著者

花井 亮 山崎 公俊 矢口 裕明 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

巻号頁・発行日

vol.2010, pp."2A2-B19(1)"-"2A2-B19(4)", 2010

---

ROS has been becoming popular as a distributed platform for robot applications. We present how we developed a tidying-up demonstration task including recognition of objects, grasping, handling of a tray and navigation in two-weeks stay at Willow Garage Inc. This paper focuses on the development using ROS framework, tools and packages.

著者

河田 剛毅 前川 博 小林 睦夫 斉藤 北

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.57, no.540, pp.2812-2817, 1991-08-25

---

Spanwise eddy diffusivity of heat was measured in a flat-plate turbulent boundary layer with a constant spanwise temperature gradient and different intensities of free-stream turbulence. Comparison was made with the usual kinematic eddy viscosity measured in parallel. According to the experimental results, the ratio of these eddy diffusivities is strongly influenced by the free-stream turbulence. However, in the vicinity of the wall, this ratio approaches a certain universal distribution which is independent of the intensity of free-stream turbulence.

著者

築谷 朋典

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.115, no.1120, pp.162-163, 2012-03-05

著者

岩垂 素子 大橋 史武 土屋 亮 梶原 逸朗 堀江 三喜男

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.209-210, 2004-03-03

---

H_2 controller is designed with the reduced order model of smart pantograph structure which is obtained by finite element and modal analyses. The control force is applied by the piezoelectric film actuator and the feedback signals are detected by the accelerometer in the system. The vibration response is suppressed by modal control. The placement of the piezoelectric actuator and the H_2 control system are simultaneously optimized by using GA to achieve an enhanced vibration control performance. It has been verified by simulations that the enhanced performance for the vibration suppression can be achieved by the present method.

著者

Tomohiro TAKAKI Kazuya NAKAGAWA Yusuke MORITA Eiji NAKAMACHI

出版者

一般社団法人日本機械学会

雑誌

Mechanical Engineering Journal (ISSN:21879745)

巻号頁・発行日

vol.2, no.3, pp.15-00063-15-00063, 2015 (Released:2015-06-15)

参考文献数

61

被引用文献数

1 6

---

In this study, we applied a modified Kobayashi-Warren-Carter (KWC) phase-field model to the neurite growth process. To confirm the applicability of this model, we observed axonal extension of PC-12D cells cultured with nerve growth factor (NGF). Based on our observations, we defined three stages of nerve cell axonal extension: neurite generation, neurite contraction, and axon extension. We further determined the parameters in the phase-field equations to express the three extension stages. Finally, our results show that the modified KWC phase-field model reasonably expresses the morphologies of nerve cells and predicts the three stages of nerve cell axonal extension. Although, we employed the binary alloy solidification model as a sample model in the present phase-field simulations, this work will be extensible to relatively more realistic models for nerve cell growth.

著者

小林 秀敏 富永 直路 堀川 敬太郎 渡辺 圭子

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.2012, no.24, pp."8G33-1"-"8G33-2", 2012-01-06

著者

古屋 善正 中村 育雄 山下 新太郎

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.81, no.720, 1978-11-05

著者

岡島 厚 大津山 澄明 永森 稔朗 中野 智仁 木綿 隆弘

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.65, no.635, pp.2196-2203, 1999-07-25

被引用文献数

19

---

Flow induced in-line oscillation of a structure with a circular or rectangular section was experimentally studied by free-oscillation tests in a wind tunnel. Detailed data of response amplitude of various cylinders have been acquired in a wide range of the reduced mass-damping parameter (Scruton number), by free-oscillation tests of two-dimensional cylinder spring-mounted to oscillate as a rigid cylinder. Flow induced in-line oscillation of the cylinder is certified to have two types of excitation mechanism; one is the so-called wake breathing effect accompanied with a symmetric vortex street and the other is the vortex excitation at a half of the critical reduced velocity. Also a fixed splitter plate was mounted behind a cylinder to eliminate the vortex shedding of alternate vortices from the cylinder, after Aguirre's experiments, and the results were compared with those without a splitter plate. As a result, we can classify the flow induced in line oscillation of the circular or rectangular cylinder. For a circular cylinder and a square one, two types of excitation phenomena appear in each reduced velocity region, the thin rectangular cylinder with the side ratio b/h=0.4 suffers from the vortex excitation, and the elongated rectangular cylinder with the side ratio b/h=2.5, is subjected to the wake breathing effect accompanied with a symmetric vortex street. It is found that fluidelastic characteristics of two types of in-line oscillations are quite different; i.e., the response amplitude are very sensitive to the reduced massdamping parameter, during the in line oscillation with a symmetric vortex street, while the oscillation of vortex excitation are rather insensitive.

著者

Tomohiro TAKAKI Kazuya NAKAGAWA Yusuke MORITA Eiji NAKAMACHI

出版者

一般社団法人日本機械学会

雑誌

Mechanical Engineering Journal (ISSN:21879745)

巻号頁・発行日

pp.15-00063, (Released:2015-05-22)

参考文献数

61

被引用文献数

1 6

---

In this study, we applied a modified Kobayashi-Warren-Carter (KWC) phase-field model to the neurite growth process. To confirm the applicability of this model, we observed axonal extension of PC-12D cells cultured with nerve growth factor (NGF). Based on our observations, we defined three stages of nerve cell axonal extension: neurite generation, neurite contraction, and axon extension. We further determined the parameters in the phase-field equations to express the three extension stages. Finally, our results show that the modified KWC phase-field model reasonably expresses the morphologies of nerve cells and predicts the three stages of nerve cell axonal extension. Although, we employed the binary alloy solidification model as a sample model in the present phase-field simulations, this work will be extensible to relatively more realistic models for nerve cell growth.

著者

Yoshihiro TOMITA

出版者

一般社団法人日本機械学会

雑誌

Mechanical Engineering Reviews (ISSN:21879753)

巻号頁・発行日

pp.15-00170, (Released:2015-06-01)

参考文献数

80

---

The constitutive equations for rubbers that are derived based on the molecular chain network model and their generalization to account for the non-affine deformation and viscoelastic deformation of rubbers are presented for the evaluation of the complex deformation behaviors under monotonic and cyclic deformation at different strain rates. Several applications of the constitutive equations using the finite element homogenization method for the evaluation of microscopic to macroscopic deformation behaviors of particles such as carbon black and silica-filled rubbers are addressed. The typical deformation behavior of rubbers and the essential mechanism of enhancement in the mechanical characteristics of particle-filled rubbers under monotonic and cyclic straining are clarified focusing on findings from our recent works.

著者

鶴 清 広瀬 茂男

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.2008, pp."1A1-D20(1)"-"1A1-D20(4)", 2008-06-06

---

高所での危険な作業を人に代わって行う壁面移動ロボットの開発は活発に進んでいる。中でも,ロボットを鉄壁面に吸着しながら移動も行う吸着駆動方法の開発はブレイクスルーのひとつであり,現在,鉄製のガスタンク,原子炉壁の固定にはブロアー式と磁気吸着式が考えられるが,その内,外部に駆動系設備が要らない磁気吸着式が注目されているしかし,従来の磁気吸着式は,鉄面の溶接部,リベット部などの凹凸がある場合は吸着力が著しく減少してしまうことが壁面移動ロボットの発展の課題とされているまた,この凹凸を乗り越えて移動するロボットも研究されているが,永久磁石の強力な磁気吸着力を脱離する移動機構などを組み込んでいるため重量化して実用的でない.実用面を考慮すると人が手で持ち運びできる小型・軽量型で,溶接部やリベットなどの凹凸がある鉄板でも確実に吸着できる磁石ユニットがあると,鉄製構造物に吸着移動するロボットの吸着ユニットのとして有効である.現状で十分な吸着力がある吸着器に対する要望は依然として高いが,有効な吸着器の発表は未だない.そこで,このような課題を解決するために,永久磁石の磁気吸着力をばねの力に蓄えることで,可変位型の磁気吸着部を構成して,さらに全方向に移動可能できる磁気吸着型善方向移動ロボットの機構を組み込んだ新しい概念、のロボットの研究を進めてきたこの全容をFig.1に示す.本報告は,開発中の移動方法と構造を示す.

著者

唐 東豪 野波 健蔵 平田 光男 小川 秀明 谷口 義弘

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.66, no.649, pp.2981-2987, 2000-09-25

被引用文献数

2

---

This paper is concerned with a study of the high performance realization of electronic engrave technology. Using actual piezo actuator for ultra-high speed electronic engrave machine, we designed several control systems to realize a good performance, after the system identification and modeling. The designed control strategies consist of (i) LQI servo control, (ii) Two-degree-of-freedom control system, (iii) Sliding mode control with observer, (iv) Sliding mode control with output feedback. Incidentally, we also find out the compulational speed limit of DSP system via the experiments. We realized the good performance using the two-degree-of-freedom control and the sliding mode control with observer. The most important contribution of this study is that the experimental results can be directly used to commercial machine.

著者

峯川 洋己 稲崎 一郎 中村 誠 鈴木 繁 上間 丈司 横田 秀雄

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. C編 (ISSN:03875024)

巻号頁・発行日

vol.66, no.646, pp.2054-2059, 2000-06-25

被引用文献数

4

---

The cooling lubricants are still widely used for machining operation today to extend the tool life and to improve the quality of the machined surface. However, due to increasingly strict regulation aiming at controlling environmental pollution, the costs of using cooling lubricants are rising. It is, therefore, necessary to reduce the amount of cooling lubricant used in production lines. The logical step which can be taken to avoid the environmental problem is dry machining. But sometimes dry machining is not possible due to manufacturing process aspects, such as extensive tool wear and insufficient surface quality. To solve those problems, this study proposes cutting with minimal quantity lubrication(MQL), which is able to achieve the function of the cooling and lubrication with an extremely low consumption of lubricants and great amount of air flow. In this paper, the mechanism of the MQL system is introduced and by using this system, milling provess on carbon steel and aluminum alloys is tested to see the effectiveness of the MQL method.

著者

鎌田 実

出版者

一般社団法人日本機械学会

雑誌

交通・物流部門大会講演論文集

巻号頁・発行日

vol.2007, no.16, pp.57-58, 2007-12-12

著者

川又 基木 平澤 順治

出版者

一般社団法人日本機械学会

雑誌

茨城講演会講演論文集 : Ibaraki district conference

巻号頁・発行日

vol.2009, pp.83-84, 2009-08-25

---

Generally, a stroller is a vehicle that moves the flat ground. It is dangerous to go up and go down the stairs with an infant on a stroller. When going up the stairs, a parent (or baby sitter) should shoulder the folded stroller at the same time as holding the infant in his/her arms. Therefore, it becomes parents with a considerable load. On the other hand, a variety of stair climbing mechanisms are researched and developed. But these mechanism needs the large-scale system, for example an electrical motor or a fixed rail. In this study, we develop the stroller that is possible to go up/down the stairs smoothly without electricity. The suggested stroller is handled easier than an existing stroller.

著者

有本 卓

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.63, no.608, pp.1039-1051, 1997-04-25

著者

北村 隆行 屋代 如月 大谷 隆一

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. A編 (ISSN:03875008)

巻号頁・発行日

vol.62, no.600, pp.1813-1819, 1996-08-25

被引用文献数

5

---

In order to elucidate the mechanism of deformation and fracture of microcomponents, numerical simulations are conducted for nanoscopic wire and film of nickel without lattice defects using molecular dynamics on the basis of the EAM (embedded atom method) potential. Applying a periodic boundary, large as well as small materials are subjected to a tensile strain along the [001] direction of the FCC (face-centered cubic) lattice. Here, the traverse stresses, σ_<xx> and σ_<yy>, in the former are kept at zero during the tension. The yield is brought about by the crystallographic slips on the (111) planes and there is little difference in the yield stresses among the wire, film and bulk. The slips continue to take place on multiple (111) planes and the plastic deformation leads to ductile fracture. Then, the displacement in the traverse direction on the cell boundaries of bulk is fixed in order to investigate the effect of constraint. It shows brittle fracture due to cleavage cracking. this implies that the constraint, which may be introduced by local inhomogeneity of the material, brings about early crack nucleation and reduces the ductility of matcrials without lattice imperfection.

著者

江連 勝彦 光田 慎治 背戸 一登

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.60, no.571, pp.781-787, 1994-03-25

被引用文献数

2

---

This paper proposes the vibration control method of flexible structures arranged in parallel. In recent years, vibration control of a flexible structures using an active dynamic absorber has increasingly been utilized in practical applications. In the future, as the structure becomes more advanced and more flexible, its natural frequency gradually becomes lower. Thus, it will be difficult to assume enough force for vibration control using an active dynamic absorber. The authors proposed the method wherein two structures arranged in parallel are controlled actively using two actuators set between them. In general, a reduced-order-model is necessary to design a controller using the LQ control theory. Using the modeling method proposed here, reduced-order model of the 2-2 degree-of-freedom parallel structures can be easily fabricated. Using a root locus plot, the relationship between weighting parameters and control effect in the LQ control theory is clarified. It is demonstrated that this control method is able to control vibrations of 2-2 DOF system without the spillover instability, by simulation and experiment.

著者

大塚 芳郎 北野 三千雄

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.48, no.433, pp.1818-1825, 1982-09-25

---

円管内層流拡散炎のすす限界を, 燃焼管直径, 燃料管直径, 空気流速および燃料流速を広範囲に変化させて, メタン, エタン, プロパン, 正ブタン, アセチレンおよびエチレンの6種の炭化水素について測定した. すす限界は, 空気比λ, 燃料流量V_fおよび燃焼管直径によって支配され, すす限界直線の傾斜d log<λ/d log V_fの大小によって, すす限界はアセチレン形とメタン系に分けられ, 前者はすすの大粒子の, 後者は小粒子の微量化する限界である.

著者

辛 振玉 藤原 大悟 羽沢 健作 野波 健蔵

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.68, no.675, pp.3284-3291, 2002-11-25

被引用文献数

17

---

This paper proposes the model based control system design for autonomous flight and guidance control of Radio-Controlled Helicopter. RC Helicoper has been studied with fuzzy and neural network approach, but it is so difficult for unmodel based control to stabilize it. The system identification techniques and model tuning approach are applied for RC helicopter system to obtain the mathmetical model. In order to realize the full automatic controlled RC helicopter, we have designed the attitude controller and altitude controller with LQG based Kalman filter and trajectory controller with SMC (Sliding Mode Control) for RC helicopter. It has been clarified that the proposed scheme for attitude control, altitude control and hovering control are very useful by way of the simulations and experiments.