著者

伊藤 秀朗 室岡 雅樹 矢野倉 伊織 野沢 峻一 岡田 慧 稲葉 雅幸

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2018 (ISSN:24243124)

巻号頁・発行日

pp.2A2-G12, 2018 (Released:2018-12-25)

---

In daily lives, it is necessary for robots to execute cooperative tasks with humans. Unlike tasks in factories, household chores don't have regular orders between each chore. The difficulty in such works is that the robot is expected to take adequate actions according to the human needs. In this paper, we proposed a system for executing cooperative tasks where robot motions are decided by imitating human motions, and the robot activates those motions according to the human aural instructions.

著者

西脇 仁一

出版者

一般社団法人 日本機械学会

雑誌

機械學會誌 (ISSN:24331546)

巻号頁・発行日

vol.37, no.208, pp.555, 1934-08-01 (Released:2017-08-01)

著者

藤野 道格

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:00214728)

巻号頁・発行日

vol.108, no.1039, pp.458-460, 2005

参考文献数

6

著者

藤田 晃一 山崎 利崇 出村 公成

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2002, 2002

被引用文献数

1

---

我々は, 走運動可能なヒューマノイド賢聖ちやん2号機を開発している。全長は約120cm, 重量は約30kgであり, 片腕2自由度, 片脚5自由度, 全身で合計14自由度を持った構成になっている。上半身に工業用コンピュータ, バッテリ, モータドライバを搭載する自立ロボットである。センサにはCCDカメラ, レーザジャイロ, FSR, トルクセンサ等を搭載する予定である。また, 機構的な特徴としては, 走運動を実現させるためにエネルギー蓄積機構を膝と足首に採用している。

著者

杉江 亮祐 百武 徹

出版者

一般社団法人 日本機械学会

雑誌

バイオエンジニアリング講演会講演論文集 2016.28 (ISSN:24242829)

巻号頁・発行日

pp._1C43-1_-_1C43-5_, 2016-01-09 (Released:2017-06-19)

---

Infertility is often cited as one of the causes of the declining birthrate, which has a social problem in recent years. Roughly 10% of couples have infertility problems, and almost 50% of all cases of infertility are associated with a lack of sperm or sperm abnormalities. Therefore, motile sperm are required to increase the probability of fertilization. We previously observed of flagellar motion of bovine sperm and clarified that ambient fluid viscosity and non-Newtonian properties affected its shape and motion. However, the detail mechanics of the effect of surrounding fluid properties on the sperm motion is still unclear. Therefore, we simulated the sperm motion in various viscosity and non-Newtonian fluid to reveal the effect of the surrounding environments on the sperm motility. The simulation results indicated the decrease in the sperm velocity when the viscosity increased, because the increase in the viscosity lead to increase in the resistance of the ambient fluid. Additionally, the increase in the viscosity brought about the increase in sperm motility. We compared the present results with previous experimental data for the sperm velocity, and estimated the sperm motility for each viscosity. Consequently, we obtained the relationship of viscosity coefficient and sperm motility. These results will provide the useful information to estimate the sperm motility for various fluid properties.

著者

尾田 十八

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:03875008)

巻号頁・発行日

vol.46, no.409, pp.997-1006, 1980-09-25 (Released:2008-02-21)

参考文献数

5

被引用文献数

7 10

---

本報は竹材を自然界における一つの設計物体と考え, その幾何学的および材料組織的構造が外力条件といかなる関係にあるかを明らかにした. そしてその結果から竹材の構造が外力条件の変化に対応した柔なものであること, また各部の形状や組織がきわめて多くの機能を有し, したがって強度的な面からみても一つの目的に対し種々の最適化がなされた高度な構造組織を有しそれが工学設計システムにも応用されるべきことを明らかにした.

著者

畠沢 政保 杉田 洋 小川 孝廣 瀬尾 宜時

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.70, no.689, pp.292-299, 2004-01-25 (Released:2011-03-03)

参考文献数

9

被引用文献数

15 31

---

A new type of thermoacoustic sound wave generator driven with the waste heat of a 4 cycle automobile gasoline engine is described. The exhaust-pipe connected sound wave generator, in which the hot heat exchanger is set in the exhaust pipe in order to recover the waste heat of exhaust gas, is proposed. A temperature of 780°C of exhaust gas in the exhaust is observed. In a conventional thermoacoustic sound wave generator, sound waves originate at a temperature of the hot heat exchanger, TH, of 200-300°C and become sufficient at 700°C. It is confirmed that the new generator generates sufficient sound waves and its performance is almost equal to that of the electric heater driven generator at a thermal input of 300 W, which corresponds to slightly more than 1% of the heat quantity of exhaust gas provided under the condition that the number of engine revolutions is 2 600 r.p.m. and that the throttle opening is 35%.

著者

今市 憲作

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:00214728)

巻号頁・発行日

vol.79, no.689, pp.370-376, 1976

著者

黒瀬 築 柳原 俊太郎 宮田 一司 濱本 芳徳 森 英夫

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.17-00593, 2018 (Released:2018-06-25)

参考文献数

13

被引用文献数

1

---

For the development of industrial heat pump system supplying a high-temperature heat source, the application of chevron type plate heat exchanger is being considered. In the present study, experiments and numerical simulation on flow characteristics in single chevron channel with chevron angle 30°, 45° and 65° were respectively performed. In the experiment, the pressure drop of the whole chevron channel and local pressure drops in each chevron channel were measured and path lines were also observed. Besides, numerical simulation reproduced the experimental results well. From both of the experimental and simulation results, it was confirmed that the pressure drop of the chevron channel became larger with increasing the chevron angle due to the strong mixing of fluids in the respective furrows of adjacent chevron plates especially in the high chevron angle channel. In such the high chevron angle channel, velocity and pressure drop gradient distributions were almost uniform in the channel width direction normal to main flow. While, in the small chevron angle channel, the fluids mixing between furrows of adjacent plates was weak and the velocity and pressure drop gradient distributions were markedly large in the width direction. Furthermore, it was found that large pressure drops occurred in the inlet and outlet regions where the channel had flow width expansion and contraction, respectively. The large pressure drops in the inlet and outlet regions affected the overall pressure drop in the chevron channel, especially in the low chevron angle channel. For each chevron angle channel, the local friction factor was obtained and the loss coefficient for the flow expansion and contraction at inlet and outlet regions was determined. Based on these results, the prediction method of overall pressure drop in the chevron channel was proposed.

著者

高野 悠一郎 長濱 大空 小山 弘貴 宮坂 明宏

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.17-00498, 2018 (Released:2018-06-25)

参考文献数

8

---

In order to achieve advanced missions, it is necessary to develop satellite with large aperture reflectors. Tension truss structure is effective for reducing the weight of the antenna. However, the total strain energy of the cables increases with the number of cables. Consequently, a support structure must be sufficiently rigid to prevent deformation of the surface. The reduction of the reflector's weight can be achieved if the tensile force of the cables decreases, while maintaining the required surface accuracy. Therefore, a surface design method in which compression members are located on the cable network instead of tension cables had been proposed. It was found that cable tension can be decreased within the required surface accuracy based on an analytical estimation. However, the cable tension can be changed after an adjustment of the surface accuracy to eliminate manufacturing and assembling errors. In this study, we evaluate the effectiveness of the proposed method based on an experiment including an adjustment of the surface accuracy. We measure the surface accuracy and reaction force from a support structure using assembled cable-network models. As a result, the total cable strain energy of the cable network with compression members can be decreased by half of that without compression members.

著者

野間口 大 中切 拓 藤田 喜久雄

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 (ISSN:21879761)

巻号頁・発行日

vol.83, no.853, pp.17-00122, 2017 (Released:2017-09-25)

参考文献数

22

被引用文献数

4

---

Generation of new concepts in product design process serves as driving force of innovation. While many methods have been proposed for supporting design concept generation, it has rarely been supported in a systematic way, because its process is done in designer's implicit thought, and therefore, it is difficult to explicitly formalize the process. This paper proposes a model of designers' thinking process in concept generation called ECF cycle. It consists of three steps, i.e., (1) Externalization: the step for representing design concepts with drawings and language, (2) Classification: the step for classifying concepts with function trees, and (3) Finding voids: the step for finding potentials of new concepts called void, which is a defect of the classification. Then, this research builds a new method of concept generation incorporating the theory of solving inventive problems (TRIZ). The method is based on a quick reference table of TRIZ principles, which helps designers to create a new concept corresponding to a void found by ECF cycle. A case study of concept generation of new running shoes is demonstrated in order to verify the ability of the proposed method.

著者

大川 真弥 滝田 好宏 伊達 央

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.80, no.812, pp.TRANS0076-TRANS0076, 2014 (Released:2014-04-25)

参考文献数

12

被引用文献数

1 3

---

This paper proposes a brush-cutting robot which can cut high weeds and grass automatically by hand-held brush-cutter sold in hardware store. The robot vehicle is constructed with a center articulated body, a manipulating mechanism of the brush-cutter, motor controller and sensors for self-localization. In order to get its own position continuously, two Laser Range Finders (LRF), a GPS campus and odometry encoder for each wheel are installed. Authors proposed Sensor Steering Mechanism (SSM) for the lateral guided vehicle with steering mechanism. This robot is applied SSM for the center articulated body to follow the way point line on the 2-D map. The map for self-localization is constructed with a 0.1m by 0.1m grid that is measured by the 3-D LRF. The experimental set up was developed and installed in the control program and then autonomous mowing was tested, leading to the results of running and mowing in the quadrangle of the No. 4 building of science and engineering at National Defense Academy. As a result, the proposed system achieved an error of 0.2m or less for the way point line following performance. The developed brush-cutting robot successfully completed the work without untreated area by providing an appropriate overlap by the result.

著者

新木 悠斗 上道 茜 山﨑 由大 金子 成彦

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 (ISSN:21879761)

巻号頁・発行日

vol.84, no.861, pp.17-00507-17-00507, 2018 (Released:2018-05-25)

参考文献数

8

---

As a method for mining offshore gas fields, a floating production, storage and offloading (FPSO) system is attracting attention. However, sloshing in the oil-gas separator installed in FPSOs excited by sea waves is expected to cause significant difficulties. To suppress sloshing wave heights, one possibility may be to install perforated plates in a tank. In this study, a method is proposed for the accurate estimation of the first resonant wave height in the horizontal cylindrical tank with a perforated plate under pitching excitation in less time. To accomplish this purpose, the pressure loss due to the perforated plate in the open channel must be estimated accurately. Therefore, the pressure loss is modeled using steady CFD calculations considering the effects of the distribution of the flow velocity and the distribution of the inflow angle. The first order sloshing wave height is calculated in the theoretical analysis by substituting the pressure loss calculated in steady CFD. The wave heights determined using the pressure loss utilized by steady CFD are compared with the experimental value measured with a small-scale model. Using the method proposed in this study, the first resonant wave height of sloshing wave height is calculated accurately in less time.

著者

嵯峨 宣彦 手銭 聡 佐藤 俊之 永瀬 純也 遠藤 匠

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.861, pp.17-00548-17-00548, 2018 (Released:2018-05-25)

参考文献数

28

被引用文献数

3

---

In disaster areas, rescue work by humans is extremely difficult and dangerous. Therefore, rescue work using rescue robots in place of humans is attracting attention. This study specifically examines peristaltic crawling, the movement technique used by earthworms, because it can enable movement through narrow spaces and because it can provide stable movement even in various difficult environments. Moreover, we designed each part of the robot based on required specifications and developed a real robot. We present results of motion experiments conducted with robot movement on level ground.

著者

槇田 諭 前田 貴信

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2017 (ISSN:24243124)

巻号頁・発行日

pp.2A1-L10, 2017 (Released:2017-11-25)

---

This paper investigates motion characteristics of the wheeled inverted pendulum robot, which is a commercial product for tele-communication and has a built-in stabilizer. We are motivated to utilize this type of telepresence robot for scientific communication with children. For safe activities, accidents caused by the robot, for example, collisions and overturning, must be avoided. In this paper, we examine behaviors of the wheeled inverted pendulum under several conditions: changing floors, transmission speed for control, and frequency of input of remote control. In our experiments, we did not encounter overturning of the robot during the robot moved under these experimental conditions. Of course, the robot turns over when someone pushes or pulls the robot with excessive external forces that breaks the stability of the inverted pendulum.

著者

森 雄貴 湯浅 友典 船水 英希 前田 貴章 相津 佳永

出版者

一般社団法人 日本機械学会

雑誌

北海道支部講演会講演概要集 2016.54 (ISSN:2424273X)

巻号頁・発行日

pp.13-14, 2016 (Released:2017-10-20)

著者

松川 豊

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.858, pp.17-00358-17-00358, 2018 (Released:2018-02-25)

参考文献数

31

---

In the present study, flow in an ion-drag electrohydrodynamic (EHD) micropump was numerically simulated, and electric charge density on the emitter was modeled through the simulation. The simulation was performed for an ion-drag EHD micropump developed and experimentally tested by Kazemi et al. (Journal of Microelectromechanical Systems, Vol.18, No.3 (2009), pp.547-554.). Two models of charge density on the emitter were tested. First, one model was tested in which charge density was distributed uniformly on the emitter. The simulated discharge pressure generated in the micropump was proportional to both applied voltage and charge density. The experimental discharge pressure was reproduced by considering the change of charge density with applied voltage. Next, the other model was tested in which charge density was distributed depending on electric field on the emitter. The model was more realistic than the former because of consideration of electric field distribution on the emitter. The model also reproduced the experimental discharge pressure.

著者

日野 遥 杉本 大己 高橋 優輔 橋本 成広

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.858, pp.17-00202-17-00202, 2018 (Released:2018-02-25)

参考文献数

16

---

Mechanical stimulation affects cell behaviors (proliferation, orientation, migration and differentiation) in vivo, and a lot of models of experiments on mechanical stimulation in vitro have been reported. The development of control technique on cell is important in the field of regenerative medicine. Recently, skeletal myoblasts have been applied for cardiac repair. In the previous study, C2C12 (mouse myoblast cell line) made orientation perpendicular to the streamlines in the donut shape flow channel. In the present study, C2C12 has been cultured in the Couette type of the shear field between the rotating disk and the stationary culture plate to study quantitatively the effect of shear stress (for 24 hours, < 2 Pa) on orientation of myoblasts in vitro. The time lapse image of myoblasts shows that C2C12 tilts perpendicularly against the flow direction at the wall shear stress of 2 Pa and that C2C12 tends to migrate to the lower wall shear stress region of 0.4 Pa.

著者

河村 隆

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:24242675)

巻号頁・発行日

vol.119, no.1172, pp.418-419, 2016-07-05 (Released:2017-09-15)

著者

釜谷 昌幸

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.17-00316-17-00316, 2017 (Released:2017-12-25)

参考文献数

20

---

This study is aimed at applying the performance-based maintenance (PBM) concept to determine inspection schedule. Previously, the time-based maintenance concept has been applied to determine the inspection schedule for nuclear plant components. In the PBM concept, frequency of inspection is determined by operation time before the inspection. Duration before the next inspection is extended if the component indicates no cracking for a long time. In this study, the change in structural reliability due to applying the PBM concept was investigated by probabilistic fracture mechanics analyses. In order to calculate the probability of leakage or fracture (failure probability), growth of fatigue cracks initiated at the primary coolant pipe of pressurized water reactor nuclear power plants was simulated considering variations in yield and tensile strengths, fatigue crack growth rate, initial crack shape and so on. It was demonstrated that the failure probability was reduced by performing inspections according to the time-based maintenance concept. Frequency rather than detectability of inspection had a larger impact on reducing the failure probability. It was shown that, by applying the PBM concept, the number of inspections could be reduced significantly without increasing the failure probability. It was concluded that the PBM concept could optimize the inspection schedule.