著者

伊藤 通弘

出版者

一般社団法人日本機械学会

雑誌

日本機械学會誌 (ISSN:00214728)

巻号頁・発行日

vol.104, no.996, pp.758-761, 2001-11-05

著者

升川 純司 大須賀 公一

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.2007, pp."2P1-J07(1)"-"2P1-J07(4)", 2007-05-11

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In this paper, we developed the new operation system of MOIRA2 aiming at raising operativity ability and mobility ability. Although an autonomous operation system is required for MOIRA2, depending on a situation, manual operation system is also required. We thought that the operation system using each strong point was required for rescue robots. The operation system which can change various operation modes easily is made to call it a hybrid operation system. As a new operation system, we developed the master-slave operation system and the semi-autonomous operation system, and we obtained the good experiment result.

著者

徳田 献一

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

巻号頁・発行日

vol.2009, no.22, 2010-01-08

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レスキューロボットなど,作業現場が事前に予測されない環境で運用されるロボットにおいて,使用者が状況に応じて,ロボットに取り付けられたセンサやアクチュエータを柔軟に変更できるようにすることが求められている.しかし,ロボットの動作のために使用されるセンサ機器を入れ換えすることは容易ではない.そこで,水平分散アーキテクチャFDNetを用いて,ロボットのセンサ機器の内部状態を観測し,それにもとづてい動作設計するフレームワークを提供する手法を提案している.本稿では,実際の足探り動作のロボット実現をもとにアーキテクチャ応用について述べる.

著者

橋本 幸二郎 道木 加絵 道木 慎二 大熊 繁

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.2009, pp."1A2-E06(1)"-"1A2-E06(3)", 2009-05-25

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We have proposed a new modeling method of human's behavior based on the relationship between the change of human's behavior and the situation around human with If-Then-Rules and Hidden Markov Model. In this paper, we study on estimation method of next human's behavior based on the proposed model to support human's driving behavior.

著者

羽鳥 彰一 宮内 敏雄

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. B編 (ISSN:03875016)

巻号頁・発行日

vol.58, no.546, pp.463-470, 1992-02-25

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The SMAC method was improved by modifying the treatment of boundary conditions on free boundaries to simulate fluid flows with complicated free boudaries. This new method was applied to liquid flows in a tray-type distillation column, and the flow conditions for different locations of inlet flow were investigated. Good agreements were obtained between simulated results and experimental ones as to the liquid surface levels. The mechanism of downcomer flooding was also investigated and the following conclusions were obtained. The location of the inlet flow affects the condition of the main flow under the downcomer. In the case of the inlet flow falling down along the downcomer surface, the velocity of the main flow under the downcomer is not sufficiently recovered from the deceleration caused by the collision with the bottom. In this case, the downcomer disturbs the main flow and causes downcomer flooding at a large flow rate.

著者

阿部 十嗣男

出版者

一般社団法人日本機械学会

雑誌

日本機械学會誌 (ISSN:00214728)

巻号頁・発行日

vol.105, no.1000, pp.159-161, 2002-03-05

著者

佐々木 圭司 Brata Akas Sureng 島地 重幸

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. C編 (ISSN:03875024)

巻号頁・発行日

vol.62, no.599, pp.2779-2784, 1996-07-25

参考文献数

11

被引用文献数

1

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Recently, the robot assembly industry requires research that deals with flexible parts using human-like skills. We discuss cylinder insertion into a hole of a flexible rubber plate. We show that the magnitude of the insertion force expresses a parabolic field in the three-dimensional space that is composed of position and posture of the cylinder. The parabolic field has a tunneling path from which we can obtain the local minimum insertion force. The tunneling path seems to correspond to the position and posture of cylinder insertion by human skill. This paper proposes a new search method for the tunneling path. The method uses a simple regression model that fits the parbolic field to a narrow zone. The fitting zone shifts as the cylinder insertion advances. Experimental results show that the regression method is a possible search method for the tunneling path.

著者

後藤 篤祉 木田 智晃 水戸部 和久

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.760, pp.3253-3260, 2009-12-25

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On the purpose of achieving a human-like high energy efficient walking robot, many research projects use actuators attached on the waist or ankle joints of passive dynamic walking mechanisms. While on the other hand, we developed another type of semi-passive walking robot that is driven by the harmonic oscillation of a spring-mass system. In the mechanism, spring forces are generated at both sides of the robot by the simple harmonic motion of a spring-mass system which is oscillated by a small sized servo motor. The spring forces control the ZMP (Zero Moment Point) in the lateral direction, in sync with the swing leg, which is generated by the same forces as well. Choosing the gait cycle at the resonance frequency, significant decrease of the motor power and energy consumption is possible. Gyros, micro switches and wire displacement sensors are attached to the robot for measuring the angle of the legs, foot contact and spring extension. Gait cycle, spring forces, ZMP in the lateral direction are analyzed based on the measurements.

著者

佐藤 久雄 千島 美智男 細川 成之

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. B編 = Transactions of the Japan Society of Mechanical Engineers. B (ISSN:03875016)

巻号頁・発行日

vol.72, no.718, pp.1456-1464, 2006-06-25

参考文献数

5

被引用文献数

1

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In order to increase the safety and reliability of ropeway systems, it is extremely important to improve windproof performance of carriers since the excessive swing of the carrier by wind may lead to a serious accident such as a collision with the columns. As the first step of studying improvement of windproof performance of ropeway carriers, this paper presents analysis results of accidents due to wind and results of wind tunnel experiments of real carriers. Analysis results of accidents clarified features of ropeway accidents due to wind. Results of wind tunnel experiments showed aerodynamic characteristics of two typical monocable carriers.

著者

鈴木 孝 有我 正博

出版者

一般社団法人日本機械学会

雑誌

日本機械学会関東支部総会講演会講演論文集

巻号頁・発行日

vol.2004, no.10, pp.267-268, 2004-03-03

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The Engine department of the Gas-Den, predecessor of the Hino Motors, Ltd. Was reorganized as the Tokyo Automobile Industries Co. and the Hitachi Aeroplane Co. in 1937 and 1939 respectively. In 1937, the Gas-Den, begun the development work of an unusual titled engine. A realization of the Stratified charge engine was done by Mitsubishi and Toyota at about more than half century later in 1996, the Turbo compound engine was done by Wright Aeronautical Co. in 1952, and the sleeve valve engine was succeed only by the Bristol Aeroplane Co. (includes Napier Co. with same technology) in spite of almost all major aero engine manufacturers tried its development. Although the development project of Gas-Den was broken at last stage of the World War II due to urgent development work of the another high power engine, the concept and the will was great. This paper describes an out line of this unusual engine.

著者

前澤 成一郎 天摩 勝洋

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.51, no.472, pp.3203-3210, 1985-12-25

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擦弦の振動は,弦の曲げこわさおよび内部摩擦によって大きな影響を受ける.これらの影響は種々論じられているが,擦弦の振動を固体摩擦特性の負の減衰と空気抵抗,内部摩擦などの正の減衰のバランスという本来の自励振動の立場で解析した研究は見当たらない.本論文は級数変換を伴うフーリエ級数解法によって,以上の点を解明する解析をおこなったものである.

著者

島田 邦雄 藤田 豊久 岡 英夫 赤上 陽一 神山 新一

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. B編 (ISSN:03875016)

巻号頁・発行日

vol.67, no.664, pp.3034-3040, 2001-12-25

被引用文献数

25

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We propose a new smart or intelligent fluid which reacts upon a magnetic field. It is a magnetic compound fluid (MCF). We measured the relation of shear stress to shear rate with a rotating rheometer as its hydrodynamic characteristics and the complex magnetic permeability at heigh frequency range as its magnetic characteristics. The hydrodynamic characteristics can be varied qualitatively and quantitatively by the direction of the applying magnetic field, the type of a rotating body in the rheometer and the compound rate of the iron and the magnetite particles. The magnetic characteristics can be varied by the the compound rate of the iron and the magnetite particles. Also, the MCF is expectable for engineering applications with using a magnetic field.

著者

飯島 博

出版者

一般社団法人日本機械学会

雑誌

日本機械学會誌 (ISSN:00214728)

巻号頁・発行日

vol.63, no.493, 1960-02-05

著者

村野 健一 吉田 和夫

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. C編 = Transactions of the Japan Society of Mechanical Engineers. C (ISSN:03875024)

巻号頁・発行日

vol.69, no.686, pp.2580-2587, 2003-10-25

参考文献数

8

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The container crane of the harbor received the enormous damage in the Hanshin Awaji great earthquake disaster. After that, the container crane with seismic vibration isolation system has been developed and operated in practical use. We proposed the rocking type of vibration isolation sysem (RVIS) for the container crane instead of the horizontal type of vibration isolation system that is used in bridges and building. It was found that the damping factor of RVIS mechanism has the particular values for the different natural vibration modes. In this paper, we propose the application of a semiactive control system to the RVIS mechanism to improve the isolation performance and operation efficiency. The Kalman filter in used to estimate the system state values. The results of the isolation controlled by the semiactive system are better seismic isolation in performance than the passive RVIS. And we show that the semi-active RVIS can be used in the operation of the container crane.

著者

朝倉 希一

出版者

一般社団法人日本機械学会

雑誌

機械學會誌

巻号頁・発行日

vol.41, no.254, pp.492-494, 1938-05-01

著者

京極 岳久 竹澤 聡 高島 昭彦

出版者

一般社団法人日本機械学会

雑誌

年次大会講演論文集 : JSME annual meeting

巻号頁・発行日

vol.2009, no.5, pp.137-138, 2009-09-12

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EMG signals from human muscles are very useful for data acquisition and triggering to control the several actuators like a power assist. EMG signals have the possibilities for substantial action pattern and we examined experimental test for dynamical motion of arm and leg of human. Recently, much attention has been paying to the application of EMG Signal by Loop type Algorithms. We tried to associate the stimulus of muscles EMG signals from the two or three positions of the legs and arms. In this paper, we discussed on the availability of on-line EMG Signal by Loop type Algorithms for simplified EMG model signals. We are able to show the pattern of the visual contour by EMG Signal by Loop type Algorithms.

著者

株式会社神戸製綱所

出版者

一般社団法人日本機械学会

雑誌

日本機械学會誌 (ISSN:00214728)

巻号頁・発行日

vol.86, no.774, 1983-05-05

著者

山口 彰

出版者

一般社団法人日本機械学会

雑誌

材料力学部門講演会講演論文集

巻号頁・発行日

vol.2000, pp.11-12, 2000-10-05

被引用文献数

1

著者

佐郷 ひろみ 町田 秀夫 和田 宏 加口 仁 田辺 宏暁

出版者

一般社団法人日本機械学会

雑誌

年次大会講演論文集 : JSME annual meeting

巻号頁・発行日

no.1, pp.383-384, 2001-08-22

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A part of the SORE system was developed for Reactor Vessel. SORE is prototype system that calculates stress history and creep-fatigue damage for main component of MONJU using plant data In this study, the calculating method of stress and temperature using plant data and the procedure of fatigue damage and creep damage evaluation using calculated history of temperature and stress was investigated.

著者

永根 五郎

出版者

一般社団法人日本機械学会

雑誌

日本機械学會誌 (ISSN:00214728)

巻号頁・発行日

vol.87, no.793, pp.1335-1340, 1984-12-05