著者

佐藤 帆紡 川畑 共良 田中 文英 山海 嘉之

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:03875024)

巻号頁・発行日

vol.76, no.762, pp.227-235, 2010

参考文献数

23

被引用文献数

7 22

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In the super aged society, it is expected that from now on the physical burden to caregivers will certainly increase. Transferring care-receivers between wheelchairs and beds is one of the heaviest physical labor to caregivers. To reduce the burden of the caregivers, we introduce Robot Suit HAL, which supports and expands the physical capability of humans during the daily activities. Particularly, in this paper we develop the upper half body of the HAL to support the wearer's force at upper limbs. We built a mechanism which locks the backdrivability of the power units of the HAL to assist the movement of the wearer's upper limbs. Through the demonstration of a transferring-care task with the HAL, we confirmed that the physical load on the upper limbs of the wearer was decreased and thus the wearer's trunk inclination angle was reduced, which contributes alleviating the physical load on around the lumber spine of the caregivers as well.

著者

近藤 義広 越田 博之

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.844, pp.16-00173-16-00173, 2016 (Released:2016-12-25)

参考文献数

10

被引用文献数

1

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In order to evaluate the cooling performance of the porous metal fins, both the friction factor and heat transfer coefficient were taken into account. In this study, we compared six porous metal fins and four kinds of heat exchangers made of porous material. Moreover, we proposed a new model which predicts the cooling performance of the porous metal fins. Friction loss factor of porous metal fins became predictable in less than ±10% error by using effective cross-sectional flow area and Ergun coefficient in Forchheimer-extended Darcy model. Heat transfer coefficient of porous metal fins can be predicted within an error of 10% by our model. The predictive model has two assumptions. One is that the perimeter in the porous metal fin per cross-sectional area of porous metal fin is independent of the heights of fins and number of porous cells. Another assumption is that heat transfer coefficient of porous metal fin is also independent of the heights of fins and number of porous cells as long as the velocity is same.

著者

野原 正寛 金子 雄大 萩原 俊輔 永田 晴紀

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集B編 (ISSN:18848346)

巻号頁・発行日

vol.77, no.777, pp.1249-1258, 2011 (Released:2011-05-25)

参考文献数

6

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The authors have been developing Cascaded Multistage Impinging-jet (CAMUI) type hybrid rockets. A CAMUI type hybrid rocket uses a fuel grain consisting of several cylindrical fuel blocks with two ports. To minimize both of c* loss due to O/F shifting and residual fuel weight after burning, an appropriate design of initial fuel grain shape is necessary. However, obtaining an optimum design of initial grain shape is not easy because there are many design variables influencing one another. To solve this problem, the authors employed Genetic Algorithm (GA) combined with a numerical model forecasting performance history of a CAMUI type motor. GA can acquire an approximate optimum solution for problems with a vast search space in practical time. The numerical model gives c* loss and residual fuel weight to evaluate the degree of performance of each initial fuel grain shape. A fuel grain design proposed by this method showed residual fuel weight as small as 6.36% of the initial weight and c* loss less than 1%.

著者

中野 史郎 吉元 浩司 木村 秀司 葉山 良平

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集C編 (ISSN:18848354)

巻号頁・発行日

vol.78, no.785, pp.176-186, 2012 (Released:2012-01-25)

参考文献数

13

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Improvement of value-added steering maneuvering is required more than ever, for wider range of passenger vehicles. Steering is one of the key systems to achieve better vehicle maneuvering. Sensory evaluation of “steering feeling” can hold contingency designing strategy. But, uncertainty of human factors should be taken into account for estimation of physical quantities. Some methods that specify relation between “steering feelings” and performances of vehicle dynamics have been proposed but not practical for actual design of steering components. In this paper, the theoretical method with detailed steering model that specifies quantitative performances and physical quantities for steering components is proposed.

著者

関口 久美 菅原 一夫

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 (ISSN:00290270)

巻号頁・発行日

vol.28, no.194, pp.1240-1244, 1962-10-25 (Released:2008-03-28)

参考文献数

2

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Experimentally, a rubber cord seems to have characteristics of a string on one hand, and of a beam on the other. Equation of motion with a term of damping was introduced as for a rubber cord. Then the solution was compared with the results of experiments, and the dynamical characteristics of rubber obtained as rubber vibration isolators were taken into account. 1) Vibration of rubber cord with a concentrated mass. Linear vibration with one degree of freedom was assumed. Elastic modulus E calculated from this experiment was compared with static modulus. Values of E are thought to be adequate when the ratio between dynamic and static moduli is taken into consideration. 2) Torsional vibration of rubber cord. Shear modulus G^- calculated in the same way was compared with the static shear modulus. 3) Free damped vibration of rubber cord. A term of damping was added to an ordinary equation of string. Results of experiments could be explained by an equation ∂2y/∂t2=a2(∂2y/∂x2)-2c(∂/∂t)(∂2y/∂x2), when an effective value of tension was taken into account.

著者

千田 二郎 錦織 環 北條 義之 塚本 時弘 藤本 元

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.60, no.578, pp.3551-3555, 1994-10-25 (Released:2008-03-28)

参考文献数

13

被引用文献数

3

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In this study, the influence of the flash boiling phenomenon on the fuel spray characteristics was in vestigated using both experiments and model analysis. Pure liquid fuel of n-Pentane or n-Hexane is injected into a vessel under quiescent gaseous atmosphere at room temperature through a pintle-type injector. Fuel sprays are observed by taking photographs for variation of ambient back pressure. In particular, changes in spray characteristics with back pressure are examined in detail. The results show that the saturated vapor pressure of fuel is the most significant factor and the spray characteristics can be varied with the pressure difference between the back pressure and saturated vapor pressure. Furthermore, flow field of the fuel inside the nozzle is estimated with regard to bubble initiation inside the film flow.

著者

本仲 君子 渡辺 桂吾 前山 祥一

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.825, pp.14-00631-14-00631, 2015 (Released:2015-05-25)

参考文献数

11

被引用文献数

1 2

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Recently, it is expected to develop an autonomous robot working in a living environment. Motion planning is very important for an autonomous mobile robot, but kinematic constraints and dynamic constraints are generally solved separately in conventional motion planning. In this research, a simpler way of deciding the control input for an autonomous mobile robot, which is described by a highly nonlinear model in a multi-dimensional space, is proposed by solving kinematic constraints and dynamic constraints simultaneously, under the kinodynamic motion planning based on a harmonic potential field (HPF). In this paper, a quadrotor that is very attractive as an aerial robot due to its high maneuverability, is assumed to be a controlled object, and it is aimed at guiding the quadrotor to an arbitrary target point while avoiding obstacles. Then, three types of controllers for kinodynamic motion planning based on an HPF, which were developed for point mass control, are extended to be applied to the quadrotor. The extended controllers are compared each other in trajectory, amplitude of attitude, and arrival time through some flight simulations. Moreover, multiple gains included in the proposed controllers are optimized automatically by using genetic algorithm (GA), in order to realize highly accurate control. Flight simulation in an untrained environment, which is different from the environment that the gains were selected by GA, is also conducted, and it is confirmed that the quadrotor can move onto the target point with the same gains while avoiding obstacles.

著者

衛 飛 廣瀬 宏一 藤田 尚毅 福江 高志

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会東北支部秋季講演会講演論文集

巻号頁・発行日

vol.2013, pp.79-80, 2013

著者

村田 昌弥

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:03875024)

巻号頁・発行日

vol.52, no.476, pp.1351-1354, 1986-04-25 (Released:2008-02-21)

参考文献数

6

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The Ladder Chart have been used to the presentation of programs on the Programable Sequence Controller (P.C.) as same as on the electric sequence circuits consisted of relaies. But, it is unsuitable method for the presentation of programs on P.C. because which involves new codes of micro computor never seen in sequnce circuits of relaies. The new description method using Boolean Algebra and the new symbols for new codes is prefered. This method gives a logical presentation and the convenience of progam coding.

著者

山本 昌平 坂口 大作 植木 弘信 石田 正弘

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:18848346)

巻号頁・発行日

vol.79, no.799, pp.380-389, 2013 (Released:2013-03-25)

参考文献数

16

被引用文献数

5

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In order to realize a premixed compression ignition (PCI) engine by utilizing bio-alcohol, combustion characteristics of bio-alcohol blended with gas oil were compared between ethanol and n-butanol in a diesel engine. The effects of the ethanol blend ratio and the butanol blend ratio on ignition delay, premixed combustion, diffusion combustion, fuel consumption and exhaust emissions such as smoke density, nitrogen oxide (NOx) and so on were investigated experimentally. It is found that ethanol almost burns out together with low evaporation temperature composition of gas oil in the premixed combustion period and the heat release in the diffusion combustion is based on mainly high evaporation temperature composition of gas oil, then, soot is formed in the diffusion combustion of gas oil. On the other hand, a part of butanol burns in the diffusion combustion, and the combustion of butanol in the diffusion stage is not the cause of soot formation. Butanol is more useful in diesel engine compared with ethanol because butanol can be blended with gas oil without surface-active agent, and fuel consumption and smoke are almost equal in both blend fuels if the alcohol blend ratio is the same.

著者

上滝 具貞 早野 延男 山中 久人

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 (ISSN:00290270)

巻号頁・発行日

vol.43, no.366, pp.628-637, 1977-02-25 (Released:2008-03-28)

参考文献数

5

著者

酒井 寿之 飯尾 昭一郎

出版者

一般社団法人 日本機械学会

雑誌

北陸信越支部総会・講演会 講演論文集

巻号頁・発行日

vol.2016, pp._1405-1_-_1405-4_, 2016

著者

千田 二郎 山田 耕司 藤本 元 三木 英雄

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.53, no.485, pp.176-182, 1987-01-25 (Released:2008-03-28)

参考文献数

19

被引用文献数

1 2

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The purpose of this paper is to obtain fundamental information concerning the heat transfer process and breakup behavior characteristics of individual small droplets impinging upon a hot surface. A uniform sized water droplet array at room temperature under atmospheric pressure was produced by the vibratory method to impinge upon a heated flat copper surface. And then, heat transfer from a surface to the droplets is assessed by a transient technique. Further, the deformation and the breakup behavior owing to the impingement of the droplet is observed by means of a drum camera recording high-speed microscopic photographs. Heat transfer effectiveness in a low temperature range of less than 125°C decreases as droplet impingement frequency increases because of interference between the impinging droplet and the remaining liquid film on a surface. It is possible that heat transfer per droplet is transfermed into a heat transfer coefficient by use of droplet residence time and film contact area on a surface. And Variations in the heat transfor coefficient for a droplet array with surface temperature are measured by difference calculus of the one dimensional unsteady heat conduction equation.

著者

広安 博之 角田 敏一 千田 達郎 今本 敏彦

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 (ISSN:00290270)

巻号頁・発行日

vol.40, no.339, pp.3147-3154, 1974-11-25 (Released:2008-03-28)

参考文献数

8

被引用文献数

15 28

著者

廣安 博之 角田 敏一 千田 達郎

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 (ISSN:00290270)

巻号頁・発行日

vol.39, no.328, pp.3779-3787, 1973-12-25 (Released:2008-03-28)

参考文献数

8

被引用文献数

3 4

著者

佐藤 泰生 佐田富 道雄 堀田 圭之助 中里 見正夫 世古口 言彦

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.46, no.409, pp.1790-1796, 1980-09-25 (Released:2008-03-28)

参考文献数

8

被引用文献数

1 2

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第1報で提案した管内気ほう流の運動量と熱輸送の理論を実験値をもとに検討した.運動量輸送に関しては液相速度分布と摩擦圧力損失,熱輸送に関しては液相温度分布と熱伝達係数のそれぞれについて予測値と実験値を比較した結果,いずれもよい一致がみられ,理論の妥当性が確かめられた.本理論により摩擦圧力損失と熱伝達係数の断面ボイド率分布への依存性が定量的に明らかになった.

著者

佐藤 泰生 佐田富 道雄 川原 顕磨呂 朝倉 信次

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.57, no.538, pp.1979-1984, 1991-06-25 (Released:2008-03-28)

参考文献数

10

被引用文献数

2 2

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The purpose of this work is to propose an experimental method of a two-dimensional (2-D) two-phase gas-liquid flow. A test channel in which a nearly 2-D, uniform two-phase flow can occur was made. This channel was a vertical, narrow gap space made up of two large concentric pipes. A two-phase air-water flow around a body mounted in the channel was recorded consecutively by a high-speed TV camera, and its void fraction distribution was determined using image processing. Several results for flows around a flat plate, and flows along a straight wall and flows between parallel walls were obtained.

著者

古川 徹 世古口 言彦

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.52, no.473, pp.199-207, 1986-01-25 (Released:2008-03-28)

参考文献数

13

被引用文献数

1

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環状流路内を垂直に上昇する空気-水系二相流の相分布に関する調査を行った。実験には半径比の異なる3種類の環状流路を用いた。まず,環状流路における流動様式について述べ,次いで,断面内ボイド率分布を提示し,流路幅が及ぼす影響について論ずる。調査の対象とした流動様式は気泡流,スラグ流,フロス流およびフロス流領域に近い環状流である。最後に断面平均ボイド率の整理式を導出した結果について報告する。

著者

白羽 陸宏 藤井 健一 原田 英一 野添 浚平 平尾 元亮

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 B編 (ISSN:03875016)

巻号頁・発行日

vol.57, no.542, pp.3513-3519, 1991-10-25 (Released:2008-03-28)

参考文献数

11

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The slag flow rate and heat flux through a combustor wall were measured in a 24 T/D pilot plant of a coal partial combustor, which is one kind of slagging cyclone combustor. Results of computer analysis on the slag behaviour and the heat transfer were compared with good agreement to the test results. The computer model predicted the following characteristics. (1) The slag flow rate showed rapid increase or sudden decrease when combustion conditions were changed. (2) The effects of various factors were evaluated, including the firing rate, combustor stoichiometry, ash content, flux additive, air preheat temperature, enriched oxygen concentration, refractory thickness, cooling-wall temperature and the reactivity of coals.

著者

戒田 拓洋 最上 雄一 泉 聡志 酒井 信介

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A編 (ISSN:18848338)

巻号頁・発行日

vol.77, no.777, pp.731-735, 2011 (Released:2011-05-25)

参考文献数

5

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In order to rationalize the safety margin of pressurized components subject to local metal loss, we applied a probabilistic reliability method. The modeling of the local metal loss is based on API 579-1/ASME FFS-1 and we investigated the safety margin for the pressure equipment subjected to local metal loss utilizing the actual corrosion rate data. Probabilities of failure of both shallow metal loss and deep metal loss were calculated. These results showed the relation between time until next inspection and probability of failure was cleared. We also analyzed the sensitivity of an assessment curve based on the reliability index for local metal loss. The reliability-based assessment curve was available regardless of COV of the shape of metal loss.