THE BULLETIN OF NATIONAL INSTITUTE of TECHNOLOGY, KISARAZU COLLEGE

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The aerodynamic force and characteristics to the body in fluid are related to have close connection to the flow around the body and are one of most fundamental subjects in fluid dynamics. At First the result of the water channel experiments are report. The surface flow patterns have been studied using the visualization techniques [1,2]. In aerodynamic studies, the separation and vortex shedding or asymmetry are affected by asymmetry of surface roughness. These are reviewed on the base of aerodynamical viewpoint by Ericsson [3,4]. The vorticalstructure over symmetric body is analyzed by advanced CFD techniques [5], Kandil [5], Suzuki [6], with directly solving Navier-Stokes equations. A series of the expression of variables in N. S. equation [7] and topological study has been attempted by Dallman [8] and Suzuki [6] which was extended to an experimental visualization by Kubota et al [9] or Shirayama [10]. The fuselage of an aircraft or orbiters is slender which has the section to be nearly circle. However the flow around them as described above varies complicatedly by angle of incidence, and exerts a great influence to the aerodynamic characteristics. In the existing studies various separation patterns are known for the ranges of incidence, and these patterns are complicatedly combined with others. In this study, the separation of boundary layer and the structure of vortex around three dimensional body at an angle of incidence are clarified experimentally. For this purpose, a parabolic body of revolution in wind tunnel test is fixed to an angle of incidence, the surface pressure distribution at the leeside of the body of revolution is measured. The pressure date is dealt with the same power spectrum as that of Agui and Andreopoulis [13] for the circular cylinder on a flat plate.

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For the expert system for cutting process, the subsystem of selecting the turning conditions has been developed by previous report. This paper deals with the subsystem for recognition of cutting chip form. These two subsystem are constructed by a group of neural networks with learning function by getting the actual datas from workshop. In automatic control and artificial intelligence of cutting process, the method of cognitive functions for the chip form is very important to treat chips. But, the relation between the chip form and cutting conditions is very complicated and we have many kind of chips. Therefor, we classify chip form into four types, and we studied identification of chip type by the subsystem with a group of neural networks. The recognition of the chip form gives satisfactory results with the real cutting process.

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In this paper, a new technique, which is called as Hybrid FES system (HFES), is proposed. The hardware of HFES system consists of a conventional FES system and an active orthosis. A pair of actuator and sensor is attached at each joint in the orthosis, which can generate a required torque and obtain values of angle and angular velocity at the joint. Based on the dynamics of the orthosis, the posture of the upper body can be estimated using the measurements from the sensors. Moreover, the stabilizing torques for the actuators can be dynamically calculated from the astimated posture. Some preliminary results are obtained in a simulation study and discussion on the performance and realizability of proposed HFES systems has been give in this paper. It is shown that proposed HFES system can be provide a realistic way to complete restoration of paraplegic locomotion.

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In this paper we present the method to control the brachiation robot by showing the results of computer simulations using 2-link-model robot. The most difficult subject in this study is how to control it natually and dynamically and with taking advantage of gravity force. We used the genetic algorithm (GA) to create driving input force for the robot. GA is very useful for the optimization and machine learning. It can serch the most suitable value globally.

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