In crawler-type construction machines, flexible suspension system like bogie mechanism type suspension is used for the running equipment particularly to improve the comfortability in riding. However, in the running equipment with bogie mechanism, there are many unclear points in the dynamic behavior and loads due to the complicacy. In this paper, first, by using a multibody model of crawler-type construction machine with K-type bogie mechanism, in traveling on a firm ground with a rectangular bump, a simulation to analyze the dynamic behavior is conducted and the bouncing acceleration and the dynamic suspension loads are calculated. The simulation results are compared with experimental results, and the validity and the applicability of the simulation method is verified. After that, in passing over a bump with several heights, effects of the type of bogie mechanism including K-type bogie on the dynamic behavior of construction machine, such as the bouncing behavior and the dynamic suspension loads are shown and discussed.

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In this paper, we show the characteristics of stress of tower type traveling crane. We measured stresses, tension of the cable and tower/jib angle of moving crane at two sites ; experimental yard and construction site. The major factors that determine stresses are crane's posture, weight of loading mass and speed of rotation. The main aspect of stress spectra during crane operation is right triangle shape, which means the frequency of stress decreases log linearly as stress range increases.

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The experiment was carried out to obtain the load and stress spectra of an actual full luffing type crawler mounted tower crane of 90 tons maximum capacity, traveling with the suspended load. Strain gauges were glued to eighteen points of the main members of tower and jib, apart from the stress concentrated points. The tensile force of pendant rope, angle of the tower and jib were recorded simultaneously. Crane was traveled on the 19mm level gapped ground. It was observed that the stress while the load were suspended parallel to the travel direction was smaller than suspended to the perpendicular to the travel direction, for in the latter case tower and jib behaved as a cantilever condition.

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This paper describes a new automatic operation system suitable for RTG (Rubber Tired Gantry Crane) used in container yards. It has been very difficult to realize automated RTG, because RTG is mounted on rubber tires that rigidity is low. We developed new technologies to realize automated RTG. (1) Image sensors installed at corners of spreader to detect accurate container position directly (2) Automatic landing control (3) Automatic gantry travel and positioning control

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To improve of the riding quality, three measures, yaw damper between cars, non linear air spring and height change of traction device (mono-link) connection was tested on the E2-1000 Shinkansen vehicle. In this paper, it is shown that the results of running tests, for example, the difference with the riding quality level of conventional and new item.

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Using dynamic simulator, train ride comfort is evaluated repeatedly on laboratory test. To express lateral acceleration at curving, a cabin is inclined to roll axis. But quick rolling motion impresses incongruity. The threshold of rolling motion is tested and the result shows the threshold is higher considering frequency and phase. Setting the rolling center to the head position, rolling motion is less suspicious. And the threshold of lateral acceleration is tested. Its value is high enough to move back a cabin to the center of actuator stroke not suspected by the subjects. In the newly developed testing method, a joystick lever is used in place of an answer button.

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For improving the running stability and comfort of Shinkansen vehicle, the efficient and rational method for grading up the suspension quality of high speed bogie is required. A practical use of the roller test rig for the development of the bogie, especially the oscillation test by the actual track irregularity, would be favorable, except for a few estrangement of running test results between on the roller test rig and on the real line. Those first step test results are described in this paper.

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In this paper we describe the experimental study of the contribution ratio between transmission sound and solid borned sound against interior noise level when the ventilating equipment for Shinkansen only operates. From the test resulst, the contribution ratio of transmission noise against interior noise level is much smaller than that of solid borned noise that includes the fluid noise caused by the flowing air in the duct under the floor. We obtained the instruction that decreasing solid boned noise and fluid noise by means of elastic support and expanding the cross sectional area of the duct would be effective measures for decreasing interor noise level.

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The authors analyze the vibration characteristics and the bucking forces of aluminum alloy double skin structures, utilized for a car body of high-speed railway vehicles. These characteristics vary according to the shapes of the double skin structures. Then the relationships between these characteristics and the shape of the cross section of the double skin structures are investigated with calculations using Finite Element Method. The results show that the natural frequencies become lower and the bucking force becomes less when the height of the double skin structure is greater.

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In rolling stocks, reduction of life cycle cost is one of the important subjects. However, in the improvement of the conventional vehicle system, a radical cost cutting is difficult. AC-Train (Advance Commuter Train) has been developed by JR East to achieve next generation commuter train, and various difficult structures which cannot be tried in usual operated vehicle are loaded in it. This paper deals with the articulated system and double skin structure which are adopted in AC Train to aim at lightweight and low manufacture cost.

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This paper deals with a rail vehicle the wheelset of which has a clearance in the rolling direction. Numerical simulation is employed directly considering the clearance, which exists in the spline between the wheel and the axle, to analyze the dynamic characteristics. Simulation results show that the existence of clearance makes the wheelset rolling vibrate in a limit cycle oscillation. Then, generation mechanism of the limit cycle is investigated as well as the influence of the expanded clearance, which is due to the wear and deformation by long-term use, on the limit cycle. Moreover, it is shown that the use of higher equivalent conicity of wheel tread is desirable to reduce the flange contact by the limit cycle oscillation under existence of track irregularities.

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Recently the LRT (Light Rail Transit) is expected to become high-performance transit system in the new generation. We made 1/5 scale rolling stock test equipment for verifying calculation accuracy. We will introduce this test equipment and the simulation. By rotating roller-rig as an alternative of the rail, this test equipment is the one which simulates running condition of rolling stock in the stationary condition. By orbital motion and rotation on its axis and swing motion of the each rail-ring are controlled together, the advantage of this test equipment is to simulate the curving behavior condition. And, the experimental results and the simulated results is also introduced.

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The steering type of a mechanical guidance system has been used for Automated Guideway Transit (AGT) system in Japan. Recently, the single-axle bogie system has developed for AGT vehicle and applied to Yurikamome 7200 series. This paper describes dynamic characteristic of AGT vehicle with single-axle bogie system and steering system. By using 13 degree-of-freedom dynamic models, a computer simulation in case of earthquake is carried out. The result obtained from the computer simulation show that steering system cause increase in lateral acceleration and single-axle bogie system cause increase in guide-wheel force.

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This paper describes design of active suspension system for Automated Guideway Transit (AGT) vehicles. The modeling of the AGT vehicles with single axle bogies is carried out first. The constructed vehicle model includes lateral transition, roll and yaw motion for vehicle body, front bogie and rear bogie, respectively. The dynamics of two kinds of actuators that produce lateral force is also considered. H-inf control theory is used to design the controller for the active suspension, which has the advantage on designing frequency dependant controller and on the robustness of the controller. The designed controller is evaluated in simulation study with constructed nonlinear AGT vehicle model from the view points of improving the quality. And it is shown that large lateral irregularity can be accepted when the active suspension applied.

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The Brake Demand Operating device can not measure the absolute vehicle velocity due to wheel slide or lock. Therefore I studied a measurement to use a servo type acceleration sensor, and apply digital integral to the signals obtained with the microprocessor. In the brake system, the interaction is performed on a print circuit board, such as the Brake Demand Operating device. I perform experiments by using test vehicles on test line in the Railway Technical Research Institute and on a service line in JR. This paper reports the knowledge of the measurement of absolute velocity of railway vehicles obtained from those experiments.

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In this paper, a simple system, which estimates wheel load, for running stock is proposed. We have pressure sensor on each air spring and strain gage on each bogie frame in this system. Pressure sensors are used to estimate total wheel load, which is added front and rear wheel load on each bogie. Strain gage is used to estimate a proportional relation between torsion stress of each bogie frame and variation of wheel load. And this total wheel load is divided between front and rear wheel load. Numerical calculations and running experiments were carried out. The following result was obtained. It was demonstrated that the proposed system is effective to estimate wheel load for running rolling stock.

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This paper presents the curving performance of rail vehicles with air suspensions. Air suspensions sometimes cause reduction of wheel load at transition curve, so it is very important to evaluate the performance on transition curve. In previous study it was found that the air suspensions have non-linear characteristics at low speed and that the performance is influenced by the initial condition, the entrance transition curve condition and so on by computer simulation. In this study, the effect of track and running condition on curving performance were examined by the experiments using the one-car-modeled test bench. It was found that the results almost agree with the simulation, and that the performance was influenced by the air flow through the levering valve into or out the air suspensions. So it is effective to improve the characteristics of air suspensions to raise the safety of running.

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This study focuses on a tilting railway vehicle using link mechanism for compensating lateral acceleration that passengers feel and wheel load fluctuation. In the previous report, the geometric and dynamic model of tilting railway vehicle using link mechanism was proposed and confirmed its validity from experiment results. This report theoretically discusses about the geometrical shapes of link mechanism that can provide zero lateral acceleration and zero wheel load fluctuation simultaneously. Finally, to confirm the effectiveness of link mechanism the curved track running simulation is conducted by using the dynamic model that was proposed in the previous report.

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The automatic magnetic particle examination equipment used for the defect detecting examination of a steel structure welding part is developed. Magnetic particle examination which consists of complicated magnetic paricle spraying work and defective judging work by viewing had required skill and inspection time. Therefore, in the long examination of welding length like a large-sized structure, laborsaving had become a subject. By this research, the automatic magnetic particle examination equipment which paid its attention to automation of the magnetic particle spraying work which was being conventionally done by handmade business and automation of the defective discernment judging which was being performed visually is made as an experiment, and the result evaluated by the actual steel structure etc. is reported.

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Intelligent vehicle systems, such as the automatic driving system are expected to the solution of current traffic problems. The key of those systems is reliability. This paper investigates the possibility of improving reliability by using the features of electric vehicles (EV). EV with two motors can generate traction forces independently at left and right wheels and can control yaw moment adequately when a steering system is broken. The turning performance is evaluated in respect to vehicle's velocity, difference of traction force. and steering condition by simulations and experiments. It is clarified that the lane-keeping can be realized by traction-force-distribution control. Lane-keeping controller by distribution of traction force is proposed and validated by simulations. The fruit of this study improves reliability of automatic driving and shows the EV's advantage towards future vehicle systems.

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On expressways in Japan, from 1997 to 2000,there were 164 traffic accidents related with maintenance vehicles working at fairly low speed. This kind of maintenance works includes snow removing and spraying of unit-freezing materials, which are sometimes dangerous and stressful for operators. Although there are some distance-warning systems for vehicles in the market, few trucks utilize such the advanced system. Therefore, all maintenance vehicles owned by JH have on board VMS for calling attentions and huge Bumper to protect themselves. Also, another important thing is make the maintenance vehicles colorful and easy to recognize ; however, it has not worked very well so far, and collisions against maintenance vehicles still remain. Therefore, it is quite necessary to develop a new collision avoidance system for maintenance vehicles by utilizing ITS Technology

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This paper aims to assess the effect of speed limiters on traffic safety and throughout using a microscopic traffic simulation tool. A simple evaluation algorithm was proposed to assess the traffic safety by measuring the inverse of time-to-collision (TTC^<-1>) of all vehicles which pass through a road section during certain time period. The proposed algorithm was applied to investigate the effect of speed limiters on traffic safety. A simple numerical example showed that a) even 10% penetration of speed-limited vehicles significantly increased the traffic safety on a freeway weaving section and b) travel time was also increased due to the deterioration of travel speed on speed-limited sections. It was concluded that speed limiters significantly contribute to the enhancement of traffic safety, whereas negative effect was observed in terms of traffic throughout.

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We measured fluctuation in urban traffic flow. The measurement forms the overall assessment of ITS technology ; it is needed to study the effect of ITS technology from not only the microscopic phenomena, namely, the interaction of vehicles, but also the macroscopic viewpoint, namely, optimization of infrastructures. On the basis of the measurement, we discuss the relation between the fluctuation and several conditions of traffic or structure of roads. It is revealed that an important role of sensitivity of a driver to the external stimulation, e. g., difference of speed, headway, geometry of roads, etc. It is suggested that we should consider not only the density of vehicles but also the dynamics of the sensitivity of a driver to the stimulation in order to understand the phase transition of urban traffic flow.

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Concerning driver-support-systems by providing information to drivers, we would propose to divide all information and warnings into three categories such as vehicle surroundings, components of the vehicle and the others, and to provide the drivers "Directional Indication" which gives them some indication of what to look. In order to confirm effectiveness of this support method an experiment was made on a personal-computer-based simulator. We compared some kinds of audio or visual prompters as a "Directional Indication", and examined the response time of the subjects, the number of their mistake and a subjective evaluation of their Mental Work Load. As a result, it turns out that the response time of the "Directional Indication" is shorter than that of the "various information" which takes time to understand, and all of the subjects would prefer the "Directional Indication". Especially directional-voice or moving-light allows the subjects redirect their attention smoothly and quickly.

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A bend lighting system has been developed for the purpose of reducing traffic accidents at night. A bend lighting system gives us better visibility. On the other hand, this system may cause discomfort glare because the illuminated direction of headlamps varies with the swivel angle. Thus, bend lighting system may need to be investigated for discomfort glare based on swivel angle change. Therefore, we measured the oncoming car driver's eye points from the direction illuminated by a bend lighting system on a public road. As a result, we found that a bend lighting system glare is equivalent to conventional headlamps glare.

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In order to improve the public environment, the Technical Research Institute for Low Floor LRV Bogie was organized by 8 major rail transit manufacturing companies. The Institute is to develop the narrow gage 100% low floor LRV bogie which is suitable for Japanese market and enable to barrier free and it was approved by the Ministry of Transportation and Construction in April 2001. The Institute will research and develop the traction and other equipment for the narrow gage low floor LRV bogie. After that, The truck will be manufactured and tested. This report shows the development status as of one and half year after establishment.

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We produced a test LRV running only by the storage electric energy between tram stops, and steering by the links detecting radius of the truck. The wheel gauge is set as 1,067mm, suitable to an experimental running on the conventional truck line in Japan. This vehicle has 3 pair of 2 independent wheels, and each wheels driven by an electric motor. ELDC is recharged by converted electric energy from kinetic energy of the vehicle. The vehicle has a regenerative brake system, and the Now, we continue to carry out test and get the experimental data, which will be utilized to the commercial vehicle design.

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The Electro-Magnetic-Suspension (EMS) system with a circle-cross-section rail succeeded the banking of a vehicle while running in curve. In the system, the damping for tilting motion is generated by the actively controlled rotor, which realizes equivalently skyhook damper for tilting motion. When the vehicle runs in a curved truck at high speed, the effects of disturbance cannot be ignored in both levitation and rolling control. In this paper, the improvement of control ability for any disturbance is considered. First, minimal-order observer and disturbance observer are used as levitation control. Next, damping performance of skyhook damper for rolling control is investigated while varying the position of the rotor. Simulation and experiment are made and the effectiveness of the proposed system is verified.

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New transportation facilities may create new potential hazards and sometimes new safety measures are required. This paper provides an example of such safety measures. In these years, "girder-less type" cargo holds have been becoming popular for newly constructed container ships due to the advantage in capacity. On this type of a cargo hold, there are clear openings (gaps) between hatchway covers. Such clear gaps may create problems on safety such as ingress of water into cargo holds, leakage of fire extinguishing gas in case of fire and ingress of dangerous goods into a cargo hold in case of spillage of the dangerous goods from a container stowed on a hatchway cover. Recognizing these problems, the International Maritime Organization has considered safety measures for such ships and we have investigated on this issue. In this paper, we explain the outline of underlying principles for safety measures and propose some requirements.

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In order to make a public charging station network for electric vehicles (EV) immediately on a nationwide scale and with low costs, a new charging station network was temporarily constructed in Shikoku area. The network was composed of 74 existing car repair shops along trunk roads and their existing electric facilities were used for charging of EV.9 EV were driven more than 5600 km and recharged 116 times in total using the network as an operation test. In this paper, an outline of the test, charging pattern of EV, subjects for an operation of the stations and impressions of the station operators and drivers are reported.

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The situation of the Pacific liners has been changed greatly in these ten years. It includes an increase of container cargoes and also several conditions such as the number of shipping companies, their alliance, services, selection of anchorage, vessel design and, freight rate etc. A route planning method of the lines is a determinant to the evaluation of their whole situation in the future. Thus the method should be changed from skill into technology. We show significance of the change and discuss the present situation, merit and demerit of handwritten route planning and technological one. Also we show fundamentals for a computational method of the route planning such as linear arrangement of the hub ports, calling ports in sequence, weekly service and empty containers arrangement, and basics of evaluation by the shipping companies' profits and the freight owners' advantage.

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Ropeless linear motor elevators with several cars in each hoistway have been proposed as a way to increase the handling capacity. By allowing both vertical and horizontal movements, cars could circulate or bypass each other, and thus flexible transportation is achieved. If horizontal movement is not needed, the multi-car system becomes more simple and feasible. However, in such a system there are many constraints on the car movements, so the performance gain is not evident. In order to investigate effectiveness of and control strategies for such multi-car elevators, we have developed a simulator system to analyze multi-car linear motor elevators. This paper reports the results of the simulation study, which show that such systems would have clear advantages.

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Large Scale Automated Parking Lots needs a lot of labor and the advanced technologies for the recovery when trouble occurs, because two or more equipment work at the same time. Therefore, the restoration support by the engineer is done by using the Internet when trouble occurs, the system which shortens the restoration time is developed, and has been managed. We developed and has managed "System which longevity forecast by observation of the operation situation" and "System which forecasts the trouble" for the prevention of the trouble.

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For the controlled tilting system, a positioning method is used for running trains to measure their own position by the counts of tachometer-generator pulses and correct the position by detecting some ground markers like ATS ground coils whose position is known. However, the method sometimes failes to detect the train position since it relies on ground markers. Therefore, we have developed a system to measure the train position itself without depending on ground markers. The system changes the positioning method according to the condition of GPS signals, and has the positional accuracy of 4m or less in test running.

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In this research, the automation of operation system at container terminal is investigated. In this present paper, the instance of container terminal system installed at Evergreen's Yumeshima Container Terminal at Osaka port is reported. It's has applied RTK-GPS technology to detecting the position of CHE (container handing equipments such as transfer crane and top-lifter) and handling containers. As a result, it's has made possible executing optimum work-instructions for some CHEs and preventing operators from mishandling. Furthermore, it's could has reduced the installation costs compared to those currently in use.

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Railway truck is necessary to have excellent curving performance as well as high speed hunting stability, but generally they are contrary to each other, and curving ability have been sacrificed up to now. We have carried out theoretical studies and full scale stand tests on various technologies for high curving performance truck, such as "optimized worn tread profile", "independently rotating rear wheels", "asymmetric arrangement of longitudinal stiffness", etc. in order to keep the compatibility between curving performance and hunting stability. In this paper we introduced the concept of "active-bogie-steering (ABS) truck" and the results of stand tests for validation of basic characteristics. The ABS truck has active steering mechanism only between car body and truck frame and no additional mechanism with axles. The truck frame is steered by actuators in sharp curve toward "radial steering position of truck". The test results show that by active-bogie-steering the lateral force of the front/outside wheel is remarkably reduced, and it is possible to realize zero lateral force in sharp curve.

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Lateral vibrations of high-speed trains increase in tunnels by aerodynamic force whose mechanism is unknown. To investigate this aerodynamic force and develop its measures, a numerical simulation and a wind tunnel test were conducted. The numerical simulation revealed the mechanism of the generation of the unsteady aerodynamic force. Considering the mechanism, installing fins under the car body and rounding the lower corners of the body were designed to reduce the aerodynamic force. The wind tunnel test confirmed their effectiveness.

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Into the new century JR-East considers we should give more comfortable space to passengers in railway vehicles. As to more comfortable lateral riding, the new-model railway vehicle, series E2-1000 Shinkansen, used in the same time we start a service at the new line from Morioka to Hachinohe, is fitted with full active vehicles with a high speed. This Paper is described the road to the paractical use of full acitve suspension system fitted prototypic vehicle, J51. This vehicle has been in a service from November 2001.

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We have developed a function that enables adjustment of the distance between two cars of a double-deck elevator to boost the traffic capacity by vertically connecting two cars. The development of this function has led to commercialization of a double-deck elevator that always lands accurately at platforms in a building that has different distances between floors. Two ball screws are installed on both sides of the cars. These ball screws support the upper and lower cars. By reversing the directions of the screws that support the upp* and lower cars, the upper and lower cars move in opposite directions while canceling their own weights through screw rotations. This paper reports the configuration and features of this elevator.

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Niitsu Rolling Stock Manufacturing Factory of JR-East has been promoting product lifecycle management, or PLM and realizing reduction of cost and increasing customer satisfaction since its establishment. Product lifecycle management is also effective in reduction of environmental impact because of the fact that railway vehicle influences the environment in various ways at each stage of its lifecycle. In this way, we develop and design brand-new railway vehicles making use of the techniques of product lifecycle management. In this report, we explain our ways and processes of developing railway vehicle and our efforts to make our efforts to make our future products less damaging to the environment.

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Many different bolts are employed in automobiles for different purposes and uses, and their strength generally ranges from 700 N/(mm)^2. Automobiles face the issue of making improvements in fuel economy as an environmental measure, and there is consequently a requirement to lighten component parts. The creation of higher-strength bolts is an important factor in achieving lighter weight. Increasing the tensile strength, however, can also bring about an increased incidence of delayed fracture, and the conventional solution used to require the application of special steels such as expensive maraging steel. The present development addressed this issue by focusing on high carbon steel rod, which had been considered less susceptible to delayed fracture, although heading was also considered to be difficult. Heading techniques were therefore devised that made it possible not only to form bolts from this material, but also to provide satisfactory strength. The result was successful development of 1600 N/(mm)^2 class high strength bolts.

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The drum type self-propelled elevator which can be installed in the small hoistway area was proposed in the previous paper. However this elevator system needs much electric power, because it has no counter weight. To solve this problem, regenerative power storage system is effective. In this paper, electric double layer capacitor (EDLC) is proposed as an energy storage device for this selfpropelled elevator. EDLC can operate in high/low ambient temperature and has long life span. The EDLC*s performance affected by the voltage, charge/discharge current, ambient temperature and starting frequency is investigated. And the operation of the energy storage system which is installed in the experimental self-propelled elevator is confirmed.

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In its efforts to reduce levels of exhaust emission and fuel consumption, Mitsubishi Motors Corporation (MMC) is currently developing a large, hybrid-electric city bus which uses a market-proven diesel engine to drive the electric generator, hence not requiring a new infrastructure. This report describes the hybrid electric vehicle (HEV) system's specifications, the mechanism that enables the system's performance in the reduction of fuel consumption and exhaust emissions. It also describes the noise reduction and other merits that the system realizes

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When a wheelchair is driven on a waving ship, the operation becomes very hard, and it is highly dangerous. In this study, we consider the operation of a wheelchair that has a small side-rolling motion. Then we have developed several types of assistance devices for a waving condition. In this paper, we show the special wheelchair with the assistance device, which has a limited slip differential gear mechanism. It is expected to get a safety and comfortable operation at the waving condition

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On ships, passengers using wheelchairs are exposed to danger such as uncontrollable running due to acceleration resulted from ship motion. It is, therefore, necessary to clarify the clarify the relation between wheelchair running and acceleration to design passageways in passenger ships, for the purpose of improvement of safety and usability of ships for wheelchair users. Such relation, however, has not been clarified enough. The purpose of this research is to develop numerical model for describing wheelchair running under anticipated acceleration conditions to enable the evaluation of width of passageways necessary for preventing collision of wheel chair to a wall or other obstacles. The authors already developed a numerical model for wheelchair running under various acceleration conditions. To evaluate the width of passageways, in addition to the above-mentioned model, operation model, which describes action of wheelchair users, should be developed. In this paper, we propose such models.

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