著者

水谷 幸夫 矢野 和明 杉原 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.44, no.385, pp.3177-3189, 1978-09-25 (Released:2008-03-28)

参考文献数

9

著者

大島 まり

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.108, no.1041, pp.608, 2005-08-05 (Released:2017-06-21)

著者

瀧山 武 藤田 純一

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.86, no.883, pp.19-00174, 2020 (Released:2020-03-25)

参考文献数

10

被引用文献数

1

---

In order to avoid an obstacle automatically for an automated vehicle, this paper investigated a method to generate a target trajectory using a clothoid curve and to control the vehicle. Although a mathematical constraints or a potential methods are often used to generate the target trajectory for an obstacle avoidance, it requires trial and error and experience, and it is also necessary to consider the vehicle’s drivability. The clothoid curve is often used for a road curve design, therefore, the curve is considered to be suitable for the characteristics of a vehicle driving. Although a clothoid curve passing through a target point is necessary for obstacle avoidance, such clothoid curve is often obtained by trial and error. Therefore, the numerical analyses were executed to obtain the characteristics of the clothoid curve, then, the method was investigated to generate the clothoid curve to pass through the target point. Furthermore, a method to generate a target avoidance trajectory was also investigated expanding the generated clothoid curve based on the traveling characteristics of a vehicle. For driving on the target trajectory satisfactory, both the position and turning angle of the vehicle are controlled by means of a steering manuplation. The controller was constructed using a 1-input 2-output system, therefore, it is very difficult to satisfy both value at the same time. Furthermore, it is also necessary to consider a nonholonomic characteristics of the vehicle. From these point, this paper investigated the optimal control using nonlinear least square probrem sequential quadratic programming(NLSSQP) by means of the time behaviour of input and output in the evaluation value. Well expected results are obtained and shown in the simulation and the experiment.

著者

山崎 裕之 石井 裕 渡辺 富夫

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

pp.22-00046, (Released:2022-09-09)

参考文献数

21

---

For the elderly, the act of “speaking” is important to maintain their physical function. It is known that the listening with nods and giving responses are important to encourage utterances. Also, in elderly nursing homes, conversations are often started when they look at images. We have developed a speech-driven embodied entrainment character called “InterActor” which automatically performs communicative motions such as nodding based on voice input, and have demonstrated the effectiveness of nodding reaction. In this study, we propose a listening system that promotes utterances by recognizing the user’s speech contents by voice input, and presenting images related to the words in speech on the display, and giving nodding reaction from the listener’s InterActor and images. This system has a function to support the intention to listen by having the listener’s InterActor to turn around to the image at the time of display and to gaze it jointly. To verify the effectiveness of this system, a comparative experiment and a sensory evaluation experiment were conducted on care workers at an elderly nursing home under the two conditions, one with or without of nodding image, and another with or without of the word image from the utterance. As a result, it was confirmed that the listening effect by image presentation and nodding motion has an utterance promoting effect that makes it easier for the user to speak.

著者

藤井 雅留太 森本 元 林 佑樹 中村 正行 植田 毅

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 2014.27 (ISSN:24242799)

巻号頁・発行日

pp.314-315, 2014-11-22 (Released:2017-06-19)

著者

田中 豊 山内 久幸 雨宮 賢一

出版者

一般社団法人 日本機械学会

雑誌

山梨講演会講演論文集 2001 (ISSN:24242705)

巻号頁・発行日

pp.171-172, 2001-09-28 (Released:2017-06-19)

著者

能島 裕介 小島 史男 久保田 直行

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.68, no.671, pp.2067-2073, 2002-07-25 (Released:2008-02-26)

参考文献数

16

被引用文献数

3 3

---

This paper is concerned with behavior acquisition of mobile robots based on multi-objective behavior coordination. Based on the concept of structured intelligence, the intelligence of a robot emerges from the interaction among simple functional mechanisms. The multio-bjective behavior coordination plays a role in integrating behavioral modules. A behavioral weight is assigned to each behavioral module represented by a fuzzy controller. To situate its action to the facing environment, the robot dynamically updates behavioral weights according to spatio-temporal context of the environment. The purpose of this paper is to discuss the effectiveness of the multi-objective behavior coordination through the behavior acquisition from the viewpoint of the structured intelligence.

著者

小松崎 俊彦 畑中 健介 岩田 佳雄

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.74, no.737, pp.75-82, 2008-01-25 (Released:2011-03-04)

参考文献数

14

被引用文献数

3 3

---

Recent advances in digital signal processors have facilitated the development of active noise control (ANC) technology where the various kinds of researches as well as applications have been studied. In general, the sound waves propagate spherically in three dimensional space. Simply constituting SISO system using ordinary loudspeaker as a control source may cause interfered sound field with both attenuated and amplified nodes exist. By placing number of microphones and control sources can improve the range of quiet zone and many researches have been dedicated to this end, yet still limitations on implementation and cost cannot be neglected. On the other hand, the recent development of high-directional loudspeakers based on new sound production theory known as 'parametric array effect' has allowed sound transmission to a narrow range of acoustic space like 'spotlight'. This peculiar characteristic can be implemented as one measure for improving active noise control scheme controlling acoustic field locally without adversely influencing vicinal space. In the present study, a new approach for active control of sound in free space is developed using high directional parametric loudspeaker as a control source. Experiments are performed for the active control of noise generated by single source located in space, where the noise is attenuated by a control source at error microphone which evaluates sound level. Both normal and the parametric loudspeakers are tested as control sources and results are compared based on measurement of interfered sound field around the evaluation point. It is known that the suggested ANC system can mitigate sound locally but cause less influence on sound field in circumferential space.

著者

荻島 諒也 米倉 将吾 國吉 康夫

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.1A1-F16, 2018 (Released:2018-12-25)

---

Free Energy Principle enables agents to understand the generative models of the environment, to have beliefs about their current states by perceptual inference, and to behave adaptively to environmental changes by minimizing their prediction errors. This work combines Free Energy Principle from computational cognitive neuroscience and Deep Learning from computer science, suggesting its potentials to be applied to the understanding of agents' adaptive behaviors in complex environments. As an example, this paper shows that an agent can behave adaptively when it is given an expert's goal-directed belief.

著者

江連 悠貴 井上 碩 牧野 泰才 篠田 裕之

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 2016 (ISSN:24243124)

巻号頁・発行日

pp.1A2-12a5, 2016 (Released:2017-06-19)

---

Recently, there is an increasing demand for the method of 3D rendering which achieves both reducing the processing load and keeping the quality of generated image. One of the solutions to this trade-off is ”foveated rendering”, in which rendering is simplified as far as human cannot perceive. In the most of the previous researches, they adopted foveated rendering using a heuristic and discrete evaluation which causes generated image to be unnatural for the human perception. Then we suggest the method of foveated rendering which continuously simplifies rendering based on spatial frequency response of human vision system. We experimentally show that proposed method enables to render images approximately three times as fast as maximum-resolution rendering.

著者

兒玉 学 戸瀬 義久 奥村 一彦 平井 秀一郎

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.86, no.892, pp.20-00183, 2020 (Released:2020-12-25)

参考文献数

16

---

Electrolyzed water generator can produce acidic and alkaline water from tap water and electric power, and is expected to have applications in the food and medical fields for sterilization, cleaning and disinfection. However, there are still many unknowns about the internal phenomena of the electrolytic water production system, especially the two-dimensional phenomena that have a strong influence on the miniaturization, power saving, and longevity of the electrolyzed water generator. In this study, multi physics modeling of electrolyzed water generator and two-dimensional numerical simulations are conducted to elucidate the fluid, electrochemical, and electrical phenomena in an electrolyzed water generator. The numerical model is built with governing equations from fluid dynamics, electrochemistry, and electrodynamics. The results show that the neutralization reaction with hydrogen carbonate (HCO3-) is an important reaction in electrolyzed water generator, and this reaction divides the anode cell into two regions (low pH region and high pH region), and the electrical conductivity is low in the low pH region. This region with low pH and electrical conductivity extends to the mainstream direction. The current density on the upstream of anode is higher than that of the downstream of anode. This occurs since the region with low electrical conductivity becomes increasingly thicker moving downstream.

著者

兒玉 学 鳥居 健次郎 平井 秀一郎

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.86, no.883, pp.19-00354, 2020 (Released:2020-03-25)

参考文献数

17

被引用文献数

2 1

---

In this paper, two-phase flow and ion transportation in an alkaline water electrolysis are discussed with three-dimensional coupling numerical simulation to reveal the influence of a bubble in the alkaline water electrolysis on the cell efficiency to achieve high-efficiency energy conversion of electrical energy to hydrogen energy. Two-phase flow numerical simulation model is not a void ratio model that is mainly used in previous studies, but is a direct simulation model with Lattices Kinetic Scheme that enables microscale flow simulation. Moreover, the concentration distribution is calculated with Maxwell equation and Nernst-Planks equation, and is fully coupled to the three-dimensional two-phase flow. The numerical simulations are conducted for w/o bubble condition and w/ bubble condition with varying applied current density to evaluate the influence of a bubble at various operating conditions. The results show that the bubble in the electrolyte induces mixing flow between a bubble and an electrode, and the concentration of potassium hydroxide (KOH) around the anode is increased. This increase of concentration increases the conductivity of the electrolyte and suppresses the overpotential in the electrolyte. Moreover, the anodic activation overpotential is also suppressed by the increased concentration on the anode. These overvoltage suppressions become much more prominent at high current density operating condition of the cell. The mixing with the bubble changes the concentration around the bubble. However, concentration distant from the bubble also changes and suppresses the overpotential with the change in electrical field.

著者

松木 貴広 山田 崇恭 泉井 一浩 西脇 眞二

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 2013.26 (ISSN:24242799)

巻号頁・発行日

pp._2203-1_-_2203-3_, 2013-11-02 (Released:2017-06-19)

著者

小椋 優 林 憲玉 高西 淳夫

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.70, no.700, pp.3509-3515, 2004-12-25 (Released:2011-03-04)

参考文献数

12

被引用文献数

2 4

---

This paper describes a knee stretch walking for the biped robot having three degrees of freedom (DOF) in each ankle, one DOF in each knee, three DOF in each hip and two DOF in the waist. Firstly, the initial parameters, foot and waist trajectories and a knee joint trajectory of the supporting leg, are given. Secondly, the motion pattern of the swing leg is generated by inverse kinematics. Finally, the roll motion of the waist is used to avoid the singularity of the swing leg. Also, a compensatory motion algorithm is discussed in this paper, which cancels moments generated by the motion of the legs. Through stretch walking simulations, the effectiveness of the stretch walking pattern generation method is confirmed.

著者

福住 敦 竹原 昭一郎 長谷 和徳 吉村 卓也

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C編 (ISSN:18848354)

巻号頁・発行日

vol.77, no.777, pp.1686-1695, 2011 (Released:2011-05-25)

参考文献数

16

被引用文献数

1 3

---

In this study, the vertical jump is examined as a basic study of jump. And we examine the influence of each muscle of the human body in vertical jump. The human body is modeled as four rigid bodies and analyzed in detail by using the model that includes muscles of the leg. In this research, the mechanism of jump is discussed by using numerical model to which the concept of multibody dynamics and biomechanics is adapted. We performed the experiment of jump and observe the feature behavior of vertical jump. Experimental results show that the angle of each body becomes vertical for ground and the change of the foot angle is small. Then we perform the numerical simulation referring to this experimental data. In order to reduce the amount of calculation, we calculate muscular activity level by correlating it with fewer parameters. We discuss which muscles are necessary for vertical jump. It is found that vasti exerts the biggest power and gluteus maximus has the highest state of normalized muscle activity.

著者

三村 泰成

出版者

一般社団法人 日本機械学会

雑誌

シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集 2018 (ISSN:24329509)

巻号頁・発行日

pp.C-41, 2018 (Released:2019-05-25)

---

In the present study, the rule was defined rationally by making clearly the dynamics phenomenon about an overhand pass. An overhand pass in volleyball is important basic skill. However, the difference between overhand pass and catching isn't also defined by a rule book. Then no one tells the difference clearly. There are no ways but a referee judges by the subjectivity. Therefore we advanced a study by the following procedures. At the first, it was described about elastic rebound of a ball and phenomenon of "volley ball" was made clear. At the second, we defined which overhand pass is elastic rebound using Muscle-tendon complex. At the third, it was evaluated by running a motion analysis. As a result, it was recognized that the motion analysis is equal to the motion of an overhand pass. Finally, we defined about overhand pass rationally using above mentioned results.

著者

蓮沼 将太 宮田 陽平 仁田 祐輝 小川 武史

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.78, no.786, pp.161-170, 2012 (Released:2012-02-25)

参考文献数

8

被引用文献数

8 8

---

In this study, low cycle fatigue tests were conducted for carbon steel, STS410, low alloy steel, SFVQ1A and austenitic stainless steel, SUS316NG, in order to investigate surface and internal fatigue crack growth characteristics. The tests were conducted under repeated two-step variable amplitude straining conditions to appear beach marks of cracks on the fracture surface. In these tests, periodical surface removal was conducted to suppress surface fatigue cracks to be a main crack which led final fracture. STS410 specimen under surface removal test was not broken until its diameter became too small. There was a defect observed on the section of the specimen cut longitudinally. Cracks initiated from internal inclusion for SFVQ1A and SUS316NG and those fatigue lives were slightly larger under surface removal test compared to those under no surface removal tests. Internal crack growth rates calculated from beach marks were similar to those of surface cracks under the same crack driving force or J integral range, ΔJ.

著者

太田 憲 室伏 広治

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.113, no.1095, pp.109-112, 2010-02-05 (Released:2017-06-21)

参考文献数

4

被引用文献数

1 1

著者

鈴木 幸仁 井筒 正義 釜道 紀浩 石川 潤 古田 勝久

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.77, no.776, pp.1413-1428, 2011 (Released:2011-04-25)

参考文献数

10

被引用文献数

2

---

There are many researches to identify operator's dynamic characteristics in manipulating human-machine interaction systems. Analyses of operator's dynamic characteristics provide a clue to develop human-friendly systems that assists skill development. However, these researches mainly discuss single hand operations, and there seems to be little researches for two hand (bimanual) operations. To develop useful operational systems, the analyses of operator's dynamic characteristics in bimanual operation are indispensable. This research aims to clarify proficiency of operator's skill in bimanual operation. Concretely, the proficiency is evaluated by using an experimental human-machine interface for bimanual operations that provides three different mechanical impedances. The characteristics of operators are evaluated by tracking performance to references generated randomly and skills to draw geometric patterns in a two dimensional plane. In the experiment, the extent of proficiency was also compared with each other for the three different mechanical impedance models. It has been confirmed that the proposed evaluation method can successfully clarify the extent of proficiency of operators' skills. It was also observed that there was little difference in the extent of proficiency among the three mechanical impedances.

著者

加藤 皓健 野村 健太 竹村 裕 曽我 公平 横田 秀夫 伊藤 雅昭 後藤 直人 西澤 祐吏

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 2016 (ISSN:24243124)

巻号頁・発行日

pp.1A1-02a3, 2016 (Released:2017-06-19)

---

This paper presents a needle shooting device at high-speed for the puncture treatment. Problems of the puncture treatment are a curving of needles and a moving of organs because doctors puncture a needle at low speed. We assumed that puncturing a needle at high-speed can solve these problems. The needle with thread is used for inserting treatment instruments into the body. Coil-gun and Railgun were used for the small needle acceleration. We measured relations between the voltage and the velocity on Coil-gun and Railgun. In the case of Coil-gun, the velocity do not monotonous increases as the value of voltage increases. In the case of Railgun, the velocity monotonous increase as the value of voltage increases. The experimental results show that a needle with thread can be accelerated by Coil-gun and Railgun.