JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
Online ISSN : 1347-538X
Print ISSN : 1344-7653
ISSN-L : 1344-7653
Volume 41, Issue 2
Displaying 1-21 of 21 articles from this issue
  • GUO Zhongyang, Itsuro KAJIWARA, Akio NAGAMATSU
    1998 Volume 41 Issue 2 Pages 171-177
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    The increasing attention on the applications of advanced robust control theories to automotive motivates the further investigation of truck cab model device for active vibration control.A balanced state-space model is necessary when designing a robust controller.Hence, the state-space frequency domain identification method is used to construct a model for model-based robust control design.Then H control theory and μ synthesis are readily to be used in order to calculate a controller for vibration suppression.The ν-tool is exploited to evaluate the quantitative margin for robust stability and performance.Finally, the closed-loop system achieved the satisfactory control results.
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  • KIM Heung-Seob, HONG Jin-Seok, OH Jae-Eung
    1998 Volume 41 Issue 2 Pages 178-183
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    This study experimentally demonstrates the use of an active muffler attached to an automotive exhaust system to reduce exhaust noise.For improving the signal to noise ratio in the process of estimating secondary path transfer functions, an on-line algorithm in which conventional inverse modeling is conbined with an adaptive line enhancer is used as the controk algorithm.The active muffler is designed so that the primary noise and the control sound are propagated as a plane wave in the outlet.Therefore, the error microphone could be placed outside the high temperature centers of the tail pipe, and the noise radiating to the outside could be reduced in the whole area around the outlet.The control experiment for reducing exhaust noise with an active muffler is implemented during run-up on no load.Compared with the conventional off-line method, it can be seen from the experimental results presented the proposed on-line method is capable of acquiring a reduction of more than 5dB of exhaust noise in overall sound power level.
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  • Kazuhiko TAKAHASHI, Takayuki YAMADA
    1998 Volume 41 Issue 2 Pages 184-191
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    As a control engineering application of a biological immune system, an immune feedback law featuring rapid response to foreign materials and quick stabilization of the immune system and a design method for an immune-mechanism-inspired feedback controller is described.Focusing on the T-cell regulated immune circuit, we propose an immune feedback law that includes both an active term to control the response speed and an inhibitive term to control the stabilization effect.We have also designed a PID-type immune-mechanism-inspired feedback controller based on both the immune feedback law and conventional PID control.Simulation results obtained for a discrete-time single-input single-output system show the feasibility of using the immune-mechanism-inspired feedback controller to control a nonlinear system and reveal the controller characteristics.Experimental results for velocity tracking control of a DC servo motor demonstrate the effectiveness of the immune-mechanism-inspired feedback controller for controlling a practical mechanical system even with existing nonlinear disturbances.
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  • Kohei SUZUKI, Youichi SASAKI, Hiroshi ABE, Katsuhiko KURODA, Yoshio NA ...
    1998 Volume 41 Issue 2 Pages 192-198
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    A seismic proving test of a BWR(Boiling Water Reactor)feed-water piping model supported by energy absorbing supports(Energy Absorbers(EABs)), was conducted and the test results were evaluated analytically.We confirmed the following:(1)The BWR feed-water piping model supported by EAB had a sufficient endurance against the design-earthquake excitation, and the seismic reliability was proved.(2)The simulation analysis using the Ramberg-Osgood model and gap elements, and the response spectrum analysis using the damping ratio of the piping's natural vibration mode, reproduced test results with a sufficient accuracy, and were confirmed to be valid as a design-analysis method for the piping supported by EABs.(3)The stress values obtained via the design evaluation method are confirmed to overstimate the maximum stress of a more detailed analysis by an appropriate margin, and the validity of the design stress evaluation method was thus confirmed.
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  • GE Zingtao, Satoshi KIYONO
    1998 Volume 41 Issue 2 Pages 199-205
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
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    In this paper, the asymmetric 2-D mixed method (A2DMM) was proposed to measure 2-D surface profile and scanning errors of the scanning stages.Two phasemodulated fiber interferometric displacement sensors and two angular sensors are developed to construct a measuring probe to realize the method.Zero adjustment errors caused by misalignment of the sensor's zero outputs are also analyzed, and a self-correction method for compensating zero adjustment errors is presented.2-D surface profile of a silver-coated glass plate is measured using this measuring head.The measurement results are evaluated and compared with those obtained by other differential methods.The z-directional translation motion, roll and pitch are accurately evaluated.
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  • Satoru FUKATA, Kazuyuki YUTANI, Yoshinori KOUYA
    1998 Volume 41 Issue 2 Pages 206-213
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    A linearized dynamic model is considered for active magnetic radial bearings constructed with the combination of permanent magnets arranged in thestators to provide bias force and electomagnets to generate control force.The model is presented in a simple form similar to that of the all-electromagnetic design, under the condition that there is no bias load in the radial horizontal direction.The numerical frequency responses of the rotor positioning control systems are compared with the experimental results, to check the validity of the linearized model in the non-rotating state.Other characteristics are examined experimentally:the transient response of the rotor motion to a direct impact in the non-rotating state, and the decay of rotation due to magnetic brake and the whirling of rotor in the rotating state.The results show the similar characteristics to the all-electromagnetic design.
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  • Hiroyuki KAGAWA, Takeshi YONEYAMA, Akio OKAMOTO, Hirokazu KOMATSU
    1998 Volume 41 Issue 2 Pages 214-219
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    To investigate the relationship between the joint angles of a skier and the forces acting on the skis from the snow surface in a turn, a new compact measuring system has been developed.It consists of a goniometer on the hip and knee joints, a force sensor placed between a ski and its binding, and a notebook computer as a data recorder.Using this sysyem, measurements are carried out during a long parallel turn.The results obtained from the experiments are summarized for one cycle of a turn.They are very useful for the development of ski equipment and to clarify the dynamic mechanism of turn on skis.
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  • Kenzo NONAMI, FAN Qi-fu, Hirochika UEYAMA
    1998 Volume 41 Issue 2 Pages 220-226
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
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    This study is concerned with the adaptive forced rejection approach for a single periodic output disturbance with an unknown period and its application to unbalance vibration suppression in rotor-magnetic bearing systems.A discrete recursive technique is applied to estimate the unknown disturbance period and then to internally and adaptively generate a pseudofeedforward reference signal such as that this disturbance is eliminated.Simulations are carried out.The results indicate that both the estimation algorithm of an unknown period and reference signal adaptive generation algorithm are stable.Finally, the approach is applied to a problem of unbalance vibration suppression in rotor-magnetic bearing systems.Approximately 20 dB and 7 dB reductions in unbalance vibrations were experimentally obtained in the horizontal and vertical directions of the front and rear sides of the rotor, respectively.The experimental results show that the proposed algorithm is effective for achieving unbalance vibration suppression.
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  • CHEN Tien, F.BOUCHER Robert
    1998 Volume 41 Issue 2 Pages 227-235
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    Power transfer through wave action is a common dynamic factor appearing in many physical systems.In energy wave scattering methods causality and energy conservation are intrinsic.Transmission line models much simplify the system modelling without judging components storing kinetic or potential energies.Transmission line delay time properties allow energy wave scattering methods to simulate explicity.Energy wave scattering methods reveal a system's external dynamic phenomena by using the actual atomic energy transmission speed.This method is suitable for linear and nonlinear systems.
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  • SHIH Ming-Chang, MA Ming-An
    1998 Volume 41 Issue 2 Pages 236-241
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    The purpose of the paper is to apply a control law, which combines the sliding mode and modified differential PWM(M-D-PWM)control method to control the position of a pneumatic rodless cylinder.The experimental results show that the pneumatic system has the advantages both good performance and low cost with the proposed controller.
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  • LO Chih-Ching
    1998 Volume 41 Issue 2 Pages 242-247
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    This paper presents a servo control method for three-axis machine tool contouring applications The proposed contouring system operates its control efforts in a trajectory coordinate basis that is moving along the tool path trajectory, rather than the convensional XYZ coordinate basis.With the proposed method, an efficient control of the concerned error components that are defined along the tool path can be achieved.
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  • LU Yu-Sheng
    1998 Volume 41 Issue 2 Pages 248-254
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    A pole-placement design with adjustable performance robustness is proposed in this paper, in which the effect of parameter uncertainties and external disturbances on system performance can be arbitrarily attenuated to cluster all closed-loop eigenvalues within specified regions in the complex plane.Due to parameter uncertainties or variations in a real system, closed-loop eigenvalues through linear state feedback are perturbed away from desired ones, and would not be retained within specified regions in the complex plane.In conventional sliding-mode control, the system constrained in a sliding mode is completely insensitive to system perturbations satisfying the matching condition.However, this invariance property of a sliding mode almost always brings undersirable chatter phenomenon.In this paper, the proposed scheme using the slinding-mode technique is designed to attenuate the effect of uncertainties to an acceptable extent, instead of being completely insensitive.One advantage of this design over the conventional sliding-mode control is the reduction of chatter level, chatter alleviation.Moreover, the sliding mode in this design exists during an entire response, while in the conventional sliding-mode control there exists a reaching phase before the existence of a sliding mode and no invariance property is guaranteed during this phase.
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  • YAN Jun-Juh, Sheng-Hong TSAI Jason, KUNG Fan-Chu
    1998 Volume 41 Issue 2 Pages 255-259
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    The present paper concerns with the silding mode control for uncertain singular time-delay systems.First, a proportional-integral switching surface is newly proposed such that the sliding mode motion is not only asymptotically stable but also with a prospective stability degree.This type of switching surface does not allow for a reduction of order as it is the case with most sliding mode control.This property of switching surface make it easy to design a sliding mode controller for the considered singular time-delay systems.Then based on the switching surface, a sliding mode controller is derived to guarantee the occurrence of sliding mode motion in finite time.Finally, a numerical example is given to show the design procedures.
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  • Toshio FUKUDA, Yasuhisa HASEGAWA
    1998 Volume 41 Issue 2 Pages 260-268
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    In this paper, we propose a hierarchical behavior controller and a learning algorithm for the behavior controller which consists of several subcontrollers to indicate the desired trajectories for robot actuators.This algorithm selects the subcontroller which is not appropriate and needs to be tuned, by evaluating each subcontroller using multiple regression analysis based on previously obtained evaluation value.This process can reduce the learning iterations by avoiding attempts to tune good subcontrollers.The proposed algorithm is applied to the problem of selecting and tuning subcontrollers at the middle layer in the hierarchical behavior controller in order to compensate imperfect initial controllers.The hierarchical behavior controller is applied to the problem of controlling a seven-link brachiation robot, that moves dynamically from branch to branch like a gibbon, a long-armed ape, swinging its body like a pendulum.
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  • JIANG Zhao-Hui, A.GOLDENBERG Andrew
    1998 Volume 41 Issue 2 Pages 269-277
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    This paper proposes a new control method for end-effector dynamic trajectory tracking of flexible macro-macro manipulators.In this method, an ideal manifold is designed to prescribe desirable behavior of the system in terms of end-effector trajectory tracking, and link vibration damping.A control strategy based on both nonlinear and linear control schemes is established.The nonlinear control scheme is derived to compensate the nonlinear forces which generated from the dynamics of the robot and the coordinate transformation from the joints and links to the ideal manifold.The linear control scheme is designed on the bases of feedback of motion error with respect to the ideal manifold, such that the motion of the robot system could converge and maintain to the ideal manifold.Stability of the system is verified by using Lyapunov stability theory.Simulations are carried out to illustrate the effectiveness of the proposed control method.
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  • Yuji YAMAMOTO, Seigo GONDO
    1998 Volume 41 Issue 2 Pages 278-284
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    The friction and wear characteristics in an althernative refrigerant HFC 134a were investigated using a ball-on-plate type apparatus.The lubricants used were polyalkylene glycol(PAG)and polyol ester(POE), which have high mutual solubility with HFC 134a.The results obtained are as follows.(1)With PAG, the HFC 134a formed fluoride on the rubbing surfaces, which improved the friction and wear characteristics.In contrast, POE with high adsorption ability showed poor friction and wear performance above the transition temperature of about 150°C to prevent the formation of fluoride, although it exhibited exhibited excellent friction and wear performance below the transition temperature.(2)The addition of TCP of aryl-type phosphate ester to PAG improved the friction and wear characteristics owing to the absorption film of TCP in a low temperature range and the formation of iron phosphate in a high temperature range.(3)With POE containing MoDTC the coefficient of friction as low as 0.05 was attainable owing to the formation of MoS2 in HFC 134a at temperatures below the transition temperature although HFC 134a did not contain oxygen.
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  • ZHANG Bo, Noritsugu UMEHARA
    1998 Volume 41 Issue 2 Pages 285-290
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    Rubbing of engineering ceramics as silicon nitride against itself in water often shows very low friction.It is generally considered that hydrodynamic lubrication occurs with very thin water film(about 30-70 nm)in water.In this paper, a hydrodynamic lubrication theory of ceramics in water considering the effect of electric double layer is proposed, which has an analogous form to the Reynold's equation.Theoretical results shows that the minimum film thickness increases with the zetapotential of electric double layer.The theoretical results are compared with the experimental results for Al2O3, Si3N4 and SiC ceramics lubricated.It is found that the load capacity predicted theoretically for these ceramics agree qualitatively with the experimental results.Both the theory and experiments show that ceramics with high zeta-potential will give high load capacity, provided the other condition is the same.
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  • Masataka YONEKURA, Takeji SUGIMOTO, Masaoki SUMI, Fumio KUMAGAI, Kisab ...
    1998 Volume 41 Issue 2 Pages 291-298
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    This paper deals with the improvement of gear accuracy which has been obtained through the pracical use of a newly developed hobbing machine.The carbide hob used for finishing large hardened gears has recently become very populat.A cutting with a rake angle of -30° degrees is fixed slantly to the cutting direction.The hob was characterized by its performance of finishing only tooth surface of a gear without chipping the cutting edge on a univarsal hobbing machine.However, accuracy of a gear with a higher hardness was poor.Especially, a tooth profile error appeared largely.Therefore, the new CNC hobbing machine with higher rigidity and the backlash eliminator has been developed for large gears.From the experimental results, the new machine was found to be effective in finishing of hardened gears.
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  • HSU Cheng-Ho, WU Yi-Chang
    1998 Volume 41 Issue 2 Pages 299-306
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    A gear differential is a two-degrees-of-freedom(DOF)mechanism, which is made up of a one-DOF geared kinematic chain integrated with a gear box.The purpose of this paper is to present a methodology for the systematic synthesis of two-DOF gear differentials.First, the basic characteristics of two-DOF gear differentials are investigated.Next, an approach is proposed to synthesized admissible graphs of gear differentials from the catalog of the graphs of one-DOF geared kinematic chains.Then, all the configurations of two-DOF gear differentials are enumerated form the corresponding admissible graphs by using the notation of adjacency matrix.The result of this paper is of benefit to the further development of new types of gear differentials.
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  • Tsutomu KURODA, Tomio WATANABE
    1998 Volume 41 Issue 2 Pages 307-312
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    The natural color of five representative areas of the human face, the lip, brow, nose, left cheek and right cheek, is analyzed using the HSV(hue, saturation, value)color space that is fitted with human color sense.From the relationships among the HSV parameters for these areas, it is found that the hue of lip is not correlated with that of the other areas.This suggests that the hue of the lip in a virtual facial image can be treated independently from other facial colors.A virtual facial color image is synthesized using the average facial color in HSV color space determined from 64 males.On the basis of the difference in color of each pixel between the average facial image and the individual one, a method for emphasizing the individual characteristics in facial color is proposed.The effectiveness of the method is demonstrated through sensory evaluation by paired comparisons of enhanced virtual facial images.
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  • KIM Dea-Gon, KIM Kyung-Woong
    1998 Volume 41 Issue 2 Pages 313-320
    Published: June 15, 1998
    Released on J-STAGE: February 18, 2008
    JOURNAL FREE ACCESS
    AMB(Active Magnetic Bearing)system consists of sensors, controllers, power amplifiers, and electromagnets.If all the elements are ideal, the position of the shaft could be controlled up to the sensor resolution.Because each element in real system has mechanical and electrical losses and nonlinearities, it is impossible to attain the desired performance.So far in order to obtain the desired performance of the AMB system, an additional controller or filter has been used in conventional control algorithm.Other factors that may affect the shaft behavior are the machining errors due to the machine work, and the assembling errors due to the accumulated machining errors or asymmetric screw down.The purposes of this paper are to model the machining and assembling errors in the 5-axis controlled AMBs, and to show the influence of the machining and assembling errors on the performance of the shaft supported by AMBs.In view of the results so far achieved, the roundness error of the radial sensor target and the perpendicularity error of the thrust rotor have considerable influence on the rotational precision of the shaft, however the machining errors of the radial rotor and assembling errors of the radial stators have little influence on the rotational precision of the shaft.But when the magnitude of the assembling errors increases over a certain limit, the bearing can not support the shaft properly.
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