Multi d. o. f. motions and accurate positioning are required in the micro hand for micro manipulation. For these requirements, various types of parallel mechanisms have been applied to the micro hand mechanisms. Usually, a flexure hinge is applied in a joint mechanism for precise positioning, since it has no backrush as seen in a conventional gear mechanism. It seems rather difficult to fabricate flexure hinges required in the manipulator with more than 3 d. o. f. motions due to their complicated structures. In this paper a new mechanism for the micro finger module is proposed by introducing a unique fabrication method with cutting and folding just a single sheet of metal plate. Thus, a micro hand is assembled easily and quickly with a small cost. A prototype finger module is fabricated, and evaluated with calibration and positioning accuracy tests.

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We propose a unique structure for micro manipulator, which is fabricated with cutting and folding processes. We have studied micro parallel mechanism for micro manipulation and handling. The mechanism consists of a flexure mechanism, which constrains unnecessary DOF (Degrees of Freedom) and allows necessary DOF. The conventional flexure mechanism has been developed by wire-cut EDM or rapid prototyping, because it needs precise and complicated structure. But they are complicated and expensive compared to cutting and folding processes. The flexure mechanism processed with cutting and folding is quite new, so the motions of this mechanism are analyzed and discussed in this paper.

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Non-contact micromanipulation is one of the fundamental techniques in micromachine technology. This paper describes an advanced technique to manipulate particles one-, two- and three-dimensionally using two, three and four transducers. The transducers are settled with their sound-beam axes crossing at the same point. All transducers are driven at the same frequency, and a standing wave field is generated in the crossing region. When polystyrene particles are poured with a pipette into the sound field, the particles are trapped at the node of the sound pressure in the sound field. When changing the phase of one of the transducers of the three or four used, the trapped particles are transported along the sound beam axis of the transducer. Combining each movement along the four sound beam axes, three-dimensional non-contact manipulation of a particle is accomplished.

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It is important to separate, transport, operate a micro-object such as a microbe with high speed and high purity for application of newly developed or discovered microbe. However, it is difficult and takes much time to separate a single target microbes. Here we designed a new separation cell, with which we can separate the target microbe by integrating laser manipulation and fluid flow control in the cell. We fabricated a disposable type separation cell by the polymer and succeed in the separation of a microbe.

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This paper investigates assembling and bonding of micro parts by bonding elements. We proposed a new bonding method in which a hot melt layer of the bonding elements is heated locally. The shape of heating device was investigated and the bonding strength was evaluated. The assembly test equipment was also fabricated in order to examine the automatical assembling and bonding of micro parts.

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In this research, we propose a concept of motion intelligence using a mobile manipulator that does not have driving power. The motion intelligence is defined here as that the mobile manipulator can find by itself a way to use its dynamical coupling for a motion object, that is here, traveling motion. We confirmed by real experiments that mobile manipulator could find an effective motion of 1-link mounted manipulator that makes it travel forward.

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This paper studies two-dimensional robot motion planning based on the oval potential field. The drawback of the traditional method is that local minimum pints are generated in the potential field in the case that obstacles locate nearby at each other or are concave. To overcome the above drawback, in this paper, local minimum points are detected by calculating the gaussian and mean curvatures of the potential field, and are combined to the nearest obstacle. Then, the resulting obstacles will be convex. The effectiveness of the present method is shown through numerical simulations.

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Motions of slider crank chain with offset are analysed, unifying all four deduced mechanisms by inversions. Motions of the mechanisms with offset ara characterized by quick return motions. The quick return ratios for each mechanism is shown parameticaly varying the length of all links.

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We propose an inverse dynamics controller using the genetic algorithm (GA) for moving operations performed by a mobile manipulator traveling on unknown irregular terrain. When a mobile manipulator travels on irregular terrain, the mobile manipulator's hand is subjected to influences of disturbance torques generated by irregularities. In this paper, we developed a dynamic compensation controller using the GA and evaluated its control performance. Then, it is shown that the proposed controller can estimate a terrain shape and can decrease control errors against disturbance torques.

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A drawback with feature based visual servoing is that sore feature marks go off the screen in the case where goal positions for the feature marks are near the edges of the screen, unless the gain coefficients are adjusted appropriately. This paper proposes a method of compensating the feature based visual servoing with fuzzy control, instead of adjusting the gain coefficient. Input variables to the fuzzy system are: distance to the current position of the feature mark from the center of the screen, velocity of the feature mark and distance to the goal position from the current position of the feature mark on the screen. An output from the fuzzy system is a compensation value that prevents the feature marks from going off the screen Fuzzy rules are designed so that the compensation value becomes smaller, as the feature marks approach the gal position on the screen. Effectiveness of the proposed method is shown through numerical simulations.

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In playing a contact task with a rigid object by a robot, a force/torque sensor is frequently used to detect the contact force/torque. However, only a force sensor is not enough in manipulation of a deformable object by a robot. In the previous study, a sensor fusion algorithm is proposed to control a robot to insert an aluminum peg set up on the robot hand into a hole fixed on a deformable plate. In this paper, an online learning neural network is introduced into the control system, by which the peg can be smoothly and quickly inserted into the deformable hole. To complete the task, a high-speed camera is used and a real time processing algorithm is developed to detect the deformation of the central line of the hole. The effectiveness of proposed method has been demonstrated through experiments.

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This paper deals with behavioral evolution of multiple robots in a quasi-ecosystem. An ecosystem model composed of insects and plants, which are in a relationship of parasitism, is simulated on the discrete cell space. In this ecosystem, the plants become easy to be eliminated as the population size of the insects increases. Consequently, it is required to maintain numerical balance of plants and insects in the quasi-ecosystem. Therefore, multiple robots are introduced to remove some insects from the quasi-ecosystem. However, if the robots eliminate all of insects, the viruses will eliminate the plants owing to diseases. In this ecosystem with complicated relationship, the robots should acquire strategies to maintain plants. In this paper, we use simple if-then rules and apply genetics-based machine learning for acquiring a strategy for removing insects. Furthermore, we show several simulation results of behavior learning of multiple robots.

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Recently, intelligent robots have been used in various fields. Therefore, a robot should perform flexible perception and decision making. Based on the concept of the structured intelligence, we have proposed a sensory network for the perception and multi-objective behavior coordination (MOBC) for the decision making of the robot. However, the multi-objective behavior takes much time comparing to subsumption architecture, since the multi-objective behavior coordination makes outputs based on the inference results of multiple behavior rules. From the viewpoint of real-time control, the robot should quickly take feasible actions, not optimal actions. Therefore, this paper proposes a control method of the behavioral dimension in multi-objective behavior coordination of the mobile robot. We discuss the effectiveness of the propose method through several experiments of the mobile robot.

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Garbages processed at a garbage disposal factory are usually and unfortunately mixed. And if there is a dangerous object like a chemical cylinder in them, it may explode when pressing. Now, at the garbage disposal factory, human performs sorting of dangerous objects and objects to recycle, then much time is wasted for it. If a robot can do the sorting work instead of human, saving of a man and evasion of dangerous work can be performed. The purpose of this research is to build a system for the visual servoing pickup operation, which picks up targets in various objects by a manipulator equipped with CCD camera. This research proposes the dynamic image recognition method using Genetic Algorithm (GA), and with experiments to pick up objects placed on rotating table by a robot incorporated this method is performed.

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When we produce process in a factory, damages happens to be made on surface of the products. As the result of it, Professional workers have to check the defects in many factories. But it is difficult for humans to keep concentration to detect the minute damage for long hours, and the judging criterion of each person is depending on each workers. Therefore, some detecting systems are desired to execute the checking operation instead of human workers to solve the above Problems. We propose a visual detecting system of small defection on a surface of metal products.

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This research is concerned with a new technology for the recognition of traffic sign from a motion picture. In order to realize a real-time position recognition, the genetic algorithm (denoted by GA) with search region limits is proposed. Through experiments, it is shown that new technology is sufficiently valid on real-time recognition to objects of motion picture.

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The harvesting operation is a great burden for farmers. Workers need the reduction of the harvesting operation in the agriculture. Then, the purpose of this study is the construction of useful visual recognition system which requires in automation and robotization of harvesting operation .In this research, Eggplants are taken up as an example of agricultural objects for the search and searched using genetic algorithm from scene image. Many agricultural objects have been composed of curved surface. Therefore, It is proposed that the recognition technique of agricultural objects using the Neural-Networks which learned the change of luminance information. Through experimental results, it is shown that new technology proposed here is sufficiently valid on recognition for agricultural object.

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This paper described the new moving system which was able to inspect the erosion on the tubes by the laser-sheet method under the moving condition into the narrow tubes space in the boiler of the power station. This new moving system is cosisted of the spiral blades and the roller included the motor. This motor turn round both the roller and spiral blades at the same time and occure the driving force. These structures are called the spiral-roller. We tried the experiment and inspected the basical moving characteristic of the spiral-roller. We obtained the final specification of the spiral-roller to bring the minimum axis load from the result of these experiments and confirmed that which conditions of the moving system constituted by the spiral-rollers bring the stable movement.

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The dual stage actuation (DSA) is one of the most attractive methods for increasing the track density of hard disk drives (HDDs). We have developed a φ-shaped actuated suspension as a fine actuator for a DSA system. The developed suspension's main resonance frequency was higher than 9 kHz, its generated displacement was larger that 1e-6 m at an applied voltage of 30 V and its shock resistance was greater than 3000 G. Flying-height variance caused by DSA driving (+/- 22 V) was less than 1.3 % of nominal flying-height. The decrease of displacement was almost constant, less than 5 % after 1e9 driving-cycles under heavy conditions (+/- 30V at 100℃, +/- 30V at 85℃ and 85% humidity). Based on these data, we concluded that our actuated suspension can maintain a stable flying-height during its operation and its lifetime is as long as other actuators for HDDs.

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In recent years, an annual rate of an area density increase was keeping about 100 % in HDD systems approaching more than 25 Gbits/in^2 in commercial base. Such a high-area density is supported by progresses not only of BPI (Bits Per Inch), but also of TPI (Tracks Per Inch). The far higher area density necessitates a highly precise positioning mechanism with a high motion speed. In order to realize such a mechanism with stable following and seeking motion, a linear actuator was constructed and tested. We have designed a linear actuator of 7 and 9 kHz resonance frequency. The cause of two resonance frequencies comes from weak rigidity of a coil frame. Therefore, we redesigned a new voice coil motor for the linear actuator. A new actuator resonance was over 10 kHz. The servo bandwidth reached up to 4 kHz. Precise feed and positioning of 5 nm / 10 sec were achieved by the linear system.

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This paper presents design of hard shock resistant head suspension of hard disk drive. Recently, we have spent a lot of time to design suspension to satisfy many characteristics of suspension. To reduce the period of development, we used "Taguchi-Method" and found the effect of eight parameter of suspension shape for three characteristics of suspension. Finally we optimized three characteristics of suspension by using weighted function and developed higher shock resistant head suspension.

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Small oil particles generated from ball bearings in HDD sometimes cause such a fatal problem as disk crash. Therefore, It is necessary to get design criterions of oil particle seal used in HDD. In this paper, the seal performance of small oil particles of an annular labyrinth seal is investigated numerically and experimentally. It was consequently found that the annular labyrinth seal is very effective in sealing small oil particles of more than 0.3 μm diameter.

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With the increase in recording density and higher rotation speeds, the aerodynamic aspect of HDD (Hard Disk Drives) is now quite significant. We studied the internal air flow of a HDD by using a direct neumerical simulation. We simulated two cases. The first case has the arm with no weight saving hole (no-hole case). The second case has the arm with weight saving hole (hole case). We observed periodic vortices (Karman's vortex) of which frequency is about 6kHz in the downstream of the arm in both cases. The scale of vortex in hole case is lager than that in no-hole case.

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This paper describes the turbulent air-flow simulation in the high-end magnetic disk drives. The radial component of air-shear force on disks reduces lubricant thickness, especially in high-speed drives. To minimize lubricant spin-off, eight design parameters were optimized using the design of experiments and the Large Eddy Simulation analysis. The results showed that air-shear force on disks with optimum parameters was 18% less than on disks of current design. They also showed that shroud clearance, disk/arm clearance, and arm thickness had a greater effect on air-shear force than the other five parameters.

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Reduction of windage, or vibration of the slider in the off track direction induced by airflow, is very important issue to increase the track density of hard disk drives (HDDs). New head suspension assembly which is designed to increase the stiffness and natural frequencies to improve the windage and to be used for ramp load/unload 10-krpm 3.5type HDD has been developed. The windage of the new suspension was measured by using laser Doppler vibrometer in the spin stand. The windage peaks were mainly located from 9 to 12 kHz, since those of the former head suspension assembly were from 6 to 9 kHz. Total windage from 1 kHz to 15kHz of the new one was reduced to 68% of the old one. The windage of the suspensions with carriage arm was also measured. Total widage of the new one was reduced to 73% of the old one. By increasing the natural frequency and decoupling from the carriage arm mode, the windage of the new suspension was improved.

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This paper describes micro-tribology performances for ceramic contact sliders under Ultra-light load conditions in continuous drag tests. The influences of ultra-thin liquid lubricant thickness on the slider wear characteristics as well as the slider dynamics are studied. It become clear that the optimal lubricant thickness exists in order to achieve not only the head/disk interface durability but also the good slider wear characteristics in contact recording.

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The dynamic force between flat and curved surfaces linked by a liquid meniscus bridge was analysed assuming small vibration of the spacing. The infinite width meniscus and the finite meniscus ring were considered as analytical models. The incompressible Reynolds equation was solved under the Laplace pressure boundary condition and the solution was linearlized by the small vibration assumption. The derivation of the solutions and the differences by the models were discussed. It was found that the pressure and the load carrying capacity in the linearlized analysis had three terms, i.e., squeeze term by the viscosity of liquid, spring term by the dynamic Laplace pressure and static meniscus force term.

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In order to design the head medium interface for L/UL system of high reliability, the analysis of loading process with consideration to disk waviness were performed. The analysis results showed that the slider must be loaded in the timing which can make the sinuosity valley of a disk waviness passes before an air lubricous mm forms, and the loading time of a slider must be shorter than the period of a disk waviness in order to avoid contact of a slider and a disk.

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This paper describes linearized analyses of dynamic characteristics of slider gas bearings with nanometer spacings by using MGL (Molecular Gas-film Lubrication) equation. The linearized solution consists of static pressures caused by slider inclinations and dynamic pressures caused by squeeze motions. The latter behaves like progressive waves whose wave numbers depend on the ratio of bearing number A to squeeze number σ.

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A novel spacing measurement using the Michelson laser interferometry was enhanced to permit a direct measurement of head-disk spacing without necessity of calibration. This method utilizes the phase comparison of two kinds of interference fringe patterns formed over the slider lubricating surface and the inner back surface of a glass disk. To increase resolution and reproducibility, three principal techniques were newly introduced; an optical system mounting a hi-definition CCD camera, a wobbling technique to capture fringe image, and powerful ridgeline extraction from the fringe pattern. Finally, the measured spacing and the calculated spacing were found to be in good accordance, indicating the present method to be applicable to the practical usage.

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Servo tracking signals magnetically printed on hard disks by using a lithographically patterned master disk have been studied. It is necessary to closely and uniformly contact the master disk and the magnetic disk with each other in order to successfully print servo tracking signals all over the magnetic disk. It turns out that the printed signal is uniformly recorded over the whole disk surface by providing air slots with the opening at the disk perimeter part, and making the slot about 6 microns in depth.

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We have developed a two-degree-of-freedom control algorithm for fast seeking in magnetic disk drives. It has three main features. First, it generates a seeking trajectory that does not excite the primary resonance of the head actuator. Second, it calculates acceleration feed-forward that assures the perfect tracking to the desired trajectory at position sampling (PTC: Perfect Tracking Control). Third, it modifies the target position trajectory, in order to reduce the modeling error, by taking into account digital control and a primary mechanical resonance. We confirmed by simulation and experiment that the control algorithm improves the track settling performance by reducing the vibration due to both the primary mechanical resonance of the head access mechanism and the slow transient response induced by tracking error in the target position trajectory. It was found that the one-track seek time of a drive controlled by the algorithm is 15% faster than the conventional time.

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The optical memory card drive which achieved the high-speed access by adopting a circular arc recording method was made for trial purposes. The circular arc truck formation to the optical memory card was achieved by original three axes actuator. Moreover, the record on a flexible card like the pre-paid card was enabled by adopting the mechanism which corrects deformed card. In this paper, the structure of the optical memory card drive made for trial purposes and the characteristic of the drive are described.

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This paper represents an operation method of a mobile robot by using biological signals corresponding to eye and facial muscle movements. In this method the mobile robot is operated through an interface build on a computer. This interface has several buttons corresponding to robot commands and sends the robot command when a mouse pointer goes onto one of the buttons. Mouse movement and click are related to EOG (Electro Oculo Graphic) and EMG (Electro Myo Graphic), the biological signal, respectively. A CCD camera is added on to the mobile robot and obtained image is displayed for the operator to increasing manipulability. Experimental results about manipulability through this operation method suggest great potential for controlling a wide variety of machines using biological signals.

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This paper describes a new method of estimation of walking distance. Walking velocity is derived by the integration of horizontal and vertical acceleration which is measured by a sensor system attached to subject's instep. The sensor system consists of a three dimensional accelerometer, three ceramic gyros and a terrestrial magnetic field sensor. Walking distance is calculated by integration of the walking velocity considering three dimensional foot movement. Experiments are performed with normal level walking and ascending/descending the stairs. Experimental results show that the average error of the horizontal distance estimation is 1.2 %, and the vertical distance estimation is 3.87 % for ascending and 18.23 % for descending. The method is useful not only for the evaluation of phisical activities but also for position monitoring.

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Walking ability is an indispensable factor for the elderly to be independent in this aging society. Therefore, it is significant to evaluate the state of elderly gait quantitatively. We propose a new method of evaluating elderly gait from acceleration signals during walking. The accelerometer has a great advantage over conventional Gait Analysis System in measurement at routine level, for it does not restrict subjects because it is small and light. In the present study, from the view point of gait dispersion, we attempted to characterize elderly gait from acceleration signals at waist close to the center of gravity of the body. A healthy young subject and an elderly subject performed free level walking. The data were analyzed on gait reproducibility using Correlation Coefficient. The elderly subject exhibited greater dispersion than did the healthy young subject. Then, it is concluded that the method enables easy and simple characterization of elderly gait.

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This paper reports the development of an unconstrained and noninvasive sensor system for monitoring the respiration and heartbeats during sleep using a PVDF piezopolymer film. The sensor is placed on a bed under the sheet and detects the pressure fluctuation of a human body surface caused by the respiratory movement and heartbeats. It is shown that by using the wavelet transform, the respiration and heartbeats can simultaneously be detected from the sensor output with a high accuracy.

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In order to elucidate mechanism of human capability to recognize shearing stress arising on finger surface, an experimental apparatus was developed by comprising of a x-table driven by a DC motor, a force-moment sensor, a probe mounted on the x-table through the force-moment sensor. In experiments, human subjects grasped the probe and felt shearing force arising on their fingers because the probe was drawn by down motion of the x-table. Procedure of psycophysical experiment obtaining threshold of slippage force was programmed in the computer according to PEST (Parameter Estimation Sequential Testing). As the result of the experiment, threshold for smooth surface of acrylic increased by 20 % comparing with surface including roughness such as polishing papers distributed 12 and 30 μm particles of aluminum oxide. Static coefficients of friction of polishing papers were almost constant against variation in shearing force, while static coefficient of friction of acrylic plate was the highest in the range of 2-3.5 N and was the smallest in the range of 3.5-5 N. Consequently, the threshold of shearing force does not depend on the static coefficient of friction and it was seemed that the sensitivity of shearing force became higher in the transition from static to dynamic friction.

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This paper is concerned with the measurement and evaluation of the human touch sensation. First, the papers such as the newspaper, superfinepaper, traicing paper, paper towel and toilet paper are laid inside a blind box. They are pinched and/or stroked by the thumb and the forefinger, and their feelings of softness and roughness are obtained and classified with the use of questionnaires. Next, the same samples are pressed and slid by the tactile sensor which is mounted on the tip of one ringer and the output signals from the sensor are collected and recorded. The features on the collected data are then extracted by using the variance and the wavelet analysis and compared with the valuation by the fingers. The obtained sensor outputs correlated well with the tactile perception of human fingers.

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A miniature thermoelectric generator using catalytic combustion for charging portable information devices was demonstrated using methanol as a fuel. It generated the maximum electric power of 11 mW, when a matched load of about 5.5Ω was connected. A continuous operation test using 10 cc methanol confirmed approximately 6 hour combustion and total generated energy of 160 J. This corresponds to conversion efficiency of 0.09%.

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R&D on Micro-generators for portable telephone and others are done recently. Piezo-element can be utilized for transforming mechanical into electric energy. We previously reported power generation characteristics of piezo-elements using for micro-generators. In this report, we report the experimental result on fitting position of micro-generator on human body. In this experiment, we measured the acceleration in various positions of the body under walking condition. And, we obtained the acceleration of 0.5G at the waist, 4.8G at the ankle, and 0.02G at the wrist. It became clear that fitting position of piezo-element is the heel-applied weight furthermore.

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This paper describes a spring powered car with an obstacle avoidance. A part of the energy of the spring is utilized mechanically and the rest is converted to electricity for controlling the mechanical system. Two distance sensors detect the distance between the car and an obstacle. Each sensor was placed on the right front side and the left front side of the car. When the right sensor detects an obstacle, the left wheel is electrically braked to turn left. When the left sensor detects an obstacle, vice versa. In this way, the car can avoid obstacles. The dimension of the car is 20×61×84 mm. The car travelled about 1 m at a speed of about 10 cm/s. The obstacle avoidance worked well, though the car was not always able to turn because the sensor cannot detect enough far distance to avoid obstacles.

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Planar inductors with ferrite layers were fabricated by means of screen printing, photo-lithograpy and electroplating. Screen printing method enable to obtain the coil spacing filled with ferrite. In this structure, since the perpendicular leakage magnetic flux is preferentially passed through the coil spacing and avoids the copper coil position, it is expected to decrease the eddy-current loss. Trial samples of planar inductor with ferrite layers achieved high quality factor of 40 to 70 at 5 MHz.

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We have designed and developed a prototype magnetic field modulation (MFM) coil with a magnetic core. The magnetic core, consisting of CoFeSiB/SiO_2 composite multi-layerd film, has a high quality factor of more than 100 at high frequency. For a micro MFM coil, high-field strength must be generated in the center of the coil at a high frequency and a low driving current. Although an air-core coil requires a high driving current, a magnetic core coil can be driven at a lower driving current than an air-core coil. We have simulated the magnetic field strength of the vertical section of this MFM coil using 3D-Maxwell simulation.

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Piezoelectric thick films of 0.85Pb(Zr,Ti)O_3 - 0.15Pb(Zn,Nb)O_3 (PZT-PZN) were fabricated on platinum-coated ZrO_2 substrates by conventional screen printing and were fired at 750-800℃. In addition to low-temperature sintering of PZT-PZN piezoelectric powder composed of active PZT synthesized by sol-gel method and low temperature calcination, the dispersion of paste components including PZT PZN powder and amorphous PbO-GeO_2 flux material made a densely-structured thick film by accelerated liquid phase sintering. In spite of the plane restriction of the platinum coated substrate during firing, the relative density of the thick films fired at 750-800℃ were 82-89%. As the relative density of the fired thick film increased, improved polarization properties were observed. Dense thick film fired at 800℃ showed remanent polarization of 17-18 μC/cm^2 and a coersive field of 13-14 kV/cm. Cantilevers made of these thick films presented a bending motion, making them useful as unimorph actuators.

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The characteristic of a Fast Atom beam (FAB) manufacturing process for Si etching, SiO_2 etching, sub-micro etching, and deep etching is investigated by use of a FAB manufacturing machine. The results concerning the side etching and etching rates show the difference between FAB manufacturing and Reactive Ion Etching (RIE) manufacturing. Furthermore, the micro motion covert mechanism with sub-micro dimension hinges is made by use of the FAB manufacturing machine, and its input-output displacement relationship is investigated experimentally.

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The key parameter in vibration damping system is a damping coefficient However, this parameter is difficult to estimate in a certain situation, e.g. noisy condition. In this report, a method for estimating the coefficient using Hilbert transform is proposed and investigated to overcome the difficulty. At first, it is cleared that the proposed methods is available for this purpose experimentally. Then, by simulation, the characteristics of the estimated value are discussed, and it is made clear that the accurate value can be estimated by the method comparing with a conventional one based on logarithmic decrement theory.

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Recently, high precision of repetition positioning and high-speed operation are required with a robot or device for the assembly line. Such robot/device itself is installed under well-ordered environment without being moved. On the other hand, a robot/device used for construction site is needed different consideration of safety because robot/device is not fixed and be easily affected by environment. This paper mentions that preliminary investigation regarding to safety of a RC-structure's wall washing work with the use of Wall Surface Work Device and a safety alarm system at a construction site.

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About the internal check method of a specific outdoors tank, the notification of No.93 was promulgated from the Fire Defense Agency in August, 2000. It was shown that application of new technology is possible about the method of carrying out continuation plates-thickness measurement of the whole bottom plates from on coating and the method of inspecting a welding part from on coating. In our company, the complete inspection equipment and the diagnostic system of tank bottom plates will be developed in 1999, and application of inspection is started from the last fiscal year.

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The Japanese Safety Concept S is being stale historically in Japan because of religious reason such as Buddhists' abandonment. As a progressed industrial country, this kind of comparable inferiority is big problems in daily economic activities. This inferiority appears in passive attitude during negotiations with clients. Japan should urgently establish her own concept of safety which is apart from Buddhists' abandonment. The discussions on the concept and educations may be the ways to do so.

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