In this research, we developed a biological data monitoring system by using a flexible electronic sheet. Flexible electronic sheets have some excellent properties. They are very flexible because of their thinness. In addition, they are composed of biocompatible materials. Therefore, they can be applied for cellular tissue. Flexible electronic sheets can be attached to measuring objects closely. Therefore, the contact area is widened. Thus, the measuring accuracy is expected to be improved. In this study, we apply it to human iPS cell-derived cardiomyocytes for monitoring the field potential of them. We designed an electrode pattern which arranged positive poles and negative poles closely and succeeded in measuring the field potential with a low noise by using this electrode pattern.

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Page turning technology is widely used in many applications, such as Automated Teller Machines (ATM) to deal with passbooks, automated machines to convert paper books to electronic books, and so on. Among them, ATM especially requires high reliability because ATM is used in unmanned operation. In this paper, a new page turning machine used adsorption method for ATM is developed. The developed page turning machine has the ability to turn a high-stiffness page that is not handled by traditional page turning machine because the developed machine turns a page without causing large paper deformation. Moreover, the developed machine is able to prevent multiple papers adsorption by newly developed suction structure with the slide mechanism.

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In recent years, a printed electronics technology attracts attention as a manufacturing technology of a flexible device. However, while mass production of flexible devices is required, it is difficult to do. Therefore, in order to improve mass productivity, introduction into the Roll to Roll system is being studied. However, there are many problems in both the Printed Electronics technology and the Roll to Roll manufacturing method now. Therefore, we attempted making to fabricate a flexible pressure sensor by printing and firing a piezoelectric element or a conductive ink using an inkjet apparatus or a gravure printing apparatus. Subsequently, the voltage was measured by applying pressure to the created pressure sensor. In addition, printing was performed while a printing apparatus was attached to a roll-to-roll apparatus and a film was conveyed, and printing accuracy was measured.

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The nanosheet having a thickness of 100 nm or less has high adhesive property, flexibility and transparency. Porous nanosheets in which fine pores penetrating the surface of the nanosheet have been used as a separation membrane in the past have been attracting attention as a new imaging material for observing cells in recent years and the demand is increasing. Therefore, in this study, in order to produce large quantities of porous nanosheets, porous nanosheets were prepared by roll nanoimprint method, and the effect of experimental conditions such as pressure and film thickness on micropores was experimentally evaluated.

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As a simple analysis method of tension distribution and wrinkle in film under distributed tension, a calculation method using superposition principle is considered. In order to verify that the method is possible or not, we experimentally verified that the results of tension distributions and wrinkle states under distributed tension and the sum of the results for them under simple tension are same or not. As a result, we found that tension distribution in film under distributed tension can be analyzed by adding analysis results under simple tension, but wrinkle occurrence in film under distributed tension can not be analyzed by adding analysis results under simple tension. To realize the simple analysis method mentioned above, it is need to consider an analysis method of wrinkle occurrence related to tension distribution.

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本研究ではヘリウム漏れを考慮した流体起因振動を補償するハードディスクドライブ（HDD）の磁気ヘッド位置決め制御系を開発した．近年の高度情報化社会を支えるため，大量のデジタルデータを格納可能なヘリウム封入型 HDD が世界中のデータサーバで用いられている．ヘリウム封入型 HDD において懸念事項として挙げられるのが，ヘリウム漏れによる磁気ヘッド位置決め精度の悪化である．ヘリウムが漏れ，HDD に内部に空気が混入した場合，気体抵抗が増大するため，流体起因振動が増加する可能性がある．提案する磁気ヘッド位置決め制御系は，ヘリウム漏れにより増加した流体起因振動を，ヘリウム漏れ量に応じて制御系の特性をリアルタイムで適応的に変化させ，適切に補償することができる．提案する磁気ヘッド位置決め制御系により，ヘリウム漏れによる特性変化を考慮した流体起因振動を補償するシミュレーションを行った．その結果，ヘリウム漏れ量に応じて制御系の特性が更新され，適切に流体起因振動を補償できることを確認した．

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In electrophotographic printers, one important requirement to near-photographic print quality is the image to paper registration. This paper describes the mechatronics design, control system of sheet registration device using steerable and sliding roller. The device is placed upstream from the image transfer station along the paper path and precisely controls the longitudinal, lateral and skew directions of paper sheets, as they arrive to the image transfer station. A feedback (FB) and feedforward (FF) controller is adapted to achieve extremely precise and high speed. This paper proposed a new FF and FB sequential control strategy for reducing the sheet position variation that is caused by transfer error of feed rollers. Experimental results verify that the steerable and sliding roller under the proposed control strategy is able to meet or exceed design performance requirement as a component of an actual printer.

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We have presented a control system design method for triple-stage actuator systems in HDDs (hard disk drives) with the Robust Bode (RBode) plot. The RBode plot represents robust performance criterion with gray are a on the Bode plot. Using the RBode plot, control engineers can easily design controllers that suppress disturbances with frequency response data alone. To employ the RBode plot for the triple-stage actuator system, we proposed a design method with the RBode plot for Multi-Input-Single-Output system. Simulation results shows that the proposed method enable us to improve a positioning error in the triple-stage actuator system of HDDs.

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In this paper, we propose a quadruple-stage actuator system for a magnetic-head positioning system in hard disk drives (HDDs). The quadruple-stage actuator system consists of a voice coil motor, a milli actuator with two piezoelectric (PZT) elements, a micro actuator with two PZT elements, and a thermal actuator. The milli actuator is the first generation of a secondary actuator for a dual- stage actuator in the HDDs and moves a sway mode of a suspension. The micro actuator is the second generation of the secondary actuator for the dual-stage actuator in the HDDs and moves a yaw mode of the suspension. The thermal actuator is a new actuator for future HDDs and moves position of read/write elements in a horizontal direction with thermal expansion. The simulation results of sensitivity functions show that the proposed quadruple-stage actuator system can improve a performance of disturbance compensation by about 6 dB from that of a triple-stage actuator system.

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To accomplish high-speed and high-precision positioning for systems with a pulse-width modulation (PWM)-type input, an iterative calculation method to solve a frequency-shaped final-state control (FFSC) problem is proposed. The FFSC method calculates a feedforward input that drives a system from the initial state to a target state, where the input is chosen such that it will be smooth and the gains of its Fourier transformation at given frequencies will be minimal. Because the conventional FFSC supposes that the control input is generated through the zero-order hold, we have extended the FFSC so that it can be applied to the PWM-type systems.

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Recently, demand for inkjet printers in commercial and industrial market is increasing. In the market, high speed and stable printing is needed. It is necessary to develop the ink circulation supply system which prevents ejection failure caused by in k-drying and provides the required amount of ink stably. One of the systems is a multiple-input multiple-output (MIMO) system which consists of plural pumps and plural sensors. In addition, this system is large-scale and influenced by disturbances such as temperature. For the development of the system, in this report, we construct a mathematical model by using system identification method and show the result of comparison between experimental data and model estimated data.

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Recently, demand for inkjet printers in commercial and industrial market is increasing. In the market, high speed and stable printing for a long time is needed. It is necessary to develop the ink circulation supply system which prevents ejection failure caused by inkdrying and provides the required amount of ink stably. One of the systems is a multiple-input multiple-output (MIMO) system which consists of plural pumps and plural sensors. In addition, this system is large-scale and influenced by disturbances such as temperature. For the development of the system, we have constructed a mathematical model by using system identification method. In this re port, we show the verification result of the plant model by using the real feedback system.

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Surface forces interacting between solids play an important role for small devices such as micro/nanoelectromechanical systems (MEMS/NEMS) or for industrial processes including tribological phenomena. Atomic force microscope (AFM) and surface force apparatus (SFA) are often used to measure the surface forces with ultra-high resolution. In this study, we proposed a new method of surface force measurements using the quartz crystal microbalance (QCM). Combining an ultrahigh precision surface force measurement apparatus and the QCM, the surface interaction forces and resonant frequency shift of the QCM were measured simultaneously. The basic characteristics of the relationships between the surface forces and the frequency shift s were obtained using the newly developed experimental system.

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In this research, focusing on inexpensive FDM type 3D printers, we proposed and developed a low cost 6 axis 3D printer to improve the shortage of conventional FDM type 3d printer. The 6-axis 3D printer made it possible to form a higher degree of freedom by rotating the platform of a normal 3-axis 3D printer. In order to investigate the performance and characteristics of a 6-axis 3D printer, a prototype was made. Although it was possible to produce more beautiful models, a new problem occurred due to the printing method of 6 axis 3D printers. It is that the seam between blocks in different lamination directions is too obvious.

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A new type of surgical instrument developed as a substitute for the conventional forceps manipulator for use during surgery is described. We develop the manipulator which has a multiple DOF, as a high controllability at not only the tip, but also whole body of the mechanism. The manipulator consists of a serial multiple link mechanism in which each link is the shape of an oblique circular cylinder. The position and orientation of the manipulator is changed by each link's rotation while constraining the slope and the bottom surfaces between adjacent links. Each link is connected by non-driven joints at its both ends. All links are driven by one, or two drive sources, that can be rotated one by one in turn. Since all the actuators are installed at the base (operation side) of the manipulator, an elongated manipulator can be realized. With this mechanism, it is possible to cut out and suture the target part while avoiding essential parts of the tissue as minimally invasive surgery. Thus, the new instrument can increase performance level and efficiency of surgery.

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In recent years, disease measurement and rehabilitation training for the elder people are mo stly rely on questionnaires and expertise from doctors. Generally speaking．Training with walking equipment requires lots of space. However, it is very difficult for those elder people with physical handicap to train outdoors. Therefore, it is necessary to develop a kind of system that enables them to do rehabilitation training and disease detection indoors. The objective of this experiment is to develop a system that can be used for gait analyze clinically by combining the treadmill and the “openpose” system which can directly derive the coordinates of skeleton and joint.

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In recent years, many wearable power assist suits to support human movements have been developed and these most assist the rotation of the hip joints. In care work, when holding a person and transferring from a bed to a wheelchair, the burden of the upper limbs is heavy. Therefore, to reduce the burden on the during transferring operation, we developed power-assist technology consisting of a wearable exoskeleton that holds the posture of the elbow joint. We performed primary evaluation and it confirmed that the amount of muscle activity in the upper arm was reduced by using this technology．

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To execute efficient and precise handling tasks in micro world, a bilateral system which connects the micro and macro worlds in both directions has been developed. In order to improve the work efficiency, 3-dimensional observation of objects in the micro world is necessary. Two images with parallax are necessary for the 3 -D observation, but it is difficult to obtain these images under a microscope. In this research, we proposed a method of obtaining parallax images by inserting a glass plate under the microscope, tilting the plate and thus changing the optical path by a small distance. In addition, in order to electrically control the tilt of the glass plate, we developed a swinging actuator driven by voice coils.

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This paper is describes study of suspension position and center of gravity position of mobile platform (T type robot base). for the study used the simulation software "Recurdyn". Made a model fitted with a suspension on software. Model is change suspension position and Mass position, assessed for static stability. 216 models the angle static overturning in three directions (front,rear,side) was assessed. The result of simulation suggested that suspention position is 80[mm] in the front and Mass position is 90[mm] that can maintain stability in three directions

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Taking an arm robot for factory and rescue, a mobile robot for home use and business use as examples, this presentation is a study of scene transitions and scenario change by trigger to make them more intelligent. First, briefly describe transition of 4 to 5 scenes using prologue, monologue, climax and epilogue of the theatrical terminology. In the arm robot, the pupil type 4 scenario structure by repeating double circulation of these scenes are shown. The internal trigger for changing these 4 scenarios are considered and degeneracy to 2 scenarios in the automated robot after scenario robot adjustment is shown. For the mobile robot, an example of the same pupil type scenario structure is shown, and further signal control for collision prevention for 5 member (5M) agent case which has never been before is considered.

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When soft materials such as gelatin gel are fabricated by cut processing, machining marks are generated by contact with the cutter, and microfabrication is difficult. On the other hand, by utilizing micro-Electrical Discharge Machining (micro-EDM), gelatin gel can be machined without contact, so it is possible to perform microfabrication on a gelatin gel. When processing grooves on gelatin gel using micro-EDM, resolution of grooves can be increased by the electrode approaching the gelatin gel and processing with a low applied voltage. Furthermore, shortening the time for applying heat during processing may also increase the resolution of the groove. Therefore, in this research, we investigated the change of the processing characteristics when changing the speed of wire in micro-EDM on gelatin gel.

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There are three types of cardiac diseases, chronic diseases and paroxysmal diseases, idiopathic diseases. With regard to chronic heart disease, it is easy to detect at periodic medical examination, but it is hard to find about paroxysmal and idiopathic heart disease. This is because symptoms do not occur at medical examination and because these paroxysmal and idiopathic diseases are without subjective symptoms. Long-term monitoring is necessary to discover these diseases, but it is difficult to conduct restrictive monitoring on patients who are not conscious of being afflicted. Therefore, in this research, we report here that development of an unconstrained long-term monitoring system was done.

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The soft robots that are being developed right now does not have a fixed method of fabrication and is fabricated via human hand or 3D printers and such, and its materials vary from silicone to rubber. Therefore, when developing a soft robot, fabrication method and used material needs to be decided from wide range of options which makes the development time consuming. Furthermore, the current soft robots require external force in order to operate. Therefore, we have conducted a fundamental research on soft robot that uses vibration as a source of power using gelatin as a material. Also, the fabrication of gelatin using electrical discharge machining has been investigated.

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In this research, attention was paid to the ambival with the water surface as the habitat, and the development of a water surface mobile robot using the surface tension was carried out. In the previous research, it was not an appropriate supporting leg shape to move on the water surface. Therefore, in this study, we propose a method for measuring the water repellency of legs, supporting legs which support water surface more efficiently than the conventional water surface moving robot As a result, the developed water surface mobile robot was able to move independently on the water surface by using the surface tension.The resistance of the leg received from the water surface was measured, and the driving Legs, and supporting legs, and as a result, it was possible to move at more than twice the speed of conventional water surface mobile robots..

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This paper considers small consolidated rescue carts as a leader follower system and designs a specific example of a rescue scenario. As a factor necessary for project management, illustration and actual picture of illustrative behavior of characters, roles of relief tools, roles of communication tools, situation of virtual towns, examples of scenarios etc. were shown., In particular, functions of monologue and communication were presented, but evaluation of effect will be a future task.

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