Demand for the inspection and repair of infrastructures are expanding due to the aging of that built during the period for rapid economic growth. Although, shortage of skilled engineer to inspect and repair. That's why autonomous robots that are automatically inspect and repair infrastructures are required. Especially wall surfaces are difficult and dangerous to inspect and repair by human. We focus on the multi-legged robot that can traverse on the uneven terrain, and adsorption mechanism with negative pressure. We consider the theory of condition and performance of adsorption for the robot walk on multiple type of wall surfaces. We built the evaluation system for evaluating the exhaust system to generate the adsorption force. We conducted experiments with three differential containers. We use experiment containers that each side length of 80mm, 150mm and 200mm.

VR validation system have been developed to validate performance of stereo camera indoor with sufficient reproducibility. In practical, alignment errors can be occurred and it must influence on the validation. Therefore, in this study, the influence of distance between camera-conversion lenses and the effect of inverse distortion correction was investigated. It was found that any distortion in the VR system can be cancelled by inverse distortion correction, and that it is important to reduce the difference in focus intensity distribution between the left and right images.

Rolling and friction guides are commonly used for guiding linear motion in machine tools. For these mechanisms, there is a trade-off between stability and effective machining. Machine tools have recently adopted rolling guides for simplification and modularity. Many studies have developed alternative linear motion guides that improve the guide dynamic characteristics. However, these guides need active control or a significant design change to the structure. This study focuses on a gyroid lattice structure, a type of triply periodic minimal surface. Gyroids has the complex shape and seems to be a porous structure if fabricated on the sub-millimetre order. Preliminary test confirmed that gyroid on the millimetre scale has the porosity function. Damping carriage for rolling guides applied to the gyroid structure is developed in this study. The proposed mechanism improves the dynamic characteristics of the feed mechanism without active control or a significant design change to the structure. A preliminary test is conducted to examine the characteristics of the porous gyroid, and an impact test is conducted to evaluate damping its ability. And slow-swept-sine-excitation revealed the existence of the nonlinearity on the feed system. However, proposed damping carriage suppressed the additional peak by nonlinearity.

Metal powder utilized in the powder bed fusion using a laser beam (PBF-LB/M) is demanded to have a superior flowability not only to supply to the building platform from a powder hopper but also to form the high dense powder layer on the platform. In the present study, several aluminum alloy powders with a different shape, water content, and specific charge were investigated in order to identify the principal factor affecting the flowability during the PBF-LB/M process. In addition, the influence of surface morphology in the metal powder on the flowability during the PBF-LB/M was evaluated. As results, the frictional force generated between the metal powders was influenced by not only the circularity but also the surface morphology of metal powder, and the surface morphology was one of the principal factor affecting the flowability during the PBF-LB/M process. The cohesion force between metal powders was increased with increasing the specific charge acted as the electrostatic force, and the moisture attached on the metal powder was effective for reducing the specific charge that was resulted in the improvement of flowability in the metal powder.