著者

市川 保正 星野 一憲 松本 潔 下山 勲

出版者

一般社団法人日本機械学会

雑誌

熱工学講演会講演論文集

巻号頁・発行日

vol.2002, pp.135-136, 2002-11-06

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The control of fluid flow in the micro channel is becoming an important technique in the development of the micro device for the vaio technology. This research focuses on the on-chip controller of a flow in a micro channel, and on the development of a control element. In this presentation, the characteristic of three kinds of sensors that have possibility of an on-chip fabrication are reported. The fabricated micro channel consists of the micro venturi, the mass flow meter, and the hot wire. The characteristic was investigated in the various conditions of the flow velocity and the several conditions of the channels.

著者

小川 侑一 松村 茂樹 北條 春夫 佐藤 太一 梅澤 清彦

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. C編 (ISSN:03875024)

巻号頁・発行日

vol.65, no.634, pp.2486-2493, 1999-06-25

参考文献数

8

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This paper proposes a simulator which can depict the rotational vibration of a spur gear having any types of tooth surface deviation including both tooth profile deviations and tooth helix deviations. The developed simulator is based on a single degree of freedom motion system constructed with equivalent mass, damping and mesh stiffness of a pair of gears. The mesh stiffness is calculated considering the effect of the tooth helix deviation which brings non uniform load distribution along the contact line of a tooth pair. The dynamic load tests have been performed to verify the simulator changing both helix slope deviation of driven gear and torque. The analytical results under each operating conditions are in good agreement with experimental results. Also, the damping ratio of the test gear system is evaluated as 0.03 with measured vibration responses, which is smaller than conventional expectation value of 0.07.

著者

大下 裕樹 藤田 悦則 榎 芳美 我田 茂樹 中川 紀壽

出版者

一般社団法人日本機械学会

雑誌

Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D (ISSN:13480235)

巻号頁・発行日

vol.2002, 2002-09-13

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Several vibration-isolating equipments with metal spring, air spring, rubber spring and an oil damper are developed. The purpose of this paper is to study the vibration and noise of the engine that is reduced by new mount-system (duffing's mount) using magnet-spring. At this study, an experimental device with the engine was created in order to measure the vibration and sound pressure level of the engine. The vibration was measured with acceleration pick-up and the noise was measured with sound level meter. In this study the new mount-system using magnet-spring was compared with rubber mount. The new mount-system using magnet-spring can reduce the vibration and solid borne sound of the engine rotation.

著者

平田 荘周 大西 崇文 奥元 敦洋 金子 幸生 畠中 龍太 畠中 龍太

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.109, no.1048, pp.198-201, 2006-03-05

著者

鈴木 智裕 国方 淳 佐藤 宏司 浅沼 博

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.2010, no.6, pp.333-334, 2010-09-04

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This paper presents characterization of output power of the metal-core piezoelectric ceramic (PZT) fiber/aluminum composite. As the piezofiber is very fragile, the interphase forming/bonding (IF/B) method proposed by Asanuma was used for embedding it in an aluminum matrix without its fracture. In this study, output power characterization of the piezo-composite specimen was done by an oscillation test, and it was found that 1) the output power generated from the specimen increases with increasing the square of its strain, and 2) the output power increases in proportion to its oscillation frequency.

著者

牛尾 智秋

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.138-139, 2012-03-05

著者

長野 靖尚 服部 博文 宮澤 純 稲垣 賢一郎

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. B編 (ISSN:03875016)

巻号頁・発行日

vol.70, no.696, pp.1911-1918, 2004-08-25

被引用文献数

1

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It is well known that the turbulence energy is overpredicted by the k-ε model at the stagnation point. This problem causes inadequate predictions of flow field. In particular, since the wind-power energy is proportional to wind velocity cubed, it is crucial to predict a correct profile of wind in selecting the best site for a wind-power plant. The effects of the ground are often neglected owing to the very large length scale of the real environment. However, the complex terrain affects a profile of wind near the ground. Therefore, we have to consider the ground effects to obtain an exact profile of wind near the ground. In this study, to evaluate the performance of a low-Reynolds-number type turbulence model for flows on a complex terrain, we carried out a simulation of a flow around various complex terrain. From evaluation, we have improved the model introducing the time scale based on the velocity gradient parameter. The proposed model is evaluated in four complex turbulent flows, i.e., forward-facing step, two-dimensional block, two-dimensional hill and three-dimensional block flows. The proposed model indicates good agreement with the experimental data.

著者

古賀 達蔵 遠藤 修司

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.45, no.393, pp.481-488, 1979-05-25

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静的端末荷重が作用する周方向に作用する閉じた円筒かくの境界値問題について,Kirchhoff-Loveの仮定に基づく種々の線形かく理論の解の相違と精度を調べ,こてんかく理論としてよく知られている多くの理論が基本仮定の誤差の範囲内で正しい一次近似解を与えることを示す.また,実用的な簡単な形の閉形解を求めて,解の重要な諸性質を明らかにする.

著者

ヘルマン エレラ グラナドス

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.1126, pp.650-651, 2012-09-05

著者

梶原 逸朗 山家 勝裕 下嶋 浩

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.64, no.626, pp.3839-3846, 1998-10-25

参考文献数

9

被引用文献数

1

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Dynamics of multi-link manipulators are highly nonlinear and depend on the time varying configuration. This paper presents a method of gain scheduling which consists in designing an linear time invariant (LTI) controller for each operating point and in switching controller when the operating conditions change. Each LTI controller is designed based on LMI approach in which an optimization problem is defined as a mixed H_2/H_∞ control problem with pole placement. The performances of the force and the position controls are defined by the H_2 norm, and the robust stability according to gain scheduling is evaluated with the H_∞ norm and the pole placement of the closed-loop system. The effectiveness and the practicability of the proposed method are verified by both simulations and experiments with 2-link manipulator system.

著者

小池 関也 山家 勝裕 下嶋 浩

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.64, no.622, pp.2094-2101, 1998-06

参考文献数

15

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A hybrid control method for a flexible manipulator based on an angular velocity control is presented, which is applicable to curved constraint surfaces. The error of contact force is converted into a velocity vector according to the force/velocity conversion law which consideres both force respose characteristics and variational angular velocity with respect to normal direction of the surface. The velocity vector which is tangent to the constraint surface is calculated using the velocity control law. The desired velocity vector is obtained as a sum of the above two velocity vectors, and is converted into angular velocity vectors. A vibration control law is proposed to reduce overshoot of end point velocity response. The desired angular velocity vector is obtained as a sum of the above angular velocity vector and vibration control term. Motion and force controls without calculating inverse dynamics is performed using DC motors whose desired values are equal to the above desired angular velocity vectors. Computer simulations and experimental analyses are carried out to clarify the validity of the proposed method.

著者

下嶋 浩 松永 義弘 小池 関也 梶原 逸朗

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.65, no.633, pp.1849-1856, 1999-05

参考文献数

7

被引用文献数

2

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An approach for feedback active noise control of a one dimensional duct with multiple control sources based on modal analysis is presented in this paper. Based on experimental modal analysis, the modal parameters of an acoustical system are derived from measured multiple frequency response functions. The state equation of the duct is described by the identified modal parameters. Considering eigenvectors of the acoustical system calculated by finite element method, control sources are located to the duct. A feedback active noise controller is designed based on mixed H_2/H_∞ problem in addition to H_∞ problem, preventing the increase in dimensions of the controllers. Simulations are carried out using the designed controllers. Moreover experiments are carried out using identified controllers based on modal analysis to reduce dimensions of the controllers. The desired performances are obtained by the presented approach.

著者

雉本 信哉 下嶋 浩 柴原 章宏

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. C編 (ISSN:03875024)

巻号頁・発行日

vol.62, no.596, pp.1397-1402, 1996-04-25

参考文献数

10

被引用文献数

1

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A new adaptive control algorithm in the frequency domain was proposed. This frequency domain approach is an alternative to the ordinary filtered-x least mean squares (LMS) algorithm in the time domain. A transfer characteristic of an acoustic path is identified adaptively in the frequency domain using the fast Fourier transform (FFT). The real-time control of the noise reduction in an L-formed duct model was carried out. A digital signal processor and a personal computer were used for the active noise control. The maximum noise reduction level of about 30 dB and the average reduction level of about 7 dB were obtained through the experiment. As a result, it was shown that this frequency domain adaptive algorithm has faster convergence compared to the ordinary filtered-x LMS algorithm.

著者

小池 関也 下嶋 浩

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.60, no.575, pp.p2323-2330, 1994-07

被引用文献数

2

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This paper presents a simple hybrid method for controlling both the motion and contact force of a manipulator without calculating inverse dynamics. The contact force is converted into a velocity vector according to the force/velocity conversion law. The velocity vector which is tangent to the constraint surface is calculated by the velocity servo. The desired velocity vecotor is obtained as a sum of the above two velocity vectors. The desired axial velocity vector is calculated from the desired velocity vector using inverse Jacobian matrix. Motion and force control is performed using DC motors whose desired values are the above desired axial velocity vector. The stability of the motion control system is also considered.

著者

下嶋 浩 雉本 信哉 佐藤 治 前田 秀 斎藤 敦

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.59, no.562, pp.p1803-1808, 1993-06

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Motions of human arms are analyzed kinetically and kinematically with respect to smoothness. A kinematic arm model with 6 degrees of freedom is suggested and spatial motions are simulated considering the sum of the weighted square of joint displacements, which approximately equals kinetic energy of the whole arm. A low-pass filter is applied for smoothing the kinetic state variables, i. e. , displacement, velocity, and acceleration, and the smoothing transfomation is optimized from the aspect of characteristics of response and vibration. Such transformation is also applied to the human arm model, and the effects are investigated through simulations.

著者

小池 関也 小林 優揮 飯田 裕 下嶋 浩

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.67, no.654, pp.321-328, 2001-02-25

参考文献数

10

被引用文献数

2

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This paper proposes an active noise controller applicable to a moving evaluation point in one dimensional acoustic field. A combined adaptive feedforward/feedback controller based on filtered-x LMS algorithm is proposed. The feedforward controller is utilized for the noise reduction, and the feedback controller is utilized for the reduction of howling, which occurs with use of acoustic reference signal at feedforward controller. For the sake of stable noise control under moving evaluation point, necessity for a real time identificator of transfer function of the error path, which uses a microphone fixed in the neighborhood of the control speaker, is shown. Stable noise reduction without howling is realized by using above combined controller and the real time identificator with use of acoustic reference signal aiming practical use. A straight duct is chosen as a one dimensional acoustic field. Computer simulations and experimental analyses are carried out to clarify the validity of the proposed controller.

著者

小池 関也 下嶋 浩 山家 勝裕

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.61, no.590, pp.3999-4006, 1995-10-25

参考文献数

16

被引用文献数

1

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A simple method is presented for controlling the motion and gripping force in dual flexible manipulators without calculating inverse dynamics. The gripping force is converted into a velocity vector according to the proposed force/velocity conversion law considering the flexibility of the manipulator. The velocity vector of contact point is calculated from the velocity of the object. The desired velocity vector is obtained as a sum of the above two velocity vectors, and is converted into angular velocity vector considering defectional velocity of the flexible links. The desired angular velocity vector is obtained as a sum of the above angular velocity vector and strain feedback term. Coordinative control is performed using DC motors whose desired values are equal to the above desired angular velocity vector. The characteristics of gripping force response of control system is also considered. Computer simulations and experimental analyses are carried out to clarify the validity of the proposed method.

著者

丸山 剛生 柴山 憲文 竹内 博之 下嶋 浩 中原 凱文

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.63, no.616, pp.4224-4230, 1997-12-25

参考文献数

11

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Equipment to measure the surface hardness of the human body has been designed for the purpose of estimating muscle generating force from the physiological view point. The surface hardness is defined as the reaction force of the body surface under predetermined thrust displacement. The sensor described here is suitable for analysis of human motion and multipoint measurements because of its compactness. From the results of experiments on elbow joints, a relationship was found between the measured hardness and the joint torque. The results also showed that body surface hardness was a function of the joint angle. Moreover, it was shown that muscle forces could be estimated by a neural network when the hardness and joint angle were given.

著者

小池 関也 小林 優揮 飯田 裕 下嶋 浩

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.67, no.660, pp.2521-2527, 2001-08-25

参考文献数

13

被引用文献数

2

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A basic noise control system applicable to a moving evaluation point was proposed in the previous report, and its effectiveness was examined numerically and experimentally. Although the results showed that the proposed system is effective, it can only handle the case of slow evaluation point velocity. This restriction seemed to be due to the slow convergent speed of the adaptive filter. In this paper the cause of restriction is examined in detail, and an advanced control system is proposed. The features of the proposed system are as follows : 1) Improved feedback controller where main filter is less affected by the movement of the evaluation point. 2) Introduction of IIR filter together with the learning identification method to the error path identifier. The new system is examined both in simulation and experiment and shows great improvement compared with the basic model.

著者

佐藤 治 下嶋 浩 李 丁 長友 聖二

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.60, no.572, pp.p1344-1350, 1994-04

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Equations of motion of a closed-type manipulator are derived in consideration of characteristics of the step motors. Vibration control is achieved using two types of forcing functions. The first is the function of the pulse width modulation to avoid exciting resonance, and the second is the bang-bang control function on each step function. Dynamic characteristics of the system controlled by these method are analyzed theoretically and investigated experimentally.