When particles are actually transported by the plug pneumatic conveying, it is important that the power consumption, that is, the pressure drop was estimated in the transport from the viewpoint of the certaintying of transportation and the reduction of transport cost. The study on the transport in a horizontal pipe line had been done a lot so far, but as for the vertical pipe line it was hardly studied because its use is few in actual line. So in this study authors have made a theoretical equation of plug velocity and pressure drop of plug flow pneumatic conveying for coarse particles in a vertical pipe line in this study.

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In this study authors measure both of the maximum coefficients of static friction while a vibration board vibrates and it doesn't, and examine the effect of decrease of friction by vibration. In this case, four kinds of small metal blocks instead of powder and grains are used because the study is fundamental research. As a result it is found that the maximum coefficient of static friction decreases with increasing the amplitude, and finally settles down about constant value. And also, the same tendency and the rate of decrease for these metal blocks can be seen.

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This paper addresses the problem of multi-robots caging and transporte single object by using the concept of Object Closure. The formation based control strategy and system design for cooperative object caging by multiple mobile robots are described. The proposed system is implemented in a robot system including three mobile-manipulators.

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