In support concerning walking of the walking support machine, the method to assume the walking speed and to assist in power is examined. In the kind of movement support, the load control is generally used well. It is a method assisted to pile power in proportion to power to push the steering wheel. However, the power that should be supported changes greatly, and feels odd in support in walking of the road where a complex barrier is consecutive as the intention of the person who is supported. The introduction of the speed control method was tried as the measures, and the match of the sensor and the control logic was aimed at here for the cancellation of the sense of incompatibility.

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At the steep slope environment, the electric wheelchair has a serious problem for autonomous driving. Unstable driving performance of a wheelchair must be improved for senior or immobile users. We examined the effect of the gravitational force at a steep slope when a wheelchair is driven at slow speed. In this paper, we proposed the control model of a wheelchair which has two order system of transfer function. PID control was done and motor speed correspond to variation of slope gradient is controlled with rotary encoder. If three axes acceleration sensors are settled on a head, hand and arm, the output signal of this sensor can be utilized for the driving command for wheelchair. We achieved the stable speed control even if at a slope condition and can eliminated the disturbance of the plant and controller by the optimum design.

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In this research, it proposed the active installation device that additionally fixed a wearable equipment to installation person's movement appropriately and handily, and it proposed a simple holding power control valve that controlled it. It was possible to correspond to a dynamic thickness change in the applied part by the holding power and length's changing by air power, and it aimed at the achievement of a handy installation device. It proposed the structure that it expanded and the holding power loosens when pressurizing it as an installation device that used the flat tube and the structure to roll when pressurizing it and to fix the installation device. Next, it proposed a light and simple holding power control valve by flat tube to achieve an appropriate holding power control with a proposed installation device.

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This paper aims to develop a wearable device to assist the wrist motion so that the paralyzed patients can be treated for rehabilitation with staying in their own house. In order to realize it, the simple and the light-weighted mechanism, which can perform closely to the actual manipulation on the patient's wrist by the physical therapist, is proposed. It is driven by the combination of a wire and a fluid actuator with spiral structure which are suitable for generating the stretch motion on the wrist with its pushing the carpal bones. The validity of the actuator and the mechanism will be experimentally verified in this paper.

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Recently, research has concentrated on pneumatic robot hand. Here, we develop a pneumatic actuator driven by low pressure. We develop a five-fingered robot hand by using the pneumatic actuator, and we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. Next, we make a two kind of 2-link arms that has one degree of freedom using the pneumatic actuators. We construct a control system for the 2-link arm and verify its control performance.

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The power assist suit was improved in mechanism and computer system. Link mechanism of waist and hip unit was slimed by using belts. The movable angle for external rotation of leg unit was increased. The computer and driver units were distributed on each actuators. The validity of the improved suit was proved.

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Sense of balance of patient in rehabilitation is investigated. Two types of measurement of sense of balance are conducted. One is measurement of body sway by using force-plate. The other is balance test by using seesaw-like board. It is found by comparing the results of patients in rehabilitation with those of normal subjects that body sway of patients is larger than that of normal subjects, and patients with asymmetrical disease have inclination in the sense of balance in seesaw board test. These characteristics may be used to measure progression of rehabilitation.

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This paper describes the classification algorithm of the driving steering intention based on brain-computer interface (BCI) using electroencephalogram (EEG). The classification algorithm of the driving steering intention was examined and developed. Experiments were conducted with 5 able-bodied subjects using driving simulator (DS). The drivers were instructed to operate the vehicle according to the series of three kinds of instructions (right steer, left steer, and straight running). Those instructions were given to the subject with random order, after the operation trigger had been signaled. The off-line analytical result shows that the driver's steering intention can be classified.

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We think that myoelectric prosthesis can become more functional and easier to control by motion discrimination from EMG signals. Many researchers use neural network for motion discrimination. But, their method is difficult to learn in real time. So, we propose a new motion discrimination method using distance scale in feature space for myoelectric prosthesis. This method can learn in real time. Experimental results show that discrimination rate is 80 percents or more in the method using standarization Euclidean distance, or Mahalanobis' generalized distance.

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This paper presents a methodology for measurement under dynamic conditions. Dynamic problems in measurement are roughly divided into: a) measuring problems of measured quantity of the object under dynamic conditions, and of the dynamic force, torque, and acceleration applied to the object body; and b) calibration problem of force transducers used for dynamic measurement. The first part of the paper is devoted to a methodological consideration on dynamic measuring problem of mass as a typical example. The second part concerns the recent topics on dynamic calibration problem of force transducers. Some of further research problems will be suggested.

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Being capable of highly accurate measurement, P.D. flowmeters have been used conventionally in such applications as custody transfer and meter proving. For more accurate measurements, servo P.D. flowmeters, in which the serve motor drives the rotors so that the pressure difference across the rotors are appropriately controlled, have taken over ordinary P.D. flowmeters. Further requirements on these meters are, however, becoming tough year after year. Demands on high precision measurement of multiple liquid types with different properties, wider range-ability, and higher response are recently required.

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The impulse excitation method in vibration test is generally carried out with an impulse hammer. However, it is not suitable for measuring the vibration characteristics of structures in high frequency region because the input with the impulse hammer doesn't become an ideal impulse wave form. In this paper, an approach to generate an ideal impulse force is proposed with laser ablation caused by a high-power laser irradiation to the structure. The ideal impulse excitation can be achieved by the proposal technique, resulting in a significant improvement on precision and reliability in high frequency measurement.

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We have developed a system that measures the shock responses of a magnetic head slider in a hard disk drive (HDD). We took images of the responses by using two high-speed cameras. The acceleration and the position of the slider were regulated at the moment that a shock was applied to the HDD. Using our system, we measured the responses of the slider while it was seeking at a constant acceleration between 0 and 360 m/s^2.

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In the aged society, it is very important to develop technologies for human assist. This paper concerns the control of the power assist wheelchair with consideration of driving environment. The inclination sensors are necessary to control the wheelchair on the slope (driving environment). Since inclination sensors are implemented on the wheelchair, the acceleration of the wheelchair might influence the observed inclination angles in general. Therefore, this report proposes a dynamic measurement method for accurate estimation of the inclination angle considering the acceleration.

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An axle weighing system is equipment that measures each axle weight of an in-motion vehicle. A dynamic model of the weighbridge for the equipment has been made in order to elucidate the cause of inaccurate values measured by the equipment. Since the signal from the weighbridge reflects the event of the passage of tires, the model is eventually expressed by a set of linear variable-coefficient ordinary differential equations. Simulated signals generated using the model enables us to introduce and evaluate some useful methods to accurately measure axle weights of in-motion vehicles driven at high velocity.

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We have developed a new system that continuously measures three-dimensional positions of the contact points of the pantograph and the trolley line of SHINKNSEN under running. Two CCD cameras are set up on the roof of the vehicle, and they acquire the images around the pantograph under high-speed running. By using image processing technique, our system extracts the pantograph and the trolley line from the images, and calculates three-dimensional positions of the contact points. This report describes system configuration of our system, the image processing procedures and some measurement results of the pantograph height and contact point deviation.

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The objective of this study is to develop a small size and high thermal efficiency biomass gas engine. Biomass gas has component fluctuation, which arises from resources, gasification method, and gasification condition. The engine controller is needed to absorb its fluctuation for high thermal efficiency and stable operation. In this study, the engine control system for biomass gas was developed, which could analyze fuel component in real time by measuring in-cylinder gas pressure. By using this control system, automatic engine operation was succeeded to be stable operation under fuel composition changed from methane to simulated biomass gas.

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In recent engine development, precise and quick response pressure sensors are necessary for estimation of IMEP or ROHR. Usually, piezo-electronic type pressure sensors are applied because of the small size, quick response and heat endurance for cylinder pressure indicator. However, the sensors have some difficulty regarding to the static and accurate calibration. The new dynamic calibration system has been developed for the piezo type pressure sensors. The system has a pulse pressure generator having a wide range of frequency and precise pressure altitude. The test results are satisfactory as shown in this paper.

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The conventional studies on the granular material impact dampers, rarely take the dependency of restitution coefficient on relative impact velocity due to elasto-plastic deformation at the impact into consideration. In this paper, elasto-plastic materials such as lead are treated. The elasto-plastic behavior at the impact is modeled as a bi-linear type force-displacement characteristics. Impact behaviors in the horizontal and vertical plane are evaluated by numerical simulations, and the vibration mitigation capability is investigated for various container configurations and excitation directions.

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This paper describes the automatic design algorithm of control system for active mass damper (AMD). This algorithm determines controller parameters by applying temporary controllers. Vibration control experiments conducted on an actual floor confirmed that the controller designed by the algorithm can reduce transfer function of 1st mode to 30% of that without AMD. And it was also confirmed that the vibration control effect of the controller is as same as that of a manual designed controller.

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A dynamic damper using a Mn-Cu alloy spring to reduce vertical vibrations of long-span footbridges is proposed. First, endurance vibration tests and free vibration tests using models composed of Mn-Cu alloy plates and weights were carried out to investigate the effects of aging changes in damping properties of the Mn-Cu alloy. Next, vibration response analyses of the footbridge model with dynamic damper models taking into consideration the Mn-Cu damping properties were carried out to investigate the effects of aging changes of damping properties on the vibration responses of the footbridge. The results confirmed that the responses of the footbridge can be reduced sufficiently by applying the dynamic damper using the Mn-Cu alloy spring.

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Semi-active control using a variable damper stabilizes building responses in an earthquake better than the conventional passive control. This paper used variable hydraulic damper. The servo valve of variable hydraulic damper controls the oil flow between two rooms of the cylinder divided by the piston. As the first step of the research, in order to evaluate the performance expected from the theoretical study, a dynamic loading test was conducted. Next, authors conducted experiment by the base-isolated specimen of two-degree-of-freedom structure. Finally, the damping performance and control characteristics of variable hydraulic damper were verified.

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In this study, a new gravestone is proposed and earthquake-proof improvement is aimed at without using aged deterioration materials in consideration of the life of a gravestone. In order to verify the earthquake resistance of the gravestone, an excitation experiment is conducted by sine waves and five real seismic waves. A new gravestone pastes up each part with the paste of cement, combining a tenon and a mortise. So the gravestone is unified. The gravestone is modeled, the eigenvalue analysis is conducted, the 1st natural frequency and mode form are calculated, and they are compared with the experimental results. The earthquake-proof examination of the gravestone is performed under the larger earthquake The response analysis of the gravestone is calculated by modal analysis.

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In this study, we consider a cask-canister system as a dual structure. In an analytical model, the cask is treated as a free-standing structure on a horizontal floor, and the canister and the cask are connected by springs as a dual structure system. The equations of motion are derived for rocking motion when the floor is subjected to the horizontal earthquake excitations. Simulation studies are performed. The angle of the cask against the floor and the relative displacement of the canister against the cask are evaluated, and the effects of the canister on the cask motion are discussed.

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This paper proposes a method to generate a resonance by variable damping in a vibration system. A simple single-degree-of-freedom base excited model with a variable damper is considered. The coefficient of the variable damper is changed like a sine wave, i.e. parametric excitation which of the frequency can be freely chosen. The damping force generated by the variable damper is a product at the variable coefficient and the relative velocity of the system between the base and the mass. By the multiplying, new vibration that has another frequencies besides the input frequency can be arisen. Therefore, the controllable oscillation of the damping coefficient in a suitable frequency can generate new vibration that has the same frequency as the natural frequency of the vibration system. As a result, the amplitude of the vibration system increases because of a phenomenon that is similar to common resonance. In this paper, we clarify the facts on the growth of the amplitude by the proposed method in analysis and simulation.

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An elevator rope for a high-rise building is excited forcibly by the displacement of the building caused by earthquakes and wind forces. In this paper, experiments of free vibration and forced vibration of rope are presented for obtaining the natural frequency and the damping coefficient of rope. And experiments of forced vibration of rope whose length varies with time due to the up-and-down movement of the cage are presented. Finite difference analyses of rope vibration are also performed by considering the time-varying length of the rope; based on the assumption that the movement velocity is constant. The calculated results of the finite difference analyses are in fairly good agreement with that of the experimental results.

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Experimental studies was conducted to clarify the nonlinear dynamic coupling of an attached liquid drop on and a cantilever thin elastic plate. Cantilever plate on which liquid drop is attached was harmonically excited at clamped root by an electromagnetic exciter. By varying the liquid volume and liquid drop attached position, the influence of an attached liquid drop was investigated. Strong dynamic coupling was found between attached liquid drop and a plate, when the natural frequency of the liquid drop is close to that of plate.

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The vibration Characteristics of laminated composite elliptical shell partially filled with liquid was investigated and compared with the same size isotropic elliptical shells. The obtained frequencies of the shells were plotted as a function of the circumferential wave numbers for each given axial wave number. For empty laminated composite shells, the frequency curve of the angle-ply shell and that of isotropic shell cross over at some circumferential wave numbers. However, it is found from the experimental results that when the elliptical shells are partially filled with liquid, this kind of crossover of the frequency curves disappears due to the mass effect of the liquid inside the shell.

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This study presents experimental results on nonlinear vibrations of a curved shallow shell-panel with an in-plane elastic constraint. One pair of parallel boundaries of the shell-panel is clamped by rigid blocks, and one of which is constrained by elastic springs. The other pair of boundaries is simply supported by attaching the panel to side plates with adhesive films. Nonlinear vibrations of the shell-panel are measured under periodic lateral acceleration and under compressive in-plane force. In specific frequency region of excitation, chaotic responses and quasi-periodic vibrations are generated. These responses are examined with the Poincare projections, the Fourier spectra, the principal components and the maximum Lyapnov exponents. It was found that theses responses are generated from internal resonance with multiple-vibration modes of the shell-panel.

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We have applied the transfer matrix method (TMM) to the analysis of three-dimensional elastic vibration problems on a railway carbody. The carbody is modeled as a simply-supported non-circular cylindrical shell without end plates. We also made a 1/12 size carbody model for experimental studies to verify the validity of the numerical simulation. The modal analysis was applied to the experimental model. Comparing the results by TMM and the experiment, natural frequencies and mode shapes of vibration for lower modes show good agreement each other. Furthermore, we investigated effects of length and curvature of the shell.

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The shell plate of oil storage tank is an important evaluating component in the Fitness-For Service Assessment (FFS), because it is required to have sufficient strength against static and dynamic pressures in both operating and earthquake conditions. This paper presents an investigation on the tendency of stress occurred in the local thin areas (LTAs) of shell plate subjected to an internal pressure by using a partial three-dimensional shell model. In the analyses, LTA is assumed as a rectangular area or a ring area with a rectangular cross section, and its lengths in the longitudinal and circumferential directions are taken as study parameters. The tendency of stress ratio (the stress in LTA of shell plate to that without LTA) has been investigated and the analytical results show that there is a tendency for stress ratio to be going up when the longitudinal length of LTA lengthens gradually and the thickness of shell plate is decreased. But it is opposite for increasing the circumferential length, the stress ratio is going down. The relation between the stress ratio and the shape of LTA with different combination of sizes are clarified by the analytical results.

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The sloshing response characteristics of floating roofs in aboveground storage tanks are presented in this paper. The linear analytical method developed by Matsui is used in the fluid coupled elastic vibration analysis. The floating roofs are modeled to the elastic circular plates assuming the double deck type. The seismic acceleration is the sinusoidal input in which the frequency is coincides with the natural frequency of the floating roof. The results show that the stress due to high order vibration mode is significant effect on the roof strength.

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The 2003 Tokachi-Oki earthquake caused severe damage of oil storage tanks due to long-period ground motions. After that, the technical standards of the Fire Service Act regarding the sloshing with floating roof tanks were revised. The influences of non-linearity of liquid behavior and 2nd mode sloshing were taken into consideration using FEM(Finite Element Method) at this time. However, it is not enough that sufficient description about FEM model such as contact definition, time steps, number of element division, hourglass control and seal model. In this paper, the authors present the suitable model of sloshing simulation for floating roof in oil storage tanks using FEM.

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In general, the sound waves propagate spherically in free space, which accordingly makes the global attenuation difficult. Placing number of microphones and control sources can improve the range of quiet zones and several studies have been done to this end, yet still limitations on implementation and cost cannot be neglected. In the present study, a new approach for active control of sound in free space is developed using high directional parametric speaker as the control source. Both normal and the parametric speakers are applied as control sources and results are compared based on measurement of interfered sound field. It is known that the suggested ANC system can mitigate sound locally but cause less influence on sound field in circumferential space.

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We propose a new module-type noise control system, in which small noise control devices are arranged on a plane, to act against the noise transmitted through the interior panel that becomes larger in tunnels. This noise control system controls the noise incident to the interior panel, therefore, it is unnecessary to identify the vibration characteristics of the interior panel or noise transmitted through it, and a certain level of noise reduction is ensured irrespective of the change of vibration characteristics of the interior panel during train running. As fundamental work, we carried out a study on the application to the noise transmitted through a flat plate equivalent to an interior panel. This paper first presents the outline of the noise control system and modeling. Furthermore, the overall behavior of the system is examined by numerical analysis, and finally experimental results of the control effect are shown.

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Concerning the on-vehicle-type ANC devices based on the wave absorption principle for wheel / rail system, new concept of device construction was proposed to prevent the howling and to realize downsizing , i.e., the secondary sound actuator is to be separated from the detecting microphone of primary noise by the distances of 1/2, 3/8 and 1/4 times of wave length of dominant frequency (800Hz) of rolling noise. The validity of new idea was first ascertained by means of BEM simulation analysis and then the experiments using three kinds of devices were actually executed, showing the improved ANC effects for the fairly high primary noise level almost comparable to the practical level

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This paper describes numerical simulations and experiments of the adaptation of the active noise control system with dual-input and dual-filter.As a result of numerical simulation, proposed dual-input system has a good performance when the order of the adaptive filter is large. Experimental result shows a same tendency with numerical result.

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In the control by Direct Adaptive Algorithm, there is a problem that the control effect is worsened by the fluctuation of sound pressure level of noise. For this problem, we proposed Step Size Auto Adjusting Method. It changes the weight coefficient in response to fluctuation of sound pressure level while control. As a result of controlling by the proposing method to the steady snd unsteady noise with some different sound pressure levels, it turned out that the constant control effect is acquired.

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On Active Noise Control in 3-dimensional space, there is the problem that the control effect becomes worse when the evaluation point moves. For this problem, the new algorithm is proposed. The algorithm is updating filters by position of the evaluation point. The simulation shows validity of proposed algorithm. Acoustic characteristics in the simulation are measured. A 400mm × 400mm area in anechoic chamber is divided into 21 × 21 points, an acoustic characteristic is measured at each point.

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This paper describes high-speed intermittent drive on a vibratory transportation machine using velocity feedback control. If a vibratory transportation machine which has small damping is driven in resonance frequency, it is efficient because large vibrations are provided by a small force. The Vibratory transportation machine using velocity feedback control provides stable vibration even if it is operating near resonance frequency, which is easily affected by natural frequency change and disturbance. In addition, it is able to do high-speed intermittent drive because it allows the quick growth and stop of vibration. This high-speed intermittent drive realized high speed fixed-quantity supply of works.

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This paper introduces reproduction of the sensation, which is a sense of roughness, friction, or variegated texture of an object's surface, using surface acoustic wave (SAW). The principle and control of the SAW tactile display are also described. In the principle, a pulse modulated driving voltage excites temporal distribution of standing SAW. The distribution generates friction shift on the surface of a stator transducer substrate during operators' rubbing motion. To control the indicated tactile sensation, the switching is controlled according to the rubbing motion. Although the SAW on the stator surface (SAW substrate surface) can change the friction force between its surface and the slider, a relationship between the friction force and vibration amplitude is unclear. This paper reports fabrication of an experimental apparatus to measure the friction and the relationship.

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This paper discusses the seek control for head positioning mechanism with a contact slider in hard disk drives(HDDs). The proposed positioning control system consists of two-degrees-of-freedom controller. The optimal point-to-point(PTP) control with a frequency-shaped weighting function is employed in feedfoward input design to eliminate vibratory responses due to mechanical vibration modes. To estimate and compensate the friction force of the contact slider generated by the contact of a disk and a slider, a disturbance estimate observer is designed. The validity of the proposed approach has been verified by long span seek simulation trials in the benchmark problems for HDDs.

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Crank-slider mechanisms have been used for many kinds of industrial machines. This paper proposes a control method for the crank-slider mechanism as the active mass damper (AMD). A system of elastic supported machine frame with crank-slider mechanism can be expressed as time-varying system depends on crank angle. A controller is adapted the gain-scheduled control method for frame vibration reduction, and the linear velocity control method for crank motion control. The system can be reduced disturbance vibration by using the slider as active mass.

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Trajectory control of 2-link planar flexible manipulator using subspace control and computed torque method is discussed. Subspace control reduces the dimension of the system by separating the state space into the control subspace and the target subspace. The tip position of the flexible manipulator can be controlled only in the control subspace. The most suitable target trajectory in the control subspace which satisfies an arbitrary continuous path of the tip is considered. Also, the availability of the method is confirmed by numerical simulation.

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Motion simulators, such as flight simulators and driving simulators, have been widely used as "operation training tools" or "evaluation tools for new system development" in various advanced mobility fields. However, when motion simulators are shaken in horizontal or rotation direction, the acceleration occurs in the directions that are not shaken. This is crosstalk. This is because inertia of load mass or response difference of actuators arrangement. Generally, multibody dynamics software is used for analysis of crosstalk. But in this study, we propose the easier analytical model and confirm the effectiveness of this model.

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A parallel wire type handling system that operates in a plane can control the position and the angle of an object it carries using several wires. However, conventional parallel wire type handling systems cannot suppress vibrations in the direction perpendicular to the wire plane. For this reason, a new parallel type handling system with vibration suppression mechanism was developed. Vibration damping is given by the TMD, however, the TMD can provide vibration damping only at a specific designed frequency. Therefore, a controller which can control the position and angle of the carrying object and the natural frequency of this system at the same time was developed. Using this controller, vibrations in the vertical direction can be effectively damped by the TMD. In addition, the position and angle of the carrying object can be controlled well. This paper details the design and experimental results of the developed parallel wire type handling system.

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This paper proposes a new method of handling microchips. In this method, a chip is picked up with a water drop at the head of a nozzle. According to the self-centering effect, the chip comes to the bottom of the water drop automatically. This method has an advantage of catching up and positioning the chip even if there is a deflection between the nozzle and the chip. Fundamental performances of this method are studied experimentally.

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Analytical results are presented on nonlinear vibrations of a post-buckled cantilevered beam constrained by string and spring at a tip end. The beam is subjected to periodic lateral acceleration. Governing equations of motion and of boundary condition, which have nonlinear coupling with an axial force, are derived by the Hamilton principle. The mode shape function is introduced to reduce the governing equations to nonlinear-coupled differential equation by the modified Galerkin procedure. Nonlinear responses are obtained by the harmonic balance method and by the numerical integration. It is shown that higher modes of vibration play important roles in chaotic vibrations of the beam constrained by string and spring.

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This study presents experimental results on chaotic vibrations of a post-buckled cantilevered beam geometrically constrained by a stretched-string at a tip end. One end of the string is fixed on a spring plate and the other end is connected to the free edge of the beam. The string i s stretched by moving the spring plate, then the beam is buckled to a post-buckled configuration. Post-buckled cantilevered beam is subjected to lateral periodic acceleration, then chaotic responses appear accompanied by internal resonance. Chaotic responses are examined by the Fourier spectrum, the Poincare map and maximum Lyapnov exponents. Contributions of vibration modes to the chaotic responses are analyzed by the principal component analysis.

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Self-excitating technique is known as an effective excitation method for AFM probe to measure the surface of a biological sample in a liquid environment. In this research, the self-excited oscillation in a cantilever probe is generated by linear feedback. In addition, the steady state amplitude is reduced by nonlinear feedback. Then, the cantilever probe has the same dynamics as van der Pol oscillator. We implement the excitation method to a practical cantilever probe of AFM, using the optical lever method and tube PZT scanner. For using our own making AFM, we experimentally confirm that the small steady state amplitude of the cantilever probe is realized.

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