Three-dimensional analyses of bending vibrations of circular plates have been made by Pickett and Hutcinson, but their investigations were insufficient concerning both the theoretical treatment and the numerical results. The analytical method presented in this paper is based on the superposition of the guided wave modes in an infinite plate. Therefore the solutions used in the analysis satisfy exactly the traction free condition on the parallel boundaries. On the other hand, the boundary conditions on the curved surface can not be satisfied exactly. Then the equations of the boundary conditions on the exterior edge are integrated piecewisely in the thickness direction to derive an approximate frequency equation. Some numerical results of natural, frequencies are shown and discussed.

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An analysis is presented for the three-dimensional vibration problem of determining the natural frequencies and the mode shapes of cylindrical solid bodies with variable radii. For this purpose, a solid body is transformed into a solid cylinder of unit axial length and unit radius by a transformation of variables. With the displacements of the transformed solid cylinder assumed in the forms of algebraic polynomials, the frequency equation is derived by means of the Ritz method. This method is applied to clamped-free solid bodies. The natural frequencies and the mode shapes are calculated numerically up to higher modes. and the results are presented in some figures.

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This paper presents an attempt to formulate a structural synthesis for eigenvalue and eigenvector shift by introducing the indeterminacy to the objective eigenvalue and eigenvenctor. The methodology is based or the iterative approach to the objective expectaions by means of the sensitivity analysis of the finite elment solution and a functional to seek the objective structure as near the baseline structure as possible. The governing equation for the design parameters is rendered to the mean-centered perturbation with respect to the small probabilistic variables representing the indeterminate objective eigenvalue and eigenvector in order to calculate the sensitivity of the parameters at the objective expectations. The sensitivity is employed to evaluate the variance of the objective structure. The numerical example is concerned with the shift of the eigenvalue and eigenvector of the undamped vibration of a truck chasis and shows that a structural synthesis is made possible by setting a few objectives with indeterminacy.

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In this paper, first, the finite element matrices of the flexible arm with variable section and viscosity are formulated by use of the variational theorem, and the matrix equation of motion of the mechanical system consisting of the flexible arm and a joint is derive(:i. Then, the governing matrix equation of the electromechanical system is obtained by coupling the equation of motion of the mechanical system with the electric current equation of the control system, and the dynamic response of the governing matrix equation is solved exactly by the Laplace transformation method. The control system is composed of a direct-current servomotor and a power amplifier as well as a position and velocity feedback circuit. Furthermore, the numerical calculations are carried out, and the effects of the variable cross section and viscosity of the flexible arm upon the dynamic behavior of the electromechanical s stem are demonstrated.

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The self-generation of corrugations is observed on rolling surfaces such as rail, roller bearings and gear teeth. These phenomena have not yet been clarified. The aim of this study is to reveal the mechanism of corrugations on the surfaces in rolling contact. In the first report, the corrugations caused by plastic deformation are developed by experiment with no slip between two wheels. The corrugation profile and wheel oscillations are measured in real-time, and characteristics of transient phenomena on the corrugation formation are analyzed in detail it was found that the wavelength of corrugation nearly agrees with that of the vertical natural oscillations of the wheel, but is slightly larger.

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To analyze the mechanism of corrugation formation caused by plastic deformation in experiment, vibration and elastic-plastic vibration deformation equations are proposed. The variables used in these equations are displacement of wheel, corrugation profile and deformation per one pass of contact. To measure the deformation per one pass, special experiments are made, and the characteristics of these equations are determined. Then. the property of elastic-plastic deformation and vibration of wheel are examined theoretically in rolling contact to determine the cause of corrugations.

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In this paper, the mechanism of corrugation on rolling surfaces caused by plastic deformation is experimentally revealed. Using proposed equations, a stability map for corrugation growth is produced, and the reason of initiation is discussed by contact vibration theory. The transient properties of corrugation phenomena are theoretically explained, such as an increase of wave length and phase. Some results introduced by our theory are verified by additional experiments, showing possibilities of the decrease of corrugation and the formation of corrugation with a constant wave length under variable rolling speeds.

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In order to decay the transient vibration of a system subject to an impulsive force, the use of a dynamic absorber is studied in this paper. The damping effects of the dynamic absorber when attached to the one degree of mass-spring system and the cantilever beam with tip mass, are investigated numerically and experimentally. The logarithmic decrement is introduced to describe the decay rate of the residual vibration. Optimum tuning design parameters of the absorber are obtained from the condition that the logarithmic decrements take maximum values. These optimum tuning parameters are also compared with those parameters which are tuned to minimize the resonant response of the system subject to harmonic force. It is noted that the measurement of logarithmic decrement is less comlicated than the measurement of the response curve. As a result, the characteristics of the logarithmic decrement shown by the present work are useful in tuning the dynamic absorber in practice.

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In general, vibrations transmitted to mounting systems contain both low frequency vibrations and high frequency ones. Mounting systems cannot have characteristics such as to cut off both low frequency vibrations and high frequency ones. If a special device cutting off high frequency vibrations is attached to a mounting system, the characteristics of the system can be easily fitted for only low frequency vibrations. This paper shows the development of a mounting system having a small-sized oscillating actuator built-in. This system is composed of an oscillating actuator newly developed, the detection of output plate vibration acceleration, and an actuator controller. An oscillating actuator is set on an input plate of the mounting system and excites an intermediate plate to make the output plate vibration nearly zero. The actuator controller digitally processes vibration acceleration data picked up on the output plate and makes up output data for the actuator, checking the vibration characteristics and selecting a suitable phase shift to reduce the vibration. It is shown that more than 70 % of higt frequency vibration can be eliminated by this mounting system.

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In this study, wire fixed diamond grains are used to cut the hard and brittle materials represented by ceramics. This cutting method is different from the ordinary multi-wire awing using the slurry. Hard and brittle materials are cut by means of reciprocating the wire electrodeposited diamond grains at a maximum speed of 200 m/min. The performance characteristics of this apparatus, made on a trial basis, and the machining efficiency were mainly studied in this report, and the following results became clear: 1) When working fluid is supplied to the cutting parts, the machining efficiency improves by about three times more than non-lubricant cutting. 2) In this experiment, machining efficiency in vibration cutting becomes about four times that of non-vibration cutting. 3) The machining efficiency is approximately proportional to the running speed of the wires and working load. 4) That this method will become one of the new multi-cutting techniques is show from the standpoint of the apparatus mechanism and the machining efficiency.

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This study provides a new quasi-modal control method with only velocity feedback for the control system design of an active control bearing system of a flexible rotor. The velocity feedback coefficients are determined on the basis of a modal analysis. This quasi-modal control method becomes effective for cases where the number of controlled modes is more than the number of sensors and actuators. Particularly, this paper provides a method for optimizing the locations of sensors. After ideal modal damping forces are estimated, the actual modal damping forces, using a quasi-modal control method, are compared for each mode. The optimum locations of sensors minimizes the difference of the two. Moreover, the control efficiency of the quasi-modal control method is compared with that of an optimal control method with state feedback.

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Coupled vibration problems in large scale mechanical or rotor systems are often encountered; for instance, a shaft-blade coupled vibration of a turbine and generator set. Instead of FEM modelling for a global system consisting of main system A and sub system B, an equivalent reduced system is presented. According to the reduction technique, the eigenvalue problem of the vibrating system B is first solved; then, equivalent masses and springs are determined for each corresponding eigenmode of system B. Therefore, the original global system is reduced to system A plus the additional masses representing system B. It is concluded that the reduced model is physically reasonable and numerically accurate enough, even though a simpler program is used for the system A than for the global system A+ B.

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As an effective anti-sloshing device, a reversed U-tube was employed as a dynamic damper and its suppression characteristics were studied for the case of a cylindrical tank which was forced to oscillate horizontally. As a result, the following was found: A single U-tube has enough capability to suppress resonant sloshing when the tank is oscillating in a direction parallel to the U-tube. but it fails to suppress the resonance against the excitation in a direction perpendicular to the U-tube. When two U-tubes are set in the cross form in the cylindrical tank, they can suppress resonant sloshing against the excitations of any directions. The frequency responses of the surface elevation calculated by the Boundary Element Method show good agreement with those obtained by experiments.

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Thi paper describes a method of active vibration control for passing through critical speeds of a rotating shaft using electro-magnetic clutches. In this method the vibration of the shaft due to whirling is controlled by means of on and off electric current controls of the electro-magnetic clutches which support the shaft under the on control, The principle of this method is to change the eigen-frequencies of the shaft by adding or losing the supports during shaft rotation. To verify the present method, this paper provides a model of a rotating shaft system with an electro-magnetic clutch, and examines the results analytically and experimentally.

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This paper deals with the forced nonlinear vibration, its stability and the effects of vibration isolation of a new type of mechanical damper, which is attached to a single-degree-of-freedom-system, theoretically, experirnentally and by means of digital simulation. The damper which is composed of a ball screw, a flywheel and a vertically oscillating governor is further simplified in its structure and is more effective in suppressing the resonance of the primary system as compared with the former type which uses a flyball governor instead of the vertically oscillating governor. The results may be summarized as follows: (1) Resonant amplitude of the primary system may be fairy decreased by the oscillation of the 90vernor. (2) The nonlinear solution differs from the linear one which is solved by regarding the 90vernor as a flywheel. (3) Stable solutions for the primary system and the governor are obtained when the forcing frequency is lower than the natural frequency of the governor. (4) Theoretical results agree well with the simulated values. (5) Effects of vibration isolation of the damper are also verified experimentally.

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An investigation of sound generated from a ball screw was carried out in order to obtain basic information for the sound reduction of a ball screw. The test ball screws were of the single nut and single guide-tube type. Their screw shaft diameter was 20 mm and their lead was 10 mm in length. Test ball screws were set up at a ball screw sound testing machine installed in a soundproof room, and they were operated by the testing machine under the non-load condition. The sound generated from the ball screw was picked up by a condenser microphone. Using the signal thus obtained, sound pressure level measurement, sound waveform observation and real time frequency analysis etc. were carried out. From the experimental results and considerations, the fundamental sound characteristics of a ball screw were clarified, and some basic information concerning the sound reduction of a ball screw was obtained.

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This paper discusses a general form of a state deadbeat controller with computation lag for a discrete-time, linear, time-invariant system. The state deadbeat controller with computation lag is transformed to the state deadbeat controller for the augmented system, The controllability indices of the augmented system are obtained, and all possible nilpotent Jordan matrices which are similar to the feedback system matrix of the augmented system are derived. Then. the general form of the state deadbeat controller with computation lag is obtained. Similarly, a general form is obtained for the prediction-type state deadbeat controller which is the special case of the state deadbeat controller with computation lag.

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This paper describes the modeling of the coupled-bending torsion vibrations of flexible structures, such as solar battery arrays, and a control method based on this model. The coupled-bending torsion vibrations are modelled by the unconstrained mode method in the case that the center of flexure does not coinside with the centroid in the cross section. The system and the observation equations of this system are derived after the modal decomposition. Considering the state feedback control system with the state estimator, we make the effect of the coupling terms in this system clear. And the control method when the sensor outputs are contaminated by the noises is also shown. Finally, some simulation results of the coupled-bending torsion vibrations control are presented.

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The previous report shows a quadrupedal walking robot which has a limitation on its walking speed because of walking static balanced with three legs by movement of the center of gravity. This paper proposes a new walking method, that is, semi-dynamical walking with two-legs-support, such as horses. For a realization of this kind of walking, it is necessary that each ankle of the legs has a control mechanism on the roll angle, because they support the position in walking. In this paper, the walking pattern is studied through analyzing. the dynamic stability in walking, and developed walking control programs on a software servo control system which is broken up in order to control the micro-processors. The experiment for a quadrupedal walking robot shows that this kind of walking is 4 times faster than the previous kind of walking.

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This paper developes the preliminary studies on the measurements of dynamic torque in rotating shaft by utilizing the magnetic lattice. The intensity of torque is proportional to the relative angular displacement of two positions on the shaft some distance apart. This displacement can be detected as the phase differences between two magnetic sinusoidal signals which are generated by magnetic tapes wound around those two positions. The purpose of this research is, using data concerning phase differences including noise, to estimate the true value of the torque through the application of the Kalman Filter. First, a mathematical model of the torque dynamics can be represented by the state equation, from which the Kalman Filter algorithms are derived. Using the simulated data generated by the state equation, it is ascertained that the true value of the torque can be estimated accurately by the Kalman Filter. Next, this method is applied to real data obtained from the rotating shaft of a table lathe, and good estimated results are obtained, 1"ith the possibility of practical use.

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This paper deals with the development and analysis of a new measuring method of displacement and position by means of the variations of the sound frequency and the air column in a resonant pipe. Sound generates when compressed air is blown onto an open-ended face of a small pipe. The sound frequency varies with the length of the air column in the resonant pipe. By applying this phenomena, a new, accurate and simple measuring method for the displacement and position is examined and developed. The displacement corresponds to the length of the air column and the variation of the sound frequency shows a good relationship with the displacement. The resonant frequency of the pipe can be shown by a simple equation; however, the resonant frequency does not coincide with the sounding frequency of the pipe. The difference of these two frequencies could be introduced in this paper as an active end correction of the pipe.

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An experimental study is performed for investigating the threshold of whirl instability of the rigid rotor supported by two externally pressurized air-lubricated journal bearings. Three types of bearings, that is, 3-lobe, 4-iobe and circular bearing s, of 40 mm diameter and 40 mm length are tested. The rotor rotates horizontally and air supply pressure varies from 0.098 MPa to 0.49 MPa. The effect of supply pressure and radial load, which is applied to the rotor by means of an electromagnet, from 8.1 IN to 32.6 IN with constant rotor mass on the threshold of whirl instability are discussed. It is shown that the noncircular bearing is effective for the prevention of whirl instability.

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In this paper, theoretical dynamic characteristics of swing pad journal bearings supporting a vertical shaft are presented. A simplification has been made by assuming that each bearing pad has only one layer of rubber. Spring and damping coefficients of swing pad bearings for a vertical shaft were calculated for five cases.

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A rolling-contact fatigue test machine for ceramic bearings was constructed to investigate the rolling-contact fatigue properties of ceramics at elevated temperature. The coefficient of the friction between the balls and test pieces can be measured in the test machine. Preliminary tests were carried out using test pieces, balls and races of silicon nitride. The rolling-contact fatigue lives of ceramic bearings at room temperature with no lubrication were around 10⁶ cycles when the maximum Hertz stress was 2.7 GPa, which is longer than that of ordinary metallic bearings. At a temperature of 500°C, the rolling-contact lives of the ceramic bearings were almost equal to or one-tenth of those at room temperature. These results suggest that ceramics has great possibilities for bearing material under severe conditions, such as elevated temperature and no lubrication.

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In hobbing of the hardened and tempered gears, the tooth surface is degraded owing to the overcutting by the chip and built-up edge and the transcription of the shape of worn or chipped edge. The following for the improvement of the tooth surface roughness were found out in the first report; (1) The removal of chips attached on the tool during cutting, and (2) The use of P30 carbide grade tip and TiC-TiN-TaN cermet tip. By the way, the phenomenon that a part of the chip attaches on the tool flank when the tool wear becomes large is found out in the finish hobbing test with the carbide hob, and this phenomenon is closely related to the surface roughness. In this report, the relation between the adhesion of chips on the tool flank and the finished surface roughness is investigated and discussed by the fundamental test of fly-tools.

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Using a two roller testing machine, the author examined the effect of the combination of surface roughnesses on the occurrence of pitting of thermal refined S 45 C steel rollers with a hardness of about 320 Hv. First, it was found that pitting concentrates on the smoother surface but is restrained on the mating rougher surface when two rollers with a difference in roughness are rotated under pure rolling conditions. Secondly, it was confirmed that although pitting is apt to occur on the slower surface under rolling with sliding conditions, the pitting life is generally short when the faster roller is rough and the slower roller is smooth, while the life is extremely long when the combination of roughnesses is reversed. Judging from the changes in hardness, the profile curves of mating surfaces, the states of oil film formation, the friction coefficients, etc., it was supposed that such a result is attributed to the difference in the plastic deformation due to the asperity interactions in the process of running-in.

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To express the quality of the form of a gear tooth flank, the error surface defined as the difference between an ideal involute helicoid and an actual tooth flank of cylindricai involute gears expressed on the plane of action, is useful. Here, a method to illustrate the error surface for the form of a gear tooth flank from some tooth form- and tooth trace checking curves measured along some definite positions on a tooth flank is introduced. This method vas used in a simulation of power transmitting characteristics of cylindrical involute gears, and the problem of gear acceptance was discussed. It was found to be a problem to receive gears whose quality was actually out of tolerance and showed poor performances. The results of the state of tooth flank loading in the simulation suggested that this mistake occured due to the insufficiency of the test method of gear quality at acceptance.

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There is uncertainty about actual gear accuracy due to improper acceptance codes of gears. In this paper the magnitude of the influence of this uncertainty on the state of tooth fillet stress, contact stress of tooth flanks, flash temperature on tooth flank and exciting force of machine vibration caused by gear meshing are discussed. It is pointed out that there were some cases in which the deviation of the tooth flank form from the intended one, by which the maximum values of contact stress, flash temperature and gear vibrational excitation were strongly affected, could not be found by the normal gear accuracy checking procedure defined in current standard specifications. It was shown that the influence of the deviation of the tooth flank form was so large, that the reliability of the gears could not be guaranteed, and that the machine vibration or gear noise of the machine become far removed from the intended level or specification limit. Gear accuracy also changes the amount of gear alignment error, which affects the power transmitting characteristics of gears.

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The vibration of a helical gear pair set on rather long shafts which should be regarded as flexible is discussed. The effects of the shaft length, the gear position along the shaft and the tooth stiffness upon gear vibration were investigated experimentally. It was proved that changing the shaft elasticity determines only the resonant frequency, and that the vibration amplitude is dependent upon the vibratory performance of the helical gear pair. Furthermore, the natural frequencies of a gear system are calculated by the use of the transfer matrix method. They are in good agreement with the experimental results. It is also clear that the shaft will be regarded to be rigid when the shaft is at least ten times as stiff as the teeth in mating.

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This paper deals with the distribution of contact stress and the force ratio (the ratio of an increment of bolt axial force to an external load) of bolted joints fastened with tap bolts, when a clamped part with raised face metallic gasket is the cover of a pressure vessel. The distribution of contact stress is analyzed as a three-body contact problem, using the three-dimensional theory of elasticity. The effects of the stiffness and the position of gaskets are shown on the distribution of contact stress in numerical computations. The contact stress is measured by means of ultrasonic-waves. Next the force ratio and the maximum stress caused in bolts are analyzed. For verification, experiments are performed. The analytical results are in fairly good agreement with the experimental ones. In addition, concerning the effective gasket yielding width and the moment arm standardized in JIS, the analytical results are compared with the values obtained from JIS.

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A new method on the discretization of the steady gas-lubricated Reynolds equation is presented. The present method is derived from applying the boundary-fitted coordinates system to the divergence formulation (DF) method. Generalized algebraic equations for node pressures derived by the present method can be widely used to represent for arbitrary film configuration and arbitrary bearing shape. This algebraic equation is shown by separating into three components of the Poiseuille flow, the Couette flow and the correcting component of slip flow by a rarefaction of gas. The Couette flow component is discretized by a new upstream scheme derived by an extension of the simple upstream scheme, and other components are discretized by an approximation of linearized distribution. Discretization of four representative boundary conditions are shown. Examples on a herringbone journal bearing used in a misaligned large eccentricity and a small number of grooves are shown.

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In a crowned gear pair, which is employed to prevent end tooth bearing. the load distribution in the tooth trace direction is elliptical. In this report. the effects of crowning on the anti-seizure capacity of a gear base oil have been examined by two-cylinder tests at high specific slidings comparing with the results under uniform bearing. The anti-seizure capacity of the gear base oil in the test with crowned cylinders is higher than that in the test with uncrowned cylinders. Though the contact width in the axial direction at seizure becomes small and the Hertzian stress at seizure becomes high as the radius of crowning is decreased, the radius of crowning hardly affects the seizure load. The outer surface bulk temperature just before seizure, which becomes high as the radius of crowing is increased, is hardly affected by the radius of crowning at high sliding velocities.

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The effects of crowning on the anti-seizure capacity of a gear base oil have been studied at high specific slidings using finely finished test cylinders. Like at a large surface roughness, the anti·seizure capacity of the gear base oil in the test with crowned cylinders is higher than that in the test with uncrowned cylinders. The radius of crowning hardly affects the seizure load. Furthermore, the outer surface bulk temperature just before seizure tends to increase as the radius of crowning is increased. In addition, under finely finished test cylinders, the seizure load hardly decreases as the sliding velocity is increased, and the friction coefficient just before seizure is not affected by the radius of crowing except at low sliding velocities. It is concluded that the crowning does not diminish the anti-seizure capacity of the gear base oil.

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In order to establish an analytical procedure for viscoelastic fluid film lubrication, a modified Reynolds equation for finite-width bearings based on a nonlinear four-element model was derived in the first paper. In the second and third papers the effects of nonlinear viscoelastic characteristics on the film pressure of parallel circular bearings were discussed by comparing the theories with the experiments. In this paper, by applying the modified Reynolds equation to a finite-width journal bearing which is vibrated sinusoidally in one direction, the numerical procedure for finite·width bearings is clarified and the bearing performance is calculated theoretically. In addition, experiments of finite·width journal bearings using lubricating oils containing high molecular-weight polymers as viscoelastic fluids are carried out, and good agreement is shown between the experimental results and the theoretical predictions.

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A real engineering surface is an aggregate of many micro asperities with a small radius of curvature. To estimate the frictional characteristic of a surface coverded with a thin soft metal film, it is convenient to calculate directly the frictional coefficient of a single protuberance as a function of protuberance penetration depth, the protuberance radius and film thickness, without tedious numerical integration.. Thus, the approximate equations for direct calculation of the frictional coefficient are also derived. These equations are important for the estimation of frictional characteristics of real engineering surfaces.

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High-speed deep-drawing of aluminium sheets is performed with the aid of a drop hammer. The punch speed is selected as 10m/s and 5 m/s (only for cylindrical cup-drawing), and for slow operation, 2 x l0-5 m/s. for comparison. The degrees of temper of the sheets adopted are dead-soft (O), half-hard (1/2 H), and hard (H ; as-received). The sheets are 0.3 mm and 0.8 mm thick. The cross-sectional shapes of the punch are circular (flat-headed and hemi-spherical) and square. Over the punch head, melted bees·wax is painted as the best lubricant and rosin resolved in acetone is sprayed as a friction-raiser. It is emphasized that for a thinner sheet, it is disadvantageous to raise the operation-speed. In contrast with this, for a thicker and harder sheet, drawability increases with a higher speed of operation. It is also emphasized that the development of wrinkling is apt to be suppressed in the high-speed operation. Several other interesting results are also presented.

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Non-twisted wavy type end mill, which can reduce surface error due to cutter runout is presented, for more emphasis on the creation of a highly accurate and smooth work surface in the finish process of end milling. The performance of a newly developed end mill related to cutting force and surface error is estimated through a previously developed model to predict a surface geometry and force variation with cutter runout. It is shown that the increase of cutting force on a non-twisted wavy end mill is unavoidable, for the phase shift along axial direction of the tool is restricted. However, a highly accurate work surface which is equal to a straight end mill can be derived, even if an eccentricity between a spindle axis and a tool axis exists.

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It will be effective to combine electrochemical and electrodischarge removal actions with mechanical grinding in order to increase the productivity of materials which are difficult to machine. This method was tested on the groove grinding of cemented carbide. The influences of applied electric voltage on grinding force, wheel wear and grinding ratio were tested experimentally. As a result, it is known that the grinding ratio increases and reaches a maximum when a charge of 20 volts was applied. At that voltage both electrochemical and electrodischarge actions are recognized. At voltages lower than this, wheel wear increases and grinding ratio decreases due to the increase of mechanical action. At voltages higher than 20, wheel were also increases. This is caused by wheel damage due to severe electrodischarge. In order to get high grinding ratio and better surface roughness, it is effective to add reverse voltage. The frequent application of voltage makes electro-chemical and electrodischarge actions more significant.

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Facilities layout ranks as one of the most important problem in industrial engineering. It is usual to assume that the facilities of some system are to be laid on a flat region such as a factory floor or building site. This paper discusses how to draw up the Relationship Diagram which holds an important position in the technique of the layout planning. This developed algorithm eliminates any trial and error in the existing algorithm of drawing up the Relationship Diagram using the property of " Suuryouka-Yonrui".

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One of the themes on Layout Planning relates to the evaluation of proximity between activities which are objects to be laid out. This paper proposed the way to evaluate proximity. The characteristic of this way is : It considers intangible factors by using SUURYOUKA-SANRUI, and Proximity have integrated weight and evaluation values. The weight is calculated based on the theory of AHP. The proposed method was applied to a practical layout and its effectiveness is shown in this paper.

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An optimal operational planning model is proposed for determining the operational policy of gas turbine cogeneration systems. The gas turbine-waste heat boiler system is investigated as a representative type of the systems, and the optimal operational policy is determined so as to minimize the operational cost for the sake of energy saving. This problem is formulated as a mixed-integer linear programming problem by adopting zero-one integer and continuous variables indicating respectively the on/off and the partial loading status of operations for several kinds of constituent equipment. Input data of the optimization problem are expressed in the form of character expressions which enable easy modification of the data with a change of the system's constitution; and then the optimization calculation is carried out effectively by eliminating dependent variables automatically . Through a numerical study, it is shown that the proposed model is a useful tool for determining the operational policy.

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This paper describes an optimum dynamic shape design of beams subject to a moving load. The influence of the dynamic behavior of the beams is considered in the proposed optimum design problem. The optimum shape of the beams is determined by the minimization of the following performance indices : (a) root mean square values of the displacements and accelerations of the beams under the equality constraint of a total mass, and (b) a total mass of the beams under the inequality constraint of the root mean square values of the displacements and accelerations of the beams. The optimization procedure is performed by the nonlinear programming on the basis of the exterior penalty function, because the performance indices and constraints have nonlinear relation-ships.

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A computer aided piping design system is developed using an object-oriented language "Smalltalk-80". The piping design process is characterized by trial-and-error treatments, to add or delete the piping elements or to change the piping diameter in the course of the design process so as to satisfy the design condition. In the system the piping elements are represented as the "object", based on the computer language Smalltalk-80, which results in 1) flexible node I building and easy modification, 2)easy simulation to determine the total head and flow rate in the piping, 3)graphical representation of the design model of the piping and interactive control of the design process by the designer. The system provides a flexible approach to handling the piping design. It is also ascertained that the system can easily be enlarged to more complicated piping systems.

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In this paper the method by which an autonomous guided vehicle tracks a white-line-course using image processing is described. There are three peculiarities in this method. The first is that the input images of the white-line-course are all segmented and are treated by serial pattern numbers. The second is that each input image has the output values of the steering calculated in advance and all the output tables according to the input images are stacked in the data files. The third is that the path is approximately tracked by connecting the several arcs. We confirmed the effects of this method using simulator which replicated the motion of an autonomous guided vehicle.

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The purpose of this paper is to obtain the travel time distribution of a crane in an automatic warehousing system. This system consists of racks with slots in which items are stored and a crane which stores/retrieves items automatically. In our system, suppose that N different types of items exist and are controlled by reordring point model. Following the rules that an item is stored in the closest open slot to I/O point and retrieval is assumed to be random among the same type of items, we will construct a stochastic model of the system. For such a system a Markov chain model approach is not practical, because a large scale system of simultaneous equations must be solved for practical cases. So we will propose an approximate solution method for the travel time distribution of a crane. We will confirm the validity of this approach by comparing the result of an approximation method with those of a computer simulation and Markov chain solutions.

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This study aims at manufacturing accurate stack gears by hobbing. In this report, design methods of gear blanks, and fixtures were considered first, then according to these design methods a new stack gears fixtures was manufactured, and further gear hobbing test was performed. As a result. in order to improve hobbing accuracy, it is important to raise the shape accuracy of gear blank. With the centering force of fixture, it is desirable to act the same force simultaneously on each gear blank. As the results of gear hobbing test, the high accuracy corresponding to the class 3 or the higher spesified in JIS was obtained for all gears.

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