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Itsuro HAYASHI, Shigehiko KANEKO
Article type: Article
Session ID: 312
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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Pressure pulsations excited by centrifugal compressors or blowers at blade-passing frequency may cause severe noise and vibrations in piping systems. Therefore, the establishment of a practical evaluation method for pressure pulsations is desired so as to prevent such problems. In this study, one dimensional excitation source model in a compressor was proposed based on the equation of motion. It is shown that the relation between the maximum pressure amplitude in piping systems and the location of an excitation source under resonant condition can be evaluated by introducing the equivalent resistance of a compressor and piping systems.
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Man-Yong JEONG, Yohei ISHIKAWA, Tomoki TANAKA
Article type: Article
Session ID: 313
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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Recently, the significance of smooth communication between human and computer in various fields has been increased. The several methods of human speech analysis such as cepstrum analysis, Linear Predictive Analysis etc., have been suggested and evolved up to now They are mainly related with the analysis-synthesis coding of speech signals in order to realize the characteristic parameters extraction of high quality in the low bit rate coding. On the other hand, the specification of speaker and the perception of emotion also come to be significant in IT technologies. However, there are many unsolved problems in the speech recognition methods, which are related specification of the speaker and to recognize their emotion. Hence, this study introduces the Wavelet Analysis which is taken notice of as an unsteady state signal processing method of Time-Frequency analysis. The purpose of this study is to combine Wavelet Analysis into the traditional speech processing methods, to suggest a new recognition method for the specification of speaker and the perception of emotion which may supply a lot of applications for IT technologies, and to find how to extract the characteristic parameters for the speakers and their emotion. This study reveals that even though pitch chnges greatly, the F1 and F2 does not change too much, and have an approximately constant value every individual. Therefore, individual difference distinction can be realized by position relations of formant of five vowels without being affected by emotions of the speaker.
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Jyun-ichi EINO, Tetsuya WAKUI, Takumi HASHIZUME, Nobuo MIYACHI, Youji ...
Article type: Article
Session ID: 314
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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Differential pressure transmitter with orifice is widely used as filed flow meter. This type of flow meter sometimes has blockage problem blockage in impulse-lines. Though the authors developed a blockage detection method for steady state conditions, consideration of transient states is indispensable for practical use. The result of the previous experiments clearly shows that increase of line pressure change rate affects our blockage detection method. Thus, suspension of diagnosis or other detection method is required for practical use.
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Kazuya GUSHIMA, Takahiro TOMIOKA, Hiroshi SAKAMOTO, Kaoru OHNO, Minoru ...
Article type: Article
Session ID: 315
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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This paper is concerned with a newly developed measurement technique of particle flow-rate in gas-solids pipe flow based on the static electrification of particles. The method is found to be feasible to detect the flow-rate as small as 0.5 g/s for large alumina particles of 0.3mm in mass median diameter. Here we investigated the effect of sensor vibration on the detection sensitivity to get fundamental data for practical applications of the sensor in various particulate processes such as sand blasting. Jet tests with alumina particles were carried out using a vibration exciter under various frequencies and amplitudes. According to the experiments, it was found that the detection sensitivity was increased by the vibration and the sensor could be applied even if the vibration was as large as 30G. It was also found that the resonance of the sensor vibration had no serious effect on the measurement of particle flow-rate.
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Hiroyuki FUJIWARA, Yuya Nakamura, Osami MATSUSHITA
Article type: Article
Session ID: 316
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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A Magnetic Suspension and Balance System (MSBS) provides the electromagnetic and non-contact support of a model in a wind tunnel to measure fluid-induced forces. The purpose of this study is to measure the fluid-induced dynamic coefficients of an object suspended in fluid using the MSBS. We would like to propose a method for determining the effect of the fluid-induced dynamic coefficients by comparing the experimental results of the open-loop transfer function with the numerically simulated ones. In order to show the effectiveness of this method, we measured fluid-induced dynamic coefficients by exciting spherical and ellipsoid models magnetically supported in water.
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Takakichi UZAWA
Article type: Article
Session ID: 317
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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The interactional force between two vibrating Spheres in the medium which has the density of matter corresponding to the radiation energy is analized. The equation of wave motion and the velocity potential are introduced. Then the pressure of wave motion is obtained. The resultant force of the pressure exerted on the surface of one vibrating sphere by the other same sphere can be derived, which is proportional to the density and square of volume vibrating velocity and inverse-proportional to square of distance between both spheres. Comparing the force with the electrostatic force, the quantity of electricity can be defined.
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Arata MASUDA, Akira SONE
Article type: Article
Session ID: 401
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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In this paper, superelastic shape memory alloy-based springs are modeled by using a rate dependent Preisach model, which is an extended version of the conventional Preisach model. The proposed model has extended terms which depend on the input rate as well as the output rate. The former terms represent the perturbation of restoring force due to the change of alloy's temperature induced by the phase transformation, while the latter represents the relaxation process of first-order due to the heat transfer. The proposed model is then discretized, and the parameters in the model are identified by solving a quadratic programming problem. The results of the preliminary experimental study show the capacity of the proposed model to represent the rate dependency of the restoring force properties of superelastic shape memory alloys.
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Takao TORII, Masato NAGATA, Feng BIN, Kazutaka TERAWA, Nobuyoshi MORIT ...
Article type: Article
Session ID: 402
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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Dynamic property of polyurethane foam is investigated experimentally. Polyurethane foam is loaded periodically with various amplitudes and various frequencies, and load, deflection and velocity of the polyurethane foam are measured. Measured data are analyzed by non-parametric identification technique in time domain, and internal force is obtained as a function of velocity and deflection. It is shown by analysis results that the dynamic property of the polyurethane foam is hysteretic, and internal force is a function of deflection as well as velocity. Then, based on the result, a simple approximate equation of internal force is proposed.
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Yasumasa NAKANISHI, Kin'ya MATSUMOTO, Masaru ZAKO, Yukiko YAMADA
Article type: Article
Session ID: 403
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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An effect of woven architecture with spread tow of FRP on vibration damping properties has been investigated. To obtain the material damping of woven fabric composites, the material vibration damping models were formulated with strain energy method and finite element method. By using this simulation method, finite element analyses have been carried out to estimate the effect of spread tow on vibration properties. The results show that the modal damping ratio of torsion vibration mode is higher than bending vibration mode. Furthermore, it was recognized that spread tow woven fabric composites might actually induce better performance of material damping in bending vibration mode.
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Takao YAMAGUCHI, Yusaku FUJII, Kohki KUDOH, Ken-ichi NAGAI, Shinichi M ...
Article type: Article
Session ID: 404
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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This report deals with nonlinear dynamics of human arms that receives impact force by a rigid object. The object having initial velocities collided with the lived human arms. And the relevant restoring forces were measured using Levitation Mass Method proposed by Fujii. A nonlinear dynamic model of this system was identified for numerical simulation to represent the experimental data (e.g. hysteresis curves, time histories of velocities). Effects of contraction/relaxation of the muscular on the mechanical properties of human arms are accurately investigated.
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Yoshihisa TAKAYAMA, Atsuo SUEOKA, Takahiro KONDOU
Article type: Article
Session ID: 405
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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The magnetic damper in our study bases on Lorentz force. In other words, if there is a static nonuniform magnetic field, the component of which is perpendicular to the direction of the movement of a conductor sheet, eddy currents flowing in the conductor sheet produce the magnetic force of drag. In this report, the magnetic damper, which is composed of the circular magnet and the circular-cylinder conductor, has been modeled and tested. In the equation of the modeling, we use the magnetic flux densities in the axial and radial direction. As the result, the analytical results agree well with the experimental results.
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Atsushi NISHIMURA, Toshihiko ASAMI, Itsuro HONDA
Article type: Article
Session ID: 406
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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The purpose of this work is to evaluate the damping characteristics of an oil damper numerically. In this paper, the Finite Difference Method (FDM) was used for solving the flow problems with moving boundaries. The computation proceeded in Fractional Step method. Arbitrary Lagarangian-Eulerian (ALE) method is used for moving boundaries. The computational results were compared with an experimental value, and it was found that they are coincided with each other.
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Naohito YOSHIDA, Toshihiko ASAMI, Hiroya SAKAMOTO
Article type: Article
Session ID: 407
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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We analyzed a rolling seal type air spring in which the damping force is caused by airflow through the orifice between two air reservoirs. We thought that the velocity of airflow is proportional to the square root of the pressure difference of air reservoirs, so the air spring has nonlinear restoring and damping characteristics. Both the theoretical and the experimental results show that the damping coefficient has a maximum or minimum value at a certain frequency depending on the vibration amplitude of the supporting body. The theoretical results of the restoring and damping characteristics of the air spring coincide with the experimental ones unless the diameter of the orifice is not large.
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Hiroshi YAMAMOTO, Shingo OKUMOTO
Article type: Article
Session ID: 408
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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In this study we make clear the characteristics of an air suspension with a viscous or orifice restriction and a reservoir tank. We can choose the optimal value of flow coefficient of viscous restriction to minimize resonance amplitude. The maximum value of the transfer function doesn't depend on the oscillating amplitude in case of the viscous restriction. However, it depends on the oscillating amplitude in case of the orifice restriction. Thus, an air suspension with a viscous restriction is better for isolating the small vibration, in case of the high precision machinery.
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Kosuke SEKIGUCHI, Tomohiko YOSHINO, Kosuke NAGAYA, Iwanori MURAKAMI
Article type: Article
Session ID: 409
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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An engine mount is developed which is consisting of a fluid filled rubber mount stacked with a variable spring absorber. In the engine mount, the transmissibility due to mass vibrations should be small, and high frequency sound noise should be isolated. In this mount, the high frequency noise is isolated by a fluid filled rubber mount. It is difficult to suppress both mass vibrations and its transmissibility to the base simultaneously. By suppressing both, this article applies an anti-resonance control. In order to create the anti-resonance, a new type tunable absorber using conical helical spring is developed, and its control method is presented. Using our mount, both the mass vibration and transmissibility can be suppressed, and the amplitude ratio and the transmissibility can be controlled to be less than one which will be difficult to be achieved in the previous mounts. Our mount has other advantages on its compact size, small control energy and simple control system.
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Junichi INOUE, Toshiharu ARAKAWA, Kenichiro OHMATA
Article type: Article
Session ID: 410
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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A new type of dynamic vibration absorber using semicircular arc beams has been developed. The purpose of this study is the examination for reducing earthquake and wind responses of the eccentric building installed the absorber. The analytical parameters in the building installed the absorber are designed with EA ratio and peak ratio of transfer functions. The effect of response reduction is examined by frequency response, earthquake response and wind response analyses.
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Yoshio INOUE, Kyoko SHIBATA, Masafumi NAKAHAMA
Article type: Article
Session ID: 411
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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An optimum design method of a dynamic vibration absorber using dissipation energy and imaginary part of dynamic stiffness of the absorber is proposed. For the case parameters of the main system fluctuate in wide range and exciting frequency varies in small range, very simple expressions to calculate optimum frequency ratio and damping ratio of the dynamic vibration absorber have been derived by using imaginary part of dynamic stiffness of dynamic vibration absorber. It can be seen that optimum frequency ration is 1 and optimum damping ration is expressed by function of frequencyrange of the exciting force. Numerical simulation is carried out and calculation results show usefulness of the proposed method.
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Yukio ISHIDA, Tsuyoshi INOUE, Yosikazu Hanajima
Article type: Article
Session ID: 412
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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The auto-parametric vibration absorber, which is a kind of nonlinear absorber, suppresses the vibration of main system only at around the resonance point. However, because of the existence of another stable solution due to auto-parametric vibration absorber, the vibration of main system may increase when the excitation frequency is slightly apart from the resonance point. In this paper, the improvement of auto-parametric vibration absorber for the suppression of such another stable solution is investigated. A stopper consists of spring element and damper element is set to limit the absorber motion, and the effects of these elements are investigated and clarified.
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Katsuaki SUNAKODA, Taichi MATSUOKA, Masaki ZENIYA
Article type: Article
Session ID: 413
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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In this paper, the authors proposes a new type hybrid damper with effects of magnetization and demagnetization. The damper consists of a ball screw, electromagnets, rare-earth magnets, and a conductive disk. The steel core of the electromagnet is connected to the rare-earth magnet. The damper has the controllable damping force that is magnetized in case of positive current of the electromagnet, otherwise demagnetized in case of negative current. The validity of the damper is to utilize by a fail-safe mechanism under the control device trouble, and to be more economy than a semiactive type. In order to investigate the resisting force characteristics of the damper, the vibration tests are carried out using a shaking table. The frequency responses and the seismic responses of one-degree-of-freedom system attached to the damper are calculated, and the damping effects are discussed.
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Nobuhiro Wakabayashi, Kenichiro OHMATA, Kei KANDA, Daisuke YAMAGUCHI
Article type: Article
Session ID: 414
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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In this paper, a friction damper that has resisting force characteristics of hardening type and returning to the original position is proposed. The friction damper is composed of stacked two sets of V-shaped links, coil springs, brake shoes, a load column and an outside and inside frame. The resisting force characteristics of the damper and the frequency and seismic responses of a single-degree-of-freedom system supported with the damper were analyzed. The trial damper was made, and the resisting force characteristics and the effects of vibration suppression of the damper were substantiated experimentally and numerically.
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Takayuki KOIZUMI, Nobutaka TSUJIUCHI, Takudou OHKADO, Hiroaki ANDOU
Article type: Article
Session ID: 415
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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As a new approach to reduce vibration for a hydraulic excavator's cabin, a mount, which combines the elastic force from air-spring with shear force from viscous fluid, is proposed. It is a basic idea that the air-spring provides dynamic stiffness while the shear force in oil between the two coaxial cylinders provides loss stiffness and plays a role of the damper. The air-spring's neutral height can be easily set at an arbitrary by adjusting the pressure of the air-spring in accordance with the supporting weight. The prototype of the composite mount was created. Its dynamic characteristics were measured in the various conditions to check the dependency on the displacement, frequency, pressure of air-spring and oil viscosity. In addition, the mechanism was theoretically analyzed to derive the formulation of the dynamic characteristics from its design parameters. Finally, the dynamic characteristics by design parameters were compared with measured data and the error of the formulation was quantitatively evaluated.
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Tadao TAKIGAMI, Takahiro TOMIOKA, Shuji MIYATA, Sachito NAKANO
Article type: Article
Session ID: 416
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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This paper describes the application of piezoelectric elements to suppress the bending vibration of a railway vehicle carbody. The elements are electrically connected to external shunt circuits. The authors carried out stationary excitation tests by using a commuter car with damper units consisting of piezoelectric elements and attachment devices. Two types of shunt circuits, an inductor and a resistor in series (L-R circuit) and a capacitor with negative value and a resistor (negative C-R circuit), are implemented in the tests. The test results indicate that the damper units reduced the frequency response gain between excitation force and acceleration on the floor at the natural frequency up to approximately 30%.
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Daichi WATANABE, Toru WATANABE, Kazuto SETO
Article type: Article
Session ID: 501
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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This paper proposes a control method of an active isolation system with low stiffness and lightweight isolation table subjected to direct impulse excitation on it. In the case of large-size and lightweight isolation table, multi vibration modes appear on an isolation table in lower frequency region. Therefore, we construct a 5-DOF lumped model of the isolation table using the reduced order physical modeling method which is effective for controlling multi modal vibrations. For designing a controller, two-degree-of-freedom controller combining feed-forward controller for MIMO system with LQ is used. Usefulness of proposed modeling method and controller is confirmed through numerical simulations and experimental results.
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Yohei HOSHINO, Yukinori KOBAYASHI, Hiroshi CHINDA, Mitsuaki NAKANISHI
Article type: Article
Session ID: 502
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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Active control of a vibration isolation table using pneumatic actuators is studied in this paper. A 3DOF physical model of the vibration isolation table is constructed. We introduce a method to determine the air pressure of each actuator with taking account of redundancy of the actuators and sensors. The regulator for the pneumatic actuator is driven by a stepping motor. Type I digital servo system is applied to control the vibration and position of the vibration isolation table. Control performance of the system is verified experimentally and the results are shown in figures.
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Satoru HAMADA, Yanqing LIU, Hiroshi MATSUHISA, Hideo UTSUNO
Article type: Article
Session ID: 503
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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Semi-active vibration systems with variable damping and stiffness have good isolating performances. However, the device for variable damping and stiffness is complicated. In this paper, a system using two controllable dampers is proposed. The total damping and stiffness of this system is changed independently. The theoretical calculation and experimental results showed that the system could realize variable damping and stiffness; moreover, the system with damping and stiffness on-off control had a good performance.
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Shigeyuki NAKADAI, Masafumi MORITA
Article type: Article
Session ID: 504
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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A magnetic levitation is a system without contact. The repulsive magnetic levitation have a static stability, however, it is less dynamic stability, because dissipative energy is not enough. And active control has a drawback to consume external energy. In this study, it was used that regenerated energy as electric power obtained by motion of generator instead of external energy. On the simulations and experiments, to add a random vibration, then optimal control is applied to get the target control force. As a result approximate Self-Powered active control performance better than passive system and obtains vibration characteristic near active control.
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Shigenori SHIBATA, Masatsugu OTSUKI, Kazuo YOSHIDA
Article type: Article
Session ID: 505
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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Vibration of a large transport system is induced by its motion and the vibration prevents the next motion as the settling time is extended. This paper presents the methodology to simultaneously control the motion and vibration of a cantilevered fork as one of the large transport system. Hence, the nonstationary robust control method considering modeling error of the controlled object as the unstructured uncertainty is applied to enhance the performance for the motion control and vibration suppression by switching the robust state feedback controllers smoothly due to the motion. The usefulness of the proposed methodology is verified through the experimental examinations; consequently, the settling time of the motion and vibration of the controlled object is considerably reduced in the comparison with the result by the conventional method.
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Takayuki MASUDA, Yutaka KURITA, Yuichi MATSUMURA, Yasuaki YOSHIKAWA
Article type: Article
Session ID: 507
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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This paper describes high speed fixed-quantity supply of works by intermittent drive using velocity feedback control on vibratory transportation machine. Generally, since the damping ratio of vibratory transportation machine is very small, growth and stop of vibration require a long time. Then, it enables it to perform the quick growth and stop of vibration of vibratory transportation machine by feeding back the velocity of itself. It is enabled to transport a work accurately by intermittent drive using velocity feedback control. Consequently, high speed fixed-quantity supply of works was able to be performed correctly by intermittent drive.
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Yasuaki YOSHIKAWA, Yutaka KURITA, Yuichi MATSUMURA, Takayuki MASUDA
Article type: Article
Session ID: 506
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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In the process of constant amount subdividing, the supply method by the intermission drive on vibratory transportation machine is used. In this process, the high-speed fixed quantity supply is requested. Velocity FB control promptly grows up, attenuates table, and the high-speed fixed quantity supply can be done. This research paid attention to the control of velocity FB control, and developed open loop control. It is shown to be able to show open loop control by the addition match of the wave. It is shown that open loop control is a supply performance equal with velocity FB control.
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Masatsugu OTSUKI, Kazuo YOSHIDA, Hiroyuki KIMURA, Toshiaki NAKAGAWA, H ...
Article type: Article
Session ID: 508
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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This paper presents the vibration control, using passive or semi-active dampers, for the transverse vibration of an elevator rope. The dampers are located in the vicinity of the top end of rope and the vibration of rope is reduced by impact with the dampers. The adequate gap width, location, and damping coefficient of the damping device are calculated for the case in which the arbitrary constant length of the rope is allocated and the building is subjected to various earthquakes. Further, the performance of the semi-active vibration control method for the suppression of the vibration of rope is verified; consequently, the usefulness for the proposed method is shown.
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Yoshinori ANDO, Tetsuo TATSUNO, Susumu KOGURE
Article type: Article
Session ID: 509
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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The invert pendulum is often used to confirm the control theory and a new control design, because it is unstable system and an experiment on it is easy. This paper has a discussion about a swinging-up and a stabilizing control of the inverted pendulum. First, the capability of an experimental apparatus is confirmed by the open-loop control. After the swinging-up, stabilization in the inverted state is performed by the linear control. Next, the energy based control for swinging-up is designed and applied to the experiment. Since the proposed swinging-up control does not use system parameters, our control has robustness against parameter errors. Robustness of the proposed control is confirmed.
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Naoto FUKUSHIMA, Ichiro HAGIWARA
Article type: Article
Session ID: 511
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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This paper deals with an optimal control of non-linear mechanical system. In this method, the functional consists of total energy of controlled system, performance function and energy function. This energy function is described by energy flow which is transmitted from controller to controlled system. The functional is described as a first-order expression concerning with control variables, therefore it is able to induce optimal control law from the condition of minimising the functional. This method was applied to the control problems of the energy regenerative active suspension.. As a result, it is clarified that this method is useful to design controllers for energy regenerative control systems. In continued reports, it is shown that this method is applicable to nonlinear mechanical system and nonholonomic system.
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Kazuaki IGUCHI, Naoto FUKUSHIMA, Ichiro HAGIWARA
Article type: Article
Session ID: 512
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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In this paper, we suggest a new method of control over DYC of a four-wheeled vehicle with four independent motors and a regenerative brake system. This method is based on optimal control theory. However, this optimal control requires complicated calculations and an assessment of second degree order with respect to input. To solve the probrem, we apply optimal control of mechanical system based on energy equation.
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M. Selcuk ARSLAN, Naoto FUKUSHIMA, Cindy HSU, Ichiro HAGIWARA
Article type: Article
Session ID: 513
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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In this paper, application of a new optimal control method for a six-degree of freedom underwater vehicle (UV) with one actuator is discussed. The UV is a nonholonomic system since it is nonlinear and underactuated. Therefore, control of this vehicle necessitates a special control method. In the control method, the functional defining criteria function is based on energy flows within the dynamic system, and between the system and its environment. The applied control method allows obtaining the analytical solution by minimizing the functional using variational principle. The UV is modeled using a software tool and subsequently simulation results are presented. It is shown that, the UV can reach the target by means of a single actuator.
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Akira ABE
Article type: Article
Session ID: 514
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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This paper presents the optimal path planning for a two-link rigid-flexible manipulator to suppress the residual vibration. In order to obtain a mathematical model properly, the flexible link is modeled by considering the axial displacement, due to large bending deformation, based on inextensibility condition. The Lagrangian approach in conjunction with the assumed modes method is applied to derive the equation of motion of the manipulator. In the path planning, we express the joint angle by cubic spline function, and then use a particle swarm optimization to find an optimal path. The optimal path thus obtained has minimum vibration requirement. In the numerical calculation, we verify the effectiveness of the proposed trajectory planning.
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Yusuke KATSUNO, Hiroshi MATSUHISA, Hideo UTSUNO
Article type: Article
Session ID: 515
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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Since wire has a small damping, elevator wire may have a large vibration due to earthquakes. However it is not easy to install a damping device because of its structure. In this paper, a new damping device is proposed. The damper is composed of a spring, a mass and a magnet which does not contact with the wire. Theoretical analysis and experimental verification were carried out. This damper can suppress the resonance vibration of wire. This damper also has robustness for the change of wire length.
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Chinori IIO, Takashi TANAKA, Toru WATANABE, Kazuto SETO
Article type: Article
Session ID: 516
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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The connected control method (CCM) for two building structures arranged in parallel with MR damper has already been established. This paper deals with the CCM for four building structures arranged in square and connected with four MR dampers. This method has a merit to control torsional vibration as well as bending vibration. By means of this method, it is able to control vibrations of super tall buildings against the strong wind and a large earthquake. Effectiveness of these approaches is verified through simulation.
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Shunsuke ISOMURA, Kimihiko NAKANO
Article type: Article
Session ID: 517
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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The authors propose to measure acceleration of the ambient vibration by the vibro-generator, which converts energy from vibration using electromagnetic induction. The generator carries out disturbance accommodation control and estimates the acceleration with the observer, while it generates electricity from the vibration. To examine the performance of the proposed system, numerical simulations are conducted. The results show the proposed system can estimate acceleration of the low frequency vibration well with generating the power.
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Yutaka MARUYAMA, Masaya TAKASAKI, Yuji ISHINO, Takeshi MIZUNO, Takayuk ...
Article type: Article
Session ID: 518
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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The paper proposes to apply Active Magnetic Bearing (AMB) for developing compact, multi-axis, high-accuracy and low-cost gyroscopic sensors. In the proposed sensor, angular velocity and in addition acceleration are measured based on the control signal for maintaining the relative position of the shaft to the stator in the AMB. It works as two-axis gyroscopic sensor and in addition three-axis servo-type accelerator so that the cost performance of the proposed sensor is expected to be high enough. In order to investigate its feasibility, several basic studies are carried out with a conventional-size AMB.
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Ryuzo HAYASHI, Yoshihiro SUDA
Article type: Article
Session ID: 519
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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The electro-magnetic device, such as electro-magnetic damper for automobile and electro-magnetic actuator for railway vehicle, has an electric motor as a mechanism of force generation, and the rotor of the motor generates inertia force because of its moment of inertia. In this paper, the authors formulate the relationship between the inertia force and the viscous damping force quantitatively. And a method for changing the acceleration-damping force characteristic by controlling the current of the electric motor is proposed and its efficiency is verified by an examination.
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Hiroyuki KOTANI, Masaya TAKASAKI, Takaaki NARA, Takeshi MIZUNO
Article type: Article
Session ID: 520
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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Previously, a novel method to provide human tactile sensation using surface acoustic wave (SAW) is proposed. A stator transducer material (piezoelectric material) of a SAW tactile display, however, has constraint of size and shape. In this research, to solve this problem, a method is proposed to excite and propagate SAW on a non-piezoelectric material surface. Excitation and propagation of SAW on a non-piezoelectric material is realized by combination of a LiNbO_3 plate and a glass substrate. The glass transducer is applied for the active type SAW tactile display and worked successfully under the control. Additionally, to integrate tactile sensation with visual information, installation of the glass transducer on a liquid crystal display (LCD) is suggested.
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Yuki AKIYAMA, Kazushi SANADA
Article type: Article
Session ID: 601
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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A power-assisting device should provide appropriate support for various physical conditions of persons who need supports. Therefore motion-sensing concept is introduced into a control system for a power-assisted chair. A basis of the concept is real-time modification to a desired path. The path is transformed about a time axis by difference between a standard load pattern and an actual load pattern on a floor. This method makes a sort of compliance and is expected to realize more adaptive assisting. The control system was implemented for the power-assisted chair. The effect was investigated by experiment on the system.
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Nobutaka TSUJIUCHI, Takayuki KOIZUMI, Shinya NISHINO, Shigeki SHIRAI, ...
Article type: Article
Session ID: 602
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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The purpose of this study is a development of a nonmetallic and light robot hand driven by low-pressure pneumatic actuators. As the robot hand is used pneumatic actuators, if a human touches the robot hand, it is safe. The results of characteristics of the pneumatic actuator proved that it is possible to drive the robot hand and get enough generated force to grasp objects by lower inner pressure and lower air volume. Therefore, a model the same size as a human hand can be made without a big air compressor, and applications for prosthetic hands are considered.
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Mineo ISHII, Keijiro YAMAMOTO, Kazuhito HYODO, Yoshitomo WAKAI
Article type: Article
Session ID: 603
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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New power assisting suit consisting of wrists, shoulders, arms, a back, a waist, a hip and legs units was developed. The distance between the joints of the waist joint and the hip joint of the suit was shortened to that of the wearer. Link mechanism was slimed by using belts. The movable angle for external rotation of leg unit was increased. The validity of the newly developed wrist unit and the improved waist and hip unit was proved experimentally.
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Zhen XIU, Ato KITAGAWA, Hideyuki TSUKAGOSHI, Canghai LIU
Article type: Article
Session ID: 604
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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This paper discussed an Internet-based Tele-rehabilitation system shown in Fig.A1, which aims to realize that multi home-stay patients in different places can share rehabilitation instruction of one physical therapist at the same time. How to prevent from the muscle atrophy and the bone senescence is an important problem for patients who cannot move their body as they wish. Generally, it is supposed to be effective for patients to go to hospital regularly and to receive rehabilitation from physical therapists. However, going to the hospital regularly far from their houses actually brings large burden to patients, while it is impossible for a limited number of physical therapists to visit so many patients' houses in each different place. In the designing of rehabilitation device to help the bedridden elder or the person who is paralyzed on one side, the idea of wearable fluid power has been tried and the flexibility of the fluid power has been used to its utmost. In our designing the Wound Tube Actuator (WTA) was used which can circle around the human's body and can be wearied for its safety and light weight with high-power. When the air pressure in the WTA is rising, a lot of working motion can be realized, such as rectilinear motion Bending and Turning. And many assist devices have been designed by using WTA, such as tail-arm, tail-wrist, and wearable twister. However, a task of rehabilitation is not so simple that can be accomplished by the amateur or the devices isolated from physical therapists, because the judgment of patients' condition, assembling and adjusting of exercises plan, observation of the progress are medical skills which can never be arrived at by technology. So the therapist is very important and necessary in the process of rehabilitation for the restoring function. To solve this problem, the tele-rehabilitation system is supposed to be promising, which offers a sure therapy supervised by skilful therapists to patients in their own house and gives not so much burden to either patients or therapists. So as to realize such a helpful rehabilitation system, this research aims to apply a master-slave system with force feedback, which will hopefully enable the therapist to cure the patients who stay at the remote places. In addition, it also aims to design a network rehabilitation system based on TCP/IP to let a therapist cure multiple patients staying in different places. And now Internet which is the largest network with open and world-wide characteristics has provided a convenient way to develop such a system. As the first step to realize the above system, this paper discusses an Internet-based tele-rehabilitation system with force feedback under variable time delay. It has been proved by the experiments that there is certain network time delay in the process of data transmission and furthermore the time delay has the property of uncertainty. The bilateral control system is greatly sensitive to the time delay, and will turn to be unstable with it. This problem is the biggest problem of the telecontrol or teleoperation system. This research derives the method of the master-salve operation, which considers the operator's dynamics into the system, and leads to the idea of novel control architecture for the tele-rehabilitation system with time delay. By introducing two compensators into the system, the tele-control system with time-delay can be turned to be stable. Then considering the variable characteristic of time delay caused by the Internet, which were described in the paper, we improved the control architecture to cope with the variable time delay. Besides, the concept of the whole tele-rehabilitation system with Single-master Multi-Slaves (SMMS) is indicated. It means that only one master body diagnosed by a therapist plays a role as multiple slaves corresponding to multiple patients in different places. A big issue of sharing the same
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Noboru MOMOSE, Toru OSHIMA
Article type: Article
Session ID: 605
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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Human-friendly electrically powered wheelchair (EPW) with good riding comfort becomes a real requirement of aging society. Many factors are related to the riding quality of EPW, the body tilting for the acceleration and deceleration of EPW is one of important factors. Especially in the case of speed control by the joystick a sudden acceleration or deceleration is easily to be caused and the riding comfort becomes bad. In this study, an improvement on riding comfort has been tried by applying the state feedback control with state observer based on the modeling of EPW system including an operator. A sensory test on riding comfort for the handicapped and healthy subject was carried out, and the effectiveness of the control method was verified.
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Ryusuke IGAKI, Keizo AWA, Takuzo IWATSUBO
Article type: Article
Session ID: 606
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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Recently, the leg handicapped people increases by rapid progress to the aged society and the traffic accident etc. in our country. Therefore, there is a situation which the wheelchair user increases. Then, it is very difficult that it can say that the barrier freeing advanced and that all buildings install this. Then, in this study, by giving the machine function to wheelchair itself, both of flatland transfer and stepping the stairs are enabled, and the wheelchair that level difference and stairs, etc. are got over is developed.
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Kazuma TAKEUCHI, Keizou AWA, Takuzou IWATSUBO
Article type: Article
Session ID: 607
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
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Recently, leg handicapped by aging, the traffic accidents and sports activity is increased. The population that uses the wheelchair tends to increase year by year, but wheelchair has problems in the ability of climbing in the stairs. There is a problem that the nurser is necessary, and it is difficult to install it in all buildings though it is if the solved equipment is developed. Therefore, it is a purpose of this research to develop the wheelchair that can climb stairs without nursing person and keep efficiency of the movement in the plain.
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Yosuke NASU, Kokubun NITTA, Hiroshi OKAMURA
Article type: Article
Session ID: 608
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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The walking support device attached the wheel of three wheels or more in general, and adopts the caster circle for the front wheel. The caster has the merit that the walking support device can advance by an easy structure, and the turn etc. move. Especially, the caster is very advantageous for the turn. However, the fault that there is some unstable behavior is known to the bumpy road. Here, caster's merit is added and consideration of the method of supplementing the life, fault is added.
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Takuma SAKAMOTO, Hiroshi OKAMURA
Article type: Article
Session ID: 609
Published: August 06, 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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Recently, the senior citizen's independence is requested in aging society. We are researching the Walk-Supporting Devise from which the senior citizen can stroll in the town. The country admits that even the difference of 20mm is Barrier-free. The first target of the difference getting over is 20mm. It is necessary to exceed 50mm to stroll in the town freely. The difference getting over device is necessary to get over the difference of 5mm easily. When getting off the difference, the high impact is generated. It is necessary to control the tire to cushion the shock.
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