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澤田 浩之
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セッションID: D104
発行日: 2011/06/28
公開日: 2017/06/19
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Engineering design usually starts with a customer need, and then proceeds through several stages: conceptual design, functional design, layout design, structural design and production design. As design proceeds, design information about the artifact becomes concrete and quantified gradually. In the last several decades, computer simulation technologies including FEM have been developed for the later design stages at which correct and concrete numerical information is available. On the other hand, computer support for the earlier design stages is not sufficient due to difficulties in handling ambiguous and qualitative design information. However, it is well known that design at the early stages has a great influence on the final design solution, and designers need design support tools for upstream design. Therefore, we have established a research society for 1D-CAE, which is a general term for idea, methodology and tools applicable for upstream design support, and discuss the concept and definition of 1D-CAE. This paper reports our discussion about 1D-CAE.
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成川 輝真, 西村 秀和
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セッションID: D105
発行日: 2011/06/28
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This paper presents control system design for occupant lower extremity protection in vehicle frontal collision by using a reduced-order dynamical model. Physical parameters of the reduced-order dynamical model are estimated from a simulation result of a three-dimensional dynamical simulator with a passive knee bolster. An active knee bolster is used to protect occupant lower extremities. The control system of the active knee bolster follows a reference signal of the contact force between the knee and the instrument panel. The protective control system with the active knee bolster is effective for reducing the femur load, verified by using three-dimensional multi body simulator.
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西村 秀和, 朱 紹鵬
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セッションID: D106
発行日: 2011/06/28
公開日: 2017/06/19
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This paper describes a system development of front-steering assist control for motorcycles using the model-based systems engineering approach. System analysis or verification and validation process on system level are clearly positioned in the systems engineering process as models of SysML (Systems Modeling Language). Test cases can be derived from use case analysis and the parametric diagram can be used to evaluate the performance of control system. In the trade-off study, measure of effectiveness should be shared among the multidisciplinary team associated to develop the system. The simulation results are validated in the test case defined in use case analysis, including a rider driving model.
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重松 浩一, 加藤 操
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セッションID: D107
発行日: 2011/06/28
公開日: 2017/06/19
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The recent increases of the demand of simulation technologies for robot system with multi-body dynamics have attracted various research efforts. To speed up the design and prototyping processes of robot system, a method that automatically generates mathematics equations governing the robot system response in an optimized symbolic form is desirable. To achieve this goal, we employed MapleSim^<TM>, a new physical modeling tool developed by Maplesoft Inc., to develop the multi-domain model of a parallel link robot arm, utilizing the symbolic computing algorithms of Maple software package to generate an optimized set of governing equations. The robot arm model consists of a multi-body arm dynamics, a power electronics and a control model. Simulations are then used to demonstrate the performance of the developed parallel-link robot. Simulation results show that the model is viable and the number of governing equations is reduced significantly, resulting in a computationally efficient system.
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池田 裕一, 千田 有一, 岩ヶ谷 崇, 加藤 克也, 深津 明夫
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セッションID: D108
発行日: 2011/06/28
公開日: 2017/06/19
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Recent years, a system design method based on the idea of 1D-CAE is proposed. 1D-CAE provides the idea to perform the system design in manufacturing effectively and efficiently. These ideas realize the design site of manufacturing in a natural way. However, it is not a situation in which the idea can be educated in the field of education since the idea does not provide as a scholarly framework. Therefore, based on the idea of 1D-CAE, we aim to the development of educational tool that can realize a part of these ideas through an example of control system design. This paper introduces an example of development of educational tool.
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一瀬 雄太郎, 酒井 悟
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セッションID: D109
発行日: 2011/06/28
公開日: 2017/06/19
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This paper gives an optimal design of 2 DOF arm with reconfigurable joints. A reconfigurable joint convert, a translational joint into a rotational joint and vise versa. First we review the proposed reconfigurable joints. Second we give a design method for the 2 DOF arm with respect to the manipulating force, the working area and the contact safety. Finally, the validity of the method is confirmed by numerical simulations.
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原稿種別: 付録等
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発行日: 2011/06/28
公開日: 2017/06/19
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岩倉 大輔, 野波 健蔵, 藤原 大悟
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セッションID: A201
発行日: 2011/06/28
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MAVs and small UAVs are useful for the information gathering in the urban environment and indoor environment. In these environments, a recognition system which utilize external sensor is required for localization because collision and GPS fault are possible. The laser range finder has been utilized in some researches but it would be an obstruction of flying robot's miniaturization because it is heavy. Therefore in this study, we propose localization method for indoor flight by utilizing few number of lightweight infrared distance sensors. This paper describes about two localization algorithms which based on Extended Kalman Filter and Particle Filter.
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宋 〓澤, 王 偉, 岩倉 大輔, 野波 健蔵, 藤原 大悟
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セッションID: A202
発行日: 2011/06/28
公開日: 2017/06/19
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MAV (Micro Air Vehicle) can be used for many applications such as the investigation of inhospitable environments, regions contaminated by nuclear pollution or hazardous material and other inaccessible areas. For such kind of purposes, a small machine that can autonomously fly seems to be appropriate. Our MAV research group selects a Quad-Rotor MAV as our platform, and achieved automated take-off, landing, hovering, way-point navigation, vision-based navigation flight. However, the payload of our current platform is low (about 500grams), and the flight duration is only about 10 minutes. To overcome these obstacles, we designed a Six-Rotor type flying robot with 770mm of diameter, 1.9kg of weight, 1.5kg of payload and 12 minutes of flight duration (without payload). In this paper, we present the main design considerations which are essential for the construction of Six-Rotor type flying robot and attitude controller design technique.
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根本 剛志, 河村 隆, 鈴木 智, 飯塚 浩二郎, 奥田 一郎
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セッションID: A203
発行日: 2011/06/28
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In this paper, we present prototype robot to replicate features of dragonfly flight. We have observed and revealed characteristics of dragonfly flight in lifting, cruising, and hovering. With flapping fore and hind wings out of phase, we have achieved sustained flight with our dragonfly prototype. We present overview of observation, flapping mechanism, experimental setups, and experimental results.
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小松崎 俊彦, 岩田 佳雄
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セッションID: A204
発行日: 2011/06/28
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Magneto-rheological materials are a class of smart materials whose rheological or viscoelastic properties can be varied by applying external magnetic field. MR elastomers (MREs) are the solid analogues of MRF and are expected to overcome the disadvantages of the fluid such as the particle deposition and the sealing problems. When such MREs are exposed to external magnetic field, the strength of the inter-particle force will change and thus their apparent elastic modulus is changed depending on the magnitude of the field. In this paper, the stiffness controllable elastomer composites known as MREs are first fabricated and their field- dependent static and dynamic properties are tested. The MRE is then applied to the vibration isolating mounts along with variable stiffness control scheme. Experimental investigations show that the vibration of the one-degree of freedom structure that is exposed to base excitation can be effectively reduced by the intermediating MRE mounts according to the semi-active on/off switching control algorithms.
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辻内 伸好, 小泉 孝之, 木村 匡志, 杉浦 光将, 小島 宏幸
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セッションID: A205
発行日: 2011/06/28
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Robots are expected to be introduced into welfare fields. Because multifingered manipulators can accomplish various tasks, they are much more interesting. Most of the developed multifingered manipulators in previous researches have motor-drive system. Because of their high stiffness, these robots could harm the object they are grasping. Therefore, they can't be safely introduced in welfare fields. Pneumatically-driving system caught our attention as a safe driving source. In this research, we adopt an artificial muscle-type pneumatic actuator as a drive source. Some research works developed interesting human-like manipulators driven by these pneumatic actuators. However, their grasping ability only relies on the flexibility of such actuator, and no grasping model has been made. Therefore, in this research, we propose the grasping model of a couple of 2-link manipulators driven by pneumatic actuators, in which manipulators are face to face.
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杉山 慎也, 三井田 悠磨, 白石 俊彦, 森下 信
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セッションID: A206
発行日: 2011/06/28
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Magneto-Rheological (MR) Grease was developed and its typical properties were investigated by using a rotational viscometer. Based on these properties, a variable damper applying MR grease was designed and its performance was also investigated. MR fluid is known as one of functional fluids, whose rheological properties can be controlled by the applied magnetic field strength. Its potential application is promising and several mass-produced applications such as variable suspension system or engine mount system for automobiles have already developed. MR fluid is composed of micron-sized magnetic particles and a carrier oil such as mineral oil or silicon oil. But the particles dispersed in the fluid would precipitate and make sedimentation due to the difference of density. In order to reduce or avoid the sedimentation of the magnetic particles in MR fluid, grease was introduced instead of base oil and MR grease was developed. In this paper, the typical properties of MR grease are shown, measured by a rotational viscometer. Furthermore, MR grease was adapted to a cylindrical damper, and its properties were investigated.
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林 祐一郎, 辻内 伸好, 小泉 孝之, 大島 裕子, 土屋 陽太郎
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セッションID: A207
発行日: 2011/06/28
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Since the number of trans-femoral amputees has increased by industrial or traffic accidents in modern society, the demand for a prosthetic limb has also increased year after year. In this case, those amputees must control stance phase by refined gait training using load conditions on a prosthetic limb as quantitative evaluation indices. However, conventional prosthetic gait training systems cannot measure long continuous walking motions under a wide range of environmental conditions. In this paper, a novel six-axis force/moment sensor, which is attached to a prosthetic limb for the unrestrained gait measurement, is developed. As a result of applying structural optimization techniques using response surface method and desirability function to this sensor by finite element analysis, optimum design variables to make the effect of interference components much smaller are obtained. Finally, characteristics test using the production model by applying optimum design variables is performed and the effectiveness of the developed sensor is validated.
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Syaril AZRAD, Mohamad FADHIL, Farid KENDOUL, Yuze SONG, Daisuke IWAKUR ...
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セッションID: A209
発行日: 2011/06/28
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Localization of Micro-Air Vehicles (MAVs) in GPS-denied environment such as indoors has been done using various techniques. Most of the experiment indoors that requires localization of MAVs, used cameras or ultrasonic sensors set indoor or indoor environment modification such as patching IR and visual markers. While these systems have high accuracy for the MAV localization, their costs are expensive and have less practicality in real situations. We propose a system consisting of a stereo camera embedded on a MAV for indoor localization. We propose a fusion of optical flow, distance data from the camera with attitude and acceleration data for the localization problem.
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根本 崇史, 皆川 佳孝, 鈴木 康弘, 平田 光男
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セッションID: A210
発行日: 2011/06/28
公開日: 2017/06/19
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Recently, it is examined to use small RC helicopters for patrol or information gathering in buildings. In buildings, GPS cannot be used and an alternative non-GPS-based positioning system is required. In this paper, we develop an autonomous control system based on the vision from a vehicle-mounted camera by using a PTAM that has been developed as a tool for augmented reality. The experimental results show the effectiveness of the proposed method.
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永岡 健司, 久保田 孝
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セッションID: B201
発行日: 2011/06/28
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For lunar and planetary exploration robots, a screw locomotion gear is one of the potential techniques for traveling on sandy terrain. Its mobility performances on soil, however, are needed to be elaborated for practical space applications. This paper discusses the performances between a helical screw propulsion unit and sand. In particular. experimental trafficability of the screw unit and empirical maneuverability of a screw driven robot are presented through laboratory tests.
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永田 祐也, 黒田 洋司
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セッションID: B202
発行日: 2011/06/28
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This paper describes a traversability map construction for autonomous mobile robots. To represent a terrain, a plane is estimated in each grid from point cloud data using RANSAC algorithm. Traversability is analyzed from height, slope and roughness of the plane. Point cloud data becomes sparse in proportion to distance from stereo camera. Thus, point cloud sampling areas are expanded using stereo vision error model. Finally, we have run our rover testbed "Micro6" in Ura-Sabaku desert of Izu-Oshima island, and experimental results were shown that a proposed method validities.
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内木 孝将, 久保田 孝
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セッションID: B203
発行日: 2011/06/28
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Rovers which have wheeled locomotive system are used broadly in planetary missions, because wheeled locomotive system has low energy consumption and its configuration is simpler than other types of locomotive system, such as tracked locomotive system and legged locomotive system. However, the wheeled robots have low travarsability. In planetary missions, a rover which has high traversability is required. To traverse more stricticaly load, it is not enough to use only passive suspension. One of the methods to improve the traversability of a rover is to use active suspension. ESA proposed the rover which has the RCL-E system, which has active suspension and high traversability. However, the RCL-E system has a large weight, high energy consumption, and high complexity because it needs many motors. For this reason, the authors propose a new mobility system with active suspension, which has high efficiency and high traversability. This rover is equipped with 4 motors in each leg for active suspension. This improves the ability of climbing slopes, stability from tip over, navigating over obstacles, and escaping from loose soil. This paper focuses on navigating over obstacle. Through simulations, the authors show the effectiveness in the ability of navigating over obstacle by using active suspension.
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中原 健志, 藤本 孝
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セッションID: B204
発行日: 2011/06/28
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An energy regenerative active vibration control method using piezoelectric actuators and class D amplifiers is proposed by the authors. Class D amplifiers can amplify signals with little power loss and regenerate powers from loads including actuators. Class D amplifiers usually consist of PWM modulators, class D drivers and output filters. PWM modulators generate PWM signals modulated by input signals. Class D drivers amplify PWM signals and output filters extract amplified input signals from amplified PWM signals. The reason of the indirect amplification process is that binary signals like PWM signals can be amplified by switching with little power loss. Binary signals can be considered as relay type non-linear inputs often used in sliding mode control. In this paper, a sliding mode controller is designed for a system including a mechanical SDOF oscillator, a piezoelectric actuator and an output filter. The controller generates a relay type non-linear input as a binary input signal for the class D driver without PWM modulator. The operation of the method is confirmed by numerical simulations.
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中村 哲司, 梶原 逸朗, 有坂 寿洋
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セッションID: B205
発行日: 2011/06/28
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The head positioning accuracy of the hard disk drive should be improved to meet today's increasing performance demands. Vibration suppression of the arm in the hard disk drive is very effective to enhance the servo bandwidth of the head positioning system. In this study, the smart structure is introduced into the hard disk drive to suppress the vibration. First, the tabular PZT actuator is designed, and then the experimental set-up of the smart head actuator is developed by installing the actuators for vibration control on the objective head actuator. Second, the state-space modeling of the system is conducted by system identification approach with the experimental modal analysis for control system design. Next, the vibration controller is obtained by solving the Hoo control problem. Finally, the closed-loop performance is evaluated by simulation and experiment.
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安達 和彦, 坂本 達哉
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セッションID: B206
発行日: 2011/06/28
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Authors have proposed a cantilever type of vibration energy harvester with piezocomposite for vibration condition monitoring applications of rotating machinery. Proposed energy harvester consisted of Macro-Fiber Composite (MFC) actuators in bimorph configuration. In this study, the efficiency of the vibration power transfer to the AC power of the resistive load is experimentally evaluated. Both base excitation force and acceleration of the vibration energy harvester were measured by using an impedance head. Then the input vibration power was experimentally evaluated from the measured excitation force and acceleration. The measured maximum AC output power is 37.96 microwatt with the resistive load 468.7 Kilo-Ohm at the resonant frequency of 27.97 (Hz) under the excitation amplitude level 0.71 (min/s rms). The 75% reduction of the AC output power as compared to the previous results is due to the additional dynamics introduced by the impedance head. At the present condition, input vibration power is 884.4 microwatt, and then the efficiency of vibration power transfer to the AC power is 4.29%.
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朱 艶, 中村 哲司, 梶原 逸朗
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セッションID: B207
発行日: 2011/06/28
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Smart structures technology that uses piezoelectric element etc. is effective for the vibration control of small devices. However, for micro devices, it is difficult experimentally to measure and evaluate the vibration control characteristics of the system with control. Namely, it is not realistic to install an external exciter or to apply the excitation force with an impulse hammer. Therefore, in this study, the vibration property is measured and evaluated by using the noncontact excitation technology using laser ablation and the noncontact measurement with Laser Doppler Velocimeter. Since both input excitation and output measurement are made without contact of apparatus and the excitation force has a high reproducibility in the present system, the efficiency and the reliability of the measurement can be improved.
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高田 祐治, 奥川 雅之, 渥美 辰哉
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セッションID: B208
発行日: 2011/06/28
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A novel method by adopting supervisor with adaptive observer is proposed in this paper. The numerical simulations-and the experimentations are performed to verify the possibility of the adaptive observer-based loosening detection. Improvement of bolt loosening detection accuracy is confirmed by comparing the proposed method with the previous method. The results of numerical simulation confirm that the effectiveness of the proposed method.
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五十嵐 輝樹, 本田 真也, 成田 吉弘
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セッションID: B209
発行日: 2011/06/28
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The present study proposes a multi-objective optimization method to maximize the fundamental frequencies and minimizing production cost for the fibrous composite plate with curvilinear fibers. The production cost is represented by the average curvature of the curvilinear fibers. Curvilinear fiber shapes are defined by the projections of contour lines for a cubic polynomial surface, and the coefficients of the polynomial are employed as design variables. A finite element code with isoparametric 8-node rectangular element based on the first order shear deformation theory is employed to exploit the frequencies of plates. An improved non-dominated sorting genetic algorithm (NSGA-II) based on the non-dominated sorting and crowded distance metric sorting is used as an optimizer with a mutation whose probability is controlled to maintain the variety of individuals and to keep searching ability strong. The numerical results showed that the present optimization method resulted in the widely distributed Pareto-optimum front ranging from parallel fibers to largely curved fibers.
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亀山 正樹, 原田 昌人
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セッションID: B210
発行日: 2011/06/28
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The present paper treats the single modal vibration control of CFRP laminated plates based on the independent modal space control. A modal sensor for identifying specific vibration mode is constructed by one accelerometer/piezoelectric strain sensor and one band-pass filter, where the sensor is optimally placed based on the minimization criterion on observation spillover due to unmeasured vibration modes. Moreover, one macro-fiber composite (MFC) actuator is also optimally placed to maximize the induced modal control force for controlled vibration mode. The proposed optimal placement method of sensors/actuators is examined through the numerical results from the viewpoint of numerical optimization method.
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中村 公則, 尾崎 晃一
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発行日: 2011/06/28
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This study presents a new approach to analyze forced vibration response. We use vibration transmissibility for forced vibration response analyze often degree-of-freedom-system, which system consists of mass and spring. It is possible to describe easily resonance curve in any parameter of multi-degree-of-freedom system. The trans missibility is the function which made the angular frequency ratio to be a variable, and made mass ratio and spring constant ratio to be a coefficient. It takes the form of the fraction. The root of the denominator shows the resonance point, and root of the molecule shows the anti-resonance point. We experimented in order to verify this approach. And we compared calculation curve with experimental values. We find that the tendency which is identical for both was obtained. The result shows that this approach is suitable for forced vibration response analyze.
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鎌田 光, 大内 茂人, 小谷 斉之, 平田 弘志
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発行日: 2011/06/28
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The basic motions of the slewing crane as construction machines are classified into cargo windup, boom derricking and boom slewing. The purposes of controlling the crane are to transfer to the target point the cargo as quickly as possible with suppressing the swaying and to quickly minimize the residual sway at the target point. At present, the crane operation depends on the skill and sense of the operator, so its automatic operation is desirable from the standpoint of economy and safety. Concerning the anti-sway control of a rotational crane, several methods are known. We have developed the method based on the idea of the backstepping approach and have got remarkable effects.
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水野 毅, 高崎 正也, 山本 達, 石野 裕二
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発行日: 2011/06/28
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A new method of measuring mass under weightless has been 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. It is characterized by using the phase-looked loop to achieve the tuning condition. The principal of measurement is described based on a mathematical model. A measuring apparatus is designed and fabricated. Several basic characteristics are studied experimentally.
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丸茂 喜高, 大木 陽平, 綱島 均, 片山 硬
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発行日: 2011/06/28
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This study evaluates the motorcycle stability with the rider control model. The gains in the rider control model are corresponded to the vehicle state variables, and the effects of the gains on the motorcycle-rider system stability are examined by computer simulation. The yawing angle and the rolling angle gains affect the system stability, while the lateral displacement gain does not. Small gains of the yawing angle and the rolling angle make the system unstable. The balance between these two gains affects the stability.
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平澤 順治
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In this paper, author describe about the 4 degrees of freedom motorcycle model that based on the Sharp's paper written in 1971. The improved model, called "Sharp* model" in this paper, is including the rolling resistance of the front tyre, the round profile of tyres, and recalculated centrifugal force. The last one has especially large influence on the difference between the original Sharp's model and the suggested Sharp* model. Simulation results show that the Sharp* model has vibrational characteristics and the instability in low forward speed.
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村上 晋太郎, 朱 紹鵬, 西村 秀和
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発行日: 2011/06/28
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In this paper, we discuss stability analysis of a rider-motorcycle system during braking taking into account of its pitching motion. A motorcycle with the suspensions, rider's lean and pitching motions is modeled for dynamical simulations, and the model is linearized around an equilibrium point of quasi-steady state straight running. From the viewpoints of eigenvalues and frequency responses, the linearized model is analyzed.
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朱 紹鵬, 村上 晋太郎, 西村 秀和, 成川 輝真
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発行日: 2011/06/28
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In this paper, we study the design of an Anti-lock Brake System (ABS) using a dynamical model of a rider-motorcycle system, which considered the rider's dynamic characteristics and vehicle's suspensions. A Magic Formula tire model is used to describe the relationship between the slip rate and the friction coefficient. We verify the effect of the designed ABS by using nonlinear simulations of front braking at the straight running on the low friction coefficient road surface. In addition, by adjusting the control range of the slip rate as the design parameter of ABS, the relationship between the motorcycle's pitching and the braking distance is quantitatively analyzed. The influence of suspensions for the braking performance of ABS is also investigated.
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佐藤 直柔, 松澤 俊介, 岩瀬 将美
原稿種別: 本文
セッションID: C208
発行日: 2011/06/28
公開日: 2017/06/19
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Recently, bicycles for biking with children are attracting much attention in Japan, but a variety of dangerousness comes up when biking with children. Then, a law for safety of bicycles with children has been established 2009. Consequently, bicycle manufacturers have provided bicycles adapting to new salty standards by improving structure, strength, stiffness, braking and steering performance. However, unfortunately, consideration from dynamics aspect comes short in such bicycles. Our prevous research has shown that the bicycle stability is best when a child restraint system is attached above the front wheel. On the other hand, increasing the moment of inertia when a child sits on the front seat might cause steering instability. Hence, in this paper, to overcome the problem, an electrically-assisted steering system for those bicycles is proposed. Two control methods, Model Following control and disturbance observer-based control, for the assisted steering system are introduced, and compared. The effectiveness of the proposed system with each control method is verified by frequency analysis, numerical simulations.
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竹原 昭一郎, 村上 武蔵, 長谷 和徳
原稿種別: 本文
セッションID: C209
発行日: 2011/06/28
公開日: 2017/06/19
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In this study, the biomechanical evaluation of electro-hybrid bicycle is performed. And we examine the influence of each muscle of the human body in electro-hybrid bicycle. The human body is modeled as musculo-skeletal model. In this research, the influence of electro assist is discussed by using numerical model. We performed the experiment of electro-hybrid bicycle. We discuss which muscles are important for pedaling motion. It is found that muscle activity is decreased by electro assist.
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須田 義大, 平山 遊喜, 中野 公彦, 中森 大樹
原稿種別: 本文
セッションID: C210
発行日: 2011/06/28
公開日: 2017/06/19
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Recent years, developing a new ecological transportation system has become more important from a viewpoint of sustainability. In this modal shift, Personal Mobility Vehicle (hereinafter referred to as PMV) is getting more attention. PMV is a method to transfer for a person such as a bicycle. As a next generation PMV, a two-wheeled inverted pendulum vehicle such as Segway Personal transporter and winglet of TOYOTA is becoming more important these days. On the other hand, Intelligent Transport Systems (hereinafter referred to as ITS) have been studied and developed. Making use of advanced information technology, ITS builds a system that deals with people, road and vehicles altogether to improve safety, transportation efficiency and comfort of traffic. Researches on ITS mainly deal with cars, while one deal with PMV are few. Therefore, in this study, we designed a prototype of the PMV for which ITS technology is applied.
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栗田 寛樹, 飯田 訓久, 村主 勝彦, 川邉 達也
原稿種別: 本文
セッションID: D201
発行日: 2011/06/28
公開日: 2017/06/19
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In Japan, less and less workers are engaged in agriculture and they are aging rapidly. Moreover, opening up the country to trade is being inevitable year by year. Therefore, it is thought that Japan's agriculture will face a labor shortage and be exposed to harsher global competition in future. Development of automated agricultural machinery is a way to overcome the difficult circumstances. Thus we are now trying to develop a robot combined harvester. Attempt has been made to develop automated combined harvester. Although a few prototypes can run and automatically harvest rice and wheat, unloading work, in which grains are unloaded through harvester's auger to a truck attached with a grain container, has not yet been automated. This study presents a new method for positioning an auger at an appropriate position using marker detection algorithms and investigates the accuracy of positioning. SURF (Speeded-Up Robust Features) and ARToolKit are utilized for marker detection. A few types of markers are laid on the roof of a truck. Images are taken with USB camera attached to the auger. Our auger are modeled as a two-degree-of-freedom manipulator and controlled by calculated angles. The controlled positions are measured with a total station and compared to calculated positions. Experimental results indicate that this method has the sufficient accuracy in actual use.
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岡 宏一, 大崎 貴史, Shivaji BACHCHE, 北村 晋助, Saburo Seigyo
原稿種別: 本文
セッションID: D203
発行日: 2011/06/28
公開日: 2017/06/19
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This paper describes a distinction method of fruits for sweet pepper picking robots, which work in greenhouses. The distinction of fruits of sweet pepper is done by image processing technique. As fruits and leaves of sweet pepper, however, have almost same color, it is very difficult to distinguish fruits using only color information. In this paper, we propose a new method using reflection of LED lights. Fruits of sweet pepper are more reflective than leaves. We can find fruits by assuming that the reflection parts are the fruits. We examined some experiments using the improved image processing algorism in greenhouse. In consequence, it was possible to improve the distinction ability.
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山本 聡史, 林 茂彦, 齋藤 貞文, 落合 良治
原稿種別: 本文
セッションID: D202
発行日: 2011/06/28
公開日: 2017/06/19
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To reduce working hours of a strawberry production in Japan, we developed an automation technology for a sorting-and-packing of the fruit. The sorting-and-packing machine consists of a fruit-supplying unit and a sorting-and-packing unit. The former unit picks up fruits which are put in a box with random position and attitude when they were harvested. Then, it supplies the picked fruit to the latter. The latter unit sorts the supplied fruits into three classes according to their size. At last, it put the fruits on a returnable tray or a commercialized shipping-package. Each unit has a manipulator, a vacuum hand, a machine-vision and belt-conveyers which convey fruits or shipping boxes. Since a strawberry fruit is prone to be damaged, we developed a technology of soft-handling for a strawberry fruit, and applied them to the machine. As a result of the performance test at Saga pref. from January to February in 2011, the packing-success-rates were more than 90% with the process time for a fruit was from seven to eight seconds. The sorting-success-rates, however, were less than 80%.
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星野 洋平, 片山 恭平, 小林 幸徳, 中西 洋介, 江丸 貴紀
原稿種別: 本文
セッションID: D204
発行日: 2011/06/28
公開日: 2017/06/19
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This study develops an active vibration control unit for flexible booms for spraying agricultural chemicals. This unit consists of fly-wheel, servo-motor, gyro sensor and micro computer, and is named as Active Wheel Damper (AWD) in this study. AWD can be mounted on any flexible boom structure with ease to obtain effective damping. This study combines the adaptive disturbance cancellation controller and sky-hook controller to obtain higher vibration suppression performance, and names this controller as Sky-hook with Adaptive Disturbance Cancellation control (SWADC). The performance of developed vibration suppression unit is demonstrated by experiments.
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中西 洋介, 浦池 隆文, 鈴木 慎一, 小林 幸徳, 星野 洋平, 江丸 貴紀
原稿種別: 本文
セッションID: D205
発行日: 2011/06/28
公開日: 2017/06/19
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In Japan, especially in Hokkaido, productive large-scale farming is needed to keep a competitive power in market of domestic farm products against the low-cost farm products from foreign countries. To run the large-scaled farm, high working efficiency is needed to agricultural machinery. One of the way to make agricultural machinery work-efficient is to drive them faster than ever. But, vibration and postural instability is getting up, in proportion to the velocity of the vehicle. In this paper, deflective vibration control of the arm of boom sprayer and development of the mechanism to keep the arms of boom sprayer horizontal are shown. Measuring deflective vibration by acceleration sensors and using optimal regulator, deflective vibration of the arm can be kept down effectively. And designing the mechanism using CAE dynamics simulation in advance, development of the mechanism of posture control of the arms can be gone ahead smoothly.
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林 克彦, 丸山 寛智, 近藤 宏樹, 高藤 景介, 千田 有一, 酒井 悟, 塩入 敏夫, 嶌田 武司, 藤ヶ崎 静男, 北沢 進
原稿種別: 本文
セッションID: D206
発行日: 2011/06/28
公開日: 2017/06/19
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In the present paper, a harvest robot for spinach is developed. The robot includes roof cutting position control in order to avoid obstacles in soil such as stones. An experimented system is designed and its performances are evaluated by real field tests. A modified system is designed based on the test results.
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Satoru SAKAI, Rintaro FURUMOTO
原稿種別: 本文
セッションID: D207
発行日: 2011/06/28
公開日: 2017/06/19
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In this paper, a side force attenuation is proposed for unmanned agricultural vehicles. First, a new energy based formula of the side force is derived from dynamics which is neglected in the popular magic formula or conventional kinematic equations. Second, a new side force attenuation method is proposed based on the energy based formula. Third a new disturbance rejection method is proposed based on passivity. Finally, the validity of the proposed methods is confirmed by numarical simulations. By the proposed method, the side force are attenuated without loosing stability. Furthermore the closed-loop system does not require any trajectory references and keeps a physical structure.
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斎藤 正博, 玉城 勝彦, 西脇 健太郎, 長坂 善禎
原稿種別: 本文
セッションID: D208
発行日: 2011/06/28
公開日: 2017/06/19
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A combine harvester Robot using CAN Bus and mounting a detachable sensing modules was developed. This robot was possible to autonomous harvest to combine forward, rearward and turning traveling. However we harvested three initial perimeters to keep a space where this robot turn and ejected grain from grain tank by manual control. The accuracy of autonomous travel (it means the deviation between actual travel paths and target paths) was RMS 0.07m. This deviation is smaller than crop rows (30cm) on paddies or wheat fields. So this combine harvester robot can harvest without treading plants near by crop row. Additionally the working efficiency of the combine harvester robot was 17a/hat a traveling speed of 0.6m/s.
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山田 祐一, 金光 幹雄, 太田 智彦, 山本 聡史, 米田 隆志
原稿種別: 本文
セッションID: D209
発行日: 2011/06/28
公開日: 2017/06/19
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Japanese Orchard workers have to spend time for hand labor such as flower thinning, fruit thinning, leaves thinning, harvesting and pruning. Additionally, most growers use a stepladder for working around the upper part of trees. To reduce these labors, and to help workers work safely, we developed a mobile elevating work platform which has high mobility and is easily operable. The device consists of a horizontal stability control device, and an omnidirectional steering system. The horizontal stability control device has two axes that can be independently driven. The control system uses two sensor's signals, an acceleration sensor and a gyro sensor, and calculates the angle and the angular velocity via steady-state Kalman filter. These states are fed back to motor torque to control the device angle. The omnidirectional moving platform has four wheel driving units that can independently control the steering angles and the rotation speeds. This enables the vehicle to move by steering of normal, crab, spin and other various modes. Workers can operate the vehicle with only one joystick. When the joystick is tilted the vehicle moves to the corresponding direction. When the joystick is twisted, the vehicle turns to the corresponding direction.
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原稿種別: 付録等
p.
App8-
発行日: 2011/06/28
公開日: 2017/06/19
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越智 徳昌, 伊藤 泰隆, 横山 信宏, 村岡 浩治
原稿種別: 本文
セッションID: A301
発行日: 2011/06/28
公開日: 2017/06/19
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This paper presents a design method of an MIMO (Multiple-Input-Multiple-Output) I-PD (Integral preceded by Proportional-Derivative) controller, which is a kind of PID controller, via integral-type optimal servomechanism and fractional balanced reduction (FBR) of a plant model. FBR is a kind of closed-loop model reduction method. The validity of the obtained reduced plant model is evaluated using the v-gap metric. The design method is applied to flight control design of a quad-tilt-wing (QTW) unmanned aerial vehicle (UAV).
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皆川 佳孝, 平田 光男
原稿種別: 本文
セッションID: A302
発行日: 2011/06/28
公開日: 2017/06/19
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A prop-hanging is known as a way of flight, and it can achieve hovering without special equipments to change the direction of the thrust. Therefore, it has advantages comparing to the tilt-rotor aircraft or vectored thrust aircraft. However, lots of sensors to measure the position and the attitude of the airplane are required to achieve the prop-hanging by automatic control. Therefore, in this paper, we propose a control method to stabilize the attitude of the airplane by using angular velocity sensors only. The effectiveness of the proposed method is evaluated by simulation and experiment.
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石井 崇大, 鈴木 智, 柳澤 源内, 富田 一輝, 横山 保俊
原稿種別: 本文
セッションID: A303
発行日: 2011/06/28
公開日: 2017/06/19
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Recently, many types of helicopter have been developed and operated. However, most of them have variable pitch mechanism, and Fixed-pitch helicopter is minority. Therefore, the behavior of Fixed-pitch helicopter have not been studied well, compared with that of variable-pitch helicopter. In this paper, we construct a mathematical model of Fixed-pitch co-axial rotor unmanned helicopter. Then, we verify the mathematical model by the computer simulation. Finally, we analyze the behavior of unmanned helicopter by the computer simulation with the mathematical model.
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グェン ジュイヒン, ウ キケン, 鮎澤 秀夫, 岩倉 大輔, 藤原 大悟, 野波 健蔵
原稿種別: 本文
セッションID: A304
発行日: 2011/06/28
公開日: 2017/06/19
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Recently, the research to aim at an autonomous movement of UGV under the outdoor environment is actively done. In general, When UGV presume the self-position with an encoder which equipped the tire, value of self-position has error because of slipping of the tire. Therefore, The correction by GPS is often done. However, the error is included in GPS in the urban area lines with the bank building, and the self-position cannot be corrected even if used GPS together. Then, we proposed to correct this error by detecting the shoulder in the footway. We detected its shoulder with a laser and a camera.
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