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Hiroshi Mizunuma, Shiro Sakai
Article type: Article
Pages
95-96
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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The hemolysis rate for a pump circuit is initially very slow compared with hemolysis for viscometric flow. This difference in the hemolysis rate is speculated to depend on whether the shear load is continuous or discontinuous. In order to discuss this speculation, we investigated the mechanical damage suffered by RBC in a cone and a plate rheoscope. For RBC, we applied continuous or discontinuous shear load. The discontinuous shear load means alternating shear and rest. The mechanical damage is compared for each shear loading method under the same shear loading time. In the case of the discontinuous shear load, the number of the damaged RBC was very few, and independent on the shear loading time. On the other hand, in the case of continuous shear load, the number of the damaged RBC increased with the shear loading time. This difference suggests that the rest of shear causes recovery of the damaged membrane and suppresses the hemolysis rate. This recovery effect would be a cause for the initial gradual progress in hemolysis for a pump circuit.
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Kenichi FUNAMOTO, Toshiyuki HAYASE, Atsushi SHIRAI
Article type: Article
Pages
97-98
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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Two dimensional flow analysis was performed to simulate the former experiment using the inclined centrifuge microscope for the frictional characteristics of red blood cells moving on a glass plate in a medium. Lift, drag and momentum acting on a red blood cell were obtained in various conditions. Considering a balance among various forces acting on a red blood cell, the frictional characteristics of a red blood cell were modeled as the sum of Coulomb friction and drag. The result indicates the possibility that a red blood cell deforms to expand on the front side, and the plasma layer of the thickness of 0.16 μm exists on a glass plate.
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Kousou NAKATA, Makoto ICHIBA, Tomonobu GOTO, Masaharu NISHIMURA, Yukio ...
Article type: Article
Pages
99-100
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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The speed of a bacterium that swims near a wall was numerically investigated by use of the boundary element method including the wall effect. The relationship between the swimming speed and the sizes of the cell body was mainly studied. A rotating flagellum of a bacterium propels its cell body and the propulsive force balances to the drag of the cell body. The cell body also rotates in the opposite direction to the flagellar rotation to cancel the torque produced by the flagellum. The force and torque are influenced by the presence of a wall and the swimming speed varies. The result shows that a bacterium with a cell body of the mean size observed in Vibrio alginolyticus swims slower when it moves near a wall than when it moves in free space even though a bacterium with a very small cell body swims faster near a wall.
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Koji TSUYUKI, Seiichi SUDO
Article type: Article
Pages
101-102
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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This paper concerned with the flight mechanism of flying insects. Velocity fields around a flapping dragonfly, Crocothemis servilia mariannae were measured by use of a Particle Image Velocimetry (PIV) system. Experimental apparatus is composed of the small wind tunnel, PIV system, and the tethered dragonfly. The flow characteristics around the flapping dragonfly in a uniform smooth wind stream were investigated. The velocity distributions at each stage of the dragonfly flapping were obtained. These velocity distributions clarified the relationship between the flow around the dragonfly and the phase stage difference of the wing flapping stroke. Various experimental data show the generation of the aerodynamic lift at the dragonfly flapping.
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Hiroaki SUZUKI, Nobuhide KASAGI, Chih Ming Ho
Article type: Article
Pages
103-104
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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An integrated magnetic micro-mixer, which consists of embedded micro-conductors and a micro-channel, is developed by using MEMS technology for the mixing of magnetic beads in bio-fluids. In the previous report, it was shown that the simple 2-D micro-conductors provided a magnetic field strong enough to attract the nearby magnetic beads. Numerical simulation is used to search for the channel and electrode design that can generate chaotic trajectories of beads. It is found that the serpentine channel geometry with the perpendicular electrode arrangement is able to create the stretching and folding of material lines, which is a sign of chaos. Similar patterns are observed experimentally in the chaotic mixing in the fabricated device.
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Masaki FUCHIWAKI, Kazuhiro TANAKA, Keiichi KANETO
Article type: Article
Pages
105-106
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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Upon oxidation and reduction, the conducting polymers change their physical properties as swelling or shrinking. The change of dimensions was induced by the electrochemical cycle, which was called electrochemomechanical deformation (ECMD) and they can be utilized as soft actuator or artificial muscle. In the present study, we have proposed three kinds of novel actuators based on the conducting polymer laminates, PPy, and have observed the actuation of them. It was confirmed that the stick type actuator performs bending actuation with large amplitude, high durability and response. In the ring type and lip type actuators, their shape changes largely. Especially, the lip type actuator closed completely in the reduced state, and it spread largely in the oxidized state. It is possible to change the opening area of the lip rapidly. It is considered that these actuators will be applied to the fluid transport system if these devises are extended three-dimensionally.
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Masanori Nakamura, Shigeo Wada, Taisei Mikami, Akira Kitabatake, Takes ...
Article type: Article
Pages
107-108
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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A CFD study of intraventricular flow during early diastole is carried out to investigate the effects of a transmitral velocity profile on a flow structure in the left ventricle (LV). It is found that a transmitral flow with the maximum velocity locating at the center of mitral orifice creates a vortex ring about a mainflow heading to the ventricular apex along the long-axis of the LV. Although the vortex ring is generated in the case of a transmitral flow with a flat mitral velocity profile, this vortex ring is different in size and location from the one obtained by a transmitral flow with the maximum velocity locating at the center of mitral orifice. It is therefore considered that a velocity profile of a transmitral flow plays an important role to characterize the flow structure in the LV.
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Yusuke MIYAMOTO, Osamu MARUYAMA, Takashi YAMANE, Takahisa KATO, Tsuyos ...
Article type: Article
Pages
109-110
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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A centrifugal blood pump, whose impeller is suspended without contact by hydrodynamic bearing, being developed by AIST. Measurement of impeller levitation was conducted with a laser-focus displacement meter. Expansion of axial gap of the thrust bearing, from 6 to 34 micro meters, lead to sufficient reduction of hemolysis, which indicates close relation between the axial gap to hemolysis.
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Takashi ISOYAMA, Satoyuki KAWANO, Hiroyuki HASHIMOTO, Tomoyuki YAMBE, ...
Article type: Article
Pages
111-112
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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A newly designed vibrating flow pump (VFP) using cross-slider mechanism has been developed. The cross-slider mechanism converts rotary motion of electric motor to straight-line motion of vibrating tube. The mechanism is simple and small enough to realize reduction of the weight and total volume of VFP. Two types of VFP have been developed in this study. One is designed for ventricular assist device (artificial heart blood pump). The inner diameter of vibrating tube is 16mm and the pump output was 4.9 l/min. The other is designed for coronary perfusion blood pump. The inner diameter of vibrating tube was 4 mm and the pump output was 25 ml/min. The weight of the pump head and motor was 50 grams.
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Makoto SUZUKI, Takeaki OKEDA, Kiyonori MIYAZAWA
Article type: Article
Pages
113-114
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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An electrostatic linear actuator model using polymer and ceramics dielectrics has been manufactured. The model consists of a motor made of BaTiO_3-epoxy regular slats and two parallel stators with comb-like electrodes. The electrodes produced high field and low field regions in the sliding direction and a stepwise movement of motor. The potential of the present method was discussed as it can produce several times larger tensile force than skeletal muscle and high speed response.
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Norihiko SAGA, Katsuyuki AWANO, Jianhui QIU, Junichi UEHARA, Takashi I ...
Article type: Article
Pages
115-116
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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The robot in the future will be lightened and, in addition, the complex tasks will be done by consumption of less energy. To achieve this, the development of artificial muscle actuator as soft as human-being becomes indispensable. At present, artificial muscle actuator used is Mckinbben type, but hysteresis and mechanical loss of this actuator are large because of the friction caused by the expansion and contraction of the sleeve. Therefore, we developed the artificial muscle tube where the Kevlar fiber of the high intensity had been built into the silicon tube. Our actuator is long-lived because it does not need the sleeve, and can give the aeolotropic characteristic of actuator by how to knit the fiber built into the tube.
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Atsushi NISHIDA, Masao KAMATAKI, Jun HOUDA, Masaki NEGAMI, Hitoshi MIY ...
Article type: Article
Pages
117-118
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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The insects are classified in two kinds by the flying mechanism. One is Direct-Flight Muscle type insects and the other is Indirect-Flight Muscle type insects. In the case of Indirect-Flight Muscle type insects, the frequency of the wing is far large compared with that of the flight muscle vibration. But, mechanism has not been yet clear. In order to elucidate the mechanism, the Electromyogram of the flight-muscle was measured and analyzed the FFT data as 1/f-fluctuation.
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Norihiko SAGA, Osamu KAMIYA, Toru KURIYAMA
Article type: Article
Pages
119-120
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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Our study has the idea of a technological application by elucidating the mechanism of a Homoeogryllus sounds. It has been understood that a homoeogryllus is generated of the stridulatory sound of the wings so far. The sound organ which is called the files and the plectrum is had, a homoeogryllus stridulated by a right and left wing, and sounds. Only in the attempt of biology or an simply acoustics approaches as for this research theme, a technological approach is not seen. Then, we elucidate the mechanism of homoeogryllus's sounds by the vibrating techniques of the high-speed camera and the experiment modal analysis, etc.
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Yoshitaka NAKANO, Hirohisa MORIKAWA, Ryousen FUJIHARA, Sin SAKAI, Syun ...
Article type: Article
Pages
121-122
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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We have examined a locomotion mechanism of a snail which is a terrestrial mollusk on a level surface, and made clear of mechanism of locomotion by generating pedal waves with contraction of sole muscle. In this report, the locomotion mechanism of a snail was experimentally investigated in the case of its crawling on a ground with a gap. It was found that the mechanism of pedal locomotion on the irregular ground was the same as that on the level one.
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[in Japanese], [in Japanese], [in Japanese], [in Japanese], [in Japane ...
Article type: Article
Pages
123-124
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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This paper describes a pedal mechanism which moves by pedal locomotion like a snail. The pedal mechanism moves forward by propagation of pedal wave which has the contraction to the moving direction. The pedal mechanism was applied with a link mechanism using SMA (Shape Memory Alloy) as an actuator. The experiment for locomotion of the pedal mechanism was carried out. As a result, it was found that the locomotion speed of the pedal mechanism was in proportion to both the propagation speed of a pedal wave and the number of pedal wave passed on the sole per second, and the locomotion speed had the upper limit because of the mechanism friction of the link mechanism.
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Norihiko SAGA, Taro NAKAMURA, Shinya UEDA
Article type: Article
Pages
125-126
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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Using a magnetic fluid, the earthworm-type robot was developed for running the peristaltic movement. In this earthworm-type robot, a cell equivalent to a segment of the earthworm is composed of a natural rubber tube into which a water-based magnetic fluid is sealed up. The cells are connected with rod-like elastic bodies of natural rubber. It was confirmed that this robot can travel in an acrylic tube (inner diameter : 12mm, outer diameter : 14mm) by providing a shifting magnetic field from the exterior. This article will describe the pattern of the peristaltic movement of an earthworm, how our earthworm-type robot moves, the mechanism of its movement.
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Seiichi SUDO, Reiko ORIKASA, Takashi HONDA
Article type: Article
Pages
127-128
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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This paper is concerned with the development of the medical micro robot, Kinetic characteristics of a novel type micro robot with micro swimming mechanism is investigated for medical mahine with micro robots working in human blood vessels. It is composed of a small magnet attached to a polyethyleneterephthalate film. The alternating excitation magnetic field causes the magnet to oscillating motion due to magnetic torque. Conseqently, the micro robot may be propelled by waves traveling along the polyethyleneterephthalate film. The propelling velocity depends on the excitation frequency and dimension of the polyethyleneterephthalate film. The effect of wave form of the input electric current on the propelling velocity is also studied.
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Hiromichi TAKEWAKI, Shunichi KOBAYASHI, Hirohisa MORIKAWA
Article type: Article
Pages
129-130
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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Simulation of multi-link propulsion mechanism in fluid modeled on the bending motion of an eel and a water snake had been conducted. The multi-link propulsion mechanism consists of 16 flat plates and 15 stepping motors, as links and joints, respectively. The thrust was simulated by resistive and reactive force theories. The thrust in the simulation was greater than that in the experiment. Variation of thrust in one bending cycle and relationship between coefficient of increase in amplitude and thrust in the simulation were in qualitatively agreement with those in the experiment.
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Takashi SAKAI, Yoshiyuki KAWAMURA, Keniti TOKUHISA, Hiroki TANAKA, Kaz ...
Article type: Article
Pages
131-132
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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This research purpose the development of the propulsion mechanism in water by copying the movement mechanism and pattern of a fish. We decided for the frame of the fish robot by referring the swimming style of a fish. We designed the fish robot so that it can be extended to multi-link system. We will make trial of optimal learning control. through the field experiments in a pond.
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Kazuki YOSHIDA, Yasunari TAKANO
Article type: Article
Pages
133-134
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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Deformation of rotating flagellum of single-flagellated bacteria is analysed. The force exerted on the moving flagellum in viscous fluid is estimated applying the resistive force theory based on Stokes flow. The torsional as well as the bending moments are obtained according to the Kirchhoff elastic rod model. The curvature and the torsion of the deformed flagellum are determined assuming isotropic elastic relation for the flagellum. The deformation of the flagellum is obtained calculating an extended type of the Frenet-Serret equation.
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Nobuki Kusuhasi, Yoshiyuki Kawamura
Article type: Article
Pages
135-136
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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We have made a robot which has the mechanism of flapping of wings. We have measured the aerodynamic force of flapping of wings. We used a magnetic suspension and balance system for the measurement. We are considering the possibility of flapping mechanism of wings using a neural network.
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Yuko Yamaji, Akihiro Kariya, Takahiro Wada, Satoshi Tanaka, Kazuyoshi ...
Article type: Article
Pages
137-138
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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A new rehabilitation method by using virtual sport systems is proposed. In this paper, we focus on the soccer as the virtual sport. We measure the EMG, the body sway and the foot pressure under the conditions of the amplitude, the direction and the velocity. From experimental results, we show the applicability of he soccer kick to the strengthening exercise of muscles and the standing balance exercise.
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Ichiro SUZUKI, Katz YAMANE, Koji TATANI, Kazutaka KURIHARA, Yoshihiko ...
Article type: Article
Pages
139-140
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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Efficient algorithms for dynamics computation of link-based human figures have been proposed in robotics. We applied it to far more complex human model we designed. This human model involving bones, muscles, tendons and ligament. This paper describes the methods for designing of the detailed human model and forward/inverse dynamics computation of it.
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Hitomi IWATA, Takeshi IWAMOTO, Toshio TSUTA
Article type: Article
Pages
141-142
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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It is important to be caught a loading process during a care work with a unstable posture in worker's body quantitatively for its evaluation from dynamics viewpoint. Particularly, a waist part in trunk system often causes a disease because of the over load during a care work supporting a body of a patient. In order to clarify the mechanism of its over load, there are many evaluations by the joint moment method. However, the activation level of muscle against this over load is hardly estimated by joint moment method. A parameter such as strain of muscle to estimate its activation level is most effective. In this research, multi-body dynamics analysis of a waist part in consideration of muscle contraction during a care work is performed. Then, the activation level of muscle is estimated by the animation of motion of trunk system.
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Kazuhiro Ishikawa, Takeshi IWAMOTO, Toshio TSUTA
Article type: Article
Pages
143-144
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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The turnover by older persons causes disorders such as the bone fracture. There are a lot of cases that these disorders make them bedridden and then it is connected with their death. Because turnovers in elderly adults will increase as the aging proceeds, it will become large scale social problem. Various researchers investigated the development of training methods and improvement of their living environment for prevention of the turnover. however, quantitative and qualitative evaluations for the load by muscle in the actual turnover are still unclear. From the viewpoint of dynamics, it's necessary to understand a joint torque and muscle activation during turnover to develop the training method and improve their living environment. Here, the link model of the whole body of human is established. By the updated-Lagrangian method, the rate-form equation of motion with the muscle contraction is derived. Then the inverse dynamics analysis by the three-dimensional measurement of turnover process is performed.
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Masami SAITO, Yohjiro TAMURA
Article type: Article
Pages
145-146
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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The length-dependency of mechanical properties of human brachial biceps (arm flexor muscle) is studied to model the human neuromascular system and to make a muscular-type actuator. The length-tension relation obtained for the biceps is almost the same as that of skeletal muscle, which originated from the structure of sarcomere. The load-velocity relation is measured to be non-linear (a hyperbola) near the slack length of the muscle, while almost linear at the muscle length less than and more than the slack length. The experimental results are applied to a rheological motor model to quantify the parameters that determine the non-linear caracteristics of model.
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Yohjiro TAMURA, Masami SAITO, Rie NAGATO
Article type: Article
Pages
147-148
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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A simple method is presented for incorporating cross-bridge mechanism into motor model. The method is based on representing force in a half sarcomere as the product of two types of stiffness of all pararell cross-bridges and their average distortion. The motor model is composed of two Maxwell elements that correspond to the two cross-bridge states and a parallel Voight element that represents the stiffness of the other portions (2-Maxwell & 1-Voigt Motor Model). Two weights that have impulse in a variable are introduced into 2-Maxwell elements, which realize the force depression following isometric slow shortening and non-linear energy liberation of isotonic contractions quantitatively.
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Kazuma MAKIMURA, Hajime TAKADA, Yoshifusa MATUURA, Tomohiro YOKOTA
Article type: Article
Pages
149-150
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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These days, car navigation system is spread and system that gives road information to drivers is studied hardly. In this report, drivers operate the switches imitated in-the-car loading apparatus, and the influence of switch operation that affects driving operation is considered from the experiment by driving simulator. Road situations for switch operation are four (Straight, Before Curve, Curve and After Curve), and amount of switch operation is two or three. The simulation course is high way. The time of switch operation is long in road situations : Before Curve and Curve. The situations, where number of deviation of driving trace is much, are Before Curve and Curve. The relationship between time of switch operation and size of deviation is shown. Therefore, if trace of driving is deviated, size of deviation is anticipated from of switch operation.
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Hajime NADA, Hajime TAKADA, Yoshifusa MATUURA, Keisuke ENDO
Article type: Article
Pages
151-152
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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It tends to increase the information quantity that the driver has to process now. Yet, not much is known about influence on the driving with watching Navigation systems. Therefore it purposes to evaluate the influence on the drivers watching Navigation systems on the car and study efficacious signpost for the drivers by the driving simulator. Simulated driving course is like cities. Taking the eye's behavior, the subject drives in that course with watching the Navigation systems. Above all, the horizontal eye's moving affects driver's handing operations and the vertical eye's moving affects the operating accelerator and brake, and what's more, it is more dangerous to increase the time watching the Navigation systems.
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Tomoya ISHIKURA, Haruo SHIMOSAKA, Noburo EHARA
Article type: Article
Pages
153-154
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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The purpose of this study is to show the influence of multi-tasks on vehicle driving ability under some sight limitation Simple working type load, simple intelligence type load and mixture load of both types are introduced. Driving time and its deviation of an electric wheelchair under the given multi-task environment are analyse. Effects of sight limitation are also discussed. Experimental results show that driving time increases proportionally with the number and level of load.
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Norihiko WAKAIRO, Hajime TAKADA, Yoshifusa MATSUURA, Kouichirou YOKOYA ...
Article type: Article
Pages
155-156
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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In this research, the influence of the human body on the level difference at the time of wheelchair is investigated. This dynamic influence is caused by a road situation, friction of a cushion, and clothes. It aims at obtaining the result for improving the sheet of a wheelchair. The dropping experiment was conducted. A human body is put on a wheelchair and it passes the level difference of 20mm. Then, the acceleration of each part grade of a human body, a 3-dimensional position, and a shock value are measured. As a result of the dropping experiment, impact value by the front tires correlates closelv with weight of subject and passing velocity. At last by regression analysis, the prospect formula of impact value was obtained.
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Zenta NAKAMOTO, Taisuke SAKAKI, Ryokichi HIRATA, Toshio HORIUCHI, Yuta ...
Article type: Article
Pages
157-158
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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We have developed the body functional rehabilitation support system commissioned by NEDO. The rehabilitation system for recovery of lower extremities is the charge of Yaskawa Electric Corporation. Leg functional recovery is the target from a stroke patient's acute term to convalescence. This paper describes about measurement and evaluation function in the both leg training preliminary experiment equipment. Comparing with the actual walk each joint angle and torque, floor reaction forces, and an electromyogram, the walking pattern training in both legs cooperating motion in decubitus is discussed.
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Kazuo Kiguchi, Takakazu Tanaka, Koya Iwami, Keigo Watanabe
Article type: Article
Pages
159-160
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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We have been developing exoskeletal robots to assist the motion of physically weak persons such as elderly persons or slightly disabled persons in daily life. In this paper, we propose a 3 DOF exoskeletal robot to assist the arm motion (shoulder joint motion and elbow joint motion) of physically weak persons. The proposed robot automatically assists the human motion mainly based on the skin surface electromyogram (EMG) signals. Fuzzy-neuro control has been applied to realize the sophisticated real-time control of the exoskeletal robot. Experiment has been performed to evaluate the proposed exoskeletal robot.
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Koichi SAGAWA, Mitsutoshi SUSUMAGO, Hikaru INOOKA
Article type: Article
Pages
161-162
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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non-restricted estimate of three-dimensional walking distance during indoor locomotion is discussed. The walking distance is derived by the integration of the three-dimensional acceleration of subject's foot. A sensor system which is composed of an tree-dimensional accelerometer, three gyros, and one geomagnetic sensor is attached on the foot. Integral errors of the acceleration and the angular velocity are modified to keep the continuity of the velocity and the posture of the sensor system between the swing phase and the stance phase. One subject performed walking experiment including level walk and ascending in an office building to verify the proposed method. The experimental results show that the estimation error of 3D location is less than 10 [10%] and the application of the proposed method improves the precise measurement of 3D walking distance.
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Hideyuki NITO, Hajime TAKADA, Yoshifusa MATSUURA, Kazushi HAKAMATA
Article type: Article
Pages
163-164
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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Recently, it is proposed that oversized ball is used in the official games. Effects on the player in using he oversized ball are not clear still. Especially effects on the elbow have to be analyzed as soon as possible to prevent the tennis elbow. In this paper, we solve the dynamical effects on the elbow in hitting an oversized tennis ball in comparison with the normal sized ball. When a player blows the ball in the court, the acceleration and the bending angle of player's elbow, the grip pressure, and the 3-dimentional positions of a racket and a ball were measured. As the parameter, three type of the tension of the gut string were chosen. The result shows that hitting the normal sized ball at the top of the racket had more effect on the elbow.
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Shinnosuke MOJI, Katsuhisa FUJITA, Atsuhiko SHINTANI
Article type: Article
Pages
165-166
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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The analysis of vibration of the arm and the racket is important to understand the performance of the racket and preventation of sports diseases when people play tennis. This paper discusses about interaction among a ball, a racket, and an arm at the impact. The ball, the racket, and the arm are modeled by masses, a flexible beam, and a rigid link, respectively, and they are connected by springs and dampers. by coupling the dynamics of the ball, the racket, and the arm, the coupled equation of motion is presented. Finally, the parameter study is performed, and we show the effectiveness of the used parameter.
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Daisuke NAKAMURA, Masafumi OKADA, Yoshihiko NAKAMURA
Article type: Article
Pages
167-168
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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The Dynamics Based Information Processing System is defined as the brain-like information system based on the entrainment and detrainment phenomenon of the nonlinear dynamics. This system memorizes some whole body motions as attractors and generates the time sequence pattern of robot motion. In this study, we design the hierarchical dynamics based information processing system that has sensor space and motor space. The change of the sensor signal causes the change of dynamics in the sensor space, and robot takes some behaviors continuously and autonomously.
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Yoshihiko KAWAZOE, Jin MATSUMOTO
Article type: Article
Pages
169-170
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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This paper tried to identify the chaotic characteristics of human operation from the experimental time series data by utilizing fuzzy inference. It tried to acquire individual skill and proficiency of human operator. The operators in the experiment are skilled to some extent in stabilizing the inverted pendulum by training, and the data of ten trials per person were successively taken for an analysis, where the waveforms of pendulum angle and cart displacement were recorded. It was found that the rules identified for a fuzzy controller from time series data of each operator showed well the human-generated decision-making characteristics with the chaos and the large amount of disorder. It was also found that the degrees of freedom of the motion increases and amount of disorder decrease with an increase of proficiency.
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Yoshihiko KAWAZOE
Article type: Article
Pages
171-172
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
CONFERENCE PROCEEDINGS
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This study has investigated the emergence of the intelligence of autonomous robot based on the human's dexterity and the mobile robot experiment with simple subsumption architecture (SA). It insists that the intelligence of autonomous robot exist in the dexterity of human or creatures as complex systems and the research style and the development procedure with SA are only necessary approach for the realization of real intelligent robot.
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Eiji SATO, Takafumi FUJITA
Article type: Article
Pages
173-174
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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In order to decrease a relative displacement between ground and a s superstructure during an earthquake, the semi-active seismic isolation system using a controllable friction damper was developed. However, if the actuators of the controllable friction damper break down when a great earthquake occurs, it can't demonstrate its full performance. In this case, the superstructure acts as a low damping seismic isolation system, and the relative displacement becomes great. In this study, a new controllable friction damper using piezoelectric actuators with a fail-safe mechanism is proposed. This paper outlines the simulation results for the seismic isolation effect, the relative displacement reduction effect, and the performance of the fail-safe mechanism of the new controllable friction damper.
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Mamoru SHIMAZAKI, Takafumi FUJITA, Nobuyoshi MURAI, Yoshiyuki HASHIMOT ...
Article type: Article
Pages
175-176
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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A smart structure was tested for active microvibraion control of a 2-story steel frame base isolated building model of a 5×3×4^Hm outer size and a 6900kg total weight which was excited by micrivibration generated in building. In the structure, piezoelectric actuators attached to the columns and the beams were used for the microvibration control by bending moment control of them. The controller was designed using model matching control theory.
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Takafumi FUJITA, Takahiro HATTORI, Yasutada SUZUKI, Masashi YASUDA, Ma ...
Article type: Article
Pages
177-178
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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A smart structure using piezoelectric devices electrically shunted by inductor-resistor circuits was tested for passive microvibration control of an electron microscope model which was a typical example of precision equipment. It is known that the piezoelectric device with the shunted circuit can work like a dynamic vibration absorber. Eight piezoelectric devices of d_<31> type having a 60×60×5 mm external size were attached to the model. Two types of shunted circuits for single-mode vibration control and double-mode vibration control were tested. Though the tests, it was confirmed that the smart structure could effectively attenuate microvibration of precision equipment by using the single-mode control or the double-mode control. Furthermore FEM analysis was carried out for the control performance of the smart structure with satisfactory results.
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Masanori TAJIMA, Satoshi MATSUMOTO, Hisao FUKUNAGA
Article type: Article
Pages
179-180
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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The mechanical properties of composite structures degrade severely by external impact events. Therefore, it is necessary to monitor structural conditions and to detect damages in real-time. As a part of health-monitoring studies for composite structures, an identification method of impact force is presented in this paper. The relation between force histories and strain responses in composite plates is formulated with Green's function based on the finite element method. Then an identification method of impact force location and histories from strain responses is proposed using strain gauges or PZT as sensors measuring the dynamic response. The validity of the present method is verified through the identification results for CFRP laminated plates.
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Koichi EGAWA, Masayuki OKUGAWA
Article type: Article
Pages
181-182
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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On the aim of applying structural health monitoring concept to maintenance inspection, a few trials are done on the detection of bolt loosening without human-involvement. PZT was a first candidate as a shaker and a sensor of this purpose, and it was applied to a beam with bolt connection joint at first, then as a self-sensing actuator it was on the beam. In both case, cxperimental results taught that the bending shaking was not good to obtain enough magnitude of output from sensor PZT. So their consideration turned to apply axial dynamic loading, but PZT plate on the beam did not suit for this purpose. Then actual, dynamic load on the test structures/machines become imaginary shaking source, and then electric resistance strain gauge and histogram recorder were taken as a scnsing system of detecting bolt loosening in their thinking. Possibility of this imaginary system for detection of bolt loosening was discussed. As second trial, a washer type PZT was applied to shake fastened bolts in standard fastening torque. As experimental result, a good correlation between the change of output voltage of PZT and the decrement of bolt fastening torque was obtained.
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Keiji HOUJOU, Kotoji ANDO, Koji TAKAHASI, Shigemi SATO
Article type: Article
Pages
183-184
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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Si_3N_4/SiC composite ceramics were sintered and subjected to three-point bending. A semi-circular surface crack of 100μm in diameter was made on each specimen. We systematically studied crack-healing behavior and static fatigue strength at 1000℃ by using three kinds of specimens (smooth, cracked and crack-healed). The main conclusions are as follows. Si_3N_4/SiC composite ceramics could heal a crack even under constant or cyclic stress at 1000℃ completely. The fatigue limit at 1000℃ depended on the healing process. The sample crack-healed at 1000℃ had sufficient static fatigue strength at 1000℃. New crack healing process have been proposed.
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ByungSoo Kim, Kotoji ANDO, MinCheol CHU, Shinji SAITO
Article type: Article
Pages
185-186
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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Al_2O_3monolithic, Al_2O_3/SiC composite ceramics was sintered by hot pressing. Semi-elliptical surface crack of 100 μm in diameter was made on the specimen. Four kinds of specimens (as-received, heal treated, pre-cracked and heal treated cracked), crack healing behavior and high temperature strength were tested systematically. The main conclusions were obtained as follows : (a) Al_2O_3monolithic, Al_2O_3/SiC composite ceramic has ability to heal crack. (b) Pre-cracked Al_2O_3monolithic and Al_2O_3/SiC composite ceramic to be healed completely at 1450℃ for 1hr and 1300℃ for 1hr, in air each other. (c) Crack healed part of Al_2O_3monolithic has approximately the same strength of smooth specimen up to 1000℃ and Al_2O_3/SiC composite ceramic has approximately the same strength of smooth specimen of Al_2O_3monolithic up to 1300℃ and most specimens of Al_2O_3monolithic, Al_2O_3/SiC composite ceramic failed outside the pre-cracked zone.
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Sangkee LEE, Wataru ISHIDA, Kotoji ANDO
Article type: Article
Pages
187-188
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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The engineering ceramics are superior in strength than metal at high temperature. However, they are brittle and sensitive to flaws. As a result, the structural integrity of a ceramics component may be seriously affected. Whereas, some engineering ceramics have the ability of crack-healing. If this ability could be used in engineering ceramics components, their reliability will be increased and their life time will also prolonged. This study focuses on the crack-healing behavior of commercial SiC ceramics. The main conclusions obtained were following ; (1) Recommended crack-healing condition by this study was 1h at 1500℃ in air. (2) Maximum crack size which can be healed completely was semi-elliptical surface crack of 450 μm in diameter. (3) Limit of heat resist temperature of crack-healed zone for bending strength was about 600℃.
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Y. Furuya
Article type: Article
Pages
189-190
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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Security control becomes most important in the complicated IT society and human life, therefore, the combination between the multi-functional sensor/actuator devices and telecommunication module will undoubtedly extend toward more wide application fields of intelligent/smart materials and structures. Our recent developments of new functional solid state senor/actuator, SMA and magnetostrictive alloy materials by controlling crystalline microstructure by rapid-solidification technique are introduced. Next, smart composite system with active and embedded nondestructive evaluation module etc. are introduced including in foreign countries. Wireless sensing and active sensing combined with IT (information technology) seem promising and valuable subject in the very near future for smarter design concept of machinery and structures.
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Jinhao QIU, Junji TANI, Yoshihisa KITANO, Kazuo KOSUGO, Ye ZHU
Article type: Article
Pages
191-192
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
CONFERENCE PROCEEDINGS
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In this work, several experiments were carried out to investigate the effect of axial compressive preloads on the torsional buckling behaviors of superelastic shape memory alloy (SMA) columns. During the torsional loading and successive unloading controlled by the Instron torsion tester, the axial preload assembly adds a constant axial compression to the column. Simultaneously, the axial expansion/contraction and the lateral deflection of the column were measured using a laser sensor and a gap sensor. It was found that the critical torque decreases in proportion to the increase of axial compression. In addition, the same experiments were conducted using SUS304 columns for comparison.
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Kazunori YOKOTA, Go MURASAWA, Keiichiro TOHGO
Article type: Article
Pages
193-194
Published: September 20, 2002
Released on J-STAGE: August 01, 2017
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This paper dealt with deformation behavior of a shape-control plate which consists of an Al alloy plate and a pre-strained NiTi shape memory alloy (SMA) wire. The deformation behavior of the shape-control plate was tested and analyzed. The shape-control plate exhibits the repeated bending deformation by heating and cooling because of the martensite-austenitic and austenite-martensitic transformation of SMA wire. Although the experimental and analytical results are not well consistent with each other, the experimental results show that this system is promising as shape-control plate.
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