This paper explains an afection of the structural design, to outfit a beam with a side branch, to longitudinal vibration on beams with structural intensity. Side branches has been used in flow structures as an acoustic high pass filter. The structure reducts acoustic vibrations, as if it is longitudinal, whitch has N times quarter wavelength of the branch length when N is any odd number. Structural intensity (SI), which was introduced by Noiseux and Pavic in the 1970s, is defined as the instantaneous rate of energy transfer per unit area in a structure. The SI field indicates the magnitude and the direction of vibratory energy flows at any point in a structure. Then, we exam the noise reduction mechanism of side branch on compound beams with SI for developing a new process for designing structures with low noise and vibration by using SI.

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In this study, theoretical and experimental modal analysis for circular cylindrical shells is presented. Theoretical modal analysis is carried out by means of Ritz method and the general-purpose structural analysis tool (3D-CAD/CAE). Experimental modal analysis are measured by impact testing. Modal parameters of shell are identified from the comparison between theoretical data and experimental one.

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In the experimental modal analysis, the treatment device has to be fixed on the target structure in order to obtain the vibration response to the moment excitation. However, if the treatment device is used, the vibration property must be changed because of the additional mass of the device. Hence, it is difficult to obtain the accurate vibration response to the moment excitation. In this study, a new moment excitation device that a step moment can be impacted on the structure without using treatment device is proposed. The proposed device is easy to handle and realizes the accurate measurement without additional weight. First of all, the principle of the proposed device is shown. Then, the experimental results is shown to confirm the validity of the proposed technique.

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It is important that the vibration characteristic of a rolling tire is researched for the improvement of vehicle interior noise. This paper describes vibration analysis of a tire on the static and operational condition. The basic equation, including the effects of the initial tension and the Coriolis force due to rotation, is derived by thin rotating cylindrical shell model and Hamilton principal. The results of the experiment and the theoretical analysis for a rolling tire are presented. Consequently, it is found that same shape of traveling-wave modes occur for a rolling tire, and the excitation frequencies of forward and backward wave are different.

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It is well known that zero and one nodal diameter (k=0 and k=1) modes of blade system interact with shaft system. We discus experimentally and theoretically the k=1 modes of blade system. If we excited the shaft at the rotational speed of Ω=|ω_b-ω_s|, we examined that the exciting frequency ν=ω_s induced shaft-blade coupled resonance. In addition, we encountered the abnormal vibration below. In the case of the in-plane blade system, blades resonate at Ω=ω_b attributed to deformation caused by gravity. In the case of the out-of-plane blade system, blades are generated at Ω=ω_b/2 due to unbalance of the shaft and asymmetry of the bearing stiffness, and a nonlinear self-exited vibration occurred by galloping due to the cross-section shape of blade tip. Both occurred at the same time and the entrainment phenomena were identified. This paper also includes experimental data of 45deg. blade system.

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Many rotors are supported by an oil film bearing which has high stiffness. Since the gap of an oil bearing is very small, we must suppress vibration as much as possible to prevent metal contact by an oil membrane break. Therefore the damping ratio is an important index to use when evaluating the rotor system stability. However it is difficult to identify the damping ratio under various conditions. In this paper, we have introduced a new method using the modal open loop transfer function. This method provides a more accurate Q-value and can help to identify the damping ratio by considering only the mode which we want to measure. In this paper we introduce the evaluation of the damping ratio of the 1 DOF anisotropic bearing model.

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The purpose of this study is to evaluate the psychosomatic state of the driver through subjective assessment and objective assessment at rest and driving on two condition roads (dry road and snowy road). The electret condenser microphone was used to measure driver's heart beat at rest and after driving. Driver's psychosomatic state was objectively evaluated in using the frequency analysis on the heart rate variability. To execute a psychology measurement after driving, driver's psychosomatic state was subjectively evaluated. Driver's objective rating and subjective evaluation were almost corresponding. The tendency where the change on the snowy road appeared remarkably from a dry road was shown in the comparison by two road surface condition.

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Dynamics of moving body restrained on a 3-D trajectory is investigated. By using differential algebraic equations (DAE), this paper proposes the simulation analysis method on the motion and vibration of vehicles and passengers. We perform numerical simulations and investigate the relationship between the vibration and the position of center of gravity Moreover, we analyze the transmission force to wheel parts, and examine the relationship between the force and the position of center of gravity.

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Gion festival is held on July in Kyoto, which is known as the three main festivals in Japan. Big floats called 'hoko' and 'yama' play central roles in the festival. However, the safety of those floats has not been analyzed. In this research, we measure masses and sizes of all parts of one of yama named Hakurakuten-Yama and recreate Hakurakuten-Yama in 3D-CAD. Then, we analyze the safety for cross winds with obtained mechanical characteristics of Hakurakuten-Yama, e.g. the mass, the inertia moment and the center of gravity.

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The space development advances and the structure such as satellites has increased in recent years. There is change of temperature between -100[K] and +100[K] under such an environment. Therefore, the coefficient of thermal expansion is very important amount of physical properties one in the selection of the solid-state material, the design of the equipment, and the scene of the performance forecast etc. Then, it paid attention to the Electronic Speckle Pattern Interferometry that was one of the optical determination in this study. The thermal expansion coefficient of rectangular shaped specimens at low temperatures was measured by ESPI (Electronic Speckle Pattern Interferometry). The specimen was able to measure the coefficient of thermal expansion of stainless steels and aluminum by using stainless steels, aluminum, and the Poly Tetra Fluoro Ethylene.

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This paper describes a velocimetry with fiber-optic sensor for bubbles. Usually, PIV and/or LDV method are used to measure the velocity of bubbles. However, those methods are costly as popular edition of applications. Using a fiber-optic sensor is a solution to this problem. This determination features the remote sensor body with thin detector part and low-cost system. The keys of our method are responsibility of the sensor for bubbles and the phase shift in output signals of two sensors. And a trial sensor model was made in order to consider its possibility. Then we verified experimentally that the measurement values using the trial sensor model had roughly agreed with the estimations from analysis of video images by CMOS camera.

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We have developed a Cr-N alloy thin film showing a gauge factor of about 10 and a temperature coefficient of resistivity (TCR) of about zero, which is expected as a new strain gauge material in the next generation. We have prepared a force sensor using the film strain gauge, and found that the sensitivity of the sensor is about five times higher than those of a conventional metal foil gauge.

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A new method of measuring mass under weightless conditions is proposed. It utilizes the fixed point of a mass-spring system with a dynamic vibration absorber so that mass is estimated independently of the damping in the absorber. The principle of measurement is described based on a mathematical model. The outline of a measurement and control system is also presented. It is characterized by using the phase-locked loop (PLL) to achieve the tuning condition.

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In this paper we derive a sidearmed pitch movement with 3 link robot arm system with final state control by the error learning, and verify derived movements by simulation. Simulation conditions assumed that the initial and final condition are set by a constant value, moreover, an operating time is changed. As a result, derived movements have been changed greatly and depended on a set operating time. It is thought that the reason why movement changed is a power has been divided between each joint. By dividing a power, an amount of control inputs supplied to a robot arm system has been became a minimum.

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This paper presents an adaptive control approach of electrohydraulic systems. In the system, a 2-degrees-of-freedom compensator is generally applied, where a feedback compensator is designed according to the system stabilization and a feedforward compensator is designed to achieve the desired servo characteristic. The servo characteristic, however, is deteriorated by modeling error and/or parameter variation during the actual motion. In this paper, therefore, in order to improve the servo characteristic, an adaptive feedforward compensator is introduced. The proposed approach has been verified by experiments using a prototype.

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This paper presents a vibration suppression methodology for table drive system on machine stand. In the system, reaction force of a table thrust excites the vibration mode of the stand. In order to suppress the vibration, therefore, a robust table positioning system is designed by a feedback compensator using a direct signal of vibration mode, where a piezoelectric element is used to detect the vibration signal as a strain signal. The proposed approach has been verified by experiments using a prototype.

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Positioning control of vibration systems such as flexible structures is one of the most fundamental technologies for mechanical structures. Different from feedforward control based methods, the use of LQ optimal regulator realizes the feedback control of vibrating parts of a controlled object. However, if the standard LQ optimal regulator is applied to long distance positioning problems, it requires much control energy in motion starting and the positioning error becomes large in settling. Therefore, its use is suitable for positioning settling and residual vibration reduction control in short distance problems. This study proposes a control method switching from a simple feedforward access control technique to the LQ optimal regulator for long distance problems. Especially, this paper mentions a proper switching method of the two control modes. The effectiveness of the proposed method is verified experimentally.

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Intake-air control system of the automobile engine has been improved for fuel economy and low emission. The electronically controlled throttle spreads, and the variable intake valve is being attempted to apply more. This study is to find the control indices for raising the charging efficiency of the cylinder. As a candidate of the control indices, the intake-air pulsation, namely resonant vibration, was extracted by the simulation using GT-POWER* which is the general-purpose model of the engine. In continuing, the experiment with 4-cylinders engine that the pressure sensors were installed in air flow line is carried out. The pressure pulsation which generated in the inlet port and propagated to the manifold against the air flow, was able to be detected successively. * trademark of CD-adapco Co. Ltd

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In this paper, a new system identification method is proposed using genetic algorithm(GA), which the operating data, that is, closed-loop data, is utilized. Not only system parameters but also control parameters are estimated using the GA. Then, since control parameters are known, the reliability of estimates is evaluated in comparison of the estimates with true control parameters. In order to evaluate the effectiveness of the proposed scheme, it is employed for the sway control of crane system.

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Relay based experiment is known as a useful technique to obtain the information of the open-loop system without breaking the feedback loop. In this paper, the authors applied the recently modified version of the relay experiment technique to the closed-loop identification of a servomotor system. The estimated frequency response based on the relay experiment results in more reasonable than a sinusoidal response based estimate, which is affected by friction nonlinearity especially at low frequency.

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We propose an automated needle hydrophone based scanning system to obtain high-resolution planar acoustic pressure distribution generated by high intensity focused ultrasound (HIFU). The preoperative scanning plan manipulates the position of HIFU transducer and automates the acquisition of spatial acoustic pressure distribution. In particular, a method to minimize the displacement error induced by the time delay improves the scanning speed problem of the conventional needle hydrophone based scan system. Moreover, the noise-robust and automatic focus searching algorithm using Gaussian curve fitting reduces a total number of iterations as well as prevents divergence of searching the initial scanning position.

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We have been studying the technologizing of skill of the medical doctor in the medical diagnosis and therapy. In this paper, we explain a robot vision technology for technologizing and digitalization of medical diagnostic and therapeutic skills.

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This study focuses on the importance of position of bicycle. It greately influences the performance of rider. No specific method determining the position that can maximize rider's physical performance have not been defined because it is difficult to numerically evaluate physical changes due to the changes of bicycle position. Especially the saddle height has an significant influence on rider's performance because muscular activities and joint mobilities are forcibly restricted. Then we firstly aim to seek a suitalbe saddle height of rider by defining a new performance evaluation criterion based on leg electromyography during pedaling by using Principal Components Analysis method. This paper introduces a plan to implement fuzzy inference on our system.

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EMG signals from human muscles are very useful for data acquisition and triggering to control the several actuators like a power assist. EMG signals have the possibilities for substantial action pattern and we examined experimental test for dynamical motion of arm and leg of human. Recently, much attention has been paying to the application of EMG Signal by Loop type Algorithms. We tried to associate the stimulus of muscles EMG signals from the two or three positions of the legs and arms. In this paper, we discussed on the availability of on-line EMG Signal by Loop type Algorithms for simplified EMG model signals. We are able to show the pattern of the visual contour by EMG Signal by Loop type Algorithms.

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Service-robots have not been assured the safety authorized for physical coexistence of human and robots, only the reason of small revel of risk is not sufficient for robots to be used for their own service to human. In this paper, to resolve the problem of resultant responsibility caused by residual risk, idea based on the trust system is presented that Principle of trust-law is applicable to establish the new condition of coexistence of human and robots.

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The purpose of this study is to realize a stable walk of biped humanoid robot with the vector processing environment information. In order to accomplish a prevention of falling down accident, the relation of environmental information which is extracted from the both side of road or pavement may be constructed with the vector date and the robot enables to recognize the suitable position. The state of falling down of human must be produced the unusual signal from gyro sensor as well as environmental information. We evaluate the experimental on line results between the signal of gyro sensor and the entreated environmental information.

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Recently, humanoid robots have been widely researched, and it has become possible to control humanoid robots with complicated kinetic characteristics. However, in the cases that the robot walks on an undulating road or receives disturbance such as collision with an object from the outside, the robot loses stability and falls, even if the inverted pendulum model is used. In this study, force sensors have been used on the soles of the humanoid robot to find the irregular parts on the road in order to stabilize the dynamic walk on the undulating road. As a result, it has been confirmed in simulation that the humanoid robot is able to walk on an undulating road.

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It has been a subject that the energy efficiency at the time of multi-legged walking robot movement is low compared with a wheel or crawler movement. In this paper, describes the multi-legged walking robot which realizes efficient movement by bringing movement of the center of gravity close to uniform straight line motion as much as possible using the slide mechanism to the progress direction. Moreover, the proposed gait model is compared with the model of general alternating-tripod gait It is shown that the energy efficiency of the proposed gait model is better than general alternating-tripod gait.

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In this paper, the novel design of the suction mechanism is proposed for the wall-climbing robots with articulated body. The suction mechanism makes it possible for mobile robots to climb the wall without taking the suction pad off the wall. The basic performance of the suction mechanism is described by using a four-wheeled vehicle.

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We have many small diameter pipes that are gas or water pipes for individual or corporate houses and boilers or hot water pipes for industries. They must be periodically inspected in order to protect the accident previously. T-junction pipes are different at the place where pipes change from the main to the branch and a step comes here. The inspection robot for these pipes must move T-junctions and go over the step. We propose a mobile robot that imitates the moving of a green caterpillar. The robot is constructed by the eight parallel rubber bellows and three suction brakes. The fabricated mobile robot was confirmed to move in T-junction pipes whose diameters is 79 mm.

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A designed problem for wings of the towed vehicle, which surveys the bottom of seabed in large depth, is considered. In order to survey seabed using the sonar equipped on the towed vehicle, the vehicle is required to cruse with the same depth or the same altitude from seabed and reduce a noise as much as possible. From these points of view, the variable wing, i.e. various type of wings for the vehicle can be replaced depending upon the operating speed, situation etc, is considered as one of effective methods. In this paper, to develop such towed vehicle, the effect of the angle between the body and wing, the wing form and the wing size of the towed vehicle are analyzed.

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Optical fiber cable for high-speed and large-capacity communication is usually covered by plastic pipe and buried under the ground. Then, we are required to grasp its real buried position before digging at the maintenance in order to prevent from the cutting of the optical fiber. This research aims to identitv easily the buried position of the pipe, using the information of the buried position from the pipe. It is confirmed that the new position surveying system can identify the buried position of a pipe that is 20 m long and has loose three-dimensional curvature in the error of 39 mm

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This paper is a research on the improvement of a three-dimensional magic-hand (super-multi joint manipulator),which is able to extend and bend spatially. That is, to make use of wire length of three wire-encoders built into the manipulator to reduce the bend of it was examined for estimation of the load and moment toward the hand. The relation of the arm compliance and force was led, and simulated for the relation of the length of the wire to displacement of unit. Moreover, it was clarified to be able to estimate force and direction of the load according to the amount of extension of wires.

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Desktop robots "JR Series" which JANOME has released since 1993 has played an important part in semi-automation of cell manufacturing system in the situation of assembling of printed-circuit board such as cutting board dispense, soldering, and screwing. On the other hand, with recent miniaturization and thinning of printed circuit board, desktop robots are required more precision than ever especially on vibration property in the early phase of driving which may lead to fault of dispense and soldering. On this research, we will focus on Linear Guideways and review influences preload of Linear Guideways makes on vibration property using a testing machine and an actual equipment.

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Methods for enhancing grip performance of micro-tweezers are examined in terms of friction force. Two items are examined experimentally. One is a method for increasing coefficient of friction on handling part of the micro- tweezers. We examined relation between surface roughness processed by Bosch process and the coefficient of friction changing etching time. It is found out that the coefficient of friction become large by optimizing etching time. The other item is about optimum handling force. In tweezers-type handling, it is not clear whether the friction force is proportional to the handling force as Coulomb's law of friction. By measuring the relation, it is found out that the friction force is approximately proportional to the handling force. From this characteristic, optimum handling force is easily determined.

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The Photothermal effect, which changes light into heat, can be used to generate driving force from thermal stress. By applying photothermal driving to micro-disk on central pivot, standing wave is generated on a micro-disk.. Traveling wave of mode shape No.3 is excited on a micro-disk by using two modulated laser diodes. The amplitude of traveling wave is found to increase by using four modulated laser diodes and overlapping two traveling wave.

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The photothermal effect can be used to generate driving force from thermal stress. By using light as an energy source, the driving energy can be applied without contact. It has an advantage of tolerance in an electromagnetic noise. The micro-disk is made of SUS304 whose diameter is 10 μm and thickness is 1011 m. The coriori force occurs at the micro disk when the rotational motion is applied to the micro disk in which the standing wave or the traveling wave has been generated. amplitude of micro-disk are measured, while the bending is caused on the micro disk. The deflection of micro disk varies in proportion to coriori force. The micro-gyro operated in using the bending of micro-disk senses angular rate.

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Efficient wave form was examined from the temperature rise and the rotational speed.result of measurement, the temperature rise of the motor looked like the first order log and there was hardly a difference of the rotational speed between the traveling wave and the noised wave. In addition, the temperature rate of increase was able to be suppressed by noise wave. As a result, It has been understood that the temperature is lowered without reduces the speed of rotation .if a small amount of noise is added to the wave..

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This paper presents a plate spring type sensor for reading Braille. A Braille letter is consisted of 6 dots of 3 times 2 arrays. The sensor detects the height of Braille dots via three plate springs and three strain gages. The direct contact type sensor proposed detects Braille dots with good accuracy. Effectiveness of the sensor is examined through the experiment of constant speed scanning. Further, the influence of the contact scanning type sensor on the abrasion of Braille dots is investigated.

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Recently, we can acquire a vehicle position on real time by the popularization of GPS(Global Positioning Systems).This paper describes about the vehicle stability effected by the time delay to calculate the position in GPS receiver at the lane change using the autonomous drive. From these studies it is found that practical delay time of stability boundary is 0.09s. Although, to adapt the PID control parameter with arbitrary time delay value, it is possible to estimate the convergence time and time delay value. It is found that relationships between the convergence time and time delay value are the proportional and the relationships are changed by the vehicle velocities.

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In this study, a sensor system for measurement of a contact stimulus of diapers to infants is developed. The polyvinylidene fluoride (PVDF) film, which is a kind of piezoelectric material and strain gauge are used as the sensor materials. The sensor consists of a surface contact layer, PVDF film, a strain gauge and an aluminum plate. First, the sensor is located on a silicone block and the upper of the sensor part is rubbed with acrylic finger, the sensor performance is investigated. Next, the sensor is attached on a doll simulated a infant. The doll is made a walking motion and measures a contact stimulus without or with a diaper. It was found that there is a possibility that this sensor can quantify a contact stimulus of diapers for infants.

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This paper describes a development of a polymer sensor using solid polymer electrolyte (SPE) film. The sensor has a basic structure that a SPE film is sandwiched between thin carbon films and conductive tape is attached on each carbon film. SPE film has a good flexibility, and can be used in air. First, output response to deformation is confirmed by applying the displacement to the sensor. Then a curvature sensor using the material is proposed. In experiments, it is found that the proposed sensor is available to measure the curvature directly.

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We are developing a real-time monitoring system of a human condition in order to reduce worker's health and safety problems. In the last paper, we reported having succeeded in real-time calculation of the correlation dimension of ECG time series (not heart rate variability time series). Next, we select a largest Lyapunov exponent (LLE) as a new index of a human condition. In order to reduce a calculation cost, we investigate a minimum length of ECG time series required for reliable analysis. Analysis results of the LLE of ECG time series during a calculation task show that the reliable analysis is possible even from the very short time series such as 10-30 s.

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Hypertension, one of the symptoms of the metabolic syndrome is associated with risks of heart attack, stroke, and renal failure. Non-invasive and continuous monitoring of blood pressure has therefore attracted much attention, Among existing non-invasive blood pressure monitoring methods. auscultatory and oscillometric methods are very popular, but they cannot measure continuously because of they temporarily inhibit blood flow. Although tonometry and vascular-volume compensation methods can measure blood pressure continuously, they still need to apply pressure by inflating a cuff. Therefore, we choose the pulse wave velocity method, which can provide cuffless and continuous measurement. This method makes real ambulatory blood pressure monitoring possible, but it has disadvantages such as calibration difficulty and low accuracy of estimation for high blood pressure levels. In this paper, we proposes a new formula and report high accuracy (less than +/-10 mmHg) continuous systolic blood pressure estimation during exercise.

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Recently developed classification schemes of human activities deal with dynamic activities and therefore are not adequate to classify static activities such as eating and sitting, which are necessary to monitor an entire daily life pattern. In this paper, we propose a classification method of human activities that can be applied to both static and dynamic activities. Usually tri-axial accelerometer data is used to classify human activities, but sitting position and standing position could not be classified clearly by only accelerometer. We use tri-axial angular velocity data in addition to accelerometer data, for the classification of static activities. We found that the choice of the part of human body onto which the motion sensors were placed has an effect on the classification performance, the wrist being the best position to improve classification accuracy of static activities. Our classification scheme uses the k-nearest neighbors algorithm on selected features extracted from tri-axial accelerometer data and tri-axial angular velocity data.

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A method to estimate stress state in daily life is necessary for depression and life-style related diseases prevention. We focused on three states; relax state, mental arithmetic stress state, and monotonous work stress state. To estimate stress state, we extracted nine physiological indices of stress from physiological data collected during stress experiment, consisting in two types of PASAT assigned to 10 experiment participants. Because variation range of each index is different between individuals and types of stress, we divided estimation process into two steps: step I to discriminate relax state from stress state, and step 2 to discriminate mental arithmetic stress state from monotonous work stress state. For each step, we selected the most relevant set of indices that enable to estimate stress state regardless of individuals. Then we processed two steps, and estimated the stress state of 10 experiment participants in experiments by cross-validation. We could achieve high estimation accuracy (average: 75.3%, standard deviation: 18.4%), and Confirm this method can be an effective solution to estimate various types of stress state regardless of individuals.

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Estimation method of three dimensional position of body-mounted sensor (3D sensor) for the measure of the 3D movement during sports and daily life is discussed. The position of the 3D sensor is expressed as the 3D location of rotational center of shoulder joint on the moving coordinate system based on the 3D sensor. To develop the algorithm, measured data affecting the estimated position and cut-off frequency of a low pass ifiter to minimize the error of the estimated position are numerically obtained. Moreover effective movement of the arm performed by the subject is determined. Experiments to estimate the relation between the center of shoulder joint and position of the 3D sensor are performed using optical motion capture system to anatomically determine the center of shoulder joint for three subjects and results show that the error of estimated distance between the shoulder joint and the 3D sensor is about 1%.

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In this paper, we propose biomechanical analysis system for pitching motion measurement using body mounted sensor (3D sensor). 3D sensor consists of two kinds of accelerometer and gyroscope and is attached on forearm and upper arm to measure acceleration and angular velocity during pitch. The system can estimate three-dimensional (3D) upper limb trajectory and elbow joint torque based on two link kinetics. Upper limb trajectory and elbow joint torque are estimated by numeric integration and inverse dynamics using acceleration and angular velocity. Moreover, we constructed interface software for visual evaluation of 3D trajectory and elbow joint torque. Experiment results using 2 link arm model suggest that the proposed method can estimate 3D arm trajectory and elbow joint torque.

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Webs (such as paper, plastic film and meal sheets etc) are wound onto rolls for distribution, processing, and operations. In the winding process, tension is one of the most important parameter for preventing the wound roll defects such as the star defect's and slippage which are detrimental to roll quality. In production field, it well known experimentally that linearly-decreased winding tension has the affects of preventing the wound roll defects. However, this tension pattern is not necessarily adapted to various types of conditions. On the other hand, Hashimoto present the optimization method of winding tension which is expressed by preventing the wound roll defects. But, technique for the measurement of In-roll stress has not been established. The study will evaluate the measuring method for interior stress of roll under winding.

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Paper, optical film and metallic thin film are called web. They are made by Roll to Roll producing system. So they are transported under tension by a lot of rollers. High performance films such as fuel cell, printed electronics and solar cell are also made by Roll to Roll producing system. So it's issue in the manufacturing field to improve productivity and protect defect. Today, engineers hope web is more thin and winder to produce efficient. However, web is occurred wrinkles on the roller easily due to such change although transported under very low tension and no misalignment. This paper airms to make a theoretical model of wrinkling generation and clear wrinkling mechanism. Its applicability is verified by comparison experimental result and calculating result.

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