In this paper, based on the method of the RDK method (Repeatedly Direct Kinematics) [1], an optimal algorithm is proposed to apply on implementing weightlifting motion for a robot with multiple joints. According to the proposed algorithm, the optimal motion was generated to minimize load on joints during the lifting motion and subject to basic geometrical and kinematical constraints. To realize the task above, the following two items must be required. First, when the object is lifted up slowly, the robot could stand up as easily as possible and does not tumble down. Second, to reduce the damage to the robot, the load applied on each joint should be as small as possible. Some simulations are presented to evaluate the effect of the algorithm for the weightlifting motion. Next, the robust stability of the system is analyzed to illuminate the influences on the robot from some external factors.

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As we all know, given the movements of left and right wheels to control the position and orientation, the system is a typical nonholonomic system. So a mobile robot with multi-trailers is typical nonholonomic, under actuated system. The path planning problem of the system of this kind cannot be solved using the path planning algorithm for single body car. In this paper, based on repeatedly direct kinematics, we describe the design and kinematics of the tractor-trailer robot system using tiny movements to follow the track from initial configuration to the goal configuration. In this system, we can easily get the best path of tractor-trailer robot system even if the mobile robot cannot make a center rotation.

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In this paper, we consider the continuously variable transmission (CVT). The conventional CVTs are classified into belt type CVT and toroidal CVT, and each CVT was basically composed of two friction wheels. Fcr the belt type CVT, the pulley is driven by the belt placed between the middle of two circle-boards in the pulley. For the toroidal CVT, two rollers are being pushed by strong compression power. Since these conventional CVTs are transmission utilizing friction force, their energy transfer efficiency might be inferior. Also these CVTs require a precise processing, the noise was caused, and they did not have durability. Consequently, we propose a new structural CVT in this paper. In the proposed CVT, two identical quadric crank chains are placed symmetrically. Since the proposed method is not based on friction conduction, it provides a mechanism that creates no noise, is durable, and offers high transmission efficiency.

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In the multiple cars elevator (MCE), multiple cars move in the shafts. In MCE, a special control algorithm is necessary for avoiding the conflict between cars. We have presented the group control algorithm with non-overlapping service zones for MCE. In this algorithm, each car has the non-overlapping operating zone and therefore, the conflict between cars can be avoided perfectly. On the other hand, its performance depends on the initial service zones. In this study, genetic algorithm is applied to the optimization of the service zones of cars. The numerical results show that the average operation time of the group control algorithm with optimized service zones is smaller than that of the non-optimized service zones.

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In our previous study, we focused on a vehicle suspension as a promising application target of a compliant mechanism and proposed a design method for a vehicle suspension based on a compliant mechanism, or a compliant suspension. In order to design a compliant suspension that satisfies design requirements of a practical vehicle suspension, such as stroke length, camber angle, roll center height and lateral rigidity, our two-stage design method that consists of topology and shape optimization was expanded. In the 1st stage or topology optimization stage, an objective function is modified to evaluate lateral rigidity, which enables to generate an initial concept of a compliant mechanism having high flexibility in a vertical direction, which is a main function of a vehicle suspension, and high rigidity in a lateral direction. In the 2nd stage or shape optimization stage, suspension stroke and camber angle are handled as objective functions, whereas stress constraint, roll center height and lateral rigidity are handled as constraint functions, which yields optimal shape of a compliant suspension. In this paper, we now focus on vibration characteristics of a compliant suspension because the main functions of a vehicle suspension are improving ride quality and running stability by absorbing vibration from road surface while running and vibration characteristics of a vehicle suspension greatly influences ride quality and running stability. Therefore, in this paper, we desgined a compliant suspension using the proposed method and analyize its vibration characteristics.

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In this paper, first, a topology optimization problem is formulated based on the level set method and a method for regularizing the optimization problem by the Tikhonov regularization method is explained. The reaction-diffusion equation that updates the level set function is then derived and an optimization algorithm, which uses the finite element method to solve the equilibrium equations and the reaction-diffusion equation when updating the level set function, is constructed. Next, the implementation of combining the level set-based topology optimization and the finite cover method is explained. Finally, a numerical examples is provided to demonstrate the effectiveness of the proposed method of topology optimization for compliant mechanisms.

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In this paper, we propose a new level set-based topology optimization method targeting metallic waveguide design problems. Since metallic waveguides are usually used in microwave range, the skin effect must be taken into account when metallic waveguides are designed. One of the simplest methods to deal with the skin effect is to impose the electric field constraint condition on the surface of the metal walls when the electric field is computed. Therefore, we impose this condition on the surface of the metal walls represented by the zero iso-contour of the level set function. That is, we solve a topology optimization problem where the design-dependent Dirichlet boundary condition is imposed. For this purpose, we provide a mesh which tracks the level set boundary. By imposing the Dirichlet boundary condition at the nodes on the level set boundary in this mesh, the electric field can be computed using the ordinary FEM. Since this mesh tracks the level set boundary by moving nodes at every optimization iteration, it can be viewed as an ALE mesh, and our proposed method also can be viewed as a level set-based topology optimization method incorporated with the ALE method. By using the Eulerian and ALE meshes, we solve the optimization problem. To demonstrate the usefulness of the proposed method, some numerical examples are provided.

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This paper presents a numerical method to construct a finite element model of a disorder in skeletal system by deforming a finite element model of normal shape. A boundary shape of a. disorder is assumed to be given as a reference displacement defined on a subboundary of the normal model based on medical images. We construct a problem to find the optimum deformation of the normal model that minimizes a square error integral on the subboundary between the hyper elastic deformation of the normal model and the boundary shape of the disorder by varying a design variable for density of the normal model. We show an evaluation method of the derivative of the square error integral of displacement with respect to the design variable, and a solution to the present problem by a gradient method. Finally, a numerical example for spine is introduced.

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In our previous study, we focused on a vehicle suspension as a promising application target of a compliant mechanism and proposed a design method for a vehicle suspension based on a compliant mechanism, or a compliant suspension. In order to design a compliant suspension that satisfies design requirements of a practical vehicle suspension, such as stroke length, camber angle, roll center height and lateral rigidity, our two-stage design method that consists of topology and shape optimization was expanded. In the 1st stage or topology optimization stage, an objective function is modified to evaluate lateral rigidity, which enables to generate an initial concept of a compliant mechanism having high flexibility in a vertical direction, which is a main function of a vehicle suspension, and high rigidity in a lateral direction. In the 2nd stage or shape optimization stage, suspension stroke and camber angle are handled as objective functions, whereas stress constraint, roll center height and lateral rigidity are handled as constraint functions, which yields optimal shape of a compliant suspension. In this paper, we now focus on vibration characteristics of a compliant suspension because the main functions of a vehicle suspension are improving ride quality and running stability by absorbing vibration from road surface while running and vibration characteristics of a vehicle suspension greatly influences ride quality and running stability. Therefore, in this paper, we desgined a compliant suspension using the proposed method and analyize its vibration characteristics.

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In this paper we propose a new method to design a reinforcement for a given thin shell structure such as body structure of a vehicle by utilizing a structural optimization method based on the level set method. In this method the allowed design space is defined around the given structure and the optimal reinforcement is created utilizing the level set based optimization method. The proposed method can give a designer more useful information of topology and shape of the reinforcement than the conventional topology or shape structural optimization methods. We demonstrate the efficiency of the method by showing a result where the optimal reinforcement is found for a simple given structure made by thin shell.

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This paper presents a numerical solution to a non-parametric shape optimization problem for design of suspension arm which strength is given by reaction force to plastic buckling loaded by compulsory displacement. In the buckling phenomena, the geometrical non-linearity and material non-linearity are taken into account. Assuming monotonous loading, hyper-elastic theory is applied to the deformation of suspension arm. Mass and the reaction force integral to the buckling phenomena are chosen as an objective function and a constraint functions. The shape derivatives of these functions are evaluated by the shape optimization theory. Using the shape gradients, a numerical scheme based on a sequential quadratic approximation problem is employed for reshaping. In this scheme, the traction method is used to find the decent directions of the cost functions. The scheme is implemented by using a commercial shape optimization program in which the shape gradients are computed by a user program developed in this study using the result of non-linear FEM analysis by a commercial program. The numerical example for a suspension arm model shows the weight reduction of 12% while keeping the reaction force integral constant.

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The main topic of this study is a shape design of a crane-hook. In order to improve its performance and service life, a development of a high quality product has been required. In a practical design scene, elastoplastic deformation analysis is rarely done. Thus, we discuss a crane-hook design based on the elastoplastic deformation analysis. A constitutive equation of our model is constructed by a piecewise linear function. A yield stress and tangent modulus are decided empirically. The displacement between specified points and a structural weight of crane-hook are adopted as the evaluation items to be minimized. The height of each cross-section and the width of each layer in the cross-section are chosen as the design variables in the shape design. For this multi-objective optimization problem with two items, we convert it into the single-objective optimization problem using weighting sum method. By changing the weighting factors, Pareto optima are obtained. As a common feature of shapes on a Pareto line, the obtained designs have tapered shapes similar to those of existing designs.

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This paper deals with topology optimization based on the projection method using Heaviside function. Several image-processing based filtering techniques have so far been proposed for regularization. They are conventionally applied to the design sensitivities rather than the design variables themselves. However, it causes discrepancies between the filtered sensitivities and the actual sensitivities that may confuse the optimization process and disturb the convergence. In this paper, we propose a Heaviside projection based topology optimization method with a scalar function that is filtered by a Helmholtz type partial differential equation. The optimality can be strictly discussed in terms of the KKT condition. In order to demonstrate the effectiveness of the proposed method, a minimum compliance problem is solved.

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The level set-based topology optimization method using the Tikhonov regularization method is proposed as a new type of topology optimization method which can be treated clear and smooth boundaries. Based on the proposed method, this paper proposes a extended regularization techniques for level set-based topology optimization method. First, basic details of the level set-based topology optimization method are briefly discussed. Next, based on the concept of the Tikhonov regularization, a new regularization term is introduced to the objective functional. Finally, three-dimensional example is provided to confirm the validity and utility of the proposed topology optimization method.

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In this paper, a structural optimization based on the level set method using mathematical programming is proposed. Topology optimization has been successfully applied to a variety of structural optimization problems such as the stiffness maximization problem, vibration problems and optimum design for compliant mechanism. However, due to its high flexibility, the utility of topology optimization results is often spoiled by a preponderance of impractical designs such as structures containing grayscale areas. To overcome such problems, a type of structural optimization method using the level set boundary expression has been proposed, in which the boundary of the optimal configuration are implicitly represented using the level set function. In the proposed method, the level set function is updated using a mathematical programming. We apply our method to a simple design problem to verify its capability.

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In recent years ,there has been an increasing demand utilizing various new design optimization techniques to pursue innovative product design in order to meet more and more complex requests including conflicting ones, such as lighter weight, lower carbon dioxide emission while better comfort and safer product. To respond to these needs, various new optimization techniques have been introduced into MD Nastran. Topography Optimization, which is a special shape optimization technique mainly for increasing the out-of-plane bending or torsional stiffness of shell structure, is one of them. This paper briefly describes this new topography optimization capability in MD Nastran, followed with a few application examples to demonstrate its effectiveness in innovative product design

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In this paper, structural optimization of the periodic structure of sub-wavelength hole array that have specified optical characteristics is presented. The research of sub-wavelength hole array in an opaque metal thin film attracted many researchers by its special transmission spectrum. Such special transmission spectrum is induced by combination of coupling of evanescent wave and propagated wave and surface plasmon resonance. Recently, it was reported that the transmission spectrum can be changed not only by size and periodicity of hole array, but also by shape of hole. We have designed shape of hole by using levelset method so far, however this method couldn't evaluate the surface plasmon effect due to difference of structural boundary and mesh boundary. Here, we propose the method that is introduced the moving mesh method into structural optimization for evaluating surface plasmon effect.

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SA/GA hybrid method for the two-objective optimization problem that minimizes the total weight and maximizes the first natural frequency is developed. In the multipurpose optimization problem, it is easy to obtain the localized solutions because the solution space often has multi peaks. So, in order to get better solutions effectively, many combinations of selection method in GA are tested in this report. The most effective selection method in the present method is investigated by the results of the numerical examples.

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This paper deals with a shape and topology optimization for fluid field problem. For the topology optimization, based on Borrvall's research, body force due to the object in fluid is expressed by using a fluid fraction whose distribution represents the topology of solid or fluid domain. An optimization problem for minimization of fluid drag is formulated, and applied to design a cross sectional shape of columnar objects in fluid flow. In the shape optimization, we propose a new method which utilized Poisson's equation to obtain a smooth shape in the optimization process. For a basic study of the method before an application to a fluid field problem, a hole shape in a plate for minimization of stress concentration is designed.

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This paper presents a numerical solution to multipurpose shape optimization problems of steady heat-convection fields. In previous study, it has been dealt with a shape optimization problem for total dissipation energy minimization in the domain of a viscous flow field and a shape determination problem of temperature distribution prescribed problem in sub-domains of heat-convection fields. In this study, multipurpose shape optimization problem using normalized objective functional is formulated for the total dissipation energy minimization problem and the temperature distribution prescribed problem in steady heat-convection fields. Shape gradient of the multipurpose shape optimization problem was derived theoretically using the Lagrange multiplier method, adjoint variable method, and the formulae of the material derivative. Reshaping was carried out by the traction method proposed as an approach to solving shape optimization problems. The validity of proposed method was confirmed by results of 2D numerical analysis.

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This paper describes a shape optimization technique considering the interference with the other parts or tools. During the shape optimization of mechanical structures, some geometrical constraint conditions, namely, its manufacturing process, or interference with the other parts or tools must be considered. The author and the other researchers developed some shape restriction techniques based on the traction method in previous researches. However, the usability and the stability of them are sometimes insufficient for the consideration of interference in actual applications. In this research, a measurement of the part of the design domain overlapped with the interference domain is evaluated and defined as a constraint function. According to this definition, the consideration of interference can be rewritten to the constraint condition of that the constraint function is zero. This approach was implemented based on a general-purpose structural optimization software, and applied to some optimization problems. The validity of this approach was confirmed by numerical results.

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In this paper, a parameter-free, or a node-based optimization method for finding the smooth optimal free-form of shell structures, including global and local curvature distributions such as beads or embossed ribs is presented. The design problems dealt with in this paper involve a stiffness problem and a natural frequency problem. Both optimum design problems are formulated as a distributed-parameter, or non-parametric, shape optimization problem, and the shape gradient functions are then theoretically derived. The optimum free-form, or optimal curvature distribution, is determined by applying the derived shape gradient function to the shell surface as pseudo external forces under a elastically supported condition, for varying the surface and for the mesh regularization. With this method, the smooth optimal global free-form or the smooth optimal local beads of shell structures is created without any shape design parameterization. The validity and practical utility of this method were verified through several design examples. It was confirmed that the obtained structures were changed from the initial bending-carrying structures to membrane-carrying ones.

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An optimization system coupling CFD and design tool of Francis turbine runner shape with Multi-Objective Genetic Algorithm (MOGA) and Design of Experiences (DOE) is presented. The system is consists two processes. One is based on MOGA, and the other is based on DOE. At the first process, runner design parameters are automatically optimized according to objective function. At the second process, optimized runner which optimized first process is selected as base runner, and the runner design parameters are optimized by DOE. The system was applied to low specific speed Francis turbine runner. Hydraulic loss of runner and draft tube were selected for objective function. As the result of the optimization, high performance runner which has high turbine efficiency and low pressure fluctuation was obtained.

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Statistical models called metamodels empirically capture the input-output relationship of the analyses for evaluating the objective functions and constrains for the engineering optimal design. They are utilized for three reasons. The first of which is to obtain global obtain global behavior of the original functions that have complex local noises. The second is to shorten optimization calculation time. The third is to enable using the different codes for conjugated analysis. However, the right optimization will not be performed if the approximation has large error. Many metamodeling techniques are proposed and used for optimal designs. In this paper, 7 metamodeling techniques and 4 sampling techniques are compared and evaluated to select the best metamodeling techniques and the best sampling techniques that give the least errors. As a result, it is demonstrated that Kriging, radial basis functions interpolation and radial basis function network give less errors and that the new sampling technique that is proposed in this paper is more effective than the conventional space filling method.

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応答曲面法(RSM-S)は製品開発だけではなく加工・組立生産現場のコスト・品質改善でも効力を発揮する。タグチメソッド(品質工学)の実施事例を応答曲面法で追確認した時の結果や現場の改善事例を紹介してRSM-Sの有効性を論じる。

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This paper presents a stabilization technique for semivariogram parameter identification process used in the Kriging method. In this study, the empirical semivariogram-based parameter identification process is employed. In this case, numerical instability of the parameter identification process is sometimes observed, and a stabilization technique for this problem is proposed. In this paper, outline of the Kriging estimation and instability of the parameter identification process are explained at first. Next, the proposed method is described. With some numerical examples, effectiveness of the proposed method is illustrated.

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In this paper, the crushing behavior of cylindrical conic absorber with corrugated surface subjected to axial compressive loading is studied by using finite element method. The role of corrugation is to control the deformation pattern and to decrease the fluctuation in the load-displacement curve. The effect of taper is to increase the crushing span. The deformation mode for taper corrugated circular tubes can be classified into progressive crush mode, in which compressive force fluctuates with the wrinkles forming one after another, and simultaneous crush mode, in which compressive force increases uniformly. A mode classification chart is produced for various combinations of wavelength, wave-altitude and taper angle. The cone with corrugated surface is superior to the cylinder with corrugated surface for energy absorption rate.

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It is vital to develop an anti-loosing nut. In order to achieve an anti-loosing effect, we investigate an interference of thread by plastic forming. However, when the deformation of thread is too large, it is impossible to fasten the nut due to the excessive torque. The method of plastic forming is an axial compression of nuts with a slit in circumferential direction Thus, in this study, the effects of the geometrical properties of the slit nut are investigated by experiment and using the finite element method. As a result, we have proposed the optimum shape of.slit nuts with the anti-loosing effect.

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A reformulation of nonlinear complementarity problem is proposed for solving the frictionless contact problem in large deformation with an warm-start strategy. We treat the smoothing parameter of the smoothed Fischer-Burmeister function as an independent variable in order to reduce the complementarity problem to a system of nonlinear equations. Then the obtained nonlinear equations are solved by using the Newton method making use of the information obtained from the solution at the preceding loading stage. In numerical examples we demonstrate that in many cases the solution can be found within four Newton iterations.

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Usual car suspensions employ oil dampers mounted in parallel with compression helical springs, the latter providing the necessary restoring force to bring back the suspension to its initial position after a complete cycle of compression-extension. The energy of shock and vibration is mainly stored by the spring during compression and then transferred to and dissipated by the oil damper during extension. On the other hand, in the case of a colloidal damper, since the liquid is forced to penetrate the nanopores of lyophobic silica during compression but naturally exudes on the liquid-repellent surfaces at decompression, the restoring force is intrinsically achieved, and the helical spring can be omitted. In other words, the colloidal damper occurs as a machine element with a dual function, of absorber and spring, this allowing a compact and light design of the car suspension. In this work three types of suspensions were considered and modeled as follows: oil damper mounted in parallel with helical compression spring (Kelvin-Voigt model, consisted of a dashpot and an elastic element connected in parallel), and colloidal dampers without (Maxwell model, consisted of a dashpot and an elastic element connected in series) and with (standard linear model, consisted of a Maxwell unit connected in parallel with an elastic element) attached helical compression springs. Firstly, the transmissibility from the rough road to the car's body for all these suspensions was determined. Then, the optimal damping was found to minimize the transmissibility, i.e., to maximize the car's comfort. Examples of simplified, compact and light design are illustrated for the frontal and rear car suspensions. Thus, a reduction of the external diameter of about 60 % and a mass reduction of about 30 % was achieved in the case of autovehicle suspension.

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In deep drawing, a low blank holder force (BHF) will cause wrinkle, while a high BHF will result in tearing. The Variable Blank Holder Force (VBHF) approach is attractive approach in the industries, and it is important to design the VBHF trajectory. In this paper, sequential approximate optimization (SAO) approach is employed in order to obtain the VBHF trajectory. The objective is taken as the minimization of the deviation of whole thickness. The constraints are quantitatively defined with the Forming Limit Diagram (FLD), in which no wrinkling and tearing can be observed. The design variables are the blank holder force. Constraints in which the wrinkling and tearing are avoided are introduced in this paper, compared with the related past researches. The Radial Basis Function (RBF) network is employed for the response surface. The validity of the VBHF we obtained with SAO is examined through the numerical simulation.

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Vehicle body structure optimization system taking advantage of multidisciplinary design optimization technology was developed. This system was built with the combination of DOE and approximation model, and able to predict optimal thickness and material for lightweight body subjected to stiffness and crashworthiness. Accuracy of the approximation model is a key of optimization including multi crash analyses. In this paper, two key factors for accuracy were identified and approximation model was improved to provide sufficient accuracy for practical usage. The capability verification of this system was done with car body structure. As a result, it was able to be confirmed that this system was useful for the weight-saving study.

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Material searching technology using optimization technology has been developed. The present technology has two key features: (1) Kriging model is used as a response surface method in order to search the target material, (2) the Kriging model can be constructed by a fewer sampling points by developed sampling selection method. The effectiveness of the proposed technology was demonstrated by applying it to the searching material of electrode files. It was found that the technology reduced the material searching time by 70% compared with that for previous way.

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While engineering a power plant layout, objective functions and constraints of the power plant frequently conflict each other in terms of factors such as safety, economic costs, maintainability, and construction term of works. This paper proposes a multi-objective layout optimization system for a power plant through effective interaction between the designer and the computer; this system is developed by applying an interactive Satisficing Trade-Off Method (STOM) for multiple-criteria decision-making. In order to obtain the layout candidates for decision-making, the authors present a suitable genetic algorithm (GA) approach to arrange the plot plan for the layout of buildings and equipment in a site. In this GA approach, the coding method and evolution operation method used for obtaining a diverse optimal layout solution are employed with a low computational load and simple design information. Finally, the validity and usefulness of this proposed system is demonstrated by solving a layout design problem for an actual power plant.

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Structural design optimization has become an effective paradigm for designing and developing various kinds of products. However, it is not so popular in the electric appliances in spite of their small sizes and relatively simple configurations. It is very important to identify design specification and to organize appropriate design process in the field of electric appliances. The authors have proposed the strategic scheme for systematically identifying specifications for structural design optimization. In this paper, we studied the structural design optimization for a propeller fan which used laser welding as example to apply the proposed methodology. As a result, it was obtained a new structure of propeller fan achieving high reliability and low cost.

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This paper addresses a gear shift scheduling of an automatic transmission that is one of major key factors on fuel economy and performance of a motor vehicle. A new gear shift schedule generation method which enables to optimize the fuel economy is proposed. The method is based on direct projection of an engine specific fuel consumption map on a driver demanded power map. The shift schedule can be derived from the specific fuel consumption property of an engine directly. Furthermore, an extended algorism to consider the constraints of various driving conditions is studied. A method to evaluate a gear shift schedule is introduced to compare the proposed method with a conventional method. The proposed method is useful for a parameter study in early stage of vehicle development, and has an advantage to conventional method based on a gear shift scheduling Finally, improved fuel economy with the method is demonstrated in emission test cycle simulations.

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Integrated design of product families has become an essential concern for successful product design and development under the trends of mass-customization and business competition. A product family means here a series of models that are offered to a variety of customers' needs with sharing some common modules. Such commonalization enables the economy of scales even under customization for individual customers, but too much commonalization may destruct flexibility for offering various products. This kind of design problems is represented with discrete conditions on module combinations and continuous conditions on module contents and multi-objective under the above tradeoffs. Further the decision must be made in the conceptual stage without detail information. For supporting such decision, this paper proposes an optimal design exploration approach, which is composed of a multi-objective genetic algorithm for mixed integer programming problems, a data mining scheme with self-organizing maps and interpretation of representative modes of design alternatives into design guidelines. The proposed approach is applied to a simplified design problem of universal motors for demonstrating its promises and effectiveness.

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In pattern recognition of golf swing, it is most important to catch the timing (the start, the peak and the finish, etc.) accurately. Therefore, in this study, propose a method that can identify golf swing with high accuracy by using Hidden Markov Model (HMM), which is often applied to the field of time series analysis of statistics, for example, voice recognition, motion recognition. In this paper, compare normal distribution model that has been used in previous study to HMM.

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Until now, definition of optimization problem is overly depending on the designer. But, the product systems such as System LSI become very complex system. Then, the designer can't define the optimization problem correctly. For this problem, we propose the system design method (SDSI-Cubic). This method is constructed from system definition to optimization through the dividing the optimization problem hierarchically. In this paper, this system design method applies to the system design for System LSI.

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An inductive power supply system supplies moving objects with its electricity without contact. A large scale material handling system needs a lot of expensive power panels since there is a length limit that it can supply its cable. This study applies a typical layout to the following three algorithms to minimize the number of panels for its cost-effectiveness; a random search, Ant Colony Optimization and Left Compaction Method which is originally developed and selects the nearest unit from a basing point. Simulation results show the possibility that the Left Compaction Method is the best solution among the three algorithms in this layout.

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In recent years, many researches of the biped robot for living side-by-side with people are reported. However, although many researches on a walking situation are reported, there is little research on the running situation. Therefore, we optimize the foot orbit of a biped robot using APGA (Adaptive Plan system with Genetic Algorithm). This optimization problem is tried by maximization of a reaching distance in the limit time, and its result is reported.

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The present smart composite structures are composed of PZT actuators and graphlte-epoxy composites to improve the performance of vibration suppression. The control performance of PZT actuators strongly depends on their placements and vibration characteristics of laminated composites are varied by their lay-up configurations. Thus, a multidisciplinary optimization method employing actuator placements, lay-ups of laminated composite plates and control systems as design variables is proposed here. First, a database containing the frequencies and modal matrixes is made to avoid the FEA repeatedly. Then, the H_2 norm of control response is minimized with respect to the above design variables with referring the database by a simple genetic algorithm with assuming that the state feedback is available. Finally, the output feedback system is reconstructed with the dynamic compensator based on the linear matrix inequality (LMI) approach. The effectiveness of the present optimization technique is confirmed by the experimental and numerical results.

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In developing software on GPU, it is important to find codes including parallelism, and execute these codes on GPU. We propose a system which accelerates general C-code used GPU partially by optimizing computing time circulating searching code regions which should be executed on GPU. We evaluated he system implemented this proposal method by applying a test program which has variant loop-structures. This paper discusses tuning technique for gPot based on quantitative performance derived.

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近年,設計者1人に1台の3次元CADが配備され使用町能な状態にある企業が増加している.3次元CADの急速な普及は,CAEを取り入れた設計を可能にし,CAEを武器に企業戦略を画策し成功事例を出し始めている企業もある.設計者は,自身の設計をどの方向に進めるべきか,その方向が正しいのか,を見極めるなんらかの情報を求めている場合が多く,CAEは,この道しるべを示す重要なツ-ルになってきていることは言うまでもない.CAEの一機能として装備されている最適化機能の現状と設計現場での活用を紹介する.

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