Recently, land-mine clearance activities have been addressed in the world. We have proposed the mine detecting method using six-legged robot. Concerning the mine detecting work by legged robot on the mine field where is uneven terrain, the legged robot is demanded the stable mine detecting work. In this research, we propose a leg mechanism of six-legged robot in a slope walk. The proposed leg mechanism of six-legged robot in a slope walk method is examined by 3-D simulations of mine detection six-legged robot and is compared with the real leg mechanism of six-legged robot in a slope walk.

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This paper describes an impact relief system for walking robots. When walking robot descends, a moving range spreads. However, the problem of an impact cannot be disregarded. Then, a knee angle is controlled by the motor and acceleration is restricted. Thereby, the shock power in descent is made to ease. Computer simulations are done for confirming system characteristics. We also construct a prototype system and attempt basic experiment using it.

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A positioning system of a PC display or an input device is proposed for a physically handicapped person. A PIC microcomputer is used to fabricate a small controller. The experiments on human's psychological responses were conducted using a GSR sensor.

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Force control becomes important in order to be the environmental realization where a robot and human being coexist. In such an environment, it is thought that the flexible arm is effective to weaken the force when the arm contacts human. In this study, the equation of motion of a flexible robot arm is assumed to be 2 link rigid body model. The equation of motion is driven by Lagrage's equation. However, by assuming that it is 2 link rigid body model, a modeling error arises. H_∞ Control is well known as the robust control method for a modeling error, disturbance, etc. This study shows the design method of vibration and force control for a flexible robot arm using H_∞ control theory.

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The experiments on the human's burden were conducted to develop a self-transfer aid system. A person with weak leg muscle who uses a wheel chair is assumed to be a target user. By using a transfer aid system, a user can transfer between a wheel chair and a toilet. The basic experimental results using a purchased transfer aid system were presented in this paper.

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In this paper, we propose a simple teaching method for industrial robots based on human demonstration. The method can be divided into two parts: the learning phase and the planning phase. In the learning phase, a human operator demonstrates a manipulation of an object, and two cameras recognize the path of the object by observing markers attached on the object. In the planning phase, a motion planner generates a sequence of robot operations to play back the demonstrated path by pick-and-place and pushing. The proposed method incorporates automated camera calibration required for human demonstration, which enables labor-saving teaching and compensates the absolute positional error of industrial robots. In the experiments, a demonstrated manipulation was reproduced successfully as a combination of pick-and-place and pushing by a manipulator.

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This paper describes the study of a DNA robot. In recent years, robot is used in various fields and environment. It aims at proposing and developing DNA type robot paying attention to the complicated form produced from motion of the base of DNA by making this into background. Base has 3-DOF, Twist:θ_T, Roll: θ_R, and Slide: X_S, among 6-DOF of Euler, and DNA changes to form, such as curving and a super helix. This robot which developed used SMA for the actuator and realized operation called curving and a super helix of DNA by changing Roll angle (θ_R). Moreover, the equation of geometry was theoretically solved for the form of super helix, and comparison with the value and prototype was performed. In the future, it applies to medical fields or industrial fields etc.

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A mobile robot which is tele-operated from an Internet home page is proposed in this paper. The proposed robot system will provide you with an opportunity to operate a real robot system from your house or hospital. The tele-operation is so easy that a user just clicks control buttons while watching the shape of the robot system on a computer display. Two robot systems, a main robot and a child robot, are designed. The child robot can be operated through the main robot. A PIC controller is designed for the child robot.

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In order to obtain a new concept for the development of micro-robot and micro-mechanism based on small living things, we focused on earthworms. The frictional characteristics of earthworms were determined using a 3D-micro force plate developed in our laboratory. It was possible to individually measure the frictional force and vertical force applied to the force plate. Earthworms, named "Shima-mimizu" in Japanese, were subjected to measure their frictional behaviors when they moved on waterproof sand papers fixed to the force plate. The coefficient of static friction between the earthworms and the sand papers were 6.2, 5.4, and 3.3, at the roughness of 0.7, 1.3, and 6.5 μm, respectively, with a significant difference (p<0.05) observed between the roughness of 0.7 and 6.5 μm. Mucous liquid secreted from earthworms was observed on the surface of the roughness of 0.7 and 1.2 μm after the friction test. Microscopic observation indicated that earthworms had many spikes called "seta" around their bodies and that they controlled the length of seta during the movement on an irregular surface. These results indicate that earthworms control their frictional behavior in response to contacting surfaces by making use of their mucous liquid and seta.

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We studied contact line loss using polymer (PAA) coated parallel plate and, Newtonian fluid to investigate a swallowing flow by liquid care food. As a result, we got different tendency between dry surface and wet surface. Dry surface is controlled by contact line loss, but wet surface is controlled by the effect of slip friction, as a result, influence of contact line loss is relatively decreased. However, influence of contact line loss negligible compared with swallowing pressure, It is important to investigate Influence of saliva on a swallowing flow. And, we simulated free surface flow using volume of fluid (VOF) method by computational fluid dynamics program (ANSYS), as a result, simulation flow pattern was similar with experimental flow pattern.

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Solar energy, which is fundamental to most energy forms utilized by human, ranging from food to petroleum, is best fixed by photosynthesis. Purple photosynthetic bacteria is a group of unicellular organisms that transform solar energy into chemical form stored in organic matter. Nitrogenase, besides of its intended function to fix nitrogen into ammonium, inevitably evolve hydrogen by reducing proton. While a system to recover the loss from hydrogen evolution by utilizing uptake hydrogenase exist, some purple photosynthetic bacteria let hydrogen evolve to ballast their surplus reduction energy. By controlling the electron transfer system of these bacteria, we are constructing a system that enhance hydrogen evolution rather than letting them store energy in the cells. We tried several carbon sources and varied pH to maximize hydrogen evolution. We are constructing a mutant with enhanced hydrogen evolution by altering its electron transfer components.

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The principal object of the experiment of impact was the measurement of water pressure fluctuation and relative motion of the inside container with respect to the outside container in a double acrylics cylinder container filled with water which realized human head structure simply. The first, crash test was done by crashing an iron impactor on occipital region of physical human head neck model in which water was filled and intracranial pressure was measured. Next the similar test was done on a single acrylics cylinder container filled with water and good agreement was obtained for both case. Next, another crash test was done on the double acrylics cylinder container filled with water and relative motion was well observed by using a high speed camera. This acrylics container was fixed to an iron frame hung by iron wire on which the high-speed camera was attached. The relation between displacement and water pressure was investigated. These results can be used for further development of Finite Element modeling and analysis.

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The knowledge how scoliosis affects the respiratory function is important for the treatment of scoliosis. This study investigates the effect of scoliosis to respiratory function using the developed simulation model of scoliosis based on individual CT/MR images. Individual model of scoliotic rib cage is formulated by FEM software (Ansys, ver6.1), to simulate the activity of the exterior and interior inter-costal muscles relating the respiratory motion .The calculation procedure of the volume change of rib-cage under respiratory motion using nodal coordinates and nodal displacements was shown. The rib-cage volume change in respiration of scoliotic subject became considerably less than that of healthy. The investigation of respiratory function relating to rib-cage volume change of scoliotic subject gives a suggestion for the treatment.

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Normal mice and biglycan-knockout (KO) mice that hereditarily lacked in biglycan (leucine-rich proteoglycan) were used to determine the mechanical properties and remodeling mechanism of the patellar tendon (PT). After the midsubstance of the PT was surgically removed the mice were allowed cage activity up to 8 weeks. Tensile testing was performed for the patella-healing tissues-tibia complex at a rate of 0.001 mm/s using micro tensile tester developed in the present study. In normal mice, maximum stress and tangent modulus of the complex were approximately 2 % and 0.8 % as compared with control values at 1 week, and was then increased to 41 % and 38 % at 8 weeks. These data were similar to those obtained from rabbit PT in previous studies. To our knowledge, the present study represents the first attempt to investigate the mechanical property of small biological tissues such as mouse PT. Applying the developed method to KO mice will identify the remodeling mechanism of biological soft tissues.

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In the contemporary aging society, joint diseases are serious problem. When a disease occurred, it expects that serious problems happen. We thought that it was important to expect those problems by the FEM analysis. We constructed three-dimensional model of FEM model by CT image of knee joint. Used FEM software is Ansys7.0. Shell element, SHELL63 (3〜4 nodal points) were used for modeling. Model of knee joint constructed femur, tibia, patella and fibula. Total number of element is 3630 and nodal points are 1849. On material constants of bone, Young's modulus with 10GPa Poisson's ratio with 0.3. And it was analyzed contact of joint by FEM.

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The wear powder produced by friction of an artificial joint affects a surrounding tissue, and causes a re-operation accompanied by pain. Thus, the wear properties of the material used in an artificial joint markedly influences the performance and life of an artificial joint. In this study, wear test was conducted with the combination of the material which can consider the application for artificial joint material. The 25% calf serum solution which is standardized as a lubricant by ISO, 0.9%NaCl which is a little decay in comparison with calf serum solution, and Eagle's culture medium solution, were used for lubricant. The wear characteristics, such as a coefficient of friction were compared in three solutions. As a result, all of the combination of UHMWPE and various material has hardly worn out. Especially in the Eagle's culture medium solution, wear loss and frictional coefficient showed the high value than that of 0.9%NaCl.

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The ultra high molecular polyethylene (UHMWPE) with the molecular weight of 115x10^4, 249x10^4, and 340x10^4 were manufactured. The additive, density, and molecular weight distribution of the specimens were controlled to be identical to each other. A friction test using a reciprocating tester revealed that the coefficient of friction of the specimen excluding anti-oxidant monotonically increased with friction distance. The contact of UHMWPE wear particles with macrophages for 48 hours was performed by means of a newly developed cell culture method; flip cell culture method. Lactate dehydrogenase (LDH) activity was measured to evaluate the cell toxicity of the wear particle. Molecular weight dependence was observed in the cell toxicity; the LDH activity was highest in the specimen with molecular weight of 240x10^4. The number of wear particle smaller than 15 μm was also largest in the specimen. These results suggest that the molecular weight of UHMWPE affects the size of wear particle, and the size then affects the cell toxicity.

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Microfracture process in bioceramics for artificial joints was evaluated using acoustic emission technique. Four point bending tests of alumina and zirconia ceramics were carried out in air, refined water, physiological saline and simulated body fluid to investigate the effect of environment on microfracture process. Rapid AE increasing point was observed on AE behavior before the final unstable fracture. It was understood that the stress at the point corresponds to the maincrack formation in the previous work. AE behavior was compared between Al_2O_3 and ZrO_2. Consequently, it was understood that the residual life time after maincrack formation in ZrO_2 is larger than Al_2O_3 due to transformation toughening.

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The HCCI concept is a promising combustion process for simultaneously obtaining low Nox and PM emissions and high thermal efficiency. With the engine technology currently available, however, the HCCI operating region is limited and compression ignition timing is difficult to control. Meanwhile, DME has attracted interest as a potential alternative fuel for compression ignition engines. This fuel has a negative temperature coefficient region in which the ignition delay is not shortened even if the compression-induced temperature rises. DME is thus characterized as producing multi-stage heat release through both low- and high-temperature combustion. This paper discusses the relationship between the compression ratio and these observed tendencies.

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We experimentally evaluate a performance and exhaust emissions of a single-cylinder, four stroke direct injection diesel engine operating on diesel fuel containing 40% volume waste food-oil (Blend 4P), Blend 4P containing 30% waste soybean oil and 30% waste animal fat (Blend 4P-S30, 4P-M30), waste polystyrene pyrolysis oil containing 50% waste soybean oil and animal fat (Blend PS and Blend PS-M), and waste polystyrene pyrolysis heavy oil containing 50% waste soybean oil (Blend PS-H). The combustion characteristics, emissions such as Nox, CO, HC, O_2, CO_2, smoke, particle size distribution and first stage durability test are compared with the case of JIS # 2 diesel fuel. We found that (1) the Nox emissions of the fuel containing animal fats such as blend 4 P-M30 and Blend PS-M are lower than base fuel in the almost load range. (2) the CO emissions are lower than base fuel especially in the low load range. (3) Exhaust emissions of Blend PS-H are higher than another Blend PS in the over all range.

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We experimentally evaluate a performance and exhaust emissions of a single-cylinder, four stroke direct injection diesel engine operating on diesel fuel containing 50% volume waste food-oil (Blend 50) as tested fuels. The combustion characteristics, emissions such as Nox ,CO, O_2, CO_2 and smoke were compared with the case of JIS # 2 diesel fuel. Experimental results indicated that the Blend 50 were usable as alternative fuel for diesel engine and Blend 50 were available for a treatment process of the waste food-oil. In present study, fuel additives such as cetane improver and combustion improver were used for improving the combustion efficiency and reducing the unburned component in exhaust.

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Coconut oil has high content of saturated fatty acids with low carbon number such as lauric acid and has about 3-wt% higher oxygen compared with rapeseed and palm oils. In this study, to utilize coconut oil as a biodiesel fuel, the diesel combustion of coconut oil methyl ester (CME) is investigated using a small DI diesel engine and is compared with rapeseed, palm oil methyl esters (RME, PME) and gas oil. As the results, the thermal efficiency of CME is almost the same as other test fuels. Smoke emission from CME is the lowest among the test fuels because of the highest oxygen content. Nox emission from CME is lower than gas oil. CME can be used as an alternative petroleum diesel fuel.

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This paper describe the characteristics of a single cylinder direct-injection diesel engine driven by mixture gas oils containing 10, 30 and 50 percent volume wasted rice oils. The kinematics viscosity of wasted rice oils is lower than the main components is soybean oil and it value is about 78mm^2/s. The experiments were carried out on full load and various engine speed at 3/4 control lever position with 3 kinds of blend fuels. As a results, a good power and combustion characteristics of diesel engine obtained using the mixture fuels until the wasted vegetable rice oils containing 50 percent volume.

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We experimentally evaluate a performance and exhaust emissions of a single cylinder, four stroke direct injection diesel engine operating on diesel fuel containing 50% volume waste soybean oil (Blend 50), waste soybean oil containing 50% waste polystyrene pyrolysis oil (Blend PS), soybean oil methyl ester (VDF) and their water-fuel emulsions. The combustion characteristics and emissions such as Nox, CO, THC, O_2, CO_2 .smoke opacity and particle size distribution of exhaust particulate are compared with the case of JIS #2 diesel fuel. We found that (I)the CO emissions of water-emulsified fuels are higher than diesel fuel especially, in the low load range. (ii)the Nox emissions of water-emulsified fuels are lower than base fuel in the almost load range, and smoke of water-emulsified fuels are lower than base fuel.

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Vegetable oils are renewable fuels that offer reductions in carbon dioxide emissions. This study investigates engine performance and emissions with an emulsified fuel including rapeseed oil. To improve the oil characteristics, equal proportions of rapeseed oil and gas oil were mixed and emulsions of this blended fuel and water were prepared. Performance tests of a single cylinder DI diesel engine showed that the Nox and smoke emissions both reduced without worsening BSEC with water to fuel volume ratios of 15〜30% at a rated output. The spray characteristics such as spray angle and penetration under high pressure and room temperature conditions (1.57MPa, and 298K) are also discussed with fuel injection rates measured by the Bosch long tube method.

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In order to achieve a sustainable society, vegetable oil derived from solar energy is a major topic of interest. In this paper, rapeseed oil as a fuel for diesel engine was studied. There are seven refinement processes that improve the quality of the oil because the rapeseed oil is mainly produced for food. Rapeseed oil is produced from the raw material through compression, solvent extraction, degumming, deoxidation, bleaching, deodorization and a final-refinement process. However, all of these refinement processes are not necessary if the oil is to be used for diesel fuel. The performance of the engines operated by the tested fuels, which were extracted at the end of each of the seven refinement stages, was investigated. The major findings of this study are as follows. The brake thermal efficiency and exhaust emissions are unrelated to the refinement process and are almost equal to the performance with diesel fuel. The problem of deposits built-up in the combustion chamber is one which should be solved. Our overall conclusion is that all refinement processes can be omitted when the rapeseed oil used as fuel in diesel engines.

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Relaxation characteristics of lithium ion batteries are analyzed based on nano/micro multiphase .fluids model. The numerical code based on implicit SOR scheme is developed and the numerical solutions of the relaxation characteristics are successfully obtained for various operating conditions. The comparisons between the numerical and experimental results in a commercial battery for PC are made in detail. They are in good agreement from the view point of engineering applications. Consequently, the validity of mathematical model and the numerical scheme can be confirmed. Furthermore, parametric study for the voltage at the end of relaxation is made, and we accumulate the understanding of the important design data to improve the performance.

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In the temperature stratification formed in case of surface heating, it is difficult to cause circulation by natural convection. So, the problems such as the water quality deterioration are easy to happen. To cause the convection in these cases, we developed functional particle of inverse-natural-convection and convection-causing-device. The functional particle of inverse-natural-convection can go and return voluntarily in the hot part and cold part with the nature of SMA. The convection-causing-device reciprocates by the inhalation and the discharge of water. By this movement, they can stir water.

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Working modes of shear deformation and pressure flow typically appear in devices using Magnetorheological (MR) fluids. In this paper, rheometers, which can apply shear deformation and pressure flow respectively, have been developed. As typical characteristics of MR fluids, shear stress and pressure difference have been measured on changing flow rate, magnetic flux density, types of MR fluids, and gap length through which MR fluids flow in MR devices. Considering the magnetic circuit in these rheometers, relationship between magnetic flux density and magnetic field strength of an MR fluid has been shown. Using these results, designing method of MR devices has been shown.

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The frequency response of a tuned liquid damper which uses a magnetic fluid (Tuned Magnetic Fluid Damper, TMFD) is investigated. Experiments were carried out by changing the timing of the applied magnetic field. In the frequency response curves using a TMFD, there are two dominant peaks on opposite sides of the resonant frequency. Every peak can be reduced by an appropriate timing of the application of a magnetic field. The potential of providing an active TMFD were discussed.

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In the present study, decomposition characteristics of methanol by using nonthermal plasma flow were clarified experimentally. The plasma was generated by DBD with parallel electrodes. The operating gas was air injected at a rate of 4 Sl/min. Applied voltage was 16-20 kVpp with 1 Hz - 1 kHz under sine or square wave forms. The concentration of methanol gas was 50 ppm at maximum. The decomposition rate of methanol gas is up to 100% and the decomposition efficiency is increased with increase of the applied voltage and the frequency under square waveform.

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We investigated the decomposition of CF_4 in an exhaust gas from semiconductor manufacturing equipment using the inductively coupled plasma (ICP) reactor with RF power supply. The purpose of this study is to develop the PFCs removal system which can be used as the same power supply for both plasma processing and CF_4 emission clean-up system in semiconductor manufacturing processes. This leads to achieve higher efficiency and more economical than conventional systems. CF_4 .decomposition was carried out as a parameter of the ratio of CF_4 to O_2, pressure and RF power. We also measured CO_2 concentration after CF_4 decomposition in order to examine whether the decomposition process is based on the reaction that we intend. And we calculated electron temperature and electron density distribution in ICP reactor.

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As a fundamental study of control of plasma jet using strong magnetic field, an experimental study of argon plasma jet at a low pressure was conducted to examine the effect of strong magnetic field on the flow behavior. The emission measurements were carried out at vertical positions from the center to the outer edge of the jet in 1 mm intervals. It was indicated from the results of the emission intensity that the emission spectra drop with the distance from the center of the jet by the application of strong magnetic fields and that they become large as the field strength increases. The excitation temperature at each position was also determined using the relative line intensity method. It was shown that the excitation temperature around the central position of the jet increases with applied magnetic field.

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Various kinds of redundancies are often found in view of material, structural, mechanical and control properties in bio-systems. Through our series of studies, such redundancies are analysed by simple models and evaluated from engineering points of view. The obtained results by the analysis will be applied to develop new mechanical systems with redundancies. Here an arm of human body is considered and modeled by planar 3-Links arm. These links are driven by actuators modeling muscles. Among the muscles of the arm, pairs of antagonistic muscles can have redundancies. Parameter for anglle α and existence of antagonistic muscles are taken as the design variables and optimal paths and forces of muscles are determined by Genetic Algorithms to minimize the objective functions. Obtained results are examined from many standpoints fo view.

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Space frame structure of cars made in aluminium are considered to use aiming at light weights and much energy absorbing members. In this study, gate-shaped side members with notches are of interest to control the crush modes and increase the absorbing energy in collision. Nonlinear collision analysis is done by making use of FEM software. Twelve models with notches at different positions and two kinds of depths of notches are considered here for three kinds of collision speeds. Based on collision analysis of those models, the energy absorbing response surfaces with respect to the positions and depths of the notches are made by the design of experiment using orthogonal arrays. Optimum positions and depths are found on the response surface by the SQP (Sequential Quadratic Programing) method and the results are examined.

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The present report describes a designing concept for foldable/deployable functional structures or rigid-light cores by providing collapsible, unstable elements (named vacant plane or polyhedron) in designed membrane or truss structures.

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Some novel and quite unconventional structures have been designed in the past several years by using origami technique. The can or PET bottle made by origami technique can be easily crushed after usage. Origami structure based vehicle member is desirable to better protect human during automobile light collision or vehicles-pedestrian accidents. However, none of these researches have talked about the machining method of origami structure. Thus, in this research, rapid prototyping system is used to produce the model and mold of reversed spiral origami structure. Its 3d CAD data is precisely made and successfully read by Rapid Prototyping System. Study results offer us lots of important information for the production of origami structure in future.

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Recently origami technique is being applied to many industrial products. For example, a new kind of beverage container made by origami structure has been introduced and proved that is can be easily crushed after usage. However, since this structure is only designed from origami theory, its function especially external appearance does not meet human requirements very well. Thus, in this research, starting from the view of industrial design theory, the structure of beverage container is redesigned by the technology of subdivision method. Furthermore, rapid prototyping system is used to produce the new model. Study results indicate that the beverage container got in this study has a much better performance.

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The structure model made of wire can express a beam, a truss, a Rahmem construction, a joint component, a shear panel, various kinds of joint, a link, etc. If model rules are relaxed and the scale factor of length and the scale factor of flexural rigidity are chosen independently, the wire model which can be handled with fingers can visualize the deformation mode of real structure, and can express the rigidity. In this case, the model rules and the magnification of a deformation are explained. This wire model is regarded as the physical feeling-media which connect the real world of structure and the virtual world of CAE, and is a simulation tool and a thinking tool.

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A wire model can express a beam component and a flexible joint, and can express a Rahmem construction. The deformation and rigidity of a box structure are decided by a shear deformation and shear rigidity of the surface which constitutes a box. If the surfaces of a box structure are expressed by a Rahmem structure, the box structure can be expressed by the wire model. Through the wire model of a car body structure which can be handled with fingers, we can feel the deformation and rigidity, and understand easily the deformation mode and the mechanism producing torsional rigidity of a car body structure, and we can understand the point which should be careful in a car body design.

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This paper deals with damage detection and vibration control of a new smart board designed by mounting the piezoelectric fibers with metal core on the surface of the CFRP composite. The damage of the board is identified on the assumption that the piezoelectric fibers using a sensor and actuators are broken at the damaged location simultaneously. A finite element model a CFRP cantilever is established and the damage location is identified using the input-output signals. Furthermore, the liner fractional transformation (LFT) is formulated considering the damage location and the gain-scheduled controller considering the location is designed. The control performance of the proposed method is verified by simulation.

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Cure monitoring is indespenable for resin transfer molding process GFRP products. Polyestel resin is usually adopted as matrix resin of the GFRP products. Polyestel changes its color during curing process. In the present study, this change in color is measured and degree of cure is sensored using the change of the transmitted light. The sensing system uses LED as a light source and an plastic optical fibers as light paths. A photodiode is employed as a light power sensor. This low cost system is applied to monitoring of degree of cure of polyestel resin. Degree of cure is measured by means of commercially avaiable dielectric sensors. The results are compared and the effectiveness of the system is discussed here.

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Safety of automobiles is increasingly demanded. To prevent burst of tires, smart tires are currently under development The embedded sensor enables highly precise measurement of road surface friction, and the precise friction measurements make more efficient anti-blocking-system (ABS). In a previous study, the authors proposed a new wireless strain monitoring method that adopts the tire itself as a sensor, with an oscillator circuit. This method is very simple and useful, but it requires a battery to activate the oscillator circuit. In the present study, the previous method for wireless tire monitoring is improved to produce a passive wireless sensor. The capacitance change of tire causes changes of the tuning frequency. This change of the tuned radio wave enables us to measure the applied strain of the specimen wirelessly, without any power supply from outside. This new passive wireless method is applied to a specimen and the static applied strain is measured.

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