We propose a micro friction sensor for next generation HDD of a contact recording system. As the necessary technology. We are studing Electrostatic Actuator fabricated by Micro stereolithography which method can produce micro structure. In this study, experiment of macro scale model was done t to study mechanical property of photopolymerizable resin which is used to form the movable cantilever in front of static electrode. As a result, resonant frequency and Q-value increased with thickness of two conductive thin film (Cu 8-300nm) which coat both side of photopolymerized resin. This tendency will come out remarkably in micro sized structure and thus it is useful for micro actuator in the point of possibility of variable mechanical property controlled by conductive film thickness.

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Micro-stereolithography (MSL) is one of micro maching methods and it can create real 3D shape micro structures. It is important to know mechanical properties of micro structures made by MSL. In this study, a new measurement equipment was developed and Young's modules of micro cantilevers made by MSL were measured. As the results, Young's module of micro cantilevers which irradiation laser power were 10.30 μW is higher than that which irradiation laser power were 8.86 μW. Moreover, Young's module of another cantilever made by irradiation of ultraviolet light is higher than that made by MSL. The difference of these cantilever's Young's module is likely caused by polymerization degree and inside fabric of cantilever.

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We measure friction wear between a head and a disk of the hard-disc drive. We propose employment of micro stereolithography to develop a next generation small friction sensor of tribo-tester. In this research, we carried out research of production technique of 3D micro structure which is need a development of smallfriction sensor. As a result, we succed in a production of 3D micro structure, and obtained a processing resolution of 4μm with this equipment. Moreover, we succed in a molding by not only The laminating fabrication method but also Arbitrary area layer methods. Finally, the contrary result was obtained between a laser output and the resolution of the height direction.

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As technical requirement for compaction of a reducer, we developed a high accuracy and low cost plastic micro reducer. This is used for very small information products, for example mobile-computer. The reducer is composed of three-stage gear train with a module of 0.1. With very fine EDM, the accuracy of the gear shape was improved, and the velocity fluctuation ratio reduced. In this paper, we would like to explain the technology of high accuracy and long operating life of this reducer using micro gears.

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We have been studying 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 measurement and control methods of the exoskeletal robot for upper-limb motion (shoulder joint motion and elbow joint motion) assist of physically weak persons. The proposed methods enable the robot to automatically assist the human motion mainly based on the skin surface electromyogram (EMG) signals. Fuzzy-neuro control has been applied to realize the sophisticated control of the exoskeletal robot. Experiment has been performed to evaluate the proposed methods.

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We have been developing a network-based care supporting system called the Hyper Hospital. The Hyper Hospital is constructed on the computer based network whose interface is the virtual reality dedicated to the patients. As a part of the progress, we have been developing a wearable computer which enables a care-givers to operate various support devices connected to the network. In the process of study, we found that hands-free operation of the wearable computer is important for the care workers to keep continuous physical care works while accessing to the computer. In this paper, we proposed a method of the hands-free interface to utilize the ocular potential generated by dipolar potential of eyeball and carried out fundamental experiments to assure a usability of this method.

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In this study, we report the characteristics of a microcapacitance pressure sensor for measuring dynamic contact stress of the tibio-femoral joint. In order to verify the accuracy of the sensor, dynamic contact pressure was measured for an in-vitro cow knee joint with intact ligaments at the flexion angle from 0°to 90°.

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This paper proposes that evolution system using were identified by using a neural network in order to predict the nursing home resident's Quality of Life from Horticultural Activity Program. These systems compose three systems. First, personal stress management system relationships between the personal parameter engaged in and the outputs of physiological parameter. Stress monitor system relationships between the target personal stress relief degree and the outputs of physiological parameter. Last, horticultural activities program support system relationships between horticultural activities program contents parameter and the outputs of the target personal stress relief degree. The neural network model can be utilized to accomplish the noninvasive measurement of Physiological parameter is needed to achieve the aim of developing a physiological response feedback control system for stress management. The system approach to identification building of the evaluation technique of evidence based practice for the stress relief management system by the gardening activities. When the people were engaged gardening activities personal data, behavior data and horticultural activities program contents data examine in relation with the amount of change of S-IgA in Saliva and Near Infrared Spectroscopy in cerebrum. The results that Physiological change can investigate stress index parameters, system identification was examined by neural network. And, personal parameter, behavioral data and horticultural activities program contents data can examine psychological and physical stress relief by gardening activities. So, the system identification which a neural network was used for was done to verify building of the evaluation technique of the stress management due to the gardening activities.

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This paper investigates stress emotion recognition from the pulse signal as a part of emotion recognition from bio potential signals. The pulse data is measured by using an electric pulse sensor which detects variety of blood flow quantity from his/her ear. Feature pattern vector for stress emotion classification is composed with time series data of pulse and multi-layer neural network that involves self-organization map in hidden layer is proposed to achieve a stress emotion classifier. As an alternative classifier, LVQ and SVM are tested. Using the collected pulse data from Japanese male subjects, the classifier is trained and the classification test is carried out with the leave-one-out method. The obtained classification rate of two emotional staes (relax/stress) is 66.7% using proposed neural network.

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This study is concerned with the development of a piezoelectric embedded transducer, which can detect two or more species at one time. The transducer consists of a cantilever aluminum beam and a piezoceramic patch. The piezoelectric impedance based measurement technique is introduced for detecting a very small bio-species mass. Furthermore, two different types of biomembranes are supposed coated on the beam so that they can detect two kinds of species without causing interference with one another. The problem how to determine the optimal positions for coating the membranes are investigated in detail by FEM analysis. An optimal design consideration is proposed on their mode shapes and is validated experimentally.

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A new health monitoring system is developed for the life habit sickness patient or the aged person. This study is concerned to a micro-blood pressure and blood viscosity sensor to include into this system. It is required that it can be always measured under the unconsciousness for this system. And a small feeling of the installation is required. A new sensor was devised in this study. A blood pressure value can be predicted from the blood flow quantity by this sensor. And a change in blood viscosity can be known at the same time, too. The principle of the sensor was confirmed by the simple simulation. Then, the algorithm that blood pressure was computed was developed. And, the validity of the measurement principle and the algorithm was confirmed by the experiment.

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We report a wireless Si condenser microphone to develop a wearable stethoscope. The size of the microphone diaphragm was 3.2mm square and 2μ m thick, and a counter electrode, which was also made of Si, was placed over the diaphragm with putting 4μm thick polymide spacer between them. To realize small system size and low voltage operation, the microphone was incorporated into an oscillator circuit, constructing a direct frequency modulation wireless transmitter. The wireless transmitter was attached to a chest piece with a diameter of 22mm and examined as a stethoscope. As a result, we could observe clear waveform which is related to heartbeats.

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This paper reports an artificial urethral valve using a shape memory alloy (SMA) actuator which is driven by a close-looped transcutaneous energy transmission system to treat urinary incontinence. The transmission system is equipped with a temperature feedback circuit and controller to prevent the SMA actuator from being overheated during a prolonged urination. Laboratory experiments show that the developed energy transformer can successfully control the temperature of the SMA actuator to open the valve without excessive heating of the SMA actuator. Animal experiments show that the valve system works well as a substitute for urethral sphincter in controlling the discharge of urine.

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Interventional MRI therapy has started in these years, and surgical robots operated under the MRI environment are focused by many researchers to achieve most effective image guided therapy. In this paper, the MRI compatible modular designed navigation robot for needle screw insertion is proposed, and the linear actuator, which is the basic element, was described. It comprises a feed screw, aluminum parts and ultrasound motor, that are all non-ferromagnetic characteristics. Influences of the robot to MR image (image distortion and S/N ratio of the image) are reported.

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Miniaturized biochemical analysis systems, so-called a μTAS, have gained considerable interest for research and development in new-bio-engineering. However, there is a difficulty in mixing fluids in the micro device because of extremely low Reynolds number. So, to develop an effective micromixer which can fully perform at low Reynolds number flow is important to realize integrated μTAS. In our previous experiment based on flow visualization technique, it was found that the diffusion phenomena of two species must play an important role in mixing process in such a creeping flow. The effect of diffusion should be investigated in detail to evaluate the performance of passive mixer. In this paper, we make a numerical study on the suitable flow condition for μTAS and the diffusion characteristics of passive mixer by means of curvilinear coordinate transformation technique.

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We have developed a novel electrostatic micropump driven by traveling wave using surface micromachining techniques. This micropump can transport the liquid in both directions by only changing the driving signals for the electrostatic actuators without mechanical valves. The traveling wave can be generated by superimposing two standing waves whose phase differs by π/2 in time and space each other. The two standing waves are electrostatically produced along microchannel by comb electrodes which are operated by sine-wave voltages. The rectangular cross-section microchannel is composed of three rigid walls and one flexible wall on which the traveling wave is imposed. This micropump is smaller and simpler than other micropumps and is made of harmless materials (Al, Silicone rubber and Acrylate resin). We show that the developed micropump is suitable for the πTAS product applications.

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We propose a concentration analysis method for mixing solution by FTIR (Fourier Transform Infrared Spectroscopy). As the transparency of infrared light over living body or blood is high, an absorbance spectrum of glucose and lactic acid was measured as basic data using FTIR. Consequently, it was confirmed that the absorbance peaks of glucose, lactic acid and the mixing solution exist in infrared region, and the peak values are dependent on the concentration. Also, we proposed the method of concentration analysis of mixing solution using basic data, and it was shown the possibility for analyzing each concentration by this method.

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We propose an analysis method that uses a transmit light intensity of infrared in order to measure the solution concentration. According to this analysis method, we examined the quantitative analysis of solution concentration in infrared region. We selected the specific wavelength of infrared light by an optical filter and measured the output voltage which is based on transmit light, and confirmed the change of output voltage for each concentration. Moreover, we proposed the way to analyze the concentration of each ingredient in mixing solution by using experimental data and verified the validity of the method.

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We have investigated into transient changes in s urface morphologies of Ag-Sb electrodeposits caused by instability in electrochemical reactions. Microscope images of the Ag-Sb electrodeposits reveal that the surface morphology comprising Sb-poor and Sb-rich Ag deposits is described by a scaling function and has a periodical distribution of the Sb-poor Ag deposits in space with a fundamental frequency. A condition for instability of the electrochemical reactions, which causes the transient changes in the surface morphology, is derived using linearized perturbation equations of the rate equations. The experimental results qualitatively support the instability condition.

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A method is described for the study of the kinetics of electrode reactions on the basis of analytical solutions of three transient electrochemical processes induding diffusion of ions in electrolyte, charge-transfer reactions and a charging process of an electrochemical double-layer. Multi-pulse currents are applied to a working electrode of a (110) single-crystalline nickel disk in nickel sulfamate and the potentials between the working and counter electrodes are recorded. The measured potential-time curves well agree with those predicted by the analytical solution. The kinetic constant, exchange current density and double-layer capacitance characterizing the kinetics of the electrode reactions are determinedfrom the measured potentialtime curves using the analytical solution.

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This paper presents the construction method of the new rigidizable membrane for space inflatable structures. Cool rigidization method is used to decrease the electrical power when the inflatable structure is rigidized. The single-layer thermally plasticizing fabric is proposed to establish the lightweight and highly flexible membrane. Rigidization process and structural characteristics are evaluated using the fibers, the fabrics and the inflatable tube with the diameter of 150mm and the length of 2000mm.

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Development of an envelope with high specific strength is one of the critical key technologies for the stratospheric platform (SPF) airship. As for the envelope materials, tensile strength of 100kgf/cm with weight about 200gram/m^2 is already attained. Rather than the fabric material strength itself, the joint strength is critical in the construction of the airship. In this report, high temperature tensile strength and creep strength are tested for the envelope material with overlap joint 20-80mm in width.

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Membrane has been getting lots of attention recently as a next generation space structure. Various research and development has been proceeding on the large deployable membrane structures such as sun shields, flexible solar arrays, and solar sails. However, the prediction methodology of the dynamic behavior of the membrane on orbit is still under consideration because of the following two reasons. The first one is that the numerical analysis is accepted as under development, and the second one is that the pre-launch experiment of membrane structures of more than tens of meters is extremely hard. In this paper, the technical problem of the prediction of dynamic behavior of membranes is summarized.

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We have developed the pseudo-continuum model to analyze the complicated nonlinear behavior of plain-weave fabrics within light computational task. This model homogenizes the fabric by means of a new definition of strain-displacement relationship that associates the microscopic deformation with the macroscopic one. This paper presents a new formulation to extend the pseudo-continuum model to three-dimensional problem. The covariant base vectors, which are defined on the convected coordinates parallel to the weft and warp threads, are employed to cope with the three-dimensional macroscopic deformation of the fabric. These vectors enable to easily define the thread strain as well as the two-dimensional problem. The finite element is formulated by the principle of virtual work in the total Lagrangian form. A numerical example concerning a simple tension membrane structure demonstrates the validity of the proposed formulation.

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A spinning solar sail is a particular form of solar sails in which the reflecting surface consists of large thin films that rotate about a central axis. It uses solar radiation pressure as propulsion force. Structural characteristics of spinning membranes receiving radiation pressure are discussed in order to answer the questions regarding their feasibility. In this paper, deformation and dynamics of membrane are calculated. Relation between out-of-plane displacement and spinning rate is shown. Deformation is small and vibration is stable when spinning rate is big enough to generate tension. If spinning ratio is too small, membrane deforms largely.

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A small satellite named INDEX has been developed in ISAS, which is a piggy-back satellite for H-IIA launch vehicle. Its objectives are engineering experiments and aurora observation. The satellite has a pair of deployable solar array paddles with novel reflectors. The reflector consists of a pretensioned rectangular Teflon film with a vapor-deposited silver coat, tension springs and a CFRP frame. As the pretensioned membrane inevitably had wrinkles, a prototype reflector was produced to examine the influence of wrinkles on the reflection performance. For the purpose, deformed shapes of the membrane under gravity were measured for two configurations and the wrinkles under zero gravity were approximately obtained from the results. The reflecting efficiency and the reflected sunlight intensity distribution on solar cell surface were estimated. It was quantitatively confirmed that the wrinkles had bad influence on the performance of solar reflector.

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Since 1999,the annual A Rocket Launch International Student Satellites (ARLISS) project has been carried out in Black Rock Desert in Nevada, USA. Since 2001 Soka University joined it to exemplify both hardware and software to be developed for the future micro-satellite CubeSat. This paper describes the summary and development status on the CanSat for the coming ARLISS project in September 2003. Its mission is for coming back close as possible to the pre-assigned point by autonomous control run on the ground after landing. For OBC in the CanSat, CPU will be mounted on FPGA to exemplify one for our developing CubeSat.

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This paper reports about CubeSat that is developing at SokuUniversity. Shooting the photos of earth and transmission of our song to ground station are the main mission. The operating frequency is in the amateur communication band. A UHF (f=430MHz) band will be used for the downlink, and a VHF (f=144MHz) will be used for the uplink. We've already developed TNC (Terminal Node Controller) for downlink at ARLISS2002. Feature of the Soka University Satellite is using FPGA (Field Programmable Gate Array) for control equipments. Advantages of using FPGA are design flexibility, small size, high speed processing and flight proven. You can have almost any logics in FPGA. Also you can have CPU in FPGA. There are reasons why we selected it for our CubeSat.

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In Nihon University, we are developing small satellite "CubeSat". CubeSat is low cost 10cm cubic and weight of 1kg satellite by using the parts made by the private company. The purpose of this project is experiencing all the process in a design, manufacture, an examination, and operation of a satellite, and mastering the basic technology of satellite development by students doing research and development in CubeSat. We have finished examination of each subsystem of our CubeSat, improving the problems, and as a further schedule we will do the advance various environment examination. In this presentation, we report the development situation and examination result of "CubeSat".

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Laboratory for Space Systems, Tokyo Institute of Technology finished development of CUTE-I and is waiting for its launch on June 30,2003. CUTE-I is the first CubeSat of Tokyo Institute of Technology, that is a 10cm-edge cube-sized satellite of less than 1kg mass. In this project we developed not only CubeSat CUTE-I but also its separation system that is used to separate CUTE-I from a launcher on orbit, and ground station system. In this paper, we describe CUTE-I final system including CUTE-I, the separation system and the ground station system.

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This is the research and development of the Separation System without gunpowder for Space Flying Object. Recently, almost the separation systems are used the separation nut, wire cutter and bolt cutter. These separation systems which used gunpowder are expensive, and the model used by ground tests cannot be launched because of disposable system. But we will have been developed separation system with Zero gunpowder. This system can be used more safety, and it can be used more reasonably as a coupler with reusability, and the model used by ground tests can be launch. A near future rocket launch test is due to be performed, and we will be developing the System for Nose fairing and Satellite discharge. It is the greatest goal to acquire the safety and the reliability of the Separation System from many experiments.

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Our Tokai student rocket project team (TSRP) has launched a collaborative rocket with University of Alaska Fairbanks (UAF) and Toyama Prefectural University (TPU) at Alaska on 18,March 2002. Except the motor section, all the parts of this rocket were completely made by students. After we designed and constructed a tri-axial fluxgate magnetometer and a sun sensor, we have tested various environmental experiments and assembled the payload section at UAF. The collaborative rocket that was 5.4 meter of length has been reached 89km of altitude and we got good data from our instruments. We show here our instruments and an experimental result of the sounding rocket observaation.

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To develop a reusable launch system, development study of jet-impinging hybrid rocket has been made. To prove a reliability and safety of a launch-recover system with jet-impinging hybrid rocket motor, a ballistic launch test of CAMUI (Cascaded Multistage Impinging-jet)-02 was performed on a January 13,2003 at TAIKI Hokkaido. The CAMUI-02 went up stably and reached about 500m in altitude. the rocket was recovered safely by parachute. These results prove reliability and safety of the launch-recover system with CAMUI hybrid rocket.

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An onboard surface inspection system to detect space debris impact in and near Geosynchronous Earth Orbit (GEO) is proposed in this paper. This system consists of a small camera, data handling and communication subsystem. It will be mounted on some geosynchronous satellite, and survey on surfaces of the mother satellite. When it may detect an image of crater on the surface damaged by the space debris, the image should be transmitted to ground for further analysis. Then we will able to determine physical properties of the debris impacted, i.e. size, mass and impact velocity. This type of observer will be useful to measure flux of so small debris in so high orbit, that we cannot detect them from ground-based facilities nor retrieve impacted samples from there.

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An attitude control method by moving solar paddles with distributed mass for a 1kg-class microsatellite is proposed. A lightweight hinge mechanism comprising of an elastic hinge actuated by shape memory alloy is developed in this project that can be utilized for attitude control of microsatellites. Design and fabrication of the hinge is described here. Maneuvers are accomplished by repeating simple sequences of joint motions. The effect of maneuver on power generation is also examined. It has been shown that power generated as a result of reorienting the satellite to the sun exceeds power consumption for any maneuver which makes the design acceptable for implementation in similar applications

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In this paper, Variable Speed Control Moment Gyro (VS-CMG) for on-orbit servicing satellite attitude control is studied. The on-orbit-servicing satellites need various attitude control tasks. For example, highly accurate control devices are recommended for inspection and observation missions, and for the work of assembly, repair, or orbital maneuvers, high torque control devices are recommended. Among the attitude control devices, Reaction Wheel (RW) and CMG are often used. RW can highly accurate control but cannot create large torque. CMG can create large torque, but its accuracy is coarse. If rotational speed of CMG rotor can be controlled, CMG can be used as RW. Therefore, VS-CMG, which can control the rotational speed of its rotor, can switch the control mode; RW mode and CMG mode. So, VS-CMG can control attitude of on-orbit servicing satellite very efficiently. We made an experimental model of VS-CMG and conducted 2-dimensional ground experiment in which a satellite simulator equipped with VS-CMG is floating by air pressure and can move using air thruster. This paper describes the process of making the experimental model of VS-CMG and shows the results of 2-dimensional ground experiment.

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In this paper, using a functional test model of docking mechanism for a mothership-daughtership nano-satellite, we conducts docking experiments in 3-demensional microgravity environment using a free-falling drop capsule at Japan Microgravity Center (JAMIC) with a research team of Hokkaido Institute of Technology (HIT). In the experiment, we use a nano-satellite model with gas thrusters and a reaction wheel developed by HIT. This paper discusses the microgravity experimental setup and its results.

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Presently, it takes too much time and cost to construct large space systems like International Space Station. It sometimes obliges the program to change configuration of such systems, method of construction, and so on. Social or political affairs also oblige us to change the program itself. Basic design principle for future large space systems needs flexibility against such changes. It can reduce the total cost. On the other hand, conventional design principle of structural optimization has aimed to decide shapes and sized fitted to certain boundary conditions and applied forces. Therefore, it cannot adapt to environment changes. This paper presents a concept of hierarchical modular structures which are able to adapt such changes. The proposed structures consist of a number of same-shaped modules which are hierarchically assembled. They can form various shapes and sizes with the same-shaped modules according to systematical assembly rules. We show their some mechanical properties in this paper.

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This paper deals with surface accuracy of satellite mesh antennas. The mesh surface consists of a metallic mesh, a surface cable network, a backup cable network, and tie cables. The mesh surface should be a parabola shape because of electrical performance. Tensile forces of the tie cables give the parabola shape. Values of the tensile force and tensile points affect surface accuracy significantly. So, we derive a relationship between surface error and the tensile forces. Required tensile forces and tensile points are determined to minimize surface error. This method is applied to a simple model. A numerical result shows that this method is effective to improve surface accuracy.

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This paper proposes a method to find a transformation matrix in component mode synthesis. The accurate transformation matrix gives prediction mating with the measured dynamic characteristics of large space structures. In this proposed method, the transformation matrix is obtained from both internal and boundary modes of the components. These modes are measured in modal testing for each substructure attached with additional mass and additional stiffness at substructure interface. The proposed method is applied to a canti-lever beam to confirm that this method can give the dynamic characteristics of the beam. Numerical results show the effectiveness of the proposed method.

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This paper describes test methods to verify natural frequencies of deployable satellite antennas. We clarify the effect of weight reduction of reflectors on test methods to verify antenna frequencies. Two test methods are considered to verify antenna frequencies. One is vibration tests commonly used and the other is mass property tests. When the reflector can be assumed to be rigid from analytical results, the latter is effective for frequency verification. A numerical example shows that weight reduction of deployable satellite antennas have a little effect on test selection to verify natural frequencies of the antennas.

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This paper describes mass matrix identification of finite-element models. Mass matrix is corrected by minimizing the Euclidean norm subject to constraints specified from physical points of view. As can be seen from the dynamic equation, there is the relations between mass and stiffness matrices to obtain a true solution. Therefore the effect of stiffness is considered in the identification to improve the prediction accuracy of dynamic characteristics. This method is applied to a deployable truss structure. A numerical example is given to demonstrate that the proposed method is effective for system identification. It is found that the identified mass and stiffness matrices can provide a highly accurate finite-element model mating with both the vibration test and the mass property test results.

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This paper describes results of robust design approach for water rocket configuration with optimum fight stability. Nozzle with smooth water flow and stiffened fin attachment was found to be effective for flight stability of water rocket. Semi-sphere nose was also found effective.

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Water rockets normally employ a recovery system such as a parachute to reduce the descending speed. However, these current mechanism do not have reliability. In this thesis, we propose an equipment that can be activated at a predetermined time with high reliability; pressure switch

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The system is being developed to obtain orbit of water rocket by processing the images taken by two digital video cameras. Two Point Observation method were used to analyze position of water rocket from digital video tapes. Two methods of analyzing orbit data have been studied. One method employs setting of the relation between optical axes and the reference coordinates based on external measurement. and another employs internal setting method of the relation in picture. Both methods analyzes orbit in two dimensional plane. Since the former method has inherent error. The latter method which can eliminate errors in measurement is underdevelopment.

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Water rocket is a rocket which obtains its propulsive force by pressurizing water in a PET bottle with air, and ejecting it. It is predicted that flight instability of unguided rocket could be visualized using water rocket, since all phases of flight can be observed and rocket which has inherent instability will be easily manufactured. Under this study, experimental investigation of body divergence is being performed to verify criteria which was obtained theoretically.

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This paper presents a thing about the design and the manufacturing of the launching pad for the water rocket. A lot of persons can use a manufactured launching pad in the event in the child meeting and so on. For the using person to have an interest to the water rocket, the launching pad is the thing about which it is possible to adjust an angle and is designed and is manufactured. In this paper, a featuring questionnaire result at the various launching pad is described.

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Water rocket system will be useful for encouragement of handicraftsman-ship, and nurture of engineering and scientific culture among children and students of high school and universities. This paper describes status of development of scientific and engineering education system using water rocket as an education aid.

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