEG, there are indices that reflect the changes in arousal level only and other indices that reflect the changes in both arousal level and thermal comfort. On the other hand, among the parameters of ECG, there are indices that reflect the changes in both arousal level and thermal comfort.

著者

上原 賢祐 森 浩二 齊藤 俊

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.16-00473-16-00473, 2017 (Released:2017-05-25)

参考文献数

19

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A Peltier element is considered as a way to enable local temperature control and also has several advantages including rapid thermal response, no vibration and compactness. Therefore, a focal cooling device using a Peltier element for treatment is expected to apply to various parts of a living body. In the design of the device ensuring both the energy efficiency and therapeutic effect, it is necessary to understand the thermoelectric conversion characteristics of the Peltier element and the thermal conductivity of the attachment in the device, which should be designed in accordance with the cooling performance and size. Therefore, the investigation using a mathematical model is believed to play an important role in such case. The purposes of this study are to clarify the characteristics of the model parameters and to investigate whether performance evaluation of the device from its characteristics is possible. Model parameters were identified experimentally using three prototypes of different sizes and cooling abilities. From the result of the parameter identification, internal resistance and thermal conductance of the Peltier device are dependent on the cooling performance. The parameters representing the thermal conductance between each attachment in the device are strongly depend on the size. However, changes of these parameters were smaller than the size ratio of the device. Our results suggest that it can provide useful information to the designer.

著者

巖見 武裕 小松 瞭 大高 稿兵 三浦 弘樹 畠山 和利 島田 洋一 小林 義和

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.16-00318-16-00318, 2017 (Released:2017-05-25)

参考文献数

42

被引用文献数

3

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In this study, we constructed a novel three-dimensional trunk musculoskeletal model that included thoracolumbar intervertebral using data from computed tomography (CT) and magnetic resonance imaging (MRI). Characteristics of the model are as follows. Firstly, the thoracolumbar structure was modeled in detail (i.e., skeleton, muscle paths and muscle cross-section areas) from CT and MRI data. Secondly, new factors were included in this model such as intra-abdominal pressure and physiological trunk range of motion to calculate internal biological forces more accurately than in previous models. Thirdly, this musculoskeletal trunk model is an aid to analyzing dynamic motion. The aims of this study was to analyze detailed three-dimensional motion in healthy adults using this model, and to estimate internal biological forces, including spinal moment and muscle force in a standing position. The validation of this model used the calculated intradiscal pressure for the L4/L5 disc according to previous reports. This model is able to analyze spinal moments and trunk muscle force during static motions. The present study confirms that the moment curve of spinal can be generalized in the various postures. The model has been validated, and was able to analyze three-dimensional motion (i.e., combinational factors of rotation and flexion). As a result, this model is expected to have clinical applications.

著者

堀江 陽介 森 高通

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.16-00579-16-00579, 2017 (Released:2017-05-25)

参考文献数

15

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In a biochemical automatic analyzer, generally it is necessary to open the cap of the sample tube before the analysis. Users of the analyzer demand a closed tube sampling (CTS) function to reduce the workload and the infection risk. CTS is a sampling method in which the sharp tip of a nozzle goes through the rubber cap of a sample tube and aspirates a part of the liquid in the tube. One of the main challenges of this method is the development of a nozzle that has high durability (requires low insertion load) and produces few rubber chips when inserted through the rubber cap. This paper describes the study of the shape of the nozzle in order to reduce the insertion load and the production of rubber chips. It was found that the parameter that influences the insertion load most is the angle of the taper. Therefore, to reduce the load, it is necessary to reduce the taper angle. By using a nozzle with a tip diameter of 0.8 mm, base diameter of 1.6 mm, and taper length of 20 mm, it was possible to reduce the load required to insert the nozzle through a rubber cap to 34 N. It was also found that the parameter that most influences the production of chips is the cut angle of the nozzle. Rubber chip production could be avoided with the combination of an angle smaller than 28.5° at the nozzle chip for smooth insertion and an angle larger than 15.0° at the inside edge for preventing cutting rubber off. Finally, to validate the durability and effectiveness of this shape, the nozzle was subjected to a test in which it was inserted through a rubber plate 50,000 times. Results showed that there was almost no nozzle abrasion nor increase of insertion load, which demonstrates the durability and effectiveness of this new shape.

著者

岸本 直樹 野口 悠暉 佐藤 勇気 泉井 一浩 山田 崇恭 西脇 眞二

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.849, pp.17-00069-17-00069, 2017 (Released:2017-05-25)

参考文献数

24

被引用文献数

8

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Topology optimization is the most flexible type of structural optimization method. This method has been applied in a variety of physics problems dealing with a multitude of design problems. In a given design problem, however, the optimization problem often has conflicting evaluative functions, such as the need for high rigidity in combination with minimal weight. The difficulty of simultaneously achieving high performance for two or more functions may be further compounded because current topology optimization methods typically only deal with a single material. On the other hand, when multiple kinds of materials having various properties can be selected for use, the range of a designer's choices is increased and an appropriate solution that greatly improves product functions may be achieved. Thus, this paper presents a new topology optimization method for multi-materials that obtains high-performance configurations. We apply the Multi-Material Level Set (MM-LS) topology description model in the topology optimization method, which uses a total of n level set functions to represent n materials, plus the void phase. The advantage of the MM-LS model is that clear optimal configurations are obtained and the design sensitivity for multi-material structures can be easily calculated. The level set functions that are design variables are updated using the topological derivatives, which also function as design sensitivities, and we derive the topological derivatives for multiple materials. Through several numerical examples, we demonstrate the validity of the proposed method.

著者

水野 毅 石野 裕二 髙﨑 正也

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.16-00558-16-00558, 2017 (Released:2017-05-25)

参考文献数

6

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A new over-flow prevention valve with a trigger mechanism is designed, fabricated and studied experimentally to evaluate its performances. Loading arms are used to transfer combustible fluid such as oil between tankers and tanks. A loading arm is equipped with an over-flow prevention valve for safety. This valve stops the fluid flow when the fluid exceeds a threshold level in a tank. It must be composed of mechanical elements solely because electric components may induce combustion. Therefore, it uses a pneumatic circuit to detect the fluid level and close the valve. The fabricated valve utilizes positive pressure caused by the height difference of fluid level between the tank and the sensor probe instead of negative pressure that was used in a conventional valve. However, the positive pressure is insufficient to close the valve directly. Therefore, a trigger mechanism is introduced between a piston pushed by the positive pressure and a locking mechanism keeping the valve open. This mechanism generates sufficient force to release the lock and close the main valve from the force pushing the piston. The concept, operation principles and the pneumatic circuit design are presented. Experiments simulating actual operation are carried out with the fabricated valve. The sensor probe is inserted into the water with a constant speed by a single-axis robot instead of flowing oil into the tank. The relation between the velocity and the depth when the valve closes are studied experimentally.

著者

西原 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.83, no.849, pp.16-00549-16-00549, 2017 (Released:2017-05-25)

参考文献数

15

被引用文献数

9

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The optimal design method of double-mass dynamic vibration absorbers (DVAs) is discussed with respect to the minimization of the maximum amplitude magnification factor. The performance of a double-mass DVA is superior to a single-mass DVA with the same mass ratio, although the design methods are still the subject of studies. The design optimizations of double-mass DVAs that are arranged in parallel or series are formulated precisely using an optimality criteria approach in which the optimal parameters are obtained as the numerical solutions of simultaneous algebraic equations. The primal equations are derived using Vieta’s formula with the assumption that the optimal design is realized with three resonant points of equal height. The additional equations are derived as the determinants of Jacobian matrices that are defined using the primal equations. After rearrangement, these formulations realize the direct numerical solution of the design optimization via the solution of simultaneous algebraic equations. Examples are provided that prove the effects of double-mass DVAs. The formulations used in this study are variants of the algebraic approach developed by the author that realized the closed-form algebraic exact solutions to a popular design optimization of a single-mass DVA. The well-known design formulae that use the fixed points by J. P. Den Hartog and J. E. Brock correspond to an approximate solution to this problem.

著者

宮嵜 哲郎 飯島 拓也 平原 雄一 眞田 一志

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.16-00544-16-00544, 2017 (Released:2017-05-25)

参考文献数

28

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This paper proposes a whole mechanism of a supporting arm which is worn by a factory worker for reducing the worker's body load, and performance of the supporting arm was evaluated. The whole mechanism of the supporting arm contains two leg mechanisms for supporting the load and one external frame backpack for connecting the worker's body and the supporting arm. The experimental system of the supporting arm was developed, and its performance was evaluated by several experiments. Firstly, the experimental system was evaluated its capability of supporting a target weight and its controllability of a stiffness characteristic by weightlifting experiments. After that, the supporting arm was worn by two subjects, and its supporting effect was evaluated by measuring electromyogram (EMG) waveforms of leg muscles. When a muscle generates large force, the EMG waveform will also become large. The EMG waveforms are measured by using a four channel surface electromyography, and the worker's leg load will be measured quantitatively. When the worker takes half-sitting posture, its leg load was measured in two cases: (i) a part of the worker's body load is supported by the supporting arm, and (ii) the whole worker's body load is supported only by the worker's legs. The EMG waveforms of these cases were compared, and the supporting effect of the experimental system was validated by t-test. As a result, there is a significant difference between these cases, and EMG waveforms of the case (i) were smaller than that of the case (ii). Therefore, the supporting effect of the supporting arm was demonstrated.

著者

鈴木 尊丸 丸山 優馬 廣垣 俊樹 青山 栄一

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.83, no.849, pp.16-00518-16-00518, 2017 (Released:2017-05-25)

参考文献数

7

被引用文献数

5

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Recently, a novel manufacturing technology has spread out with a five-axis machining center, which is controlled by three linear axes and two rotary axes, because the synchronous control technologies make it feasible agilely to create a three-dimensional and complicated surface such as propellers and hypoid gears using it. By making use of the characteristics, a method to maintain a machined surface quality of a curved surface shape by synchronous motion between two linear axes and a rotary axis with the five-axis machining center was suggested because it is difficult for a three-axis machining center to accomplish that. Moreover, it was demonstrated that a proposed method made it feasible to prevent a machined error due to the quadrant glitch caused by friction of the ball screw and linear guide of feed drive system. However, we have not discussed the influence of servo characteristic difference between linear axis and rotary axis on the machined shape error by this method. In the present report, we aimed at maintaining feed speed vector at milling point by controlling two linear axes and a rotary axis with a five-axis machining center, to improve machined surface quality and suggested a method to reduce shape error of machined workpiece considering differences of three axes's servo characteristics with an advanced control. As the results, it could be seen that shape error greatly decreased based on the proposed method.

著者

水野 毅 酒井 康博 髙﨑 正也 石野 裕二

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.849, pp.16-00482-16-00482, 2017 (Released:2017-05-25)

参考文献数

23

被引用文献数

2

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A wind-tunnel system for spinning body has been proposed to measure hydrodynamic forces acting on the body. In the proposed system, the body is suspended and rotated by electromagnets. The forces are measured from the control signal for suspension. In the previously fabricated apparatus, eight electromagnets were placed around a wind-tunnel. An optical displacement sensor was used to detect the three-dimensional positions of the body. Stable suspension and three-dimensional positioning of the body were achieved. However, it had several problems; the test section area was rather small and vibration was induced by flowing wind to the floator. To solve such problems, a new wind-tunnel using magnetic suspension is developed. It has two and a quarter times test section area. The position sensor is improved to operate in a differential mode in all the directions. Stable suspension and rotation of the floator are achieved. The floator is kept stably without vibration even in the face of wind. The hydrodynamic forces acting on the spinning floator are measured.

著者

石橋 尚宜 水野 毅 石野 裕二 髙﨑 正也 山口 大介 原 正之 渡邊 怜

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.16-00404-16-00404, 2017 (Released:2017-05-25)

参考文献数

11

被引用文献数

2

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This paper treats a relay-feedback mass measurement system that uses a relay with hysteresis and feeds back the velocity of the object. The measurement system has an on-off relay with hysteresis and switches force acting on the object in relation to its velocity. Such nonlinear control induces a limit cycle. The mass of the object is determined from the period of this cycle. In previous study, the actual trajectory of the limit cycle was different in shape from the theoretical one so that the prerequisites of the estimation formula were not satisfied. The delay of the velocity sensor is a main factor of such degradation. In this paper, the effect of the delay on mass estimation is investigated experimentally and analytically. In addition, an estimating equation including this effect is derived. Experimental result supports the validity of the derived estimating equation.

著者

中川 正夫 西田 大 廣垣 俊樹 青山 栄一

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.83, no.849, pp.16-00360-16-00360, 2017 (Released:2017-05-25)

参考文献数

19

被引用文献数

2

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The planetary gear train (PGT) is one of the most important components of the new hybrid and electric vehicles due to its high torque-to-weight ratio and to its compact geometry. However, this system generates a lot of vibrations which increase the noise into the vehicles due to its complex geometry and to its various mesh coupled motion. The aim of this study is to construct a novel torsional coupled vibration model based on bond graph method and to understand the planetary gear train motional and modal behavior with a focus on the damping effect of the meshing while taking into account the damping effect of the bearings that connects the system to the shaft. The result from bond graph is in good agreement with observed result, and it can be seen that bond graph is proper enough to simulate dynamic behavior of PGT compared with the results by a traditional equation of motion.

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.849, pp.16-00353-16-00353, 2017 (Released:2017-05-25)

参考文献数

13

被引用文献数

1

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This paper descries the experimental research about the rolling resistance performance of a cylindrical container which is divided into multiple space of equal size into which numerous cylindrical rods of the same diameter and material are enclosed. We have investigated the effect of a diameter of the cylindrical container, a number of wall surface division of inside of the cylindrical container, a diameter of a cylindrical rod and a filling rate on the rolling resistance performance. The three cylindrical containers have a diameter of 48, 60 and 76 millimeters and a length of all 100 millimeters. Each of the cylindrical containers is divided into zero, two, four and six space. The three cylindrical rods are 3, 4 and 5 millimeters in diameter. Three kinds of the filling rate which is the ratio between inside cross sectional area of the cylindrical container and total cross sectional area of the cylindrical rods enclosed in the cylindrical container are investigated. And in the experiment, both initial velocity and a rolling distance of the cylindrical container are measured. As the results of investigation, we have defined new dimensionless parameter, that is a roller dumping number which is the ratio between deceleration of the cylindrical container and the gravity acceleration, and it is shown that the kinematical and dynamical performance of the cylindrical container with the cylindrical rods is largely depend on this parameter. According to the research results, it is found that the diameter of the cylindrical container, the filling rate and the number of wall surface divisions have a substantial influence on the roller dumping number. Some results are presented in the form of parametric tables and graphs.

著者

田部 豊 内山 真理 嶋田 遼 鈴木 研悟 近久 武美

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 (ISSN:21879761)

巻号頁・発行日

vol.83, no.849, pp.16-00458-16-00458, 2017 (Released:2017-05-25)

参考文献数

10

被引用文献数

1

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The vanadium redox flow battery (VRFB) is expected as a potential candidate for the next generation secondary batteries with large capacity because of its characteristics: flexible design of charging and discharging capacities, superior responsiveness and safety, and other advantageous characteristics. This study investigated the effects of active species transport in the electrolyte on the current density distribution and the cell performance of a VRFB experimentally and analytically. A method for measurements of the current density distributions along the electrolyte flow direction was developed using five segmented current collectors in flow through type electrodes. In this method, the segmented current collectors were kept equipotential by adjustable resistances. The experimental results showed that the current density during discharging decreases along the flow, and the difference between at the up and down streams becomes larger with higher current density, lower flow rate, and lower state of charge. The effects of electrolyte flow conditions at the negative electrode are larger than those at the positive electrode. An analytical model for evaluations of the active species transport and its contribution to the various types of overpotentials was also developed based on the experimental results. It was shown that the model can simulate the measured cell overpotentials and current density distributions quantitatively. In the model results, under the low current density conditions in this study, the current density distribution is caused mainly by the concentration overpotential due to decrease in active species concentration in the electrolyte flow, while the concentration overpotential at the electrode surface is kept relatively uniform and has a larger effect on an increase in total cell overpotential. As the current density increases, the distribution of the concentration overpotential at the electrode surface also becomes more uneven, and the largest overpotential at the downstream induces further deterioration of the cell performance.

著者

田窪 朋仁 上撫 琢也 前 泰志 新井 健生 大原 賢一

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.793, pp.3186-3201, 2012 (Released:2012-09-25)

参考文献数

12

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A new convergence calculation method of the Normal Distributions Transform (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the detailed map with small grids. The proposed method employs Interactive Closest Point(ICP) algorithm to find corresponding point, and it also enlarges the convergence area by modifying the eigenvalue of normal distribution so that the evaluation value is driven effectively for the pairing data. In addition, outlier elimination process is implemented to the scanning for sub-grid scale objects. The scanning data from Laser Range Finder(LRF) have error but its set of detected small objects can be clustered to determine the Center of Mass(CoM) and the outlier data. The outlier commonly locates behind true points and it can be eliminated when the robot observes from other points. Experimental result shows the effectiveness of the proposed convergence algorithm and the outlier elimination method.