Multi-degree of freedom (DoF) myoelectric hands, which are powered prosthetic hand controlled by electromyogram (EMG), are not yet applied to upper-limb-deficient children because of there being another problems in adult. Since these hands should be made very small and light, it causes weakness of structure such as joint axis damage by too large external force in daily life. Also congenital upper-limb-deficient children have no image to move deficient hand and because of not being able to dictate to infants who lack in communication skill, allocate EMG feature based on one's own will to motion of myoelectric hands is difficult In this study, we developed smaller sized multi-DoF myoelectric hand system with dislocating mechanism, which is constructed by connecting dactylus-parts with spring, like human fingers joint In addition, we developed method of controlling robot hand motion which allocate worked out EMG feature by vector quantization in free motion to robot hand motion by architect who aren't wearer. As a result, we made the prototype of multi-DoF myoelectric hands Its total weight of myoelectric hand system is lighter than healthy children hand, including battery. Although its grip force is weaker than coeval children gripping force, robot hand for myoelectric hand has robust joint mechanism which is dislocated by too large external force, and defends itself In addition we made a controlling system in which man learns a control rule and adapt to myoelectric hands. The effectiveness of controlling system is confirmed by applying to an infant.

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In recent years, patients who are not able to move their bodies because of accidents, aging, and disease have been increasing. This rise leads to many patients are not being able to do their ADL (Activities of Daily Life) every day. If the patients are not able to do their daily activities, supporting their activities every time will be a huge burden to the nursing department and other people related to them. In this study, we have developed a simple and compact device that will care the patients' daily activities by supporting their upper arms. When constructing this device, we have created a human model based on the human characteristics, and completed the device so that it matches the characteristics upon the study of human mechanics. By choosing to use a pneumatic cylinder instead of a motor for the better weight-to-output ratio, we can expect flexibility and relied safeness of the device due to the cylinder's ability to control the compression of air. We adopt position control and compliance control for this device to realize two functions, 1 e, living assistance mode and rehabilitation mode We also created a control box that is easy to carry and operate In addition, this device was evaluated by professionals such as doctors. We show the evaluation results.

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It is known that when ultrasonic vibration is applied on the top of a stack of sheets, the friction between sheets reduces. This reduction of friction is thought to be due to the separation of sheets by vibration. However, the relationship between the vibration of sheets and the reduction of friction is still not fully understood. In this study, we have observed the physical change that occurs in a sheet along with vibration such as frictional force, levitation height and oscillatory waveform. When the load increased, the frictional force increased and the levitation height decreased. These results indicate that there is a direct correlation between levitation height and frictional force. It was suggested that acoustic levitation is caused on a sheet by vibrating the sheet.

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Many kinds of defects occurring at winding process such as telescoping and starring have been recognized. Their main cause is internal stress of a wound roll. Thus, understanding internal stress of a wound roll is necessary to prevent these defects In the field of web handling, analytical models have been developed to figure out radial and circumferential stress of a wound roll. So far, models have been built based on an assumption that web has uniform thickness However, actual web thickness is not uniform We have faced defects caused by non-uniform thickness across widthwise direction. We use modified Hakiel's model with air entrainment effects. As the non-uniform web is wound, radius across widthwise direction also becomes non-uniform. The mam characteristic of this model is that it distributes the winding tension across widthwise direction based on non-uniform radius. The model has a problem that it does not consider the radial compression of a wound roll when the most outer layer is added. Because of this, the tension applied to the thick web area tends to be higher at the time of tension distribution. Experimental coefficient is applied to the tension to correct this effect .Experimental verification has been performed on this model. Quantitative agreement between the calculated and measured results is confirmed. We explain both theoretical concept and experimental method of its verification.

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Thin and flexible continuous medium plastic film is called web. The web is supported by a number of rollers and conveyed, finally it is wound into a roll. Therefore, roll-to-roll system enables mass producing with high efficiency because this system is able to apply work to the web continuously by just a single producing line. The winding process of roll-to-roll system is important in order to be integrated into a single roll of large amounts of web. However, there is the occurrence of defects such as slip and wrinkles caused by the winding conditions, and such defects make a reduction of the product quality of web. In addition, film thickness distribution occurs on the web in lamination process because a number of webs are generally laminated. These defects are dependent on the state of internal stress in wound roll, therefore it is necessary to prevent defect to certainly by understanding the stress state internal wound roll In this study, we discussed experimentally relation between web thickness variation and internal stress distribution. As a result, it is understood that the film thickness distribution occurs in the width direction.

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A web is a flexible and extremely thin material, which is used in many field such as liquid-crystal-display, solar cell etc. However, a wrinkle is generated on the web in a producing process of the web due to a misalignment of rollers. The wrinkle is a plastic deformation generated on the web in the producing line and it deprives a wroth of a function of the web. To prevent the wrinkle, a concaved roller is used but the most effective shape of the concaved roller is not found yet. Therefore we changed the shape of the concaved roller and researched the effective shape for preventing wrinkle. To declare the effectiveness for preventing wrinkle by using the concaved roller, we changed a transporting condition, web tension and misaligned magnitude of the test roller. Consequently the effect for preventing wrinkle by using the concaved roller increased with increasing of diameter difference of it. Moreover concaved roller enables to restrain a generation of a trough, which is a deformation of buckling of the web.

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The flying height of a magnetic head has rapidly decreased and contact between the head slider and the disk surface has become unavoidable A meniscus bridge of liquid lubricant is formed between the head slider and the magnetic disk In the present study, mechanical characteristics of a liquid meniscus bridge confined between vibrating solid surfaces are investigated theoretically considering the dynamic characteristics of the contact line and the contact angle.

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In this study, we focused on the adhesion and friction behaviors of probes approaching magnetic disk surfaces In order to observe these behaviors, a micro-tribotester was newly developed to evaluate the friction and adhesion forces of the ultrathin lubricant film on magnetic disks. The contact area between the spherical glass surface and the disk surface was measured using light intensities and Newton's rings and approximated by the JKR model. An adhesion force corresponding to a pull-off force acted on the interface between the glass surface and the disk surface. The friction coefficients on disks with different lubricant thicknesses were measured and the coefficient was found to decrease as the lubricant thickness increased. The pull-off force gradually increased as lubricant thickness increased.

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In this study, we investigated the effects of ultra-thin liquid lubricant films on light contact recording by using dynamic flying height (DFH) control sliders. In other words, lubricant pickups, lubricant wear and slider wear on different PFPE lubricant (Ztetraol2000, D-4OH, and QA-40) films were investigated and compared by using a SSA tester developed to observe the lubricant thickness mapping on the slider surfaces after the heads slide on the disk surfaces under the conditions of light contact recording. These lubricants have the same four OH functional end-groups but different backbones. As a result, the effects of ultra-thin liquid lubricant films on light contact recording by using dynamic flying height (DFH) control sliders were elucidated and it was suggested that they were affected by the conformation of the lubricant molecules. In addition, it was found that the experimental results have comparatively good correlation with the fundamental AFM evaluation results for each different lubricant film.

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We developed a pin-on-disk type friction tester that can be operated at light loads and hence enables measurements of nanometer-thick lubricant films with less disturbance to the lubricant microstructure. At high sliding speeds, however, friction was not reliably measured due to unstable vibration of the sliding pin. To solve this problem, we designed and fabricated a new type sliding pin suspension that effectively suppresses vibration by reducing the moment of friction. We confirmed that the new type suspension ensures stable contact sliding at a minimum load of 0.2 mN and a maximum speed of 210 mm/s.

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This paper analyzes the static lubrication characteristics of a plane slider over a running boundary wall. Using the molecular gas-film lubrication (MGL) equation with consideration of thermal creep flow, we investigated the basic lubrication characteristics, especially when the boundary wall has rectangular temperature distributions. Moreover we compared MGL results with DSMC analyses, and found out that MGL and DSMC results agree well with each other.

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Molecular Gas-film Lubrication (MGL) problem such as i) plane inclined slider with high wall temperature area and ii) parallel slider with V-shaped temperature distribution were calculated using DPMC; Deviational Particle Monte Carlo, method. The pressure distribution by DPMC method shows good agreement with that obtained by MGL equation.

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The actuator using the stacked piezoelectric element is applied to tracking revision and measurement of tracking profile in the spin stand for evaluating high density magnetic recording with high accuracy. Previously, there is required the actuator having main resonant frequency more than 5 kHz and displacement more than 10 μm for getting properties equivalent of HDDs. But, it is necessary high tracking accuracy on the spin stand with high TPI and high speed. In this report, we suggest new actuator using the stacked piezoelectric element having frequency properties more than conventional double and displacement necessary for tracking and evaluate basic property. For the heat resistance of the lead wire of the piezoelectric element, basic properties of new actuator are not satisfied aim specification. The increase of displacement of actuator can satisfy by increasing the number of lamina or by permitting high applied voltage In future, by modal analysis of the translation mechanism using FEM, we perform optimization of the structure as the next Step.

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Human beings acquire road surface conditions via the tactile sense mechanism of the plantar to realize bipedal locomotion, without falling. Thus, the elucidation of tactile sense information processing of the plantar is expected to be useful for realization of walk support or robust control of a walking robot. In this study, we developed a device for the measurement of tactile sensitivity of the plantar towards the elucidation of tactile information processing of the plantar during walking. Using foot ware equipped with this device we compared the tactile sensitivity of the plantar m the standing posture requiring load for the plantar with the seating position to perform a series of psychophysical experiments, which is prior to the measurement of sensitivity obtained in walking. As the result of experiments, it is shown showed that the sensitivity of the heel does not have a difference in a standing position and a seating position. Consequently, the influence of load is small to tactile sensitivity of the plantar.

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In this paper, a variable impedance joystick for a novel robot operation interface is proposed. The joystick can change its mechanical impedance m real-time. The joystick is able to be applied as a haptic device for machine operation systems. In addition, by considering electromyography (EMG) of the operator, the joystick is expected to reduce the load of the manipulation. Therefore, modification technique for the joystick impedance by measuring EMG is described. The stiffness k of the joystick is modified to keep the EMG with reference. In this work, two operation modes are experimented. One is a position control mode, that is, the bar is controlled as a proportional of the joystick position. The other is an acceleration control mode for bar operation. Then, some experimental results show that the joystick can control operator's EMG with modifying the impedance Finally, we discuss the applications by proposed joystick systems.

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This paper presents 4 kinds of error orders caused by failure of analyzing meaning of a sentence with compound orders in the cases of plant operation. Next, an example of action mode effect analysis (AMEA) according to objects on contradicted orders is shown. Consequently, this paper indicated importance of "making separation", "making inhibition" and "checking 4 kinds of error orders and changing some relations" as action mode for preventing error instructions in compound instructions.

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In this research, a text processing is assumed to be used for an interface robot. Then, a sentence structure analysis in the text processing is researched and developed here. This paper aims to obtain a solution of a dependency grammar analysis problem when there are two order words or more in certain sentences. The dependency grammar analysis machine focused on functional words (particle, auxiliary verb etc. ) attached to content words was made from useful features of a structural analysis of sentences. Because it was a purpose to establish the model of dependency by a little calculation as a method of deciding modification, a fuzzy pattern matching method was used. The accuracy of a dependency grammar analysis and the correct answer accuracy of sentences are researched by using newspapers as test data for comparison. The number of rules learned as results was 116, the accuracy rate of sentences was about 90%, and the accuracy rate of dependency grammar analysis was about 55%

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We have been developing the wireless LAN-based communication system with radio frequency identification system (RFID System) to transfer and share the safety information of victims and the information of damage and effects caused by the earthquake or the water disaster by typhoon. We proposed two-type RFID system that supports to confirm for safety and manage the position of victims. One is the passive-type and the other is active-type that used according to the level of ICT knowledge of citizen.

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On an evaluation function consisting the square harmony of distance from many points of a linear manifold that passed a certain point, a general local flat or peak condition concerning the passing point and the projection source for work to the manifold was obtained. Next, conditions of requesting the inclination and the cut of the straight line to separate data in two dimensional feature plane is concretely led. The method of the use of the maximum square solution for a car model clustering was described in this manuscript, and an example of the numerical value was shown.

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The work of International Standard of the safety requirement of a press machine is advanced. On the other hand, IS013849-1:1999 was revised in 2006.And in the field of the safe related part of a control system in Europe, ENISO13849-1 became the Harmonized standard of Machinery Directive in 2012.. In this paper, the protective measures as a result of the risk assessment of the press machine shown in EN692 is discussed, and compare the level of safety related control system shown in EN692 with performance level of ISO13849-1:2006 and EN954-1. As the result of this, the structure of the control system(Control Category) is important for the safety related control system of the press. The result of this paper is that the safety requirement of the safety related control system of the press machine should consist of the control Category and PLr (required performance level).

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Risk based maintenance is the technique of giving the priority of a maintenance quantitatively. The technique estimates a risk calculated by product of the probability of failure and the consequence. Generally, evaluation of probability of failure is conducted by the evolution prediction of the damage based on the hazard data base for the static equipment. But, for the non-static equipment, its damage is mainly caused accidently, so it is difficult to evaluate the damage based on them. Therefore, for the non-static equipment, damage evaluation based on the monitoring data is effective. And the SI-F method proposed by authors that is evaluated by the change of relation between measurements of several sensors is used to process the large amount of data statistically. In this paper, the SI-F method is applied to the risk assessment of a rotating machine and, the suitable method for decreasing the risk is proposed by examination of the method of defining and updating the threshold of damage detection.

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The subject to which availability and productivity of the machine reduces occurred in the the safe stop based on the conventional machine safety technology. By the pulse block which can be safe stop without shut down energy, this problem can be solved. Furthermore the powerdrive system with inetgrated safety based on the standards of IEC 61800-5-2:2007 allows the operator to have access to the process without danger, increases availability by reducing downtimes and therefore increases productivity.

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It was widely known by the Fukushima nuclear power plant disaster at the nuclear power plant that it may be a fatal accident. Since there is possibility of fatal damage, even if it will be unexpected accident, the nuclear power plant disaster must avoid. It consider that in order to correspond to an unexpected accident, the stop based on the definite theory of safety, especially a time concept Moreover, it consider that the safety of a nuclear power plant and the active safety which attains a high operating ratio simultaneously.

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Recent serious problem is the increase in the number of people with disabilities of lower limb due to aging and the increase in burden on the people taking care of them. Under the philosophy of normalization in the sense by lightening the burden of self-care to help their independence and social participation as a human demanded. In this report, safety should be considered and an apparatus for focusing on the "walking", which is one of the elements critical function to human life, to help people with disabilities of lower limb capable of standing and walking.

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Direct handling is newly developed gravity balancer, which assumes the safe contact by controlling torque of a motor. Passive safety introduced for active control is so important that PDC (Passive Dynamic Control") is applied to the direct handling. PDC is a mechanical system control method based on an inherently safe design using the braking mechanism positively. In this paper, the mechanism of the direct handling and application of PDC to Direct handling are discussed.

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A project of high-pressure food processing equipment design and manufacture by a consortium of Niigata prefecture, university and several small-and-medium-sized companies is conducted. Risk assessment was carried out with the cooperation of the person in charge of each institution. Then we received technical guidance for compliance with international safety codes by a third-party certifier was commissioned. In this study, we report on problems revealed during risk assessments and creating Technical Construction Files (TCF).

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This paper concerns the design and validation of safety-related part of control system for the pressure food processing equipment. The equipment has been developed in the joint project with Niigata-pref. and JST. Based on the risk assessment, five safety functions are assigned to the control system. According to the annex A in ISO 13849-1, required performance level for each function are determined. The function and target is specified, the control system is designed. Through the process, it is realized that (1) some reliability data of the components are not available, and (2) the selection of measure is key to simplify the structure and achieve the adequate safety.

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Many chemical plants in Japan were constructed in high economic growth period and still works even though designed life of equipment is over. In recent years, the number of accident due to aged degradation has been increasing Risk Based Maintenance and Inspection, one of the maintenance conceptions, has been introduced to petrochemical and power plant. Risk is defined as a function of "Consequence of Failure" and "Probability of Failure". Risk of all equipment is analyzed and then maintenance and inspection are planed m order to reduce total risk in spite of limited maintenance budget. Chemical plants in Japan prepare new standard for maintenance based on risk. FRP (Fiber Reinforced Plastic) is used as pipe, tank and duct m chemical plant because it has corrosion resistance and strength. However, FRP might degrade slowly over a few decades Since FRP and the other organic material have been used rather recently, there is not enough information of degradation compared with metal. Furthermore, effective non-destructive test (NDT) on FRP is not yet established. Hence, it is important to apply a NDT method on FRP equipment used m chemical plant and to ensure its inspection effectiveness based on Risk. In this report, the degraded FRP tank m chemical plant was inspected by UT (Ultrasonic Test) and inspection effectiveness was evaluated. Consequently, inspection for the empty tank is more effective than the full tank.

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In the safety management in the bottom plate of an oil storage tank, it is important to detect the local corrosion accurately because of its critical phenomenon for preventing a serious accident. Although the discrete measurement of the bottom plate based on the Fire Services Act is carried out, the maximum corrosion depth would not be detected. Therefore, this study is carried out to estimate maximum corrosion depth by using thickness of previous inspection data and Bayesian statistics. As a result, the estimated corrosion depth with the proposed method was good agreement with actual maximum corrosion depth.

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Risk-Based Maintenance (RBM) methodology enables the assessment of the likelihood and potential consequences of equipment failure. The RBM approach had been developed by API for petrochemical and petroleum refinery industries. On 2010 and 2011, Japanese standards for RBM, HPIS Z106 and Z107TR have been published by High Pressure Institute of Japan (HPI). Since RBM analysis according to HPIS Z106 and Z107TR requires the vast amount of data to be input, the use of software has a key role to assess the risk. Therefore, the RBM software has been developed which is consistent with the HPIS Z106 and Z107TR standard. This is a comprehensive inspection optimization software tool for the maintenance and operation of refinery and petrochemical plants.

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However, it is not used widely industrial field in Japan. In this paper, we describe some of characteristics of RBM and introduce a practical use of RBM in overseas countries to make the understanding of necessary them.

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In recent years, a big risk exists in chemical plants which have upgrade, complication, and aging. And, ensuring safety by a past approach becomes difficult. In this situation, operation based on a quantitative risk analysis has been required as part of the safety lifecycle also in the field of maintenance and the preventive maintenance. In this paper, it meets the functional safety technology of IEC 61508, and relations of the technology and the theory to the maintenance field are analyzed. At the end introduces how to tackle maintenance in future.

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Management of change (MOC) has been a very important issue in process safety management. Some studies and guidelines have been proposed management systems for changes(1)(2). Shimada et. al.(3) have been proposed the logical process safety management based on the business process model (BPM). However a business process model or a business flow for the MOC has been hardly discussed. In this study, the business flow of the MOC based on the BPM of plant lifecycle engineering is proposed. To demonstrate the business flow of the MOC, an example of a review process for a change was traced in the BPM.

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Process Safety Management (PSM) is a management system that is focused on prevention of, preparedness for, mitigation of, response to, and restoration from catastrophic releases of chemicals or energy from a process plant. OSHA/PSM guidelines indicate the 14-elements as it is a performance-oriented standard. In Japan, the importance of PSM based on plant lifecycle engineering, which is from research and development to plant safety design, construction, production and consistent maintenance stages, has been also recognized in chemical processes for several years. This paper focuses on plant maintenance functions for PSM. Purpose of PSM activity at plant maintenance stage is to maintain integrity of functions of facility and plant simultaneously with production. For the 14-elements of OSHA/PSM, activities of plant maintenance for PSM are clarified and typical tasks of it are listed.

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The technology of plant maintenance is to be systematized into technology standard, and its comprehensiveness and consistency are necessary for the risk based maintenance. To generate such engineering standard for plant maintenance, the requirement of technology standard for plant maintenance should be specified on the basis of business process model which consists of PDCA (Plan, Do, Check, Action) cycle, and a framework to provide technology standard fit to the requirement is necessary. We have developed a business process model for plant maintenance and defined requirements for its technology standard. We are developing IDEF0 business process model to generate comprehensive and consistent engineering standard.

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For a re-entry capsule which carries out the atmospheric entry, the ablator is used for the thermal protection material. In order to design the heat protection system of the capsule, it is necessary to understand the thermal behavior by heating tests and numerical simulations. In this study, the ablation analysis program was developed to simulate the heat-resistant characteristics of the ablator. The ultra-light weight CFRP ablator(=LATS) was developed recently and arc-heated tests of the LATS ablator were carried out. Test results (measured data of temperature, mass loss, etc.) are compared with those of ablation analysis. It is confirmed that mathematical model used in the ablation program can express the heat-resistant behavior of the LATS faily well.

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In this study, in order to investigate the properties of silicon carbide (SiC) ablation, observation of SiC ablation was made in nitrogen plasma freejet using video camera, and spectroscopic measurements of radiation from ablating SiC surface. The surface temperatures near the top of the test pieces were estimated by fitting Planck's law of radiation to the continuum of the experimental spectra. The results were compared with those in air plasma freejets. It was found that the top of the test piece changed to a sharp shape by ablation in nitrogen plasma freejet, while changed to a round shape in air plasma freejet. Si, Cu atomic lines and CN molecular bands were overlapped on the strong continuum in both the plasma freejet, and the surface temperature of SiC was about 2,600K in nitrogen plasma freejet, but 3,600K in air plasma freej'et

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Present study is introducing the thermal-response analysis and arc-heated wind tunnel experiments were carried out to study the effect of the pyrolysis gas flow inside the heating ablator. The analysis treated the heating process of arc-heater and the thermal-response analysis code included heat conduction, pyrolysis of resin, pyrolysis gas flow, and surface recession due to chemical reactions. In this study, the pyrolysis gas flow was treated as the multi-dimensional (axisymmetric) and unsteady phenomenon. This computation showed that the detailed analysis considering the multi-dimensional pyrolysis-gas flow and the flow injection of pyrolysis gas led to improvement of the predictive performance for the ablator thermal response. In addition, the temperature measurements inside and surface of the light-weight ablator were carried out It was used two type ablator in this experiment. As for one, surfaces were coated and the other was non-coated.

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Aerodynamic heating test has performed in the free-piston high-enthalpy shock tunnel JAXA-HIEST. A HRV 6% scale model has applied in the test, which model dimension was decided as a reference configuration of HRV. The model has eighty-eight fast-response coaxial thermocouples on the windward surface to measure heat flux distribution. Thirty-four thermocouples and eight Piezo-resistive pressure transducers were also instrumented on the aft of the model and were used to determine flow establishment around the model through test period. Stagnation enthalpy and stagnation pressure were varied from H_0=3MJ/kg to 25MJ/kg, and from P_0=14MPa to 52MPa, respectively. The unit Reynolds number was changed from 0.9 million/m to 4.5 million/m. Aeroheating characteristics were observed at model angle of attack 0 degree and 20 degree with fully laminar or with transitional boundary layer. Measured heat flux was normalized by the products of the Stanton number and the square-root of the Reynolds number for comparison with other wind tunnel test results. In the present test campaign abnormally high heat-flux phenomenon was observed, which phenomenon appeared under stagnation enthalpy H_0 > 13MJ/kg and stagnation pressure P_0 > 45MPa

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The reentering capsule with super-orbital velocity in manned space flight missions such as return from the lunar orbit, or from asteroids require lifting entry in order to restrict deceleration and heat transfer rate within a given range. Generally, the reentry vehicle (RV) is de-orbited by delta-V of service module etc. (SM). For the safety of the RV, entry region is desired to be far away from SM so that the any survived orbital debris of SM would never hit RV. In the process of research activities on the synthetic analysis of the skip entry of the lifting-flight capsule with super-orbital velocity, the present paper analysis introduces sensor models with noise superimposed on the true value, and the state-estimation by Kalman filtering method. Especially the effect of the attitude motion during the bank-control on the control errors is quantitatively estimated.

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Two successful HTV operations have encouraged JAXA to start researching upcoming pro-grams as part of Japan's future space activity plan. This includes the HTV-R (H-II Transfer Vehicle - Return), which is a type of HTV with improved features. HTV-R enables JAXA to recover various samples of experiments conducted on the ISS and equips a new re-entry vehicle called as "HRV (HTV Return Vehicle)" for the enhanced function. The HRV will fly autonomously and conduct lifting reentry to the atmosphere by controlling the attitude and trajectory to a predefined splashdown point. Because the HRV flight profile resembles that for the human returning flight, JAXA considers that the study for HTV-R is not that of a cargo recovery system but also as the pathfinder of human transport system. Developing a recoverable capsule for the HTV would be the next technological leap needed to make a Japanese manned spaceship a reality.

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We are now studying high accuracy reentry guidance algorithms for reentry capsule. In this paper, we propose a real-time prediction guidance using numerical integration. The real-time prediction guidance is an explicit guidance law using numerical integration for range prediction during reentry flight. One of technical issues of the real-time prediction guidance using numerical integration is that navigation error and wind error lessens the navigation accuracy. Especially, errors in the last phase of reentry flight affects the navigation accuracy. So we researched that mechanism by investigating the navigation ability (ability of range adjustment) of several navigation segments.

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Japan Aerospace Exploration Agency has a plan to develop the HTV-R which is an extended version of the HTV. The HTV-R will be a spacecraft for developing a re-entry capsule similar to the Apollo spacecraft. We are expecting that the recovery on the sea surface is one of the promising methods to develop a Japanese capsule, therefore, we consider that shock mitigation at splashdown is one of the key technologies. We performed a preliminary splashdown test using a 6.8 percent scale model of the re-entry capsule prepared by JAXA. We measured its splashdown behaviors optically to establish control procedures of the model to fall and splash down with the required velocities and attitudes. The images of splashdown dynamic behavior were recorded by two high-speed cameras and the velocities and attitudes of the capsule were obtained by means of an image processing. The image analysis is available for velocity measurement and attitude measurement from the result of the test. This paper shows the results obtained from our test.

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For human reentry vehicle or cargo reentry vehicle, it is important to estimate the earth landing loads to human or cargo exactly, and to design to decrease the earth landing loads within permissible range. This paper shows the water impact test results using reentry capsule scale model. The test parameters are vertical velocity and pitch angle at water impact and the data corresponding to these parameters are showed in this paper.

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Micro-laboratory reentry system (μ-LRS) is a micro-size space-experiment system which is able to be retrieved on the sea after the atmospheric reentry. In order to investigate the dynamic characteristics of the reentry capsule in the transonic flight both the wind-tunnel tests and the balloon-drop test were carried out. In the wind-tunnel tests the shift of center of gravity position off the symmetry axis suppressed the oscillation amplitude which was caused by the dynamic instability. In the balloon-drop test the flight Mach number of the capsule reached to 1.094. During the transonic flight the oscillation with the amplitude of eight degrees in pitch angle were measured.

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This paper presents a thermal design method of nano and micro satellites by one-nodal and two-nodal thermal analyses. The orbit is the sun-synchronous and circular orbit at an altitude of 500 km and at the local time at descending node of 11 o'clock. The attitude is pointing to the Earth. The combinations of optical properties, solar absorptivity and infrared emissivity, on surfaces of Inner Structure and Outer Structure under which the temperature of a satellite is within an allowable temperature range are clarified. The results show a correspondence relation between analytical methods and forms of heat transfer (heat conduction or radiation) between Inner Structure and Outer Structure. A thermal design in which there is little difference between analytical value and experimental value is realized by setting appropriate thermal control products on the contact faces between Inner Structure and Outer Structure. The combinations of optical properties are larger in the design focusing on radiation than in that focusing on heat conduction. A configuration of Inner Structure influences the combination. Finally, thermal design method by the one-nodal and two-nodal analyses which allows one to develop a satellite in short period at low cost is proposed.

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KSAT2 is a nano-satellite developed by Kagoshima Satellite Development Team. KSAT2 will be launched as one of the piggyback satellites of GPM, which is developed by NASA. Since the thermal environment in space is very harsh, the thermal design of the satellite is necessary in order to control the temperature of electric devices installed in the satellite within the allowable limits. The main purpose of this study is to confirm thermal feasibility of KSAT2. We performed the steady state analysis of simplified KSAT2 model. Then the temperature of the main body was surveyed for the thermo-optical properties, as/εH, from 0 to 2 for the hottest and coldest cases on orbital operation. The result of the present analysis reveals that the temperature of KSAT2 averaged along the orbit falls within the allowable limits.

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"HODOYOSHI-1" is the a micro satellite which is about 60 cm cube and about 60 kg. This satellite is scheduled to be launch at the end of 2012 into a sun-synchronous orbit of the altitude 500 to 600 km for optical remote sensing mission. Using Fortran and thermal analysis software "Thermal Desktop", thermal design has been performed for this satellite. One-nodal analysis and two-nodal analysis are performed using Fortran programs and multi-nodal analysis is carried out by Thermal Desktop for thermal design. One and two-nodal analysis decide optical properties of each surface and thermal conductivity between inside structure and outside structure. As a result, optic properties are decided that the outer surface of outside structure is alodine 1000, and the inner surface of outside structure and the surface of inside structure are black anodized. These analyses decide that GFRP is inserted between the outside structure and the inside structure, and thermal conductive sheet "DENKA BFG20" is inserted between each component and the surface mounted on it. Thermal Desktop calculates temperatures of components on HODOYOSHI-1. Optical property of-X panel is modified from alodine 1000 to white anodized. GFRP is inserted between the battery and the surface mounted on it. The result of these analyses shows that the temperatures of components are within the allowable temperature range. The thermal design of HODOYOSHI-1 have completed for 10 month. This thermal design is useful for the micro and nano satellites producing at a low cost and a short duration.

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For an inspection service of satellites on orbit, we consider a control system using coulomb force to control a separable and charged inspection device (deputy satellite). Specially focusing on the inspection of main satellite from one direction, we consider a sequential guidance, navigation and control law of the deputy satellite from the separation to the start of inspection, and we discuss the feasibility of the proposed method with numerical simulation results.

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In recent years, the technologies of micro-satellites are growing and there are more and more needs for commercial applications including remote sensing. The problem of remote sensing satellite is a trade-off among several conflicting requirements such as high ground resolution, high time resolution and wide observational range. For example, if we choose short period sub-recurrent orbit for high time resolution, the observational range is narrowed. And if satellite observes the earth in very large off-nadiar angle for wide observational range, the ground resolution will be decreased. To solve this problem it would be preferable to perform aggressive orbital maneuvers between some sub-recurrent orbits to satisfy these three requirements altogether using only one high ground resolution remote sensing micro-satellite. However, micro-satellites can't have much fuel because of their small volume. In this paper, we suggest some orbital maneuvering methods harnessing perturbations to decrease deltaV and optimal scheduling methods for orbital changing among some sub-recurrent orbits using a Genetic Algorithm. We applied these methods under the case of "Hodoyoshi-1" which is a 6.7 m ground resolution remote sensing micro-satellite being developed by The University of Tokyo and AXELSPACE Corporation in JAPAN.

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